Cleaning robot
By designing identification components in the cleaning robot, combining laser modules, cameras and fill lights, the problem of unstable obstacle detection in the light-changing environment of cleaning robots is solved, and obstacle avoidance performance is significantly improved.
Patent Information
- Application Number
- CN202411773584.6
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-04
- Publication Date
- 2025-03-11
AI Technical Summary
The cleaning robot has poor stability and accuracy in detecting obstacles during travel, resulting in poor obstacle avoidance performance, especially in environments with changing light.
A cleaning robot is designed, using identification components, which include laser modules, cameras and fill lights. Through the combination of these components, obstacles can be identified and detected in environments with strong and weak light, reducing the impact of light environmental factors.
The stability, accuracy and reliability of the detection of obstacles by cleaning robots is improved, and obstacle avoidance performance is improved, especially in dark environments and for small obstacles.
Smart Images
Figure CN119586923A_ABST
Abstract
Description
Technical Field
[0001] The present application belongs to the technical field of cleaning equipment, and in particular, relates to a cleaning robot. Background Art
[0002] In some cases, cleaning robots such as sweepers, sweepers and mops, scrubbers, and floor scrubbers can use cameras to identify and detect obstacles while they are moving, so that they can avoid them. However, cameras are greatly affected by lighting and environmental factors, which results in poor detection stability and accuracy of obstacles by cleaning robots, resulting in poor obstacle avoidance performance of cleaning robots. Summary of the invention
[0003] An embodiment of the present application provides a cleaning robot, which aims to solve the problem that the cleaning robot has poor detection stability and detection accuracy of obstacles, resulting in poor obstacle avoidance performance of the cleaning robot.
[0004] To achieve the above purpose, the technical solution adopted in the embodiment of the present application is:
[0005] In a first aspect, a cleaning robot is provided, comprising:
[0006] Robot body;
[0007] An identification component is arranged on the front side of the robot body, and the identification component includes a supporting shell, a light-transmitting shell, a laser module, a camera and a fill light. The supporting shell covers the rear side of the light-transmitting shell, and the laser module, the camera and the fill light are all arranged in a space enclosed by the supporting shell and the light-transmitting shell.
[0008] In some embodiments, the laser module and the camera are respectively arranged on the left and right sides of the light-transmitting shell.
[0009] In some embodiments, the camera and the fill light are arranged side by side up and down.
[0010] In some embodiments, the laser module is a line laser module.
[0011] In some embodiments, the laser emission direction of the laser module is set at an acute angle to the direction of gravity.
[0012] In some embodiments, the light-transmitting shell includes a first light-transmitting member and a second light-transmitting member, the second light-transmitting member is arranged corresponding to the camera, an installation groove is provided at a position of the first light-transmitting member corresponding to the second light-transmitting member, and the second light-transmitting member is embedded in the installation groove.
[0013] In some embodiments, a light-transmitting hole is formed through the light-transmitting shell at a position corresponding to the fill light.
[0014] In some embodiments, the identification component further includes an infrared recharging module, and the infrared recharging module is disposed in a space enclosed by the supporting shell and the light-transmitting shell.
[0015] In some embodiments, the cleaning robot further includes an ultrasonic module, and the ultrasonic module is disposed on the lower side of the robot body along the direction of gravity.
[0016] In some embodiments, the ultrasonic module is disposed on the right side of the robot body for edge cleaning.
[0017] In some embodiments, the cleaning robot also includes a collision shell and an elastic member. The collision shell can be installed on the front side of the robot body in a floating manner forward and backward. The elastic member is elastically connected between the collision shell and the robot body. The collision shell is provided with a first opening at a position corresponding to the identification component.
[0018] In some embodiments, the cleaning robot also includes a wall component, which is arranged at the left front or right front of the robot body and between the collision shell and the robot body. The collision shell has a second opening at the position corresponding to the wall component.
[0019] In some embodiments, the cleaning robot further includes a collision box assembly, wherein the collision box assembly is disposed between the collision shell and the robot body, and a trigger member of the collision box assembly abuts against the collision shell.
[0020] The beneficial effects of the cleaning robot provided by the present application are:
[0021] The cleaning robot provided in the embodiment of the present application can have a strong obstacle recognition capability through the recognition component arranged on the front side of the robot body. In particular, the recognition component can be compatible with and suitable for identifying and detecting obstacles of various sizes (including small and non-small obstacles) in bright environments with strong light and in dark environments with weak light through the combination of a laser module, a camera and a fill light. Based on this, the influence of the lighting environment factors on the recognition component can be reduced, the recognition capability of the recognition component for obstacles can be improved, and the detection stability, detection accuracy and detection reliability of the recognition component for obstacles can be improved, thereby improving the obstacle avoidance performance of the cleaning robot, especially the obstacle avoidance performance of the cleaning robot for small obstacles, and especially the obstacle avoidance performance of the cleaning robot in a dark environment. BRIEF DESCRIPTION OF THE DRAWINGS
[0022] In order to clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.
