Ground detection mechanism and sweeping robot

Abstract

The embodiment of the utility model provides a ground inspection mechanism and a sweeping robot, the ground inspection mechanism comprises a housing, a light emitting piece, a light receiving piece and a first convex lens, the housing is provided with an accommodating cavity, a first through hole and a second through hole; the light emitting part is arranged in the accommodating cavity and is used for emitting detection light to the external space through the first through hole; the light receiving part is arranged in the accommodating cavity and is used for receiving the detection light emitted into the accommodating cavity from the external space through the second through hole; the first convex lens is connected to the shell and arranged at the first through hole, and the detection light emitted by the light emitting part is emitted to the external space through the first convex lens. Through the arrangement of the first convex lens, the divergent detection light emitted by the light emitting part can form nearly parallel or parallel detection light to be emitted to the ground to be detected, so that the light intensity emitted to the dark material is enhanced, the light intensity of the detection light received by the light receiving part can be larger than a cliff threshold value, and the risk of misjudgment of the cliff is reduced.

Description

Technical Field

[0001] The utility model belongs to the technical field of robots, and in particular relates to a floor inspection mechanism and a floor sweeping robot. Background Art

[0002] Robot vacuums are typically equipped with a ground detection mechanism that uses the difference in the intensity of emitted and received infrared light to identify the presence of a cliff, preventing the robot from falling. However, infrared light is easily absorbed by dark materials, such as black carpet. The infrared light received by the ground detection mechanism is similar to that received when a cliff is present, so it can easily mistakenly identify the dark material as a cliff, causing the robot vacuum to fail to operate properly on dark materials. Utility Model Content

[0003] The purpose of the utility model is to provide a ground inspection mechanism and a sweeping robot, aiming to solve the technical problem that the current sweeping robots cannot work properly on dark materials.

[0004] The utility model is implemented as follows: in a first aspect, a ground inspection mechanism is provided, comprising a housing, a light emitting element, a light receiving element and a first convex lens;

[0005] The housing has a receiving cavity, a first through hole and a second through hole, wherein the first through hole and the second through hole are both connected to the receiving cavity and the external space;

[0006] The light emitting element is disposed in the accommodating cavity and is used to emit detection light to the external space through the first through hole;

[0007] A light receiving element is disposed in the accommodating cavity, and is used to receive the detection light emitted from the external space into the accommodating cavity through the second through hole;

[0008] The first convex lens is connected to the housing and is disposed at the first through hole. The detection light emitted by the light emitting element is emitted to the external space through the first convex lens.

[0009] In some embodiments of the first aspect, the ground inspection mechanism further includes a light-transmitting member, the light-transmitting member including a first light-transmitting portion covering the first through hole and a second light-transmitting portion covering the second through hole, and the first convex lens is connected to the first light-transmitting portion.

[0010] In some embodiments of the first aspect, the first convex lens is disposed on a side of the first light-transmitting portion facing the accommodating cavity.

[0011] In some embodiments of the first aspect, the light-transmitting member and the housing are integrally injection-molded.

[0012] In some embodiments of the first aspect, the ