Infrared light restraining device, base station and cleaning robot

Abstract

The utility model discloses an infrared light restraining device, a base station and a cleaning robot, and relates to the technical field of infrared localization, the infrared light restraining device comprises a device body, a light restraining channel extending along the linear direction is formed in the device body, the device body is further provided with a light outlet communicated with the first end of the light restraining channel, and the light outlet is communicated with the second end of the light restraining channel. The two first infrared light sources are arranged at the second end of the light restraining channel side by side in the horizontal direction, the first infrared light sources are configured to enable emitted infrared light to be emitted out of the device body from the light outlet through the light restraining channel, and the light restraining channel comprises two restraining walls which are oppositely arranged; the two restraint walls are parallel to or coincide with the optical axes of the two first infrared light sources correspondingly, so that the robot can achieve rapid pile returning in the linear direction after position calibration when receiving infrared signals in the collimation light band, and the positioning speed and precision of equipment are improved.

Description

Technical Field

[0001] The utility model relates to the technical field of infrared positioning, in particular to an infrared light restraint device, a base station and a cleaning robot. Background Art

[0002] In the relevant technologies of cleaning robots, the robot equipment and the workstation need to be automatically docked to achieve specific functions. For example, the robot moves to the workstation and connects to the work equipment to achieve the robot's charging, self-cleaning and other functions.

[0003] The connection between the robot and the workstation is generally achieved through infrared signal guidance. The workstation transmits corresponding coded infrared signals to the outside, so that the robot can determine and return to the workstation based on the coverage of the infrared signal and other information after receiving the corresponding infrared signal. However, the infrared signal range emitted by the current workstation is relatively wide, and the area formed by the infrared signal is mostly in a fan-shaped structure in the corresponding area, resulting in low positioning accuracy of the robot in the process of receiving infrared signals to connect with the workstation, which is not conducive to accurate and efficient connection between devices. Utility Model Content

[0004] The purpose of the embodiments of the utility model is to provide an infrared light restraint device, a base station and a cleaning robot to solve the problems of low connection accuracy and efficiency between the devices.

[0005] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0006] In a first aspect, an infrared light confinement device is provided, which is applied to an electronic mobile device, comprising:

[0007] A device body, wherein a light confinement channel extending in a straight line is formed inside the device body, and the device body is also provided with a light outlet connected to a first end of the light confinement channel;

[0008] Two first infrared light sources are arranged side by side at the second end of the light confinement channel in a horizontal direction, and the first infrared light sources are configured so that the infrared light emitted by the first infrared light sources can be emitted from the device body through the light confinement channel and from the light outlet;

[0009] The optical confinement channel includes two oppositely arranged confinement walls, and the two confinement walls are respectively arranged to be parallel to or coincide with the optical axes of the two first infrared light sources, so that when the electronic mobile device receives the infrared signal in the collimated light band, it can quickly return to the pile in a straight line direction after position calibration, thereby improving the positioning speed and accuracy of the equipment.

[0010] As an optional implementation, the first infrared light source includes a first infrared emitter and a second infrared emitter, and the optical axes of the first infrared emitter and the second infrared emitter are parallel to each other;

[0011] The first infrared transmitter is configured to transmit a first coded signal to a first signal area, and the second infrared transmitter is configured to transmit a second coded signal to a second signal area. The first coded signal and the second coded signal at least partially overlap to form a collimated light band extending in a straight direction, so as to improve the positioning accuracy of the electronic mobile device by the collimated light band formed by the overlap of the first coded signal and the second coded signal.

[0012] As an optional embodiment, the constraint wall is provided with first extinction teeth arranged along the length direction of the light constraint channel, and ends of the first extinction teeth located on the same constraint wall are connected along the length direction of the light constraint channel to form an extinction wall;

[0013] An extinction wall is formed on the two constraint walls, and the two extinction walls are respectively arranged parallel to or coincident with the optical axes of the two first infrared light sources. The extinction wall formed by the first extinction teeth allows the light that is not emitted in the preset direction to be reflected and absorbed by the extinction wall, thereby improving the parallelism of the two sides of the collimated light band and reducing the scattering and diffraction of the light generated at the light outlet.

[0014] As an optional implementation, a partition extending in a straight line direction is provided between the two first infrared light sources, and an end of the partition facing away from the first infrared light source is located between the first end and the second end of the light confinement channel;

[0015] The dimension of the end of the partition away from the first infrared light source gradually narrows, so that the infrared light beams emitted by the two first infrared light sources can be constrained by the partition and the constraining wall, thereby improving the parallelism of the collimated light bands on both sides and achieving the positioning accuracy of the electronic mobile device.

[0016] As an optional implementation, second extinction teeth are evenly distributed on the wall of the partition close to the two constraint walls, so as to further enhance the constraint strength of the light emitted by the two first infrared light sources.

[0017] As an optional embodiment, the distance between the two constraint walls near the first end of the light constraint channel is smaller than the distance between the two constraint walls near the second end of the light constraint channel, which is suitable for the structural size of the first infrared light source and improves the light utilization rate of the infrared light beam.