[0023] Figure 1 A three-dimensional schematic diagram of a cleaning robot provided in some embodiments of the present application;
[0024] Figure 2 for Figure 1 A three-dimensional schematic diagram of the identification component provided;
[0025] Figure 3 for Figure 2 A partial structural elevation view of the identification assembly is provided;
[0026] Figure 4 for Figure 2 An exploded schematic diagram of the identification components provided;
[0027] Figure 5 for Figure 3 A side view of the laser module is provided;
[0028] Figure 6 for Figure 1 A bottom view of the provided cleaning robot;
[0029] Figure 7 for Figure 1 An exploded diagram of the cleaning robot provided.
[0030] Among them, the reference numerals in the figure are:
[0031] 10-robot body, 20-identification component, 21-support shell, 22-light-transmitting shell, 221-first light-transmitting member, 2211-installation groove, 2212-through hole, 222-second light-transmitting member, 223-light-transmitting hole, 23-laser module, 24-camera, 25-fill light, 26-infrared recharging module, 27-sealing ring, 30-ultrasonic module, 40-collision shell, 41-first opening, 42-second opening, 50-elastic member, 60-wall assembly, 70-collision box assembly, 71-trigger member, α-angle between the laser emission direction of the laser module and the direction of gravity. DETAILED DESCRIPTION
[0032] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present application clear, the present application is described in detail below in conjunction with the accompanying drawings and examples. It should be understood that the specific embodiments described herein are only used to explain the present application and are not intended to limit the present application. If there is no special description, all implementation methods and optional implementation methods of the present application can be combined with each other to form a new technical solution. If there is no special description, all technical features and optional technical features of the present application can be combined with each other to form a new technical solution.
[0033] In the description of the present application, it should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.
[0034] It should also be noted that in the embodiments of the present application, according to Figure 1 The XYZ rectangular coordinate system established in the figure is defined as follows: the side located in the positive direction of the X-axis is defined as the front, corresponding to the moving direction of the cleaning robot (i.e. the forward direction of walking), and the side located in the negative direction of the X-axis is defined as the back; the side located in the positive direction of the Y-axis is defined as the left, and the side located in the negative direction of the Y-axis is defined as the right; the side located in the positive direction of the Z-axis is defined as the top, and the side located in the negative direction of the Z-axis is defined as the bottom.
[0035] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.
[0036] In this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.
[0037] In some cases, cleaning robots such as sweepers, sweepers and mops, scrubbers, and floor scrubbers can use cameras to identify and detect obstacles while they are moving, so that the cleaning robots can avoid them (i.e., avoid obstacles). However, cameras are greatly affected by lighting and environmental factors, which results in poor detection stability and accuracy of obstacles by cleaning robots, resulting in poor obstacle avoidance performance of cleaning robots.
[0038] Therefore, the embodiment of the present application provides a cleaning robot, which can have a strong obstacle recognition capability through the recognition component arranged on the front side of the robot body. In particular, the recognition component can be compatible with and suitable for identifying and detecting obstacles of various sizes (including small and non-small obstacles) in bright environments with strong light and in dark environments with weak light through the combination of laser modules, cameras and fill lights. Based on this, the influence of lighting environment factors on the recognition component can be reduced, the recognition capability of the recognition component for obstacles can be improved, and the detection stability, detection accuracy and detection reliability of the recognition component for obstacles can be improved, thereby improving the obstacle avoidance performance of the cleaning robot, especially the obstacle avoidance performance of the cleaning robot for small obstacles, and especially the obstacle avoidance performance of the cleaning robot in dark environments.
[0039] The specific implementation of this application is described in detail below in conjunction with specific embodiments:
[0040] See also Figure 1 , Figure 2 , Figure 3 , Figure 4 Some embodiments of the present application provide a cleaning robot, including a robot body 10 and an identification component 20. The identification component 20 is arranged on the front side of the robot body 10. The identification component 20 includes a supporting shell 21, a light-transmitting shell 22, a laser module 23, a camera 24 and a fill light 25. The supporting shell 21 covers the rear side of the light-transmitting shell 22. The laser module 23, the camera 24 and the fill light 25 are all arranged in a space enclosed by the supporting shell 21 and the light-transmitting shell 22.
[0041] It should be noted that the cleaning robot may be a household or commercial cleaning robot such as a sweeper, a sweeper and mop, a floor scrubber, or a floor washer. The robot body 10 is the host of the cleaning robot, and the robot body 10 integrates at least the functions of movement and cleaning. The recognition component 20 is installed on the front side of the robot body 10, and the recognition component 20 is a modular component for identifying and detecting obstacles.
[0042] It should also be noted that the identification component 20 includes a supporting shell 21 , a light-transmitting shell 22 , a laser module 23 , a camera 24 and a fill light 25 .
[0043] The light-transmitting shell 22 is a shell component made of a light-transmitting material, and the supporting shell 21 is a shell component covered with the light-transmitting shell 22. The supporting shell 21 and the light-transmitting shell 22 can be enclosed together to form a containing space, so as to contain the laser module 23, the camera 24 and the fill light 25 through the containing space, thereby realizing dustproof and waterproof protection for the laser module 23, the camera 24 and the fill light 25. Among them, the connection method between the supporting shell 21 and the light-transmitting shell 22 can be adopted but not limited to the methods of snap connection, screw connection, bonding, welding, etc. Among them, the supporting shell 21 is arranged at the rear side of the light-transmitting shell 22, and the light-transmitting shell 22 is arranged at the front side of the supporting shell 21. The identification component 20 can be connected and fixed to the robot body 10 through at least one of the supporting shell 21 and the light-transmitting shell 22, and the connection and fixing method can be adopted but not limited to the methods of limited plug-in, snap connection, screw connection, bonding, welding, etc. Among them, the supporting shell 21 can be made of a light-transmitting material or a non-light-transmitting material. The overall shape and overall size of the supporting shell 21 and the light-transmitting shell 22 can be set as required, for example, the shape can be a rectangular parallelepiped, etc.
