Cleaning robot

Abstract

The cleaning robot comprises a robot body and cliff sensors, the cliff sensors are arranged on the side wall of the robot body along the front end, the left side and the right side of a walking path, and the cliff sensors are arranged downwards and outwards in an inclined mode and can send detection signals outwards in an inclined mode. The cliff sensor is arranged on the side wall of the machine body, and the detection range is widened; the cliff sensor adopts the laser TOF principle for detection, is more accurate and reliable, can detect clifts, steps, obstacles and the like, realizes multiple detection functions, saves the types and the number of sensors, and is beneficial to reducing the cost.

Description

Technical Field

[0001] The invention relates to the technical field of cleaning equipment, and in particular to a cleaning robot. Background Art

[0002] Related cleaning robots are equipped with cliff sensors to prevent them from falling off high platforms. Most cliff sensors are located on the bottom of the robot body, which results in a small detection distance and range, and the cliff cannot be detected in time.

[0003] Moreover, most cliff sensors are ordinary infrared sensors. Their principle is to emit a laser beam, illuminate the target object, detect the reflected laser signal, and calculate the distance to the target object. The reflected light beam is easily affected by the surface color, surface material, surface roughness and other characteristics of the target object. If the signal of the reflected light beam is weak, it is easy to cause calculation errors and affect the detection results. Summary of the invention

[0004] The object of the present invention is to provide a cleaning robot, wherein a cliff sensor is arranged on the side wall of the robot body to increase the detection range, and the cliff sensor adopts laser TOF for detection, which is more accurate and reliable.

[0005] To achieve this object, the present invention adopts the following technical solutions:

[0006] A cleaning robot comprises a body and a cliff sensor;

[0007] The side walls of the machine are equipped with cliff sensors at the front, left and right sides along the walking path;

[0008] The cliff sensor is tilted downward and outward, and can send detection signals tilted outward;

[0009] The cliff sensor has a tilt angle between 20 and 70 degrees.

[0010] In some embodiments, when the edge detection distance between the robot body and the cliff is less than a preset value, the robot performs an action of avoiding the cliff;

[0011] The preset value can be set in the range of 1 cm to 20 cm.

[0012] In some embodiments, the cliff sensor is located on the top of the side wall.

[0013] In some embodiments, the cliff sensor is embedded in the top of the side wall.

[0014] In some embodiments, grooves are provided at the front end, the left side, and the right side of the side wall, and the cliff sensors are assembled in the grooves.

[0015] In some embodiments, the groove has a first groove surface and a second groove surface;

[0016] The first groove surface is tilted downward and outward;

[0017] The second groove surface is inclined upward and outward;

[0018] The cliff sensor is assembled at the first groove surface.

[0019] In some embodiments, the cliff sensor is a laser TOF ranging sensor.

[0020] In some embodiments, the cliff sensor includes a transmitting unit and a receiving unit, and the receiving unit is provided with a filter.

[0021] In some embodiments, the cliff sensor can detect steps, obstacles.

[0022] The beneficial effects of the present invention are as follows: the cliff sensor is arranged on the side wall of the machine body, thereby increasing the detection range, and the cliff sensor uses laser TOF for detection, which is more accurate and reliable and can be applied to a variety of scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 A structural diagram of a cleaning robot of the present invention;

[0024] Figure 2 A top view of a cleaning robot of the present invention;

[0025] Figure 3 A partial cross-sectional view of a cleaning robot of the present invention;

[0026] Figure 4 A schematic diagram of edge detection of a cleaning robot according to the present invention;

[0027] Figure 5 A schematic diagram of edge detection of a cleaning robot according to the present invention;

[0028] Figure 6 A schematic diagram of edge detection of a cleaning robot according to the present invention;

[0029] Figure 7 is a structural diagram of the cliff sensor of the present invention;

[0030] Figures 8 to 12 A detection schematic diagram of a cleaning robot of the present invention;

[0031] Among them: 1-body; 10-side wall; 11-groove; 11a-first groove surface; 11b-second groove surface; 2-cliff sensor; 21-transmitting unit; 22-receiving unit; 23-processing chip. DETAILED DESCRIPTION

[0032] The present invention will be further described in detail below in conjunction with the accompanying drawings.

[0033] refer to Figures 1 to 7 , a cleaning robot, comprising a body 1 and a cliff sensor 2;

[0034] The bottom of the machine body 1 may be provided with a walking mechanism, a cleaning mechanism, a sterilization and mite removal mechanism, etc.;

[0035] refer to Figure 2 The side wall 10 of the machine body 1 is provided with cliff sensors 2 at the front end, left side and right side along the walking path, that is, the front end, left side and right side of the machine body 1 are provided with cliff sensors 2, and at least three cliff sensors 2 are provided;

[0036] refer to Figure 3 The cliff sensor 2 is tilted downward and outward, and can transmit detection signals tilted outward;

[0037] The inclination angle θ of the cliff sensor 2 is between 20 degrees and 70 degrees. For example, θ can be set to values ​​such as 20 degrees, 30 degrees, 40 degrees, 45 degrees, 50 degrees, 60 degrees, and 70 degrees.