[0018] As an optional implementation, the width of the light confinement channel is 5 mm-20 mm, which ensures the positioning accuracy of the electronic mobile device while avoiding the situation where the electronic mobile device cannot receive the infrared signal located in the collimated light band.

[0019] As an optional implementation, the length of the light confinement channel is 20 mm-50 mm, which avoids scattering and diffraction problems at the light outlet and ensures that the infrared signal has sufficient coverage.

[0020] As an optional embodiment, when the constraint wall is arranged parallel to the optical axis of the first infrared light source corresponding to it, the maximum deviation between the constraint wall and the optical axis of the first infrared light source is ±2mm, ensuring that the collimated light band has a high degree of parallelism on both sides, thereby ensuring the positioning accuracy of the electronic mobile device.

[0021] In a second aspect, a base station is provided, including:

[0022] A base, wherein a mainboard and a charging terminal electrically connected to the mainboard are disposed in the base;

[0023] As described in the first aspect, the infrared light confinement device is connected to the base through the device body, and the first infrared light source is electrically connected to the main board.

[0024] In a third aspect, a cleaning robot is provided, comprising:

[0025] The base station as described in the second aspect;

[0026] A robot body is provided with an infrared receiver for receiving the signal emitted by the first infrared light source, and a charging head adapted to the charging terminal structure.

[0027] The beneficial effects of the utility model are as follows: the infrared light constraint device is provided with a light constraint channel for constraining the light emission direction and range in the device body, and two opposite constraint walls of the light constraint channel are respectively provided parallel to or coincident with the optical axes of the two first infrared light sources, so that the infrared light emitted by the two first infrared light sources can overlap under the constraint of the two constraint walls to form a collimated light band extending in a straight line direction or close to the straight line direction. When used in conjunction with an electronic mobile device, the electronic mobile device can realize rapid return to the pile in a straight line direction after position calibration when receiving an infrared signal in the collimated light band, thereby improving the positioning speed and accuracy of the device;

[0028] Moreover, by constraining the emission direction of infrared light through the optical constraint channel, the diffraction and scattering of infrared light at the light outlet can be effectively reduced. The optical path of infrared light will be clearer near the device body, thereby improving the proximal alignment accuracy of electronic mobile equipment, avoiding damage between devices during the alignment process, and effectively extending the service life of the equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] The utility model is further described in detail below based on the drawings and embodiments.

[0030] Figure 1 This is a schematic diagram of the structure of the infrared light confinement device according to an embodiment of the utility model;

[0031] Figure 2 This is a schematic diagram of infrared signal distribution according to an embodiment of the utility model.

[0032] In the figure: 10, device body; 11, light confinement channel; 111, first end; 112, second end; 113, light outlet; 114, light inlet; 115, confinement wall; 1151, first side wall; 1152, second side wall; 1153, contraction section; 116, first extinction tooth; 1161, extinction wall; 12, first infrared light source; 121, first infrared emitter; 122, second infrared emitter; 13, partition; 131, second extinction tooth; 14, second infrared light source; 15, third infrared light source. DETAILED DESCRIPTION

[0033] In order to make the technical problems solved by the utility model, the technical solutions adopted and the technical effects achieved clearer, the technical solutions of the embodiments of the utility model are further described in detail below. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of them. Based on the embodiments of the utility model, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the utility model.

[0034] In the description of the present invention, unless otherwise clearly specified and limited, the terms "connected", "connected", and "fixed" 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 the present invention can be understood according to specific circumstances.

[0035] In the present utility model, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0036] Electronic mobile devices include automatic walking devices and automatic flying devices. Automatic walking devices include cleaning robots, service robots, AGV carts, etc., and automatic flying devices include drones, etc. Electronic mobile devices in the prior art need to use infrared positioning technology to determine their relative position with the workstation to guide the charging head of the electronic mobile device to connect with the charging terminal of the workstation, thereby realizing the charging, self-cleaning and other related functions of the electronic mobile device.

[0037] As can be seen from the background technology, the connection between the electronic mobile device and the workstation is generally achieved through the positioning of infrared signal guidance. The workstation transmits the corresponding coded infrared signal to the outside, so that the electronic mobile device can determine and return to the workstation according to the coverage of the infrared signal and other information after receiving the corresponding infrared signal. However, the infrared signal range emitted by the current workstation is relatively wide, and the area range formed by the infrared signal is mostly in the corresponding area in a fan-shaped structure, resulting in low positioning accuracy of the robot in the process of connecting with the workstation by receiving the infrared signal, making it difficult to determine the location of the workstation, which is not conducive to accurate and efficient connection between devices.

[0038] To this end, this embodiment provides an infrared light restraint device, which can be used in the above-mentioned workstation. When the device is installed in the workstation, the device body 10 is located in the light restraint channel 11 through the restraint wall 115 relatively arranged to restrain and collimate the infrared light beam emitted by the workstation, thereby solving a series of problems such as the low connection accuracy of the above-mentioned electronic mobile device to the pile. Of course, the infrared light restraint device can also be used in other fixed devices or electronic mobile devices, and this embodiment is not further specifically limited here.

