Cleaning robot

Abstract

The utility model relates to a cleaning robot. According to the cleaning robot, the laser radar assembly with the light filtering component is arranged, stray light generated by the laser radar in the mapping and distance measuring process can be effectively absorbed, the stray light is prevented from influencing mapping and imaging of the cleaning robot, and the mapping and imaging precision of the cleaning robot in the working process is effectively improved.

Description

[0001] This application claims priority to Chinese patent application filed on December 8, 2023 and application number CN 202323353271.9, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The utility model relates to a cleaning robot with a laser radar component, belonging to the field of intelligent cleaning equipment. Background Art

[0003] Cleaning robots, as intelligent devices that can clean areas by themselves, have been widely used in recent years. In order to further improve the obstacle avoidance and obstacle recognition capabilities of cleaning robots, current cleaning robots usually use laser radar to identify objects in front of the cleaning robot's running direction and realize map navigation.

[0004] In order to prevent the laser radar from being damaged due to collisions during use, existing cleaning robots generally use radar protection devices to protect the laser radar. Since the radar protection devices are mostly hollow structures with pillars supporting the outer edges, the infrared beam emitted by the laser radar will be blocked by the pillar support structure, thereby affecting the accuracy of laser ranging and mapping navigation, causing unnecessary trouble.

[0005] In view of this, it is indeed necessary to provide a new lidar protection component to solve the above technical problems. Utility Model Content

[0006] The purpose of the utility model is to provide a cleaning robot, which has a laser radar component. By arranging a filter component in the laser radar component, stray light generated by reflection and the like during the operation of the laser radar can be effectively filtered out, thereby effectively solving the problems of missing laser radar optical path and weak signal during the laser radar mapping and navigation process, thereby improving the accuracy of the laser radar during the mapping and navigation process.

[0007] In order to achieve the above-mentioned utility model object, the utility model provides a cleaning robot, comprising a main body and a laser radar component connected to the main body, wherein the laser radar component comprises:

[0008] A laser radar, used for identifying and detecting objects in front of the running direction of the cleaning robot, comprising a radar probe and a cover shell arranged outside the radar probe;

[0009] A protection device is arranged on the main body and located outside the laser radar to protect the laser radar, wherein the protection device comprises a plurality of support columns, and an imaging gap for imaging of the laser radar is formed between two adjacent support columns;

[0010] A filter component is arranged between the housing and the support column, and includes filters arranged one by one with the support column, and the filters are arranged between the laser radar and the support column corresponding thereto, so as to at least absorb the light emitted by the laser radar and at least filter out the light emitted by the laser radar reflected back by the wall surface of the support column;

[0011] The optical filter has a first end surface disposed toward the housing, and a distance between the first end surface and the housing is defined as d1, and the distance d1 satisfies: 0<d1≤5.6mm.

[0012] As a further improvement of the present invention, the filter has a second end face arranged opposite to the first end face, and the distance between the second end face and the corresponding support column is defined as d2, and the distance d2 satisfies: 0≤d2≤2.9mm.

[0013] As a further improvement of the present invention, the filter component further includes a connecting portion, the filter is connected to the connecting portion, and the filter component is positioned and accommodated between the protective device and the cover shell through the connecting portion.

[0014] As a further improvement of the utility model, the filter is a laser filter made of black or dark laser absorbing material, or the surface of the filter is coated with a laser absorbing coating.

[0015] As a further improvement of the present invention, the filter component and the protective device are integrally formed.

[0016] As a further improvement of the present invention, the filter component and the protective device are provided separately.

[0017] As a further improvement of the present invention, the support column extends along the radial direction of the cover toward the direction of the laser radar, and the filter and the corresponding support column extend along the same direction toward the direction of the laser radar.

[0018] As a further improvement of the present invention, the protection device has a receiving cavity, which is used to receive the laser radar. Along the circumferential direction of the receiving cavity, the width of the filter is less than or equal to the width of the corresponding support column.

[0019] As a further improvement of the present invention, the support column extends along the radial direction of the cover toward the direction of the laser radar, and the extension direction of the filter forms an angle with the extension direction of the support column, and the angle is less than or equal to 5°.

[0020] As a further improvement of the utility model, a first positioning portion is formed at the bottom of the filter; and a second positioning portion corresponding to the first positioning portion is provided on the base of the protection device.

