Cliff sensor and sweeping robot

Abstract

The utility model belongs to the technical field of floor mopping robots, and particularly provides a cliff sensor and a floor mopping robot. The light-emitting component is positioned on any side of the light emitter and the light receiver and is used for enhancing the near-field light intensity; and the lenses are arranged on the light receiving / emitting paths of the light emitter, the light receiver and the light emitting part so as to detect the ground condition of the near / far ground of the space where the cliff sensor is located. The utility model aims to solve the problem of inaccurate detection result caused by the fact that the existing sweeping robot cannot directly detect the near field condition. The cliff sensor effectively improves the accuracy of a detection result, further prolongs the service life of the sweeping robot, and is simple in structure and easy to implement.

Description

Technical Field

[0001] The utility model belongs to the technical field of sweeping robots, and specifically provides a cliff sensor and a sweeping robot. Background Art

[0002] In order to enable the sweeping robot to adapt to various indoor environments, sensors are often installed on the sweeping robot to detect the ground conditions of the environment in which the sweeping robot is located, so as to avoid damage to the sweeping robot.

[0003] Existing robot vacuums use lenses and infrared modules installed on their sensors to detect indoor floor conditions. However, these sensors are more accurate for distant environments, but can lead to larger errors in near-field conditions, where the ground is darker. Therefore, a cliff sensor with enhanced near-field detection accuracy is urgently needed to address this issue. Utility Model Content

[0004] One purpose of the present invention is to solve the problem that existing sweeping robots cannot directly detect nearby ground conditions, resulting in inaccurate detection results.

[0005] To achieve the above-mentioned purpose, the present invention provides a cliff sensor, comprising:

[0006] optical transmitters and optical receivers;

[0007] a light-emitting component, located on either side of the light emitter and the light receiver, for enhancing the near-field light intensity;

[0008] The lens is provided on the paths of light received / emitted by the light emitter, the light receiver and the light-emitting component, so as to detect the ground conditions near / far from the space where the cliff sensor is located.

[0009] Furthermore, the lens is configured as a Fresnel lens.

[0010] Furthermore, the cliff sensor also includes: a sensor body having a storage space therein and an opening at one end thereof; a partition, which is arranged in the storage space and divides the storage space into two chambers; the light emitter and the light-emitting component are arranged in one of the chambers, and the light receiver is arranged in the other chamber.

[0011] Furthermore, the lens is arranged at the opening; and / or the surface of the partition is subjected to a matte treatment.

[0012] Furthermore, the partition and the sensor body are integrally formed; or, the partition and the sensor body are fixedly connected.

[0013] Furthermore, the partition is fixedly connected to the sensor body through fasteners; or, a clamping portion is provided on the partition, and a clamping slot is provided in the sensor body, and the clamping portion is clamped in the clamping slot to fix the partition and the sensor body together.

[0014] Furthermore, the cliff sensor further includes: a controller, and the light emitter, the light receiver and the light-emitting component are respectively connected to the controller.

[0015] Furthermore, the sensor body also includes an installation cavity, which is arranged on a side away from the accommodating space, and the installation cavity is used to accommodate the controller; and / or, a through hole is provided on the bottom wall of the accommodating space, and the conductive terminals of the light-emitting component, the light emitter and the light receiver can pass through the through hole and be connected to the controller.

[0016] Furthermore, the light emitting component is configured as an LED lamp; and / or, the light emitter is used to emit infrared light or visible light.

[0017] Furthermore, a sweeping robot comprises a sweeping robot body and the cliff sensor described in any one of the above descriptions; at least one cliff sensor is provided on the bottom edge of the sweeping robot body.

[0018] Furthermore, a plurality of the cliff sensors are evenly distributed along the bottom edge of the sweeper body.