[0039] Please refer to the attached Figure 1-Figure 2In one embodiment of the infrared light restraint device provided by the utility model, the infrared light restraint device includes a device body 10. The device body 10 serves as a supporting base of the infrared light restraint device. The device body 10 can be set in a shell structure to provide an installation position of the infrared light source and a restraint channel for the infrared light beam. Specifically, a light restraint channel 11 extending in a straight line direction is formed inside the device body 10. It should be noted that the straight line direction means that the light restraint channel 11 is a straight line channel. In the top view direction of the infrared light restraint device described in the figure, and in the left view and right view of the infrared light restraint device not shown in the figure, the light restraint channel 11 extends in a straight line direction, so that the infrared light beam forms a collimated light band as much as possible under the constraint of the light restraint channel 11, so that the electronic mobile device is in the same straight line with the infrared light restraint device when receiving the infrared signal in the collimated light band, or in a position close to the same straight line, so that the electronic mobile device can quickly adjust its posture, move in a straight line direction to achieve accurate and efficient return to the pile and connect with the workstation.

[0040] It is understandable that the device body 10 should be made of opaque material, for example, the device body 10 is made of plastic material through one-piece injection molding, 3D printing, etc., or the device body 10 is made of metal material through milling, casting, etc. By using opaque material, it is possible to avoid the infrared light beam emitted by the infrared light source from passing through the device body 10 and affecting the signal coverage area, thereby reducing the positioning detection result of the electronic mobile device.

[0041] In this embodiment, taking the direction in which the light confinement channel 11 extends as its length direction as an example, the two opposite ends of the light confinement channel 11 along its length direction are respectively defined as its first end 111 and the second end 112, and a light outlet 113 connected to the first end 111 of the light confinement channel 11 is provided on the device body 10. By providing the light outlet 113 at the first end 111 of the light confinement channel 11, the infrared light beam in the light confinement channel 11 forms a collimated light band under the constraint of the light confinement channel 11, and can only be emitted to the outside of the device body 10 through the light outlet 113, and the infrared light beam is The emission direction is consistent with the extension direction of the collimated light band, thereby improving the irradiation efficiency of the infrared light beam. Compared with the staggered arrangement of the light outlet 113 and the light confinement channel 11 in the length direction, when the infrared light beam irradiation intensity is equal, the infrared light of this embodiment is emitted from the device body 10 through the light outlet 113 at a farther distance, which is beneficial to expanding the coverage range of the infrared signal, thereby allowing the electronic mobile device to be located at a distance from the workstation. The infrared signal emitted from the workstation can be received, so that the electronic mobile device can quickly enter the state of posture adjustment and straight return to the pile, thereby improving the efficiency of returning to the pile and subsequent connection to the pile.

[0042] The infrared light confinement device also includes two first infrared light sources 12 in a specific application scenario. The first infrared light source 12 can be specifically an infrared transmitter. The two first infrared light sources 12 are arranged side by side at the second end 112 of the light confinement channel 11 in the horizontal direction. In the specific structural form, the connection line between the two first infrared light sources 12 is perpendicular to the length direction of the light confinement channel 11. For example, when the infrared light confinement device is applied to the above-mentioned workstation, the length direction of the light confinement channel 11 is arranged in a direction parallel to the horizontal plane, so that the infrared light constrained by the light confinement channel 11 can The device body 10 is emitted in the horizontal direction so that the electronic mobile device moving on the ground can receive the infrared signal from the workstation, and on this basis, the two first infrared light sources 12 are also arranged to be in a position state on the same horizontal plane as the light confinement channel 11, so that the two first infrared light sources 12 are configured to emit infrared light that can be emitted from the device body 10 from the light outlet 113 through the light confinement channel 11. The infrared light emitted by the first infrared light source 12 is emitted from the device body 10 through the light outlet 113 under the constraint of the light confinement channel 11 and at least partially overlaps to form a collimated light band.

[0043] According to the above embodiments, it can be understood that a light inlet 114 for providing infrared light to enter the light confinement channel 11 needs to be provided on the second end 112 of the device body 10, and the number of the light inlet 114 is at least one. Exemplarily, the light inlet 114 of this embodiment is provided to be two, the same number as the first infrared light sources 12, and the arrangement of the two light inlets 114 is the same as the arrangement of the two first infrared light sources 12 on the device body 10, that is, the line connecting the hole centers of the two light inlets 114 and the length direction of the light confinement channel 11 are located on a horizontal plane and are perpendicular to each other, and the second end 112 of the light confinement channel 11 is connected to the outside of the device body 10 through the two light inlets 114. In a specific state, the first infrared light source 12 is fixedly installed on the outside of the device body 10 by means of gluing, welding, snapping, screwing, etc., and the first infrared light source 12 covers the corresponding light inlet 114, and ensures that the infrared light emitting end of the first infrared light source 12 is at the light inlet 114, so that the infrared light beam emitted by it can be emitted into the light confinement channel 11 through the light inlet 114.

[0044] In one embodiment, in order to improve the accuracy of the collimated light band emitted by the infrared light confinement device, the optical axes of the two first infrared light sources 12 are arranged in parallel.

[0045] As a specific structural form of the light confinement channel 11, please continue to refer to the attached Figure 1-Figure 2The light confinement channel 11 includes two oppositely disposed confinement walls 115, which are configured to confine the refraction direction of visible light and invisible light, thereby limiting the direction and range of light (including visible light and invisible light) emitted through the light outlet 113.

[0046] In the above embodiment, from the perspective along the length direction of the light confinement channel 11, the confinement wall 115 can be a flat side wall structure or an arc-shaped side wall structure. The two confinement walls 115 can only serve as the side walls of the light confinement channel 11 on the left and right opposite sides, or they can be connected to enclose a complete and enclosed light confinement channel 11.

[0047] The constraint walls 115 of this embodiment are taken as the side walls of the planar structure disposed on the left and right sides of the light confinement channel 11, and the two constraint walls 115 are respectively arranged parallel to or coincident with the optical axes of the two first infrared light sources 12. It should be explained that, when the two constraint walls 115 are respectively arranged parallel to the optical axes of the two first infrared light sources 12, the optical axes of the constraint walls 115 and the first infrared light sources 12 are in a non-coinciding position state, and in order to improve the illumination efficiency of the infrared light in the light confinement channel 11, the distance between the two constraint walls 115 (i.e., the width dimension of the light confinement channel 11) is set to be greater than the distance between the optical axes of the two first infrared light sources 12, thereby reducing the interference of the light confinement channel 11 with the infrared light beam emitted by the first infrared light source 12, so that more infrared light can be emitted into the light confinement channel 11.

[0048] By setting the two constraint walls 115 to be parallel to or overlap with the optical axes of the two first infrared light sources 12, the infrared light beam is constrained, so that when the infrared light beam is emitted from the device body 10 through the light outlet 113, a collimated light band is formed outside the device body 10, thereby improving the positioning accuracy of the electronic mobile device.

[0049] In the application of the infrared light restraint device provided in the above embodiment in the workstation, taking the electronic mobile device as a cleaning robot as an example, the robot pile-to-pile method provided in this embodiment can be executed by a robot pile-to-pile device, which can be implemented by software and / or hardware, and the robot pile-to-pile device can be composed of two or more physical entities, or can be composed of one physical entity. For example, the robot pile-to-pile device can be the robot itself, or can be the processor of the robot.

[0050] It is understandable that the robot-pile device is installed with at least one type of operating system, wherein the operating system includes but is not limited to Android system, Linux system and Windows system. The robot-pile device can install at least one application based on the operating system, and the application can be an application that comes with the operating system, or an application downloaded from a third-party device or server. In this embodiment, the robot-pile device has at least an application that can execute the robot-pile method.

[0051] When the electronic mobile device detects that the battery power is low and needs to be charged, or has completed a cleaning task, or has a need to return to the charging pile to add clean water, drain sewage, clean cleaning tools, etc., it can trigger the return operation and move to the location of the workstation. The workstation sends an infrared signal to the area in front of the charging terminal through the above-mentioned first infrared light source 12. When the infrared receiver of the electronic mobile device moves to this area, it will receive the infrared signal sent by the workstation. When the infrared receiver of the electronic mobile device moves out of this area, it will not receive the infrared signal sent by the workstation. The electronic mobile device continuously adjusts the moving direction according to whether the infrared receiver receives the infrared signal, so that the charging head of the electronic mobile device returns to the workstation in a posture aligned with the charging terminal of the workstation.

[0052] For ease of understanding, this embodiment is described by taking the process of the electronic mobile device being aligned with the workstation through the infrared light restraint device actuator as an example.

[0053] During the process of connecting the electronic mobile device to the workstation, it is necessary to determine whether the infrared receiver of the electronic mobile device is located in the area of ​​the collimated light band of the workstation. When the infrared receiver of the electronic mobile device receives the infrared signal located in the collimated light band, the electronic mobile device is controlled to move a preset distance based on the reference direction and rotate a preset angle so that its charging head can finally move to a position relative to the charging terminal of the workstation. At this time, the center line of the electronic mobile device will be in the area of ​​the collimated light band. Finally, the electronic mobile device can move in a straight line direction to quickly return to the pile and accurately and efficiently connect to the workstation close to the workstation.

[0054] Moreover, by constraining the emission direction of the infrared light through the light constraint channel 11, the diffraction and scattering of the infrared light at the light outlet 113 can be effectively reduced. The optical path of the infrared light will be clearer at a position close to the device body 10, thereby improving the proximal positioning accuracy of the robot, avoiding damage between the equipment during the piling process, and effectively extending the service life of the equipment.

[0055] Among them, in the embodiment where the electronic mobile device is a cleaning robot, the workstation refers to a device with functions such as dust collection, charging, water change, cleaning and / or drying, and the light band area refers to the area formed by the signal emitted by the workstation for guiding the cleaning robot to the pile. The signal emitted by the workstation can be a visible spectrum signal or an infrared signal, but compared with the visible spectrum signal, the infrared signal has a longer wavelength and is not easily affected by ambient light. This embodiment is described by taking the workstation emitting an infrared signal as an example.