[0021] Compared with the prior art: the cleaning robot of the utility model is equipped with a laser radar component with a filtering component, which can effectively absorb the stray light generated by the laser radar in the process of mapping and ranging, prevent the stray light from affecting the mapping and imaging of the cleaning robot, and effectively improve the mapping and imaging accuracy of the cleaning robot during work. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 A schematic diagram of a portion of the structure of a laser radar assembly used in a cleaning robot in the prior art;

[0023] Figure 2 This is a schematic diagram of the three-dimensional structure of the cleaning robot in the present utility model;

[0024] Figure 3 for Figure 2 Schematic diagram of the disassembly of the laser radar component and the cleaning robot;

[0025] Figure 4 for Figure 2 Schematic diagram of the split structure of the laser radar component when the top plate and laser radar are omitted;

[0026] Figure 5 for Figure 2 A top view of the LiDAR assembly with the top plate omitted;

[0027] Figure 6 for Figure 5 A top view of the laser radar assembly in which the filter component is omitted;

[0028] Figure 7 for Figure 2 Radar point cloud of the laser radar component when d1 is greater than 5.6mm;

[0029] Figure 8 for Figure 2 Radar point cloud of the laser radar component when d2 is greater than 2.9mm;

[0030] Fig. 9 for Figure 2 The radar point cloud image of the laser radar component when the angle is 0;

[0031] Fig.10 for Figure 2 Radar point cloud of the LiDAR component when the angle is greater than 5°. DETAILED DESCRIPTION

[0032] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application. In the absence of conflict, the embodiments in the present application and the features in the embodiments can be combined with each other.

[0033] See also Figure 1 As shown, it is a laser radar component used in the cleaning robot in the prior art. In order to ensure the safety of the laser radar body, the existing laser radar component protects the laser radar body by providing a protective structure with supporting columns on the outside of the laser radar body to prevent the laser radar body from being damaged due to collision during use, causing abnormal use of the laser radar component.

[0034] However, during use of the protective structure with supporting columns, the light emitted by the laser radar body is blocked and / or reflected by the inner wall surface of the supporting columns due to the width and color of the supporting columns themselves. At this time, when the receiving component in the laser radar body receives the reflected light, it is necessary to filter out the light reflected from the inner wall surface through the filter in the receiving component; however, while filtering out the light reflected from the inner wall surface, the filter may erroneously filter out the reflected light used for mapping and ranging, thereby causing the loss of the laser radar point cloud map.

[0035] Based on this, the utility model provides a cleaning robot 100, which is used to automatically perform cleaning work in a working area. Figure 2 As shown, the cleaning robot 100 includes a main body 1 and a laser radar component 2 connected to the main body 1, wherein the laser radar component 2 is used to identify objects in the working area and transmit them to the main body 1 for processing, so as to facilitate the main body 1 to perform path planning according to the identification results to complete the cleaning work of the working area.

[0036] The main body 1 includes a housing 11, a walking component 12 connected to the housing 11, a working component for performing cleaning work, a control component housed in the housing 11, a dust collection component, and a power component. The control component is respectively connected to the walking component 12, the working component, the power component, and the laser radar component 2, and then controls the operation of each component, so that the cleaning robot 100 can move and operate in the working area and complete the corresponding work tasks.

[0037] It should be noted that the specification and drawings of the utility model only illustrate that the main body 1 includes a shell 11, a walking component 12 connected to the shell 11, a working component for performing cleaning work, a control component housed in the shell 11, a dust collection component and a power component. In fact, the main body 1 should also include the conventional structure of a cleaning robot in the prior art, such as a sound receiving component, an information component, etc.

[0038] See also Figure 3 to Figure 6 As shown, the laser radar component 2 in this embodiment is connected to the main body 1 and is used to identify objects in front of the running direction of the cleaning robot 100 to complete mapping and ranging.

[0039] In the present application, the laser radar assembly 2 includes a laser radar 21, a protective device 22, and a filter component 23. Specifically, the laser radar 21 includes a radar probe (not shown) and a cover 211 that is arranged on the outside of the radar probe, wherein the radar probe is used to emit detection light and can collect the reflected detection light, and then complete the detection and identification of objects in front of the running direction of the cleaning robot 100. The cover 211 is used to protect the radar probe to prevent the radar probe from being contaminated by dust and the like, so as to avoid abnormal use of the radar probe. In the present application, the cross-section of the cover 211 in the horizontal direction is set to be circular.

[0040] The protection device 22 is disposed on the main body 1 and is located outside the laser radar 21 to protect the laser radar 21 and prevent the laser radar 21 from being damaged due to external collisions, etc. In a preferred embodiment of the utility model, the protection device 22 is disposed through the housing 11 and is detachably connected to the housing 11.