[0038] Therefore, the cliff sensor 2 is disposed on the side wall 10 of the body 1 and performs detection in an inclined manner, so that the detection range is wider and the detection data is more stable and accurate.

[0039] refer to Figures 4 to 6 , when the edge detection distance H between the body 1 and the cliff is less than a preset value, the robot performs an action of avoiding the cliff;

[0040] The edge detection distance H is the horizontal distance between the body 1 and the cliff. The action of avoiding the cliff can be stopping, turning around, turning, etc., so as to change or re-plan the walking path to avoid falling;

[0041] The setting range of the preset value is 1 cm to 20 cm. For example, H can be set to 1 cm, 2 cm, 3 cm, 4 cm, 5 cm, 8 cm, 10 cm, 15 cm, 20 cm and other values.

[0042] Thus, the cliff sensor 2 determines the edge detection distance H through detection, and when the distance between the body 1 and the cliff is less than the preset distance, the corresponding action is performed to prevent falling. In addition, because the cliff sensor 2 is arranged on the side wall 10 of the body 1, the detection range is wide, and the preset value of the edge detection distance can be set more flexibly, so that the robot can be appropriately set according to different application scenarios, thereby improving applicability.

[0043] The cliff sensor 2 is disposed on the top of the side wall 10 , which is beneficial to increase the detection range and improve the detection accuracy. Preferably, the cliff sensor 2 can be embedded on the top of the side wall 10 , which is beneficial to improve the aesthetics of the body 1 .

[0044] Specifically, refer to Figure 3 A groove 11 is formed at the front end, the left side and the right side of the side wall 10 , and the cliff sensor 2 is assembled in the groove 11 .

[0045] The groove 11 is provided with a first groove surface 11a and a second groove surface 11b;

[0046] The first groove surface 11a is tilted downward and outward; the direction is perpendicular to the groove surface;

[0047] The second groove surface 11b is tilted upward and outward;

[0048] The cliff sensor 2 is assembled on the first groove surface 11 a.

[0049] Therefore, the first groove surface 11 a and the second groove surface 11 b are both inclined to form a gradually increasing space, which facilitates the cliff sensor 2 to transmit and receive detection signals.

[0050] Of course, the number of cliff sensors 2 is not limited to three, and multiple cliff sensors 2 can be provided as needed, and corresponding cliff sensors 2 can be added in different directions and positions to improve the range and accuracy of detection.

[0051] The cliff sensor 2 is a laser TOF ranging sensor.

[0052] The laser TOF ranging sensor uses the flight time of the laser pulse to measure the distance, and calculates the distance of the target object by calculating the phase difference between the emission and reflection of the light. In this way, the laser TOF ranging sensor does not rely on the reflectivity of the object, and the color or surface characteristics of the object have little effect on the detection results.

[0053] The distance measurement method of ordinary infrared and laser sensors usually relies on the amount of light reflected from the surface of an object. The color and surface roughness of the object will significantly affect the amount of reflected light, thereby affecting the accuracy.

[0054] Therefore, the laser TOF ranging sensor can accurately detect a variety of objects and is suitable for a variety of application scenarios.

[0055] The cliff sensor 2 includes a transmitting unit 21 and a receiving unit 22 , and the receiving unit 22 may be provided with a filter.

[0056] Filters are used to filter light outside a specific wavelength range, ensuring that only light that matches the sensor's operating wavelength is received by the sensor. This is very important for reducing the interference of ambient light (especially sunlight or other strong light sources) on the measurement results;

[0057] For example, when the operating wavelength of the cliff sensor 2 is around 850 nanometers, the filter allows this wavelength to pass through while blocking light of other wavelengths, thereby reducing interference and improving the accuracy and reliability of detection.

[0058] The robot's edge detection method or steps:

[0059] The robot cleans along a preset walking route. During the cleaning process, the transmitting units 21 of the three cliff sensors 2 at the front, left and right sides transmit detection signals, the receiving units 22 receive reflected signals, and the processing chip 23 calculates the phase difference between the transmitted signal and the reflected signal, thereby calculating and judging the edge detection distance H. When the edge detection distance H is less than the preset value, for example, H is set to 3 cm, and the horizontal distance between the body 1 and the cliff is less than 3 cm, at this time, the light beam of the transmitted signal is emitted to the outside of the cliff, and the measured object distance value becomes larger (different from the previous value, abnormal), and a cliff judgment is made. The cliff sensor 2 sends an alarm signal, and the robot performs corresponding cliff avoidance actions according to the alarm signal to prevent falling.

[0060] The cliff sensor 2 using laser TOF technology can be used not only to detect cliffs, but also to detect steps and obstacles.