[0019] Based on the foregoing description, those skilled in the art will understand that, in the aforementioned technical solution of the present invention, by adding a light-emitting component to the sensor, the light detected by the cliff sensor on the near-field ground is brighter, thereby improving the accuracy of the cliff sensor's detection results of near-field ground conditions. This utility model effectively solves the problem of existing cliff sensors causing damage to sweeping robots due to inaccurate ground condition judgments in the near-field due to brighter light in the detection area of the far-field ground and darker light in the near-field ground. The cliff sensor of the utility model effectively improves detection results, thereby extending the service life of the sweeping robot. It has a simple structure and is relatively easy to implement. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solution of the present invention, some embodiments of the present invention will be described below with reference to the accompanying drawings. It should be understood by those skilled in the art that the same reference numerals in different drawings indicate the same or similar components or parts; the drawings of the present invention are not necessarily drawn to scale. In the drawings:

[0021] Figure 1 It simulates cliff scenes to represent the detection conditions that would occur with existing cliff sensors;

[0022] Figure 2 is a schematic structural diagram of a cliff sensor in some embodiments of the present invention;

[0023] Figure 3 yes Figure 2 Schematic diagram of the optical path of the cliff sensor.

[0024] Description of reference numerals:

[0025] 100. Cliff sensor;

[0026] 1. Sensor body; 11. Partition; 2. Light-emitting component; 3. Light emitter; 4. Light receiver; 5. Lens; 6. Controller. DETAILED DESCRIPTION

[0027] Those skilled in the art should understand that the embodiments described below are only a portion of the embodiments of the present invention, rather than all of the embodiments of the present invention. These embodiments are intended to explain the technical principles of the present invention and are not intended to limit the scope of protection of the present invention. Based on the embodiments provided by the present invention, all other embodiments obtained by those skilled in the art without creative effort should still fall within the scope of protection of the present invention.

[0028] It should be noted that in the description of this utility model, terms such as "center," "upper," "lower," "top," "bottom," "left," "right," "vertical," "horizontal," "inner," and "outer" indicating directions or positional relationships are based on the directions or positional relationships shown in the accompanying drawings. This is merely for ease of description and does not indicate or imply that the device or element described must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, it should not be understood as limiting the present utility model. In addition, the terms "first," "second," and "third" are used for descriptive purposes only and should not be understood as indicating or implying relative importance.

[0029] Furthermore, it should be noted that, in the description of this utility model, unless otherwise expressly specified or limited, the terms "installed," "connected," and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; mechanical connections, electrical connections; direct connections, indirect connections through an intermediate medium, or internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in this utility model based on specific circumstances.

[0030] Refer to the following Figures 1 to 3 , to explain in detail the cliff sensor in some embodiments of the present invention. Figure 1It simulates cliff scenes to represent the detection conditions that would occur with existing cliff sensors; Figure 2 is a schematic structural diagram of a cliff sensor in some embodiments of the present invention; Figure 3 yes Figure 2 Schematic diagram of the optical path of the cliff sensor.

[0031] For the sake of convenience and to enable those skilled in the art to quickly understand the technical solution of the present invention, the following text only describes the technical features that are closely related (directly or indirectly related) to the technical problem and / or technical concept to be solved by the present invention, and does not describe the technical features that are less closely related to the technical problem and / or technical concept to be solved by the present invention. Since such less closely related technical features are common knowledge in the field, even if the present invention does not describe such less closely related features, it will not result in insufficient disclosure of the present invention.

[0032] Prior to this, it's important to note that existing cliff sensors utilize a transmitter, receiver, and lens assembly to detect ground conditions within their location. However, light emitted solely through a reflector typically results in higher intensity in the far field and lower intensity near the cliff sensor. This can lead to poor or inaccurate detection of near-field conditions within the cliff sensor's location in certain scenarios.

[0033] Specifically, if Figure 1 As shown, staff simulated a cliff scenario to determine the detection behavior of the cliff sensor in different environments. The specific principle is to determine whether it is a cliff based on the energy detected by the receiver in real time. The judgment standard is a cliff environment provided by the staff for the machine, such as an 11-centimeter step. The value measured on the step is recorded as the standard value. A more specific simulation scenario can be a scenario with extremely high obstacles. In this scenario, the cliff sensor is at a higher height from the ground. In this case, if there is a carpet or a slope on the ground, the energy value detected by the cliff sensor may not reach the standard value and be mistakenly identified as a cliff, resulting in the failure to scan the ground near the ground.

[0034] The cliff sensor 100 of the present invention increases the light intensity of the near field by adding a light emitting component, so that the cliff sensor can detect the far field conditions while also increasing the light intensity of the near field conditions (such as Figure 2 As shown in FIG, this effectively avoids the problem that the cliff sensor in the above-mentioned specific environment misses scanning of near-ground mines, thereby causing inaccurate detection results.

[0035] like Figure 3As shown, in some embodiments of the present invention, a cliff sensor 100 is provided, comprising a sensor body 1, a light-emitting component 2, a light emitter 3, a light receiver 4, and a lens 5. The sensor body 1 has a storage space within which the light-emitting component 2 and the light emitter 3 are disposed, providing a light source. The light receiver 4 is disposed on one side of the light-emitting component 2 and the light emitter 3, and is configured to receive the light emitted by the light-emitting component 2 and the light emitter 3. A lens 5 is provided along the light transmission / reception paths of the light-emitting component 2, the light emitter 3, and the light receiver 4 to enhance the light intensity and resolution along the transmission / reception paths.

[0036] The sensor body 1 further comprises a partition 11 which is arranged in the accommodation space and divides the accommodation space into two chambers. The light emitting component 2 and the light emitter 3 are arranged in one chamber, and the light receiver 4 is arranged in the other chamber.

[0037] The partition plate 11 is integrally formed with the sensor body 1. Alternatively, the partition plate 11 is fixedly connected to the sensor body 1.

[0038] The partition 11 is fixedly connected to the sensor body 1 through fasteners. The fasteners can be screws, rivets or bolts.

[0039] In other embodiments of the present invention, a snap-fitting portion is provided on the partition 11 , and a snap-fitting slot is provided in the sensor body 1 . The snap-fitting portion is engaged with the snap-fitting slot to fix the partition 11 and the sensor body 1 together.

[0040] The partition 11 of the present invention needs to be matte treated.

[0041] Optionally, the partition 11 is made of an opaque material. Alternatively, the surface of the partition 11 is coated with a paint having opaque properties. Alternatively, the surface of the partition 11 is roughened by a grinding wheel or sandpaper to reduce the light-guiding performance of the surface of the partition 11.

[0042] The cliff sensor 100 also includes a controller 6, to which the light emitter 3, light receiver 4, and light-emitting component 2 are respectively connected. The controller 6 is capable of controlling the light emitter 3 and light-emitting component 2 to emit light, while also receiving light signals from the light receiver 4 and converting the light signals into electrical signals for processing. In further embodiments of the present invention, the sensor body 1 also includes a mounting cavity, disposed on a side away from the accommodation space. The mounting cavity is used to accommodate the controller 6.

[0043] A through hole is provided on the bottom wall of the accommodating space, and the conductive terminals of the light emitting component 2 , the light emitter 3 and the light receiver 4 can pass through the through hole and be connected to the controller 6 .

[0044] In some other embodiments of the present invention, the lens 5 and the sensor body 1 are made in one piece.

[0045] In other embodiments of the present invention, the lens 5 is fixedly connected to the sensor body 1. Specifically, the lens 5 and the sensor body 1 are fixedly connected together by gluing.

[0046] In other embodiments of the present invention, a limiting groove is provided on the sensor body 1 , and the lens 5 can be mounted on the sensor body 1 through the limiting groove.

[0047] The light emitting component 2 and the light transmitter 3 emit light through their corresponding lenses 5 , and the light receiver 4 collects and receives the light through its corresponding lens 5 and converts the light signal into an electrical signal.

[0048] Optionally, lens 5 in the present invention can be a convex lens or a Fresnel lens. The convex lens can be configured as a plano-convex lens. In this embodiment, lens 5 is configured as a Fresnel lens. Because a Fresnel lens is composed of a series of concentric annular conical surfaces, its shape is closer to that of a plane mirror, but each conical surface has a focusing effect similar to that of a spherical lens. This gives the Fresnel lens the advantage of clearer, sharper imaging and less distortion. Therefore, in the present invention, by configuring lens 5 as a Fresnel lens, the light receiver 4 is more sensitive to strong and weak light, effectively improving the accuracy of the detection results of the cliff sensor 1.

[0049] The light emitter 3 may be configured to emit infrared light or visible light.

[0050] In this embodiment, the light emitting component 2 is configured as an LED lamp, the light transmitter 3 is configured as an infrared transmitter, and the light receiver 4 is configured as an infrared receiver.