[0056] According to the above implementation, Figure 1-Figure 2 As shown, one of the first infrared light sources 12 is located near one of the constraint walls 115, and the other first infrared light source 12 is located near the other constraint wall 115. Under the constraint of the two constraint walls 115, the infrared light emitted by the two first infrared light sources 12 will overlap and form the collimated light band shown in the figure. Since there is a certain distance between the first infrared light source 12 and the constraint wall 115 on the side relatively far away from it, the side of the light outlet 113 away from it will form a certain angle with its optical axis, so that the two first infrared light sources 12 on the opposite sides of the light outlet 113 will respectively emit infrared light beams on the opposite sides of the collimated light band, thereby The opposite sides of the straight light band form a first signal area A and a second signal area B respectively. In specific applications, the electronic mobile device can further utilize the above-mentioned first signal area A and second signal area B to improve its positioning accuracy and the efficiency of returning to the pile and connecting to the pile. Specifically, when the infrared receiver of the electronic mobile device receives an infrared signal located in the first signal area A or the second signal area B, the electronic mobile device will determine that it is specifically located on the left or right side of the collimated light band based on the received coded signal, thereby further adjusting its posture and movement direction, so that it can quickly move to the area where its infrared receiver can receive the collimated light band.

[0057] According to the above embodiment, the first infrared light source 12 includes a first infrared emitter 121 and a second infrared emitter 122. The area where the infrared signals emitted by the first infrared emitter 121 and the second infrared emitter 122 overlap and cover is the area of ​​the collimated light band. Specifically, the first infrared emitter 121 is configured to emit a first coded infrared signal to the first signal area, thereby forming the above-mentioned first signal area A, and the second infrared emitter 122 is configured to emit a second coded infrared signal to the second signal area, thereby forming the above-mentioned second signal area B. The overlapping area of ​​the first coded signal area and the second coded signal area is the collimated light band.

[0058] According to the above embodiment, it can be understood that the first infrared emitter 121 and the second infrared emitter 122 are arranged along Figure 1For example, the left and right sides are arranged side by side, and the first infrared emitter 121 is located near Figure 1 In the left side of the figure, the constraint wall 115 located on the left side is defined as the first side wall 1151 in this embodiment, and the second infrared emitter 122 is located on the right side in the figure. In this embodiment, the constraint wall 115 located on the right side is defined as the second side wall 1152. The optical axis of the first infrared emitter 121 is arranged close to the first side wall 1151. Taking the optical axis of the first infrared emitter 121 located on the first side wall 1151 as an example, the optical axis of the first infrared emitter 121 is staggered with the second side wall 1152, and the optical axis of the second infrared emitter 122 is arranged close to the second side wall 1152. Taking the optical axis of the second infrared emitter 122 located on the second side wall 1152 as an example, the optical axis of the second infrared emitter 122 is staggered with the first side wall 1151. Therefore, under the action of the light constraint channel 11, the left side of the infrared light beam emitted from the first infrared emitter 121 from top to bottom extends along the direction of the first side wall 1151. The left side of the light outlet 113 is arranged in a vertical line to define the left edge of the collimated light band. The right side of the infrared light beam emitted by the first infrared emitter 121 is inclined to emit from the right side of the light outlet 113. The right side of the infrared light beam emitted from the second infrared emitter 122 from top to bottom extends along the second side wall 1152 to emit from the right side of the light outlet 113. It is arranged in a vertical line to define the right edge of the collimated light band. The infrared light emitted by the first infrared emitter 121 and the infrared light emitted by the second infrared emitter 122 are located in the collimated light band area and overlap to form a signal area C. The left side of the infrared light beam emitted by the second infrared emitter 122 is inclined to emit from the left side of the light outlet 113, so that the left and right sides of the collimated light beam respectively form a fan-shaped second signal area B formed by the first coded signal and a fan-shaped first signal area A formed by the second coded signal, thereby achieving the purpose of improving the positioning accuracy and efficiency of electronic mobile equipment.

[0059] In one embodiment, the infrared light restraint device can also be provided with a second infrared light source 14 and a third infrared light source 15, wherein the second infrared light source 14 can be arranged in the upper part between the two first infrared emitters 121, so as to form two signal areas D between the first signal area A and the collimated light band area C, and between the second signal area B and the collimated light band area C, respectively, by emitting a fan-shaped area. Through this arrangement, for example, when the electronic mobile device moves from the first signal area A or the second signal area B to the collimated light band area C to the signal area D, the electronic mobile device is located in the signal area D and can decelerate in advance and make a pre-adjustment of its posture, so that when it enters the collimated light band area C, its charging head can be located at a position facing the charging terminal of the workstation, thereby improving the efficiency of returning the electronic mobile device to the charging station. The third infrared light source 15 can be respectively arranged on the side of the two first infrared emitters 121 facing away from each other, so as to form a signal area E on the side of the first signal area A facing away from the second signal area B and on the side of the second signal area B facing away from the first signal area A, so as to expand the coverage range of the infrared signal.

[0060] Reference Figure 1-Figure 2 When the collimated light band area is covered by the infrared signals emitted by the first infrared transmitter 121 and the second infrared light source 14, the two coded infrared signals are physically merged in the collimated light band area to form two coded superimposed infrared signals. Therefore, when the cleaning robot confirms that the infrared receiver receives the coded information of the infrared signal again, it is determined that the infrared receiver has returned to the collimated light band area.

