Fault judgment structure and method of diffuse reflection object detection device

Abstract

The invention relates to the technical field of object detection, in particular to a fault judgment structure and method of a diffuse reflection object detection device.The structure comprises a first shielding case, a second shielding case and a transparent window, and a main emitter and a main receiver are arranged in the first shielding case and the second shielding case; an auxiliary receiver is arranged in the first shielding case and used for detecting the transmitting function of the main transmitter and detecting whether dirt exists in a transparent window in front of the first shielding case or not, and an auxiliary transmitter is arranged in the second shielding case. The auxiliary transmitter is used for detecting the receiving function of the main receiver and detecting whether dirt exists in a transparent window in front of the first shielding cover, the detection device can be timely judged whether a fault occurs or not and the specific fault occurs, and therefore the reliability of the output result of the diffuse reflection type object detection device is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of object detection, and in particular to a fault judgment structure and method of a diffuse reflection object detection device. Background Art

[0002] Diffuse reflection object detection devices are used to detect whether there is an object in front of the device. They are often used in automation equipment. Common detection technologies include: judging whether there is an object by detecting the intensity of light reflected from the object to the receiver; measuring the distance from the device to the object by detecting different positions reflected on the receiver to judge whether there is an object; measuring the distance from the device to the object by the photon flight time or the phase of the reflected light to judge whether there is an object, etc. Regardless of the detection principle adopted, the internal structure of the diffuse reflection object detection device is similar, that is, it is equipped with several transmitters that can emit detection light to the outside, and it is also equipped with several receivers for receiving the detection light reflected from external objects.

[0003] However, a common problem with diffuse reflection object detection devices in the prior art is that when a transmitter or receiver in the detection device fails, or when the transparent window of the device for transmitting and receiving light is covered with dirt, it basically manifests as the receiver being unable to normally receive the light reflected back by the object, which is almost indistinguishable from the situation where there is no object in front of the detection device, thus easily leading to missed detection of objects, which undoubtedly reduces the reliability of the output results of the diffuse reflection object detection device. Summary of the invention

[0004] In order to timely determine whether a detection device has a fault and what specific fault has occurred, thereby improving the reliability of the output results of a diffuse reflection object detection device, the present application provides a fault judgment structure and method for a diffuse reflection object detection device.

[0005] In a first aspect, the present invention provides a fault judgment structure of a diffuse reflection object detection device, which adopts the following technical solution:

[0006] A fault judgment structure of a diffuse reflection object detection device includes a first shielding cover, a second shielding cover and a transparent window, wherein a main transmitter and a main receiver are arranged in the first shielding cover and the second shielding cover, an auxiliary receiver is arranged in the first shielding cover, and the auxiliary receiver is used to detect the transmitting function of the main transmitter and detect whether there is dirt in the transparent window in front of the first shielding cover, and an auxiliary transmitter is arranged in the second shielding cover, and the auxiliary transmitter is used to detect the receiving function of the main receiver and detect whether there is dirt in the transparent window in front of the first shielding cover.

[0007] Preferably, the first shielding cover and the second shielding cover are low-reflection shielding covers, the auxiliary receiver in the first shielding cover includes a first receiver and a second receiver, and the first receiver and the second receiver are respectively arranged on the inner wall and the inner side of the distal end of the first shielding cover, and the auxiliary transmitter in the second shielding cover includes a first transmitter and a second transmitter, and the first transmitter and the second transmitter are respectively arranged on the inner wall and the inner side of the distal end of the second shielding cover.

[0008] Preferably, the first shielding cover and the second shielding cover are high-reflection shielding covers, only one auxiliary receiver is provided in the first shielding cover, and only one auxiliary transmitter is provided in the second shielding cover.

[0009] Preferably, the inner layers of the first shielding cover and the second shielding cover are coated with a matte coating.

[0010] Preferably, the inner layers of the first shielding cover and the second shielding cover are coated with a reflective coating.