[0044] The laser module 23 is arranged in the space enclosed by the supporting shell 21 and the light-transmitting shell 22, and is installed in a stable position and state relative to the supporting shell 21 and the light-transmitting shell 22. The laser emission direction of the laser module 23 points to the light-transmitting shell 22, that is, points forward. The laser module 23 mainly identifies and detects obstacles based on laser radar technology, that is, the laser module 23 can emit lasers forward, and the lasers can pass through the light-transmitting shell 22 to the outside of the cleaning robot. The lasers that encounter obstacles can be reflected back to the laser module 23 by the obstacles, so that the laser module 23 can identify and detect obstacles accordingly. The laser module 23 can identify obstacles of various sizes. Depending on the accuracy, the detection accuracy of the laser module 23 for small obstacles may not be good. The laser module 23 is less affected by the lighting environment factors, and can be used in bright environments with strong light, and is also compatible with dark environments with weak light. Among them, the laser module 23 can be a line laser module, a point laser module, a surface laser module, etc.
[0045] The camera 24 is arranged in the space enclosed by the supporting shell 21 and the light-transmitting shell 22, and is stably installed in the position and state relative to the supporting shell 21 and the light-transmitting shell 22. The shooting direction of the camera 24 is toward the light-transmitting shell 22, that is, toward the front. The camera 24 mainly identifies and detects obstacles by collecting images of the surrounding environment and using stereoscopic vision technology. The camera 24 can identify obstacles of various sizes, especially small obstacles. The camera 24 is greatly affected by the lighting environment factors, and the detection effect of the camera 24 is better in a bright environment with strong light.
[0046] The fill light 25 is arranged in the space enclosed by the supporting shell 21 and the light-transmitting shell 22, and is installed in a stable position and state relative to the supporting shell 21 and the light-transmitting shell 22. The light irradiation direction of the fill light 25 points to the light-transmitting shell 22, that is, points to the front. The fill light 25 is mainly used to supplement light (i.e. fill light) in a dark light environment with weak light (especially in the case where the shooting effect of the camera 24 is not good based on the software algorithm) to provide additional lighting, thereby improving the shooting clarity of the camera 24. That is, based on the fill light 25, the camera 24 can also be compatible with a dark environment with weak light. Among them, the fill light 25 can be but not limited to an infrared fill light, a white light fill light, etc.
[0047] Among them, in the space enclosed by the supporting shell 21 and the transparent shell 22, the laser module 23, the camera 24 and the fill light 25 are arranged in a staggered manner, and the specific arrangement positions can be set as needed.
[0048] In summary, the cleaning robot provided in the embodiment of the present application can have a strong obstacle recognition capability through the recognition component 20 disposed on the front side of the robot body 10. In particular, the recognition component 20 can be compatible with and suitable for identifying and detecting obstacles of various sizes (including small and non-small obstacles) in bright environments with strong light and in dark environments with weak light through the combination of the laser module 23, the camera 24 and the fill light 25. Based on this, the influence of the lighting environment factors on the recognition component 20 can be reduced, the recognition capability of the recognition component 20 for obstacles can be improved, and the detection stability, detection accuracy and detection reliability of the recognition component 20 for obstacles can be improved, thereby improving the obstacle avoidance performance of the cleaning robot, especially the obstacle avoidance performance of the cleaning robot for small obstacles, and especially the obstacle avoidance performance of the cleaning robot in a dark environment.
[0049] like Figure 4 As shown, in some embodiments, a sealing ring 27 may be provided between the supporting shell 21 and the light-transmitting shell 22 to seal the gap between the supporting shell 21 and the light-transmitting shell 22 via the sealing ring 27, thereby reducing the risk of impurities such as dust and water penetrating into the enclosed space of the supporting shell 21 and the light-transmitting shell 22 from the gap between the supporting shell 21 and the light-transmitting shell 22, and improving the protective performance of the supporting shell 21 and the light-transmitting shell 22 for various components arranged in their enclosed spaces.
[0050] See also Figure 2 , Figure 3 , Figure 4 In some embodiments of the present application, the laser module 23 and the camera 24 are respectively arranged on the left and right sides of the light-transmitting housing 22. Figure 3As shown, in some embodiments, in the space enclosed by the support housing 21 and the light-transmitting housing 22, the camera 24 is disposed on the left side, and the laser module 23 is disposed on the right side. In other embodiments, in the space enclosed by the support housing 21 and the light-transmitting housing 22, the camera 24 is disposed on the right side, and the laser module 23 is disposed on the left side.