[0041] In this embodiment, the protective device 22 includes a base 221, a plurality of support columns 222 arranged on the base 221, and a top plate 223 connected to the extended ends of the support columns 222. The support columns 222 and the top plate 223 are jointly arranged to form a receiving cavity 224 for receiving the laser radar 21.

[0042] Specifically, the base 221 and the top plate 223 are both circular, and a through hole is formed on the base 221; a plurality of support columns 222 are distributed at equal intervals on the outside of the through hole, and the circumference of the support columns 222 is concentric with the base 221 and the top plate 223, so that the internal space of the receiving cavity 224 is cylindrical. The laser radar 21 penetrates the base 221 through the through hole and extends into the receiving cavity 224, and then realizes the emission of detection light and the collection of reflected detection light through the gap between two adjacent support columns 222, that is, an imaging gap for imaging of the laser radar 21 is formed between two adjacent support columns 22.

[0043] In the present application, the number of support columns 222 is three, and the three support columns 222 are distributed at equal intervals around the circumference. In other embodiments, the number of support columns 222 may be four, five, etc.

[0044] The support column 222 is arranged in a plate shape and extends along the radial direction of the cover 211 toward the direction of the laser radar 21. In this way, while ensuring the supporting effect of the support column 222, the influence of the support column 222 on the detection light emitted by the laser radar 21 can be minimized.

[0045] The filter component 23 is located between the laser radar 21 and the protective device 22. Specifically, the filter component 23 is arranged between the cover 211 and the support column 222 to at least absorb the light emitted by the laser radar 21, reduce the reflection of the light by the support column 222, and at least filter out the light emitted by the laser radar 21 reflected back by the wall of the support column 222. By filtering out stray light, the recognition accuracy of the cleaning robot 100 during identification and detection through the laser radar component 2 is improved. It should be noted that the stray light in the utility model specifically refers to the light emitted by the laser radar 21 during identification and detection, which has no recognition significance for the mapping and ranging of the laser radar 21, or the light that affects the mapping and ranging of the laser radar 21 due to the reflection of the support column 222.

[0046] In the present application, the filter component 23 includes a connecting portion 231 and a filter 232 connected to the connecting portion 231, wherein the filter component 23 is positioned and accommodated between the protective device 22 and the housing 211 through the connecting portion 231, and the filter 232 is arranged in a one-to-one correspondence with the support column 222. The filter 232 is arranged between the laser radar 21 and the corresponding support column 222 to minimize the blocking angle of the filter 232 and the support column 222 to the light emitted by the laser radar 21. The filter 232 can absorb the light emitted by the laser radar 21 and can also absorb stray light.

[0047] The connecting portion 231 is clamped on the extended end of the supporting column 222 and is located below the top plate 223. Such a configuration can effectively fix the relative position of the filter component 23 between the protective device 22 and the laser radar 21, and prevent the filter component 23 from rotating relative to the receiving cavity 224, thereby affecting the mapping and ranging effect of the laser radar 21.

[0048] In this embodiment, the ends of the extensions of the plurality of support columns 222 are formed with an annular extension portion, the connection portion 231 is an annular connection portion 231 corresponding to the annular extension portion, and the filter 232 is connected to the side of the connection portion 231 away from the top plate 223, so as to extend into the receiving cavity 224 to absorb or filter out the stray light emitted or reflected by the laser radar 21. It should be noted that in this embodiment, only the distance is described by taking the extension portion and the connection portion both being arranged in an annular shape as an example. In other embodiments of the present application, the connection portion 231 may also be arranged in other forms or structures, and it is only necessary to ensure that the filter 232 can be positioned and arranged on the inner side of the support column 222 through the connection portion 231.

[0049] See also Figure 4 As shown, in this embodiment, the support column 222 extends in the radial direction of the housing 211 toward the direction of the laser radar 21, and the filter 232 and the corresponding support column 222 extend in the same direction toward the direction of the laser radar 21. In this way, while ensuring the filtering effect, the light emission of the laser radar 21 is prevented from being blocked due to the misaligned arrangement of the two on the housing 211, and the light emitted by the laser radar 21 is blocked by the support column 222 and the filter 232 as much as possible. Among them, along the radial direction of the housing 211, that is, along the radial extension direction of the protective device 22 (the radial extension direction mentioned here is the radial direction of the protective device 22 that passes through the cylindrical receiving cavity 224 of the housing 11).