[0011] In a second aspect, the present invention provides a method for fault determination of a diffuse reflection object detection device, which adopts the following technical solution:

[0012] A fault judgment method based on the above fault judgment structure comprises the following steps:

[0013] Main transmitter detection: In the first shield, when the main transmitter is turned on, the auxiliary receiver measures the received light intensity E 发射 When the main transmitter is turned off, the auxiliary receiver measures the received light intensity E 停止 , subtracting the two to obtain the light intensity increase value E caused by the main emitter turning on 增加 =E 发射 -E 停止 , if E 增加 If it is lower than the expected value, it is judged that the main transmitter is faulty, and then the central processor of the detection device issues a main transmitter fault prompt;

[0014] Transparent window dirt detection in front of the main transmitter; in the first shielding cover, when the main transmitter is turned on, the auxiliary receiver measures the received light intensity E 发射 When the main transmitter is turned off, the auxiliary receiver measures the received light intensity E 停止 , subtracting the two to obtain the light intensity increase value E caused by the main emitter turning on 增加 =E 发射 -E 停止 , if E 增加If it is higher than the expected value, it is determined that there is dirt in the transparent window in front of the main transmitter, and then the central processor of the detection device issues a transparent window dirt prompt;

[0015] Main receiver detection: In the second shield, when the auxiliary transmitter is turned on, the main receiver measures the received light intensity E 发射 When the auxiliary transmitter is turned off, the main receiver measures the received light intensity E 停止 , subtracting the two to obtain the light intensity increase value E caused by the auxiliary emitter turning on 增加 =E 发射 -E 停止 , if E 增加 If it is lower than the expected value, it is judged that the main receiver is faulty, and then the central processor of the detection device issues a main receiver fault prompt;

[0016] Transparent window dirt detection in front of the main receiver; in the second shielding cover, when the auxiliary transmitter is turned on, the main receiver measures the received light intensity E 发射 When the auxiliary transmitter is turned off, the main receiver measures the received light intensity E 停止 , subtracting the two to obtain the light intensity increase value E caused by the auxiliary emitter turning on 增加 =E 发射 -E 停止 , if E 增加 If it is higher than the expected value, it is determined that there is dirt in the transparent window in front of the main receiver, and then the central processor of the detection device issues a transparent window dirt prompt.

[0017] Preferably, a brush is provided on the outside of the transparent window, and the brush is provided with a self-rotation component and is connected to a linear sliding mechanism, with the right end of the outside of the transparent window as position one, the transparent window outside the main transmitter as position two, and the transparent window outside the main receiver as position three. In each cycle of movement of the brush, position one is taken as the starting point, and it passes through position two and position three in sequence, and the brush will stay at position two and position three, and finally return to position one.

[0018] Preferably, the self-rotating assembly of the brush comprises a motor and a rotating shaft connected to the output shaft of the motor, and the brush is sleeved on the rotating shaft; the linear sliding mechanism of the brush is a slider module, and the motor and the rotating shaft are arranged on a slider of the slider module.

[0019] Preferably, the method further comprises the following steps:

[0020] S1: the brush moves from position 1 to position 2, during which the brush detects the main emitter in the first shielding cover and the transparent window in front of it;

[0021] S2: the brush stays at position 2. During this process, the brush cleans the transparent window in front of the main transmitter. If dirt is detected in the transparent window in front of the main transmitter in S1, the brush stays at position 2 for a longer time. At the same time, the light emitted by the main transmitter is blocked by the brush. At this time, the main receiver in the second shielding cover and the transparent window in front of it are detected.

[0022] S3: the brush moves forward and stays at position three. During this process, the brush cleans the transparent window in front of the main receiver. If dirt is detected in the transparent window in front of the main receiver in S2, the stay time of the brush at position three is increased.

[0023] S4: The brush is reset to position one.

[0024] Preferably, in S2, the residence time of the brush at position 2 increases with the E value detected by the transparent window in front of the main emitter. 增加 In S3, the residence time of the brush at position three increases with the E in front of the transparent window detection of the main receiver. 增加 increases with the increase of the value of .

[0025] The beneficial effects of the present invention are:

[0026] 1. The detection device can be judged in time whether a fault occurs and what kind of fault occurs, thereby improving the reliability of the output result of the diffuse reflection object detection device;

[0027] 2. By using high-reflectivity materials for the first shielding cover and the second shielding cover, the number of auxiliary receivers and auxiliary transmitters in the first shielding cover and the second shielding cover can be reduced;

[0028] 3. The brush can adjust the cleaning time of the transparent window according to the detection results, and when detecting the main receiver in the second shielding cover and the transparent window in front, the brush blocks the light of the main transmitter without turning off the main transmitter of the first shielding cover, avoiding repeated starting and stopping of the main transmitter. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 is a schematic diagram of the fault judgment structure in the first embodiment for detecting the main transmitter and the main receiver;

[0030] Figure 2It is a principle diagram of transparent window dirt detection by the fault judgment structure in the first embodiment;

[0031] Figure 3 is a structural diagram of the fault judgment structure in the second embodiment;

[0032] Figure 4 It is a structural diagram of the fault judgment structure in the third embodiment.

[0033] Explanation of the accompanying drawings: 1. First shielding cover; 11. Main transmitter; 2. Second shielding cover; 21. Main receiver; 3. Transparent window; 4. Covering dirt; 5. Auxiliary receiver; 51. First receiver; 52. Second receiver; 6. Auxiliary transmitter; 61. First transmitter; 62. Second transmitter; 7. Brush. DETAILED DESCRIPTION

[0034] The following will be combined with the attached Figure 1-4 The present invention is further illustrated by the following embodiments.

[0035] Embodiment 1

[0036] This embodiment discloses a fault judgment structure of a diffuse reflection object detection device.

[0037] Reference Figure 1 The fault judgment structure of the diffuse reflection object detection device includes a first shielding cover 1, a second shielding cover 2 and a transparent window 3. Both shielding covers are opaque shielding covers. The first shielding cover 1 and the second shielding cover 2 are located on the same side of the transparent window 3 and are arranged from right to left. The end of the first shielding cover 1 and the second shielding cover 2 close to the transparent window 3 is taken as the proximal end. The proximal ends of the first shielding cover 1 and the second shielding cover 2 are both open and are provided with convex lenses. The main transmitter 11 and the main receiver 21 are respectively provided on the inner sides of the distal ends of the first shielding cover 1 and the second shielding cover 2. During the detection process, the main transmitter 11 is used to emit detection light pulses, which are sequentially irradiated to the outside through the convex lens of the first shielding cover 1 and the transparent window 3 in front of the first shielding cover 1. After that, the light is reflected back after encountering an object. The reflected light then passes through the transparent window 3 and the convex lens of the second shielding cover 2 and reaches the main receiver 21. The detection device finally determines whether there is an object in front of the detection device by analyzing the intensity of the light received by the main receiver 21 or the position of the light irradiated on the main receiver 21 or the time difference or phase difference with the light pulse emitted by the main transmitter 11. The first shielding cover 1 and the second shielding cover 2 are used to prevent light from directly reaching the main receiver 21 from the main transmitter 11 inside the device.

[0038] Reference Figure 1 and Figure 2An auxiliary receiver 5 is arranged in the first shielding cover 1, and the auxiliary receiver 5 is used to detect the transmitting function of the main transmitter 11 and whether there is dirt in the transparent window 3 in front of the first shielding cover 1. An auxiliary transmitter 6 is arranged in the second shielding cover 2, and the auxiliary transmitter 6 is used to detect the receiving function of the main receiver 21 and whether there is dirt in the transparent window 3 in front of the second shielding cover 2.