[0051] By adopting the above scheme, by arranging the laser module 23 and the camera 24 on the left and right sides of the light-transmitting shell 22, it is convenient to optimize the layout of the laser module 23 and the camera 24 in the limited space enclosed by the supporting shell 21 and the light-transmitting shell 22. Based on this, on the one hand, it is conducive to the integration and miniaturization of the recognition component 20, and the space utilization rate can be improved; on the other hand, it is convenient for the laser module 23 and the camera 24 to obtain the environmental information in front from different angles, and it is convenient for the laser module 23 and the camera 24 to complement each other and jointly cover a wide range of environmental recognition areas, and reduce the recognition blind area, so that the recognition component 20 can more comprehensively perceive the surrounding space layout and obstacle distribution, and can improve the recognition component 20's ability to recognize obstacles, and can improve the obstacle avoidance performance of the cleaning robot.
[0052] Of course, in other embodiments, within the space enclosed by the supporting shell 21 and the light-transmitting shell 22 , the laser module 23 and the camera 24 can be flexibly arranged in relative positions as needed based on the mutually staggered arrangement.
[0053] See also Figure 2 , Figure 3 , Figure 4 In some embodiments of the present application, the camera 24 and the fill light 25 are arranged side by side. Figure 3 As shown, in some embodiments, the fill lights 25 are arranged at intervals on the lower side of the camera 24. In other embodiments, the fill lights 25 are arranged at intervals on the upper side of the camera 24.
[0054] By adopting the above solution, by arranging the camera 24 and the fill light 25 side by side, it is convenient to optimize the layout of the camera 24 and the fill light 25 in the limited space enclosed by the support shell 21 and the light-transmitting shell 22. Based on this, on the one hand, it is convenient to integrate and miniaturize the recognition component 20, and improve the space utilization rate; on the other hand, it is convenient for the fill light 25 to directly provide lighting for the camera 24 in a weak light environment, and the light of the fill light 25 can be evenly irradiated in front of the camera 24, so that the camera 24 can also capture a clear image in a weak light environment, and the shooting clarity of the camera 24 can be improved, and the accuracy of image recognition can be improved, so that the recognition component 20 can improve the ability to recognize obstacles, and the obstacle avoidance performance of the cleaning robot can be improved.
[0055] Of course, in other embodiments, within the space enclosed by the supporting shell 21 and the light-transmitting shell 22 , the camera 24 and the fill light 25 can be flexibly arranged in relative positions as needed based on the mutually staggered arrangement.
[0056] See also Figure 2 , Figure 3 , Figure 4 In some embodiments of the present application, the laser module 23 is a line laser module. It should be noted that the line laser module is a laser module 23 that can generate a linear laser beam. The line laser module can be a linear line laser module or a scanning line laser module, etc.
[0057] By adopting the above-mentioned scheme, by making the laser module 23 a linear laser module, the laser module 23 can generate a linear laser beam, and the laser beam generated by the laser module 23 can have high directionality and consistency, and the laser beam generated by the laser module 23 can maintain a small cross-section within a long distance. Based on this, the laser module 23 can have strong anti-interference ability and environmental adaptability, can work normally under different lighting conditions, different material surfaces and different obstacle types, can identify obstacles with high precision, can provide more accurate and comprehensive obstacle information, and can even scan the three-dimensional contour of the surrounding environment, thereby improving the detection reliability and accuracy of the identification component 20 for obstacles, and improving the obstacle avoidance performance of the cleaning robot.
[0058] Of course, in other embodiments, the laser module 23 may be other types of laser modules 23, such as a point laser module, a surface laser module, etc.
[0059] See also Figure 3 , Figure 4 , Figure 5 In some embodiments of the present application, the laser emission direction of the laser module 23 is set at an acute angle to the direction of gravity. It should be noted that the laser module 23 is placed at a relative downward tilt, so that the laser emission direction of the laser module 23 is set at an acute angle to the direction of gravity, so that the laser emission direction of the laser module 23 is not horizontally pointing straight ahead, but obliquely pointing forward and downward. Among them, the angle value of the angle α between the laser emission direction of the laser module 23 and the direction of gravity can be set as needed according to the distance and width that the laser needs to be emitted. Among them, the direction of gravity is the vertical downward direction.
[0060] By adopting the above scheme, by setting the laser emission direction of the laser module 23 at an acute angle to the gravity direction, the laser emission direction of the laser module 23 can be made to point obliquely to the front and downward instead of horizontally pointing to the front. Based on this, the laser module 23 can be more suitable for identifying and detecting low obstacles, the laser emitted by the laser module 23 can be easily reflected back to the laser module 23 after being reflected by the obstacle, and the laser module 23 can be easily received by the laser module 23. Therefore, the obstacle recognition ability of the laser module 23 and the recognition component 20 can be optimized, and the obstacle avoidance performance of the cleaning robot can be optimized, especially the obstacle avoidance performance of the cleaning robot for low obstacles can be improved.
[0061] Of course, in other embodiments, the laser emission direction of the laser module 23 may be set at a right angle or an obtuse angle to the gravity direction, that is, the laser emission direction of the laser module 23 may point horizontally to the front, or may point obliquely to the front and upward.
[0062] See also Figure 2 , Figure 3 , Figure 4 In some embodiments of the present application, the light-transmitting shell 22 includes a first light-transmitting member 221 and a second light-transmitting member 222. The second light-transmitting member 222 is arranged corresponding to the camera 24. An installation groove 2211 is provided at a position of the first light-transmitting member 221 corresponding to the second light-transmitting member 222. The second light-transmitting member 222 is embedded in the installation groove 2211.
[0063] It should be noted that the first light-transmitting member 221 and the second light-transmitting member 222 can be formed separately and connected separately. The first light-transmitting member 221 is provided with a mounting groove 2211 at a position corresponding to the second light-transmitting member 222. The shape and size of the mounting groove 2211 correspond to the shape and size of the second light-transmitting member 222. The second light-transmitting member 222 is embedded in the mounting groove 2211 and connected and fixed to the first light-transmitting member 221. The connection and fixing method between the second light-transmitting member 222 and the first light-transmitting member 221 can be, but is not limited to, bonding and other methods.
[0064] like Figure 4 As shown, in some embodiments, the mounting groove 2211 is not arranged to be through-connected along the groove depth direction, and a through hole 2212 is formed at the groove bottom of the mounting groove 2211 corresponding to the position of the second light-transmitting member 222, so that the camera 24 can shoot through the through hole 2212 and the second light-transmitting member 222. In other embodiments, the mounting groove 2211 is arranged to be through-connected along the groove depth direction, so that the camera 24 can shoot only through the second light-transmitting member 222.
[0065] Since the first light-transmitting member 221 and the second light-transmitting member 222 can be formed separately, the first light-transmitting member 221 and the second light-transmitting member 222 can be made of different light-transmitting materials. Since the first light-transmitting member 221 is mainly arranged corresponding to the laser module 23, the light-transmitting material used by the first light-transmitting member 221 can be customized according to the laser module 23, for example, a laser lens can be used. Since the second light-transmitting member 222 is mainly arranged corresponding to the camera 24, the light-transmitting material used by the second light-transmitting member 222 can be customized according to the camera 24, for example, a camera lens can be used.
[0066] By adopting the above scheme, a light-transmitting shell 22 with a mosaic structure can be formed by the first light-transmitting member 221 and the second light-transmitting member 222 that are separately formed and separately connected. Based on this, the structural design of the light-transmitting shell 22 can be optimized, the overall structural reliability of the light-transmitting shell 22 can be increased, and the reliability and service life of the light-transmitting shell 22 and the identification component 20 can be improved.
[0067] By adopting the above solution, the first light-transmitting member 221 and the second light-transmitting member 222 can be made of different light-transmitting materials. Based on this, the first light-transmitting member 221 can be customized according to the laser module 23 to reduce the loss of laser light when passing through the first light-transmitting member 221 and improve the transmission efficiency of laser light when passing through the first light-transmitting member 221, so that the laser light can be efficiently and massively projected to the front environment outside the first light-transmitting member 221, and the laser module 23 can accurately receive the laser light reflected by the obstacle, so as to optimize the recognition ability of the laser module 23 and the recognition component 20 to the obstacle, and optimize the obstacle avoidance performance of the cleaning robot. Furthermore, the second light-transmitting member 222 can be customized and designed according to the camera 24, and can be optimized for the wavelength of visible light, thereby improving the clarity and color reproduction of the image captured by the camera 24 through the second light-transmitting member 222, and enabling the camera 24 to capture clear and complete image information, thereby optimizing the camera 24 and the recognition component 20's ability to recognize obstacles, and optimizing the obstacle avoidance performance of the cleaning robot.
[0068] Of course, in other embodiments, the light-transmitting housing 22 may be an integrally formed structure.
[0069] See also Figure 2 , Figure 3 , Figure 4 In some embodiments of the present application, a light-transmitting hole 223 is provided through the light-transmitting housing 22 at a position corresponding to the fill light 25. It should be noted that the light-transmitting hole 223 is provided corresponding to the fill light 25. The shape and size of the light-transmitting hole 223 can be set as required, for example, it can be set with reference to the shape and size of the fill light 25. The fill light 25 can directly irradiate light outward through the through light-transmitting hole 223.
[0070] By adopting the above scheme, the fill light 25 can directly irradiate light outward through the through light hole 223 to basically avoid reflection and scattering of light inside the light-transmitting shell 22. Based on this, the utilization rate and lighting effect of the light irradiated by the fill light 25 can be improved, and the fill light effect of the fill light 25 can be optimized, so that the light emitted by the fill light 25 through the light hole 223 can clearly illuminate the obstacles in front, provide sufficient lighting for the camera 24, and enable the camera 24 to capture clear images, thereby optimizing the camera 24 and the recognition component 20's ability to recognize obstacles, and optimizing the obstacle avoidance performance of the cleaning robot.
[0071] Of course, in other embodiments, the light-transmitting hole 223 may be omitted from the light-transmitting shell 22 , and the fill light 25 may irradiate light outward through the light-transmitting shell 22 .
[0072] See also Figure 2 , Figure 3 , Figure 4 In some embodiments of the present application, the identification component 20 also includes an infrared recharging module 26, and the infrared recharging module 26 is arranged in a space enclosed by the supporting shell 21 and the light-transmitting shell 22.
[0073] It should be noted that the infrared recharging module 26 is integrated into the identification component 20. The infrared recharging module 26 is arranged in the space enclosed by the supporting shell 21 and the light-transmitting shell 22, and is stably installed in a position and state relative to the supporting shell 21 and the light-transmitting shell 22. The infrared recharging module 26 is used to guide the cleaning robot back to the charging base. The working principle of the infrared recharging module 26 is mainly based on the transmission and reception of infrared signals. The charging base continuously sends out infrared signals. The infrared recharging module 26 of the cleaning robot can determine its own position by receiving these signals, so that the cleaning robot can plan a route back to the charging base.