[0050] For those skilled in the art, setting a filter 232 between the support column 222 and the housing 211 will block the reflected light that needs to be received by the laser radar 21 or reflected back by obstacles, thereby affecting the imaging effect of the laser radar 21. In the present application, by setting a filter 232 between the support column 222 and the housing 211, a portion of the light emitted by the laser radar 21 that was originally intended to be irradiated on the support column 222 is irradiated on the filter 232 and absorbed by the filter 232, thereby reducing the stray light generated by the reflection and diffuse reflection of the light by the support column 222 that interferes with the imaging. Moreover, even if the light emitted by the laser radar 21 is irradiated on the support column 222, the support column 222 reflects or diffusely reflects the light to form stray light, and the filter 232 can absorb at least part of the stray light, further improving the accuracy of the laser radar 21 in mapping and navigation.

[0051] The filter 232 has a first end surface disposed toward the housing 211 and a second end surface disposed toward the support column 222. The first end surface and the second end surface are disposed opposite to each other.

[0052] In this embodiment, along the radial direction of the housing 211, the spacing between the first end surface and the housing 211 is defined as d1, and the spacing d1 satisfies: 0<d1≤5.6mm. This setting can effectively filter out stray light emitted or reflected by the laser radar 21, and prevent the laser radar 21 from absorbing stray light, which causes abnormal mapping and ranging of the laser radar 21.

[0053] By further limiting the distance between the first end surface of the filter 232 and the housing 211, it is possible to further prevent the filter 232 from being too far away from the housing 211 and thus affecting the transmission effect of the laser radar 21 or the reception effect of the reflected light reflected by obstacles. Figure 7 As shown, when the distance d1 between the first end surface of the filter 232 and the housing 211 is greater than 5.6 mm, a gap will appear in the radar point cloud image obtained by the laser radar 21 (such as Figure 7 As shown in position A in the figure, the mapping and ranging accuracy of the laser radar 21 is reduced. Based on this, the position of the filter 232 is further restricted in the present application to further improve the mapping and ranging accuracy of the laser radar 21.

[0054] In another embodiment, along the radial direction of the housing 211, the distance between the second end face of the filter 232 and the corresponding support column 222 is defined as d2, and the distance d2 satisfies: 0≤d2≤2.9mm. When d2 is 0, the second end face of the filter 232 is close to the support column 222, and when d2 is within the appropriate range, the radar point cloud image obtained by the laser radar 21 is continuous. Figure 8 As shown, when the distance d2 between the second end face of the filter 232 and the corresponding support column 222 is greater than 2.9 mm, the radar point cloud image obtained by the laser radar 21 is distorted and missing, resulting in low mapping and navigation accuracy of the laser radar 21.

[0055] In the present application, the filter 232 in the filter component 23 is a laser filter made of black or dark laser absorbing material; preferably, the filter 232 is a filter made of black laser absorbing material. In other embodiments of the utility model, the filter 232 can also be a sheet filter structure with a laser absorbing coating coated on the surface. The laser absorbing coating is prepared from a laser absorbing coating. The material or structure of the filter 232 is not specifically limited here, and it can also be other materials or structures that can absorb light.

[0056] Along the circumferential direction of the receiving cavity 224, the width of the filter 232 is less than or equal to the width of the corresponding support column 222. In this way, while filtering out stray light emitted or reflected by the laser radar 21, it is possible to prevent the width of the filter 232 from being too large to cause excessive shielding of the light emitted by the laser radar 21, thereby ensuring the accuracy of mapping and navigation of the laser radar 21.

[0057] Of course, in other embodiments of the present application, the filter 232 can also be set at an angle. Specifically, the support column 222 extends along the radial direction of the cover 211 toward the direction of the laser radar 21, and the extension direction of the filter 232 forms an angle with the extension direction of the support column 222. This can effectively increase the filtering angle of the filter 232, thereby improving the effect of the filter 232 in filtering stray light.

[0058] Obviously, the filter 232 is tilted to ensure that the width of the filter 232 along the circumferential direction of the receiving cavity 224 is less than or equal to the width of the corresponding support column 222 to avoid adding additional blocking angles. In one embodiment, the angle is less than or equal to 5°. Fig. 9 As shown, when the angle is 0, that is, when the extension direction of the filter 232 is consistent with the extension direction of the support column 222, the radar point cloud image obtained by the laser radar 21 is continuous and the mapping accuracy is high. Fig.10 As shown, when the angle is greater than 5°, the radar point cloud image acquired by the laser radar 21 appears deformed and missing, and the mapping and navigation accuracy of the laser radar 21 is low.