[0061] It is worth mentioning that the posture of the robot in the workstation can be understood as the posture of the robot when the electronic mobile device serving as the cleaning robot returns to the workstation and the workstation performs dust collection, charging, water change, cleaning or drying operations on the cleaning robot. For example, when the workstation supplies power to the cleaning robot, the posture of the cleaning robot when the charging terminal of the robot is aligned with the charging head of the workstation is the posture of the cleaning robot in the workstation; when the workstation changes the water for the cleaning robot, the posture of the water replenishment port of the cleaning robot is aligned with the water supply port of the workstation is the posture of the cleaning robot in the workstation. In other words, the posture of the cleaning robot in the workstation mainly refers to the posture presented when the interface set on the cleaning robot is aligned and docked with the interface set on the workstation. Among them, the interface may include but is not limited to a charging interface, an injection interface, a sewage discharge interface, a limited alignment interface specifically used for docking, etc.

[0062] In one embodiment, the constraint wall 115 is provided with first extinction teeth 116 arranged along the length direction of the light constraint channel 11, and the ends of each first extinction tooth 116 located on the same constraint wall 115 are connected along the length direction of the light constraint channel 11 to form an extinction wall 1161. It should be noted that the end of the first extinction tooth 116 refers to the end of the first extinction tooth 116 away from the corresponding constraint wall 115, that is, the ends of each first extinction tooth 116 located on the two constraint walls 115 are respectively connected to form two oppositely arranged extinction walls 1161.

[0063] An extinction wall 1161 is formed on each of the two confinement walls 115. The two extinction walls 1161 are respectively arranged parallel to or coincident with the optical axes of the two first infrared light sources 12. That is, in the embodiment in which the first extinction teeth 116 are arranged on the confinement wall 115, the extinction wall 1161 formed by each of the first extinction teeth 116 is arranged parallel to or coincident with the optical axis of the first infrared emitter 121 and the optical axis of the second infrared emitter 122. Preferably, when the two extinction walls 1161 are respectively arranged coincident with the optical axis of the first infrared emitter 121 and the optical axis of the second infrared emitter 122, the spacing between the confinement walls 115 on both sides is slightly larger than the spacing between the optical axis of the first infrared emitter 121 and the optical axis of the second infrared emitter 122. The first extinction teeth 116 have the same structure to ensure that the structures of the two confinement walls 115 are kept in a straight line. The plurality of first extinction teeth 116 are arranged in a mutually parallel structural form and are arranged in a direction from the first end 111 to the second end 112 of the light confinement channel 11.

[0064] It should be understood that the first extinction tooth 116 can be set to a pointed tooth structure, a flat structure, a threaded structure, or an arc structure. When the first extinction teeth 116 are arranged along the length direction in the light confinement channel 11, after the first infrared emitter 121 emits an infrared light beam, a part of the infrared light beam located in the light confinement channel 11 will irradiate the first extinction tooth 116. After multiple reflections and absorption by the tooth wall of the first extinction tooth 116, this part of the light will become diffuse reflection and gradually disappear. Finally, only the light emitted in a preset direction is emitted from the device body 10 from the light outlet 113, ensuring that the infrared signal covers a preset angle range, and allowing the infrared light beams emitted by the two first infrared light sources 12 to overlap to form a collimated light band, and can also effectively avoid scattering, diffraction, etc. of the infrared light beam at the light outlet 113, thereby improving the positioning accuracy of the electronic mobile device when it is close to the infrared light confinement device, and improving the accuracy of the connection between the devices.

[0065] In one embodiment, in order to further improve the constraint accuracy of the infrared beam, Figure 1As shown, a partition 13 extending in a straight direction is arranged between the two first infrared light sources 12, and the partition 13 can separate the light confinement channel 11 into two channels arranged side by side. It should be understood that in order to allow the infrared light beams emitted by the two first infrared light sources 12 to overlap to form a collimated light band, in an embodiment with a partition 13, the partition 13 is not arranged to completely separate the light confinement channel 11. The end of the partition 13 facing away from the first infrared light source 12 is located between the first end 111 and the second end 112 of the light confinement channel 11.

[0066] Taking the above-mentioned first infrared light source 12 including the first infrared emitter 121 and the second infrared emitter 122 as an example, the above-mentioned two light inlets 114 are respectively arranged on the left and right sides of the partition 13, so that when the first infrared emitter 121 and the second infrared emitter 122 are respectively arranged corresponding to the two light inlets 114, the infrared light beams emitted by the two can first be emitted into the corresponding channel, and under the constraints of the constraint wall 115 and the partition 13, the end of the partition 13 and the first end 111 of the light constraint channel 11 coincide with the position to form the above-mentioned collimated light band that is finally emitted from the light outlet 113 to the device body 10.

[0067] It is understandable that the partition 13 can constrain the emission angle of the light beam on the right side of the first infrared emitter 121 and the emission angle of the light beam on the left side of the second infrared emitter 122, thereby controlling the range of the signal area A and the signal area B.