[0039] In this embodiment, the auxiliary receiver 5 in the first shielding cover 1 includes a first receiver 51 and a second receiver 52, and the first receiver 51 and the second receiver 52 are respectively arranged on the inner side wall and the inner side of the distal end of the first shielding cover 1, the first receiver 51 is used to directly receive the light emitted by the main transmitter 11, and the second receiver 52 is used to receive the light reflected by the transparent window 3. The auxiliary transmitter 6 in the second shielding cover 2 includes a first transmitter 61 and a second transmitter 62, and the first transmitter 61 and the second transmitter 62 are respectively arranged on the inner side wall and the inner side of the distal end of the second shielding cover 2, the first transmitter 61 is used to directly emit light to the main receiver 21, and the second transmitter 62 is used to emit light to the transparent window 3 and reflect it to the main receiver 21.

[0040] This embodiment also discloses a fault judgment method for a diffuse reflection object detection device.

[0041] Reference Figure 1 and Figure 2 The fault judgment method of the diffuse reflection object detection device is based on the above fault judgment structure and includes the following steps:

[0042] Main transmitter 11 detection: In the first shielding case 1, when the main transmitter 11 is turned on, the first receiver 51 measures the received light intensity E 发射 When the main transmitter 11 is turned off, the first receiver 51 measures the received light intensity E 停止 , the light intensity increase value E caused by the main emitter 11 being turned on is obtained by subtracting the two. 增加 =E 发射 -E 停止 , if E 增加 If it is lower than the expected value, it is determined that the main transmitter 11 is faulty, and then the central processor of the detection device issues a main transmitter 11 fault prompt.

[0043] Dirt detection in the transparent window 3 in front of the main transmitter 11; in the first shielding cover 1, when the main transmitter 11 is turned on, the second receiver 52 measures the received light intensity E 发射 When the main transmitter 11 is turned off, the second receiver 52 measures the received light intensity E 停止 , the light intensity increase value E caused by the main emitter 11 being turned on is obtained by subtracting the two. 增加 =E 发射 -E停止 , if E 增加 If it is higher than the expected value, it is determined that there is dirt in the transparent window 3 in front of the main transmitter 11, and then the central processor of the detection device issues a transparent window 3 dirt prompt.

[0044] Main receiver 21 detection: In the second shielding case 2, when the first transmitter 61 is turned on, the main receiver 21 measures the received light intensity E 发射 When the first transmitter 61 is turned off, the main receiver 21 measures the received light intensity E 停止 , the light intensity increase value E caused by the first emitter 61 being turned on is obtained by subtracting the two. 增加 =E 发射 -E 停止 , if E 增加 If it is lower than the expected value, it is determined that the main receiver 21 is faulty, and then the central processor of the detection device issues a main receiver 21 fault prompt.

[0045] Dirt detection in the transparent window 3 in front of the main receiver 21; in the second shielding cover 2, when the second transmitter 62 is turned on, the main receiver 21 measures the received light intensity E 发射 When the second transmitter 62 is turned off, the main receiver 21 measures the received light intensity E 停止 , the light intensity increase value E caused by the second emitter 62 being turned on is obtained by subtracting the two. 增加 =E 发射 -E 停止 , if E 增加 If it is higher than the expected value, it is determined that there is dirt in the transparent window 3 in front of the main receiver 21, and then the central processor of the detection device issues a transparent window 3 dirt prompt.

[0046] It should be noted that the detection of the main receiver 21 and the transparent window 3 in front of it needs to be performed after the main transmitter 11 is turned off, so as to avoid confusion between the light emitted by the main transmitter 11 and reflected by external objects and the light emitted by the auxiliary transmitter 6 in the second shielding cover 2. In addition, the expected value in the detection process can be set to a specific value or a range value, which can be determined according to the accuracy required by the detection device.