[0074] In the space enclosed by the supporting shell 21 and the light-transmitting shell 22, the laser module 23, the camera 24, the fill light 25, and the infrared recharging module 26 are arranged in a staggered manner, and the specific arrangement positions can be set as required. Figure 3 As shown, in some embodiments, the infrared recharging module 26 can be centrally arranged between the laser module 23 and the camera 24. Such an arrangement can optimize the layout of the laser module 23, the camera 24, and the infrared recharging module 26 within the limited space enclosed by the support shell 21 and the light-transmitting shell 22, and can also facilitate the cleaning robot to accurately determine its position relative to the charging base based on the centrally arranged infrared recharging module 26.
[0075] By adopting the above scheme, an integrated infrared recharge module 26 can be added to the modular recognition component 20, and the internal space of the recognition component 20 can be fully utilized to integrate the infrared recharge module 26, which can reduce the extra space occupation. Based on this, the structure and function of the recognition component 20 can be optimized, and the recognition component 20 can be added with positioning function and recharge function, which can improve the integration and structural compactness of the recognition component 20, thereby promoting the compact and reasonable structure of the cleaning robot. In addition, since the infrared recharge module 26, the laser module 23, the camera 24, and the fill light 25 are all integrated in the recognition component 20, the recognition component 20 as a whole can be assembled with the robot body 10, which is conducive to reducing the assembly steps and improving the assembly convenience and assembly efficiency of the cleaning robot. In addition, since the infrared recharge module 26 is integrated in the space enclosed by the support shell 21 and the light-transmitting shell 22, the support shell 21 and the light-transmitting shell 22 can provide a good protection effect for the infrared recharge module 26, thereby helping to improve the reliability and service life of the infrared recharge module 26.
[0076] Of course, in other embodiments, the infrared recharging module 26 can be provided independently of the identification component 20 .
[0077] See also Figure 1 , Figure 6 In some embodiments of the present application, the cleaning robot further includes an ultrasonic module 30 , which is disposed on the lower side of the robot body 10 along the direction of gravity.
[0078] It should be noted that the ultrasonic module 30 is disposed on the lower side of the robot body 10, and the lower side of the robot body 10 is the side that complies with the direction of gravity. The ultrasonic emission direction of the ultrasonic module 30 points downward. The ultrasonic module 30 can detect objects and obstacles by emitting ultrasonic waves and receiving their reflected signals.
[0079] Carpet is a common household floor covering. Its material and structure can cause the ultrasonic signal to be greatly attenuated during the propagation process, so that the reflected ultrasonic signal is relatively weak. On the contrary, hard floors or floor tiles have less attenuation on ultrasonic signals, and the reflected ultrasonic signals are relatively strong. Based on this, the ultrasonic module 30 can accurately identify the ground environment below by comparing the strength of the received reflected signal, and can especially accurately identify carpets.
[0080] By adopting the above scheme, the ultrasonic module 30 disposed on the lower side of the robot body 10 can facilitate the ultrasonic module 30 to identify the ground environment below by comparing the intensity of the received reflected signal, especially to accurately identify the carpet. Based on this, the difference in the reflection characteristics of ultrasonic waves on the surfaces of different materials can be cleverly utilized to increase and enhance the cleaning robot's ability to recognize the ground environment, especially the carpet. As a result, in the mopping mode, the cleaning robot can accurately bypass the carpet area according to the recognition result of the ultrasonic module 30 to reduce the risk of the carpet being wet or dirty due to direct contact between the wet mop and the carpet, thereby maintaining and improving the cleaning effect and cleaning efficiency of the cleaning robot in the mopping mode. In the sweeping mode, the cleaning robot can identify the carpet through the ultrasonic module 30 and allow it to sweep the carpet to effectively remove dust and debris on the carpet, thereby improving the cleaning effect of the cleaning robot in the sweeping mode. In this way, the environmental adaptability of the cleaning robot can be greatly improved, and the cleaning robot can be convenient for the cleaning robot to adopt intelligent and flexible cleaning strategies according to the ultrasonic module 30's ability to recognize the ground environment, especially the carpet, and improve the use performance and user experience of the cleaning robot.
[0081] See also Figure 1 , Figure 6 In some embodiments of the present application, the ultrasonic module 30 is disposed on the right side of the robot body 10 for edge cleaning.
[0082] The cleaning robot mainly adopts the right edge cleaning logic, which refers to the strategy of the cleaning robot to clean along the right edge of the room or obstacle. Therefore, by adopting the above scheme, by arranging the ultrasonic module 30 on the right side of the robot body 10 for edge cleaning, the ultrasonic module 30 can be arranged at the lower right side of the robot body 10, and the ultrasonic module 30 can be installed on the right side. Based on this, the layout of the ultrasonic module 30 can be consistent with the right edge cleaning logic, so that during the operation of the cleaning robot, the ultrasonic module 30 can quickly and timely identify the ground environment, especially the presence of carpets. As a result, the cleaning robot can quickly, accurately and intelligently switch and adjust the cleaning strategy according to the recognition results of the ultrasonic module 30 on the ground environment, especially the carpet, so as to improve the intelligence, reliability and user experience of the cleaning robot.