[0061] refer to Figure 8 For example, when the cliff sensor 2 is assembled, H is set to about 3 cm, the vertical distance between the cliff sensor 2 and the cleaned surface is determined, and the detection distance D between the cliff sensor 2 and the cleaned surface is about 85 mm. This distance D can be calculated by measurement or the Pythagorean theorem.

[0062] refer to Fig. 9 When the data D1 detected by the cliff sensor 2 is between 80 mm and 90 mm, it can be determined that the cleaning robot is walking on a relatively flat surface.

[0063] refer to Fig.10 When the data D2 detected by the cliff sensor 2 is greater than 90 mm, it can be determined that there is a cliff in the direction of travel. At this time, actions such as stopping, turning around, and turning can be performed to change or re-plan the walking path to avoid falling.

[0064] When the data detected by the cliff sensor 2 is less than 80 mm, it can be determined that there may be steps and obstacles in the direction of travel.

[0065] refer to Fig.11 When the data D3 detected by the cliff sensor 2 is less than 60mm or between 50mm-60mm, it can be determined that there are steps in the direction of travel. At this time, actions such as stopping, turning around, and turning can be performed to change or re-plan the walking path, or raise the chassis to cross the steps. This is suitable for situations where the height of the steps is not high.

[0066] refer to Fig.12 When the data D4 detected by the cliff sensor 2 is less than 40mm or between 30mm-40mm, it can be determined that there is an obstacle in the direction of travel. At this time, actions such as stopping, turning around, and turning can be performed to change or re-plan the walking path to avoid the obstacle.

[0067] Therefore, the cliff sensor 2 with laser TOF technology can detect cliffs, steps, obstacles, etc., so that a variety of detection functions can be realized through the cliff sensor 2 with laser TOF technology. In this way, the types and quantities of sensors can be saved, thereby reducing costs.

[0068] The robot can be used in scenes with high platforms, cliffs, etc., such as floors with steps, beds, sofas, desktops, carpets, etc.

[0069] When applied to beds and sofas, the robot can clean, remove mites, sterilize, etc. on the beds and sofas. At this time, the robot is equivalent to a mite removal device, which can automatically walk on the beds and sofas to perform cleaning, mite removal, sterilization, etc. Because the surface of the beds and sofas is cloth with low light reflectivity, it is difficult for ordinary infrared and laser sensors to accurately detect the edges. In addition, the edges of beds and sofas are mostly arc angles or gradually inclined structures, and there are also uneven and wrinkled areas on the surfaces of beds and sofas. If the sensor is assembled on the bottom surface of the body 1, the detection range is small, which is easy to cause misjudgment. Therefore, the cliff sensor 2 of the present application adopts the laser TOF ranging principle and is arranged on the top of the side wall 10 of the body 1. It can effectively, timely and accurately detect the edges of beds and sofas, and is more suitable for cleaning beds and sofas.

[0070] The above disclosure is only some embodiments of the present invention. For those skilled in the art, several modifications and improvements can be made without departing from the creative concept of the present invention, which all belong to the protection scope of the invention.

Claims

1. A cleaning robot, characterized in that: It comprises a body (1) and a cliff sensor (2); The side wall (10) of the machine body (1) is provided with the cliff sensor (2) at the front end, left side and right side along the walking path; The cliff sensor (2) is arranged to be tilted downward and outward, and can transmit a detection signal tilted outward; The inclination angle (θ) of the cliff sensor (2) is between 20 degrees and 70 degrees.

2. A cleaning robot according to claim 1, characterized in that: When the edge detection distance (H) between the body (1) and the cliff is less than a preset value, the robot performs an action of avoiding the cliff; The setting range of the preset value is 1 cm to 20 cm.

3. A cleaning robot according to claim 2, characterized in that: The cliff sensor (2) is embedded in the top of the side wall (10).

4. A cleaning robot according to claim 3, characterized in that: The front end, left side and right side of the side wall (10) are all provided with grooves (11), and the cliff sensor (2) is assembled in the grooves (11).

5. A cleaning robot according to claim 4, characterized in that: The groove (11) is provided with a first groove surface (11a) and a second groove surface (11b); The first groove surface (11a) is inclined downward and outward; The second groove surface (11b) is inclined upward and outward; The cliff sensor (2) is assembled on the first groove surface (11a).

6. A cleaning robot according to claim 1, characterized in that: The cliff sensor (2) is a laser TOF distance measurement sensor.

7. A cleaning robot according to claim 6, characterized in that: The cliff sensor (2) is capable of detecting steps.

8. A cleaning robot according to claim 7, characterized in that: When the data detected by the cliff sensor (2) is between 50 mm and 60 mm, it is determined that there is a step in the direction of travel, and the walking path is replanned or the step is crossed.

9. A cleaning robot according to claim 6, characterized in that: The cliff sensor (2) is capable of detecting obstacles.

10. A cleaning robot according to claim 9, characterized in that: When the data detected by the cliff sensor (2) is between 30 mm and 40 mm, it is determined that there is an obstacle in the direction of travel, and the walking path is replanned.

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