[0047] Based on the above design, the detection device can be judged in time whether a fault occurs and what specific fault occurs, thereby improving the reliability of the output result of the diffuse reflection object detection device.

[0048] Embodiment 2

[0049] This embodiment discloses a fault judgment structure of a diffuse reflection object detection device.

[0050] Reference Figure 3, which is different from the first embodiment, in this embodiment, the reflectivity inside the first shielding cover 1 and the second shielding cover 2 is relatively high, that is, the first shielding cover 1 and the second shielding cover 2 in the first embodiment are low-reflection shielding covers, and the first shielding cover 1 and the second shielding cover 2 in this embodiment are high-reflection shielding covers. It should be noted that the low reflection and high reflection of the low-reflection shielding cover and the high-reflection shielding cover in the present invention are relative effects. Specifically, the first shielding cover 1 and the second shielding cover 2 in the first embodiment are coated with matte paint, and the first shielding cover 1 and the second shielding cover 2 in this embodiment are coated with reflective paint. Therefore, only one auxiliary receiver 5 is set in the first shielding cover 1, and the auxiliary receiver 5 is used to receive the pipeline emitted by the main transmitter 11 or receive the light reflected by the transparent window 3. The principle is that since the emissivity inside the first shielding cover 1 is relatively high, whether it is the light directly emitted by the transmitter or the light reflected by the transparent window 3, it can reach the auxiliary receiver 5 after multiple reflections in the first shielding cover 1, so as to measure and calculate E 增加 Similarly, only one auxiliary transmitter 6 is provided in the second shielding cover 2.

[0051] Therefore, in this embodiment, by selecting the first shielding cover 1 and the second shielding cover 2 to be made of materials with high reflectivity, the number of auxiliary receivers 5 and auxiliary transmitters 6 in the first shielding cover 1 and the second shielding cover 2 can be reduced.

[0052] Embodiment 3

[0053] This embodiment discloses a fault judgment structure of a diffuse reflection object detection device.

[0054] Reference Figure 4 , which is different from the first and second embodiments, in this embodiment, a brush 7 is arranged on the outside of the transparent window 3, and the brush 7 is provided with a self-rotation component and connected with a linear sliding mechanism. The self-rotation component can be realized by a motor and a rotating shaft, and the linear sliding mechanism can use a slider module, as long as the self-rotation and left-right reciprocating motion of the brush 7 can be realized. Further, the right end of the outside of the transparent window 3 is taken as position one, the transparent window 3 outside the main transmitter 11 is taken as position two, and the transparent window 3 outside the main receiver 21 is taken as position three. The movement process of the brush 7 in each cycle is: starting from position one, passing through position two and position three in sequence, and then returning to position one. During this process, the brush 7 contacts the transparent window 3, and the brush 7 will stay at position two and position three to clean the transparent window 3 outside the main transmitter 11 and the main receiver 21.

[0055] This embodiment also discloses a fault judgment method for a diffuse reflection object detection device.

[0056] Reference Figure 4, which is different from the first and second embodiments, further includes the following steps:

[0057] S1: The brush 7 moves from position 1 to position 2. During this process, the main emitter 11 in the first shielding cover 1 and the transparent window 3 in front of it are detected;

[0058] S2: The brush 7 stays at position 2. During this process, the brush 7 cleans the transparent window 3 in front of the main emitter 11. If dirt is detected in the transparent window 3 in front of the main emitter 11 in S1, the stay time of the brush 7 at position 2 is increased, and the stay time increases with the E when the transparent window 3 in front of the main emitter 11 is detected. 增加 The value of increases, and at the same time, the light emitted by the main transmitter 11 is blocked by the brush 7. At this time, the main receiver 21 in the second shielding cover 2 and the transparent window 3 in front of it are detected;

[0059] S3: The brush 7 moves forward and stays at position 3. During this process, the brush 7 cleans the transparent window 3 in front of the main receiver 21. If dirt is detected in the transparent window 3 in front of the main receiver 21 in S2, the stay time of the brush 7 in position 3 is increased, and the stay time increases with the E when the transparent window 3 in front of the main receiver 21 is detected. 增加 increases with the increase of the value of .