[0068] Please continue to refer to the attached Figure 1-Figure 2 In this embodiment, the size of the end of the partition 13 away from the first infrared light source 12 is gradually narrowed, so as to improve the reflection and absorption efficiency of the infrared light beam on the right side of the first infrared emitter 121 and the infrared light beam on the left side of the second infrared emitter 122 through the gradually narrowing structure, and further reduce the scattering and diffraction of the infrared light at the light outlet 113.

[0069] According to the principle of setting the first extinction teeth 116 on the constraint wall 115 , based on the implementation of setting the partition 13 between the two first infrared light sources 12 , the partition 13 is evenly provided with second extinction teeth 131 on the wall of the partition 13 close to the two constraint walls 115 .

[0070] According to any of the above implementations, in one embodiment, if Figure 1As shown, the spacing between the two constraint walls 115 near the first end 111 of the light confinement channel 11 is smaller than the spacing between the two constraint walls 115 near the second end 112 of the light confinement channel 11. The principle of such arrangement is that the first infrared emitter 121 and the second infrared emitter 122 are relatively large in volume. On the basis of the side-by-side arrangement of the two, if the two constraint walls 115 are directly arranged along the optical axis of the first infrared emitter 121 and the optical axis of the second infrared emitter 122, the width of the collimated light band constrained by the two constraint walls 115 is large, so it is difficult to meet the narrow collimated light passing through. In order to improve the positioning accuracy of the electronic mobile device, the distance between the two constraint walls 115 near the second end 112 of the light constraint channel 11 is set to a larger size, so that the distance between the two constraints near the second end 112 of the light constraint channel 11 is sufficient to allow the first infrared emitter 121 and the second infrared emitter 122 to be arranged side by side therebetween, and allow enough infrared light beams to be emitted into the light constraint channel 11, thereby reducing the interference of the constraint wall 115 on the infrared light beam at the emitting end of the first infrared light source 12, and improving the lighting efficiency of the infrared light.

[0071] In the above scheme, the constraint wall 115 near the first end 111 of the light confinement channel 11 is respectively arranged parallel to or coincident with the optical axis of the first infrared emitter 121 and the optical axis of the second infrared emitter 122, that is, the two constraint walls 115 are located between the first end 111 and the second end 112 of the light confinement channel 11 and are provided with a contraction section 1153. In the above-mentioned embodiment in which a partition 13 with a gradually narrowing width is provided, the position of the contraction section 1153 of the constraint wall 115 corresponds to the end position of the partition 13 where the width gradually shrinks.

[0072] Based on any of the above embodiments, the width dimension of the light confinement channel 11 is 5mm-20mm, that is, the spacing between the two confinement walls 115 is 5mm-20mm. It can be understood that the smaller the width dimension of the light confinement channel 11, the smaller the width dimension of the collimated light band constrained and emitted by it, and the stronger the confinement force on the cleaning robot in the collimated light band area. Compared with the light bands with angles on both sides, the collimated light bands parallel to each other on both sides have higher confinement accuracy for the collimated light band area. In order to ensure that the cleaning robot has a high positioning accuracy and avoid the situation where the infrared receiver cannot detect the collimated light band, the width of the light confinement moving knife is set within the above range.

[0073] As an embodiment that can be implemented in parallel with the above-mentioned embodiments, on the basis of any of the above-mentioned embodiments, the length dimension of the light confinement channel 11 is 20mm-50mm, so as to avoid the situation that the light confinement channel 11 is too short, resulting in strong scattering and diffraction at the light outlet 113 near the device body 10, thereby forming an interference area and affecting the connection accuracy of the near-end of the electronic mobile device to the pile, and to avoid the situation that the light confinement channel 11 is too long, resulting in a too narrow signal area range, thereby reducing the detection range of the electronic mobile device, and it can also avoid the infrared light confinement device being too large and wasting the installation space of the workstation.

[0074] According to the above embodiment, it can be understood that when the size of the channel is such that the constraint wall 115 and the optical axis of the corresponding first infrared light source 12 are set parallel, the optical axis of the first infrared light source 12 and the corresponding constraint wall 115 are non-overlapping, that is, there is a positional deviation between the optical axis of the constraint wall 115 and the first infrared light source 12. Of course, the optimal effect is that the constraint wall 115 and the optical axis of the corresponding first infrared light source 12 are overlapped, but in the actual manufacturing process, dimensional deviations between components are difficult to avoid. Therefore, this embodiment limits the deviation between the optical axes of the constraint wall 115 and the first infrared light source 12 in this case to within ±2 mm, thereby ensuring that the relative sides of the collimated light band emitted from the optical constraint channel 11 through the light outlet 113 can remain parallel or nearly parallel, thereby achieving the purpose of improving the positioning accuracy of electronic mobile equipment.

[0075] In a further embodiment, the utility model also provides a base station, which includes a base as a supporting base of the base station, a main board and a charging terminal electrically connected to the main board are arranged inside the base, and an infrared light restraint device as mentioned above, the infrared light restraint device is connected to the base through a device body 10, and a first infrared light source 12 is electrically connected to the main board.

[0076] In the embodiment of the cleaning robot provided by the utility model, in addition to the base station mentioned above, it also includes a robot body, and the robot body is provided with an infrared receiver for receiving the signal emitted by the first infrared light source 12, and a charging head adapted to the charging terminal structure.

[0077] According to the above-mentioned embodiment, that is, by using two constraint walls 115 that are respectively parallel to or overlap with the optical axes of the two first infrared light sources 12 on the infrared light constraint device, the light emitted from the light constraint channel 11 through the light outlet 113 can form a collimated light band extending in a straight line direction, thereby achieving the purpose of improving the rapid positioning and accurate and efficient return to the base station and the cleaning robot, and ultimately improving the operating efficiency of the cleaning robot to meet different usage scenarios and user needs.

[0078] In the description of this article, it should be understood that the terms "upper", "lower", "left", "right", etc., and other directions or positional relationships are only for the convenience of description and simplification of operation, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as a limitation of the present invention. In addition, the terms "first" and "second" are only used to distinguish in the description and have no special meaning.

[0079] In the description of this specification, the description with reference to the terms "an embodiment", "example", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the utility model. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example.

[0080] In addition, it should be understood that although this specification is described according to implementation methods, not every implementation method contains only one independent technical solution. This narrative method of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

[0081] The technical principle of the present invention is described above in combination with specific embodiments. These descriptions are only for explaining the principle of the present invention and cannot be interpreted as limiting the protection scope of the present invention in any way. Based on the explanations here, technicians in this field can think of other specific implementation methods of the present invention without creative work, and these methods will fall within the protection scope of the present invention.

Claims

1. An infrared light restraint device, applied to electronic mobile equipment, characterized in that: include: A device body (10) is formed inside of which a light confinement channel (11) extending in a straight direction is formed. The device body (10) is also provided with a light outlet (113) connected to a first end (111) of the light confinement channel (11); Two first infrared light sources (12) are arranged side by side in the horizontal direction at the second end (112) of the light confinement channel (11), and the first infrared light sources (12) are configured so that the infrared light emitted by them can be emitted from the device body (10) through the light confinement channel (11) and from the light outlet (113); The light confinement channel (11) comprises two confinement walls (115) arranged opposite to each other, and the two confinement walls (115) are respectively arranged parallel to or coincident with the optical axes of the two first infrared light sources (12).

2. The infrared light confinement device according to claim 1, characterized in that: The first infrared light source (12) comprises a first infrared emitter (121) and a second infrared emitter (122), and the optical axes of the first infrared emitter (121) and the second infrared emitter (122) are parallel to each other; The first infrared transmitter (121) is configured to transmit a first coded signal to a first signal area, and the second infrared transmitter (122) is configured to transmit a second coded signal to a second signal area, and the first coded signal and the second coded signal at least partially overlap to form a collimated light band extending in a straight direction.

3. The infrared light confinement device according to claim 1, characterized in that: The confinement wall (115) is provided with first extinction teeth (116) arranged along the length direction of the light confinement channel (11), and the ends of the first extinction teeth (116) located on the same confinement wall (115) are connected along the length direction of the light confinement channel (11) to form an extinction wall (1161); An extinction wall (1161) is formed on each of the two constraint walls (115), and the two extinction walls (1161) are respectively arranged parallel to or coincident with the optical axes of the two first infrared light sources (12).

4. The infrared light confinement device according to claim 1, characterized in that: A partition (13) extending in a straight line direction is arranged between the two first infrared light sources (12); an end of the partition (13) facing away from the first infrared light source (12) is located between a first end (111) and a second end (112) of the light confinement channel (11); The dimension of one end of the partition (13) away from the first infrared light source (12) gradually narrows.

5. The infrared light confinement device according to claim 4, characterized in that: The partition plate (13) is provided with second matte teeth (131) on the plate walls close to the two restraining walls (115).

6. The infrared light confinement device according to claim 1 or 4, characterized in that: The distance between the two confinement walls (115) close to the first end (111) of the light confinement channel (11) is smaller than the distance between the two confinement walls (115) close to the second end (112) of the light confinement channel (11).

7. The infrared light confinement device according to any one of claims 1 to 5, characterized in that: The width of the light confinement channel (11) is 5 mm to 20 mm.

8. The infrared light confinement device according to any one of claims 1 to 5, characterized in that: The length dimension of the light confinement channel (11) is 20 mm-50 mm.

9. The infrared light confinement device according to any one of claims 1 to 5, characterized in that: When the constraint wall (115) is arranged in parallel with the optical axis of the first infrared light source (12) corresponding thereto, the maximum deviation between the optical axis of the constraint wall (115) and the first infrared light source (12) is ±2 mm.

10. A base station, characterized in that: include: A base, wherein a mainboard and a charging terminal electrically connected to the mainboard are disposed in the base; The infrared light confinement device as described in any one of claims 1 to 9, wherein the infrared light confinement device is connected to the base through the device body (10), and the first infrared light source (12) is electrically connected to the main board.

11. A cleaning robot, characterized in that: include: The base station as claimed in claim 10; A robot body is provided with an infrared receiver for receiving the signal emitted by the first infrared light source (12), and a charging head adapted to the charging terminal structure.

Images