[0083] Of course, in other embodiments, if the cleaning robot adopts the left edge cleaning logic, the ultrasonic module 30 can be arranged on the left side of the robot body 10 for edge cleaning. Alternatively, the ultrasonic module 30 can be centrally arranged in the middle of the robot body 10 along the left and right directions.
[0084] See also Figure 1 , Figure 7In some embodiments of the present application, the cleaning robot also includes a collision shell 40 and an elastic member 50. The collision shell 40 can be installed on the front side of the robot body 10 in a floating manner forward and backward. The elastic member 50 is elastically connected between the collision shell 40 and the robot body 10. The collision shell 40 is provided with a first opening 41 at the position corresponding to the identification component 20.
[0085] It should be noted that the collision shell 40 is installed on the front side of the robot body 10, and is placed in the center, and can float forward and backward relative to the robot body 10. The collision shell 40 can be installed on the front side of the robot body 10 in a floating manner through structures such as latches, grooves, and openings. The collision shell 40 is used to withstand and absorb the impact force from obstacles during the movement of the cleaning robot to reduce damage to the cleaning robot. The shape and size of the collision shell 40 correspond to the shape and size of the front side of the robot body 10. For example, the robot body 10 is in the shape of a flat cylinder as a whole, and the collision shell 40 is in the shape of an arc sheet.
[0086] An elastic member 50 is provided between the collision shell 40 and the robot body 10, one end of the elastic member 50 is fixedly connected to the robot body 10, and the other end of the elastic member 50 elastically presses against the collision shell 40. When the collision shell 40 moves backward due to a collision, the elastic member 50 can withstand the pressure of the collision shell 40, and produce elastic deformation and accumulate elastic force to buffer and eliminate the impact force, thereby providing a buffering effect; and after the collision shell 40 is out of the state of being collided, the elastic member 50 can also cause the collision shell 40 to reset forward based on the elastic force, that is, to provide a reset effect. The elastic member 50 can be a spring, a spring, etc. The number of the elastic member 50 can be one or more, such as Figure 7 As shown, in some embodiments, two elastic members 50 are provided, and the two elastic members 50 are symmetrically distributed on the left and right sides of the collision shell 40 to balance the buffering effect of the two elastic members 50 on the collision shell 40 .
[0087] It should also be noted that, in order to facilitate the collision shell 40 to withstand the collision, the collision shell 40 is arranged on the front side of the identification component 20. On this basis, a first opening 41 can be set at the position of the collision shell 40 corresponding to the identification component 20. The first opening 41 is set corresponding to the identification component 20. The shape and size of the first opening 41 can be set as needed, for example, it can be set with reference to the shape and size of the identification component 20. The first opening 41 penetrates the collision shell 40 along the thickness direction of the collision shell 40, and the identification component 20 can transmit and receive light and laser through the first opening 41.
[0088] By adopting the above scheme, the collision of obstacles can be mainly borne by the collision shell 40 installed on the front side of the robot body 10 and capable of floating forward and backward, and the impact force generated by the collision can be absorbed and dispersed by the elastic member 50 elastically supported between the robot body 10 and the collision shell 40. Based on this, the impact loss of the collision on the robot body 10 can be effectively reduced, and the identification component 20 can be protectively arranged on the rear side of the collision shell 40 to reduce the risk of the identification component 20 being directly impacted, thereby protecting the structural integrity of the cleaning robot and improving the reliability and service life of the cleaning robot. In addition, the identification component 20 can emit and receive light and laser through the first through opening 41. Therefore, the setting of the collision shell 40 will not interfere with the recognition ability of the identification component 20. The identification component 20 can continue to provide accurate obstacle recognition information for the cleaning robot, and the reliability of the identification component 20 can be maintained.
[0089] See also Figure 1 , Figure 7 In some embodiments of the present application, the cleaning robot also includes a wall component 60, which is arranged at the left front or right front of the robot body 10 and is located between the collision shell 40 and the robot body 10. The collision shell 40 is provided with a second opening 42 at the position corresponding to the wall component 60.
[0090] It should be noted that the main functions of the wall-following component 60 are to follow the wall and find the charging station. "Following the wall" refers to the function of the cleaning robot to clean along the wall. "Finding the charging station" refers to the function of finding the charging base. The specific structure of the wall-following component 60 can be set as needed. For example, the wall-following component 60 may include a wall-following infrared transmitter and a wall-following infrared receiver (together used to detect the distance between the cleaning robot and the wall or other objects). For another example, the wall-following component 60 may include a ToF (Time-of-Flight) sensor.
[0091] There may be one or more wall-following components 60. The wall-following component 60 may be arranged at the left front of the robot body 10, that is, at the left side of the robot body 10, or at the right front of the robot body 10, that is, at the right side of the robot body 10, so that the wall-following component 60 can achieve "following the wall". Figure 7 As shown, in some embodiments, two wall components 60 are provided, and the two wall components 60 are symmetrically arranged at the left front and the right front of the robot body 10 .
[0092] The wall component 60 is protectively arranged at the rear side of the collision shell 40, that is, the wall component 60 is located between the collision shell 40 and the robot body 10. On this basis, the collision shell 40 is provided with a second opening 42 at the position corresponding to the wall component 60, and the second opening 42 is arranged corresponding to the wall component 60. The shape and size of the second opening 42 can be set as required, for example, it can be set with reference to the shape and size of the wall component 60. The second opening 42 penetrates the collision shell 40 along the thickness direction of the collision shell 40, and the wall component 60 can transmit and receive infrared light through the penetrated second opening 42.