[0060] S4: The brush 7 is reset to position one.

[0061] Based on the above design, the brush 7 can adjust the cleaning time of the transparent window 3 according to the detection result, and when detecting the main receiver 21 in the second shielding cover 2 and the transparent window 3 in front, the brush 7 blocks the light of the main transmitter 11 without turning off the main transmitter 11 of the first shielding cover 1, thereby avoiding repeated start and stop of the main transmitter 11. The above are all preferred embodiments of the present invention, and the protection scope of the present application is not limited thereto. Therefore, all equivalent changes made according to the structure, shape, and principle of the present application should be covered within the protection scope of the present application.

Claims

1. A fault judgment structure of a diffuse reflection object detection device, Features: The invention comprises a first shielding cover (1), a second shielding cover (2) and a transparent window (3); a main transmitter (11) and a main receiver (21) are arranged in the first shielding cover (1) and the second shielding cover (2); an auxiliary receiver (5) is arranged in the first shielding cover (1); the auxiliary receiver (5) is used to detect the transmitting function of the main transmitter (11) and to detect whether there is dirt on the transparent window (3) in front of the first shielding cover (1); an auxiliary transmitter (6) is arranged in the second shielding cover (2); the auxiliary transmitter (6) is used to detect the receiving function of the main receiver (21) and to detect whether there is dirt on the transparent window (3) in front of the first shielding cover (1).

2. The fault judgment structure of the diffuse reflection object detection device according to claim 1, Features: The first shielding cover (1) and the second shielding cover (2) are low-reflection shielding covers. The auxiliary receiver (5) in the first shielding cover (1) comprises a first receiver (51) and a second receiver (52). The first receiver (51) and the second receiver (52) are respectively arranged on the inner wall and the inner side of the distal end of the first shielding cover (1). The auxiliary transmitter (6) in the second shielding cover (2) comprises a first transmitter (61) and a second transmitter (62). The first transmitter (61) and the second transmitter (62) are respectively arranged on the inner wall and the inner side of the distal end of the second shielding cover (2).

3. The fault judgment structure of the diffuse reflection object detection device according to claim 1, Features: The first shielding cover (1) and the second shielding cover (2) are high-reflection shielding covers, only one auxiliary receiver (5) is provided in the first shielding cover (1), and only one auxiliary transmitter (6) is provided in the second shielding cover (2).

4. The fault judgment structure of the diffuse reflection object detection device according to claim 2, Features: The inner layers of the first shielding cover (1) and the second shielding cover (2) are coated with a matte coating.

5. The fault judgment structure of the diffuse reflection object detection device according to claim 3, Features: The inner layers of the first shielding cover (1) and the second shielding cover (2) are coated with a reflective coating.