[0059] See also Figure 4 and Figure 6 As shown, in a preferred embodiment of the present application, a first positioning portion 2321 is formed at the bottom of the filter 232; a second positioning portion 2211 corresponding to the first positioning portion 2321 is provided on the base 221 of the protection device 22. Such a configuration can further prevent the filter component 23 from rotating relative to the position in the receiving cavity 224, thereby ensuring the mapping and ranging effect of the laser radar 21. Among them, one of the first positioning portion 2321 and the second positioning portion 2211 is a protrusion, and the other is a groove matched with the protrusion.

[0060] It should be noted that, in the specification and drawings of the present application, only the example of the filter component 23 and the protective device 22 being separately arranged is used for illustration, and the filter component 23 is positioned and accommodated between the protective device 22 and the cover 211 through the connecting portion 231. In addition, the filter component 23 is also directly integrated on the protective device 22, for example, the filter 232 is directly integrated on the support column 222. Preferably, the filter component 23 may not be provided with the connecting portion 231, because the function of the connecting portion 231 is to connect multiple filters 232 into a whole, which is convenient for disassembly and installation. In other embodiments of the present application, the filter component 23 may also be integrally formed with the protective device 22. Preferably, the connecting portion 231 may also be not provided, and the portion of the support column 222 facing the laser radar 21 can absorb stray light.

[0061] In summary, the cleaning robot of the utility model can effectively absorb the stray light generated by the laser radar in the mapping and ranging process by setting a laser radar component with a filtering component, prevent the stray light from affecting the mapping and imaging of the cleaning robot, and effectively improve the mapping and imaging accuracy of the cleaning robot during work.

[0062] The above embodiments only express several implementation methods of the utility model, and the descriptions are relatively specific and detailed, but they cannot be understood as limiting the scope of the utility model patent. It should be pointed out that for ordinary technicians in this field, several modifications and improvements can be made without departing from the concept of the utility model, which all belong to the protection scope of the utility model. Therefore, the protection scope of the utility model patent shall be based on the attached claims.

Claims

1. A cleaning robot, comprising a main body and a laser radar component connected to the main body, characterized in that: The laser radar component includes: A laser radar, used for identifying and detecting objects in front of the running direction of the cleaning robot, comprising a radar probe and a cover shell arranged outside the radar probe; A protection device is arranged on the main body and located outside the laser radar to protect the laser radar, wherein the protection device comprises a plurality of support columns, and an imaging gap for imaging of the laser radar is formed between two adjacent support columns; A filter component is arranged between the housing and the support column, and includes filters arranged one by one with the support column, and the filters are arranged between the laser radar and the support column corresponding thereto, so as to at least absorb the light emitted by the laser radar and at least filter out the light emitted by the laser radar reflected back by the wall surface of the support column; The optical filter has a first end surface disposed toward the housing, and a distance between the first end surface and the housing is defined as d1, and the distance d1 satisfies: 0<d1≤5.6mm.

2. The cleaning robot according to claim 1, characterized in that: The filter has a second end face arranged opposite to the first end face, and a distance between the second end face and a supporting column corresponding thereto is defined as d2, and the distance d2 satisfies: 0≤d2≤2.9mm.

3. The cleaning robot according to claim 1, characterized in that: The filter component further includes a connecting portion, the filter is connected to the connecting portion, and the filter component is positioned and accommodated between the protection device and the cover shell through the connecting portion.

4. The cleaning robot according to claim 1, characterized in that: The filter is a laser filter made of black or dark laser absorbing material, or the surface of the filter is coated with a laser absorbing coating.

5. The cleaning robot according to claim 1, characterized in that: The filter component and the protection device are integrally formed.

6. The cleaning robot according to claim 1, characterized in that: The filter component and the protection device are arranged separately.

7. The cleaning robot according to claim 1, characterized in that: The support column extends along the radial direction of the cover toward the direction where the laser radar is located, and the filter and the corresponding support column extend along the same direction toward the direction where the laser radar is located.

8. The cleaning robot according to claim 1, characterized in that: The protection device has a receiving cavity, which is used to receive the laser radar. Along the circumferential direction of the receiving cavity, the width of the filter is less than or equal to the width of the corresponding support column.

9. The cleaning robot according to claim 8, characterized in that: The support column extends along the radial direction of the cover toward the direction where the laser radar is located, and the extension direction of the filter forms an angle with the extension direction of the support column, and the angle is less than or equal to 5°.

10. The cleaning robot according to claim 1, characterized in that: A first positioning portion is formed at the bottom of the filter; and a second positioning portion corresponding to the first positioning portion is provided on the base of the protection device.

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