[0051] In another embodiment of the present invention, a sweeping robot includes a sweeping robot body and the above-mentioned cliff sensor 100. At least one cliff sensor 100 is provided on the bottom edge of the sweeping robot.

[0052] A cliff sensor 100 is provided at a position just in front of the bottom edge of the sweeping machine body.

[0053] A plurality of cliff sensors 100 are evenly distributed along the bottom edge of the cleaning robot.

[0054] In this utility model, the robot vacuum is provided with at least one mounting slot, each of which is equipped with a cliff sensor 100. Specifically, a limiting protrusion is provided in the mounting slot, and a groove is provided on the outer side of the sensor body 1. The cliff sensor 100 is pushed into the mounting slot so that the limiting protrusion and the groove engage, thus installing the cliff sensor 100 on the robot vacuum.

[0055] Those skilled in the art will appreciate that the present invention enhances near-field ground light by adding a light-emitting component 2 to the sensor, making the cliff sensor 100 more accurate in detecting near-field ground conditions. This effectively addresses the problem of existing cliff sensors 100 detecting brighter light in the far-field area and darker light in the near-field area, leading to inaccurate near-field ground condition assessments and potentially damaging robot vacuums. The present cliff sensor 100 effectively improves detection results, thereby extending the lifespan of the robot vacuum. Its structure is simple and relatively easy to implement.

[0056] Thus far, the technical solutions of the present invention have been described in conjunction with the above-mentioned multiple embodiments. However, it is easy for those skilled in the art to understand that the scope of protection of the present invention is not limited to these specific embodiments. Without departing from the technical principles of the present invention, those skilled in the art may split and combine the technical solutions of the above-mentioned various embodiments, and may also make equivalent changes or replacements to the relevant technical features. Any changes, equivalent replacements, improvements, etc. made within the technical concept and / or technical principles of the present invention shall fall within the scope of protection of the present invention.

Claims

1. A cliff sensor, characterized in that: include: optical transmitters and optical receivers; A light-emitting component, located on one side of the light emitter and / or one side of the light receiver, for enhancing the near-field light intensity; The lens is provided on the paths of light received / emitted by the light emitter, the light receiver and the light-emitting component, so as to detect the ground conditions near / far from the space where the cliff sensor is located.

2. The cliff sensor according to claim 1, characterized in that The lens is configured as a Fresnel lens.

3. The cliff sensor according to claim 1, characterized in that Also includes: The sensor body has a receiving space therein and an opening at one end thereof; A partition is arranged in the accommodating space and divides the accommodating space into two chambers; the light emitter and the light emitting component are arranged in one chamber, and the light receiver is arranged in the other chamber.

4. The cliff sensor according to claim 3, characterized in that The lens is disposed at the opening; and / or, The surface of the partition is subjected to matte treatment.

5. The cliff sensor according to claim 3, characterized in that The partition is integrally formed with the sensor body; or, The partition is fixedly connected to the sensor body.

6. The cliff sensor according to claim 5, characterized in that The partition is fixedly connected to the sensor body by a fastener; or, The partition is provided with a clamping portion, and the sensor body is provided with a clamping slot. The clamping portion is clamped in the clamping slot to fix the partition and the sensor body together.

7. The cliff sensor according to claim 3, characterized in that Also includes: A controller is provided, wherein the light emitter, the light receiver and the light emitting component are respectively connected to the controller.

8. The cliff sensor according to claim 7, characterized in that The sensor body further includes a mounting cavity, which is arranged on a side away from the accommodation space and is used to accommodate the controller; and / or, A through hole is provided on the bottom wall of the accommodating space, and conductive terminals of the light emitting component, the light emitter and the light receiver can pass through the through hole and be connected to the controller.

9. The cliff sensor according to claim 1, characterized in that The light emitting component is configured as an LED lamp; and / or, The light emitter is used to emit infrared light or visible light.

10. A sweeping robot, characterized in that: The device comprises a sweeping machine body and the cliff sensor according to any one of claims 1 to 9; at least one cliff sensor is provided on the bottom edge of the sweeping machine body.

11. The sweeping robot according to claim 10, characterized in that: The plurality of cliff sensors are evenly distributed along the bottom edge of the sweeper body.

Images