6. A method for fault judgment of a diffuse reflection object detection device, using the fault judgment structure of the diffuse reflection object detection device according to any one of claims 1 to 5, It is characterized in that The following steps are involved: Main transmitter (11) detection: In the first shielding cover (1), when the main transmitter (11) is turned on, the auxiliary receiver (5) measures the received light intensity E 发射 When the main transmitter (11) is turned off, the auxiliary receiver (5) measures the received light intensity E 停止 , the light intensity increase value E caused by the main emitter (11) being turned on is obtained by subtracting the two. 增加 =E 发射 -E 停止 , if E 增加 If the value is lower than the expected value, it is judged that the main transmitter (11) is faulty, and then the detection device issues a main transmitter (11) fault prompt; The transparent window (3) in front of the main transmitter (11) detects dirt; in the first shielding cover (1), when the main transmitter (11) is turned on, the auxiliary receiver (5) measures the received light intensity E 发射 When the main transmitter (11) is turned off, the auxiliary receiver (5) measures the received light intensity E 停止 , the light intensity increase value E caused by the main emitter (11) being turned on is obtained by subtracting the two. 增加 =E 发射 -E 停止 , if E 增加 If the value is higher than the expected value, it is determined that there is dirt in the transparent window (3) in front of the main emitter (11), and then the detection device issues a dirt prompt in the transparent window (3); The main receiver (21) detects: in the second shielding cover (2), when the auxiliary transmitter (6) is turned on, the main receiver (21) measures the received light intensity E 发射 When the auxiliary transmitter (6) is turned off, the main receiver (21) measures the received light intensity E 停止 , the light intensity increase value E caused by the auxiliary emitter (6) being turned on is obtained by subtracting the two. 增加 =E 发射 -E 停止 , if E 增加 If the value is lower than the expected value, it is determined that the main receiver (21) is faulty, and then the detection device issues a main receiver (21) fault prompt; The transparent window (3) in front of the main receiver (21) detects dirt; in the second shielding cover (2), when the auxiliary transmitter (6) is turned on, the main receiver (21) measures the received light intensity E 发射 When the auxiliary transmitter (6) is turned off, the main receiver (21) measures the received light intensity E 停止 , the light intensity increase value E caused by the auxiliary emitter (6) being turned on is obtained by subtracting the two. 增加 =E 发射 -E 停止 , if E 增加 If it is higher than the expected value, it is determined that there is dirt in the transparent window (3) in front of the main receiver (21), and the detection device then issues a transparent window (3) dirt prompt.

7. A fault judgment method for a diffuse reflection object detection device according to claim 6, Features: A brush (7) is arranged on the outside of the transparent window (3), and the brush (7) is provided with a self-rotating component and is connected to a linear sliding mechanism. The right end of the outside of the transparent window (3) is taken as position one, the transparent window (3) outside the main transmitter (11) is taken as position two, and the transparent window (3) outside the main receiver (21) is taken as position three. In each cycle of movement of the brush (7), position one is taken as the starting point, and positions two and three are passed in sequence. The brush (7) will stay at positions two and three, and finally return to position one.

8. A fault judgment method for a diffuse reflection object detection device according to claim 7, Features: The self-rotating assembly of the brush (7) comprises a motor and a rotating shaft connected to the output shaft of the motor, and the brush (7) is sleeved on the rotating shaft; the linear sliding mechanism of the brush (7) is a slider module, and the motor and the rotating shaft are arranged on a slider of the slider module.

9. A method for determining a fault in a diffuse reflection object detection device according to claim 8, It is characterized in that The following steps are also included: S1: the brush (7) moves from position one to position two, during which the brush (7) detects the main emitter (11) in the first shielding cover (1) and the transparent window (3) in front of it; S2: the brush (7) stays at position two. During this process, the brush (7) cleans the transparent window (3) in front of the main transmitter (11). If dirt is detected on the transparent window (3) in front of the main transmitter (11) in S1, the stay time of the brush (7) at position two is increased. At the same time, the light emitted by the main transmitter (11) is blocked by the brush (7). At this time, the main receiver (21) in the second shielding cover (2) and the transparent window (3) in front of it are detected. S3: the brush (7) moves forward and stays at position three. During this process, the brush (7) cleans the transparent window (3) in front of the main receiver (21). If dirt is detected on the transparent window (3) in front of the main receiver (21) in S2, the stay time of the brush (7) at position three is increased. S4: The brush (7) is reset to position one.

10. A fault judgment method for a diffuse reflection object detection device according to claim 9, Features: In S2, the residence time of the brush (7) at position 2 is proportional to the E value of the transparent window (3) in front of the main emitter (11) during detection. 增加 In S3, the residence time of the brush (7) at position three increases with the E detected by the transparent window (3) in front of the main receiver (21). 增加 increases with the increase of the value of .

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