[0093] By adopting the above scheme, the cleaning robot can realize the wall-following and pile-finding functions through the wall-following component 60 installed on the left front or right front of the robot body 10. Based on this, the structure and function of the cleaning robot can be optimized, and the performance, reliability and user experience of the cleaning robot can be improved.
[0094] Furthermore, based on the configuration of this embodiment, the wall assembly 60 can be protectively arranged at the rear side of the collision shell 40 to reduce the risk of direct impact on the wall assembly 60, thereby protecting the structural integrity of the wall assembly 60 and the cleaning robot, and improving the reliability and service life of the wall assembly 60 and the cleaning robot. Furthermore, the wall assembly 60 can transmit and receive infrared light through the second opening 42, so the configuration of the collision shell 40 will not interfere with the effectiveness of the wall assembly 60, and the performance and reliability of the wall assembly 60 can be maintained.
[0095] See also Figure 1 , Figure 7 In some embodiments of the present application, the cleaning robot further includes a collision box assembly 70 , which is disposed between the collision shell 40 and the robot body 10 , and a trigger member 71 of the collision box assembly 70 abuts against the collision shell 40 .
[0096] It should be noted that the collision box assembly 70 is connected and fixed to the front side of the robot body 10, and the connection and fixing method can be adopted but not limited to limited plug-in, snap connection, screw connection, bonding, welding and the like. The collision box assembly 70 can be provided with one or more. Figure 7 As shown, in some embodiments, two collision box assemblies 70 are provided, and the two collision box assemblies 70 are symmetrically disposed on the left and right sides of the identification assembly 20 .
[0097] The crash box assembly 70 has a triggering member 71 that can trigger a switch structure (such as a photoelectric switch) inside the crash box assembly 70 . The triggering member 71 of the crash box assembly 70 extends toward the crash housing 40 and abuts against the crash housing 40 .
[0098] By adopting the above solution, when the collision shell 40 moves backward due to collision, the trigger member 71 can be pressed by the collision shell 40 to mechanically trigger the switch structure inside the collision box assembly 70, so that the collision box assembly 70 can accurately, reliably and timely output the collision signal, thereby realizing collision detection. Based on this, the cleaning robot can easily sense the contact with the obstacle in real time through the collision signal fed back by the collision box assembly 70, and change the direction of travel in time to reduce the risk of further collision, jamming, shutdown and damage of the cleaning robot, thereby improving the obstacle avoidance performance, reliability and service life of the cleaning robot.
[0099] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions or improvements made within the spirit and principles of the present application should be included in the protection scope of the present application.
Claims
1. A cleaning robot, characterized in that: include: Robot body; An identification component is arranged on the front side of the robot body, and the identification component includes a supporting shell, a light-transmitting shell, a laser module, a camera and a fill light. The supporting shell covers the rear side of the light-transmitting shell, and the laser module, the camera and the fill light are all arranged in a space enclosed by the supporting shell and the light-transmitting shell.
2. The cleaning robot according to claim 1, characterized in that: The laser module and the camera are respectively arranged on the left and right sides of the light-transmitting shell.
3. The cleaning robot according to claim 1, characterized in that: The camera and the fill light are arranged side by side up and down.
4. The cleaning robot according to claim 1, characterized in that: The laser module is a line laser module; And / or, the laser emission direction of the laser module is set at an acute angle to the gravity direction.
5. The cleaning robot according to claim 1, characterized in that: The light-transmitting housing includes a first light-transmitting member and a second light-transmitting member, the second light-transmitting member is arranged corresponding to the camera, a mounting groove is arranged at a position of the first light-transmitting member corresponding to the second light-transmitting member, and the second light-transmitting member is embedded in the mounting groove; And / or, a light-transmitting hole is provided through the light-transmitting shell at a position corresponding to the fill light.
6. The cleaning robot according to claim 1, characterized in that: The identification component also includes an infrared recharging module, and the infrared recharging module is arranged in a space enclosed by the supporting shell and the light-transmitting shell.
7. The cleaning robot according to any one of claims 1 to 6, characterized in that: The cleaning robot further comprises an ultrasonic module, and the ultrasonic module is arranged on the lower side of the robot body along the direction of gravity.
8. The cleaning robot according to claim 7, characterized in that: The ultrasonic module is arranged on the right side of the robot body for edge cleaning.
9. The cleaning robot according to any one of claims 1 to 6, characterized in that: The cleaning robot also includes a collision shell and an elastic member. The collision shell can be installed on the front side of the robot body in a floating manner forward and backward. The elastic member is elastically connected between the collision shell and the robot body. The collision shell is provided with a first opening at a position corresponding to the identification component.
10. The cleaning robot according to claim 9, characterized in that: The cleaning robot further comprises a wall-following component, which is arranged at the left front or right front of the robot body and between the collision shell and the robot body, and the collision shell is provided with a second opening at a position corresponding to the wall-following component; And / or, the cleaning robot further comprises a collision box assembly, wherein the collision box assembly is arranged between the collision shell and the robot body, and a trigger member of the collision box assembly abuts against the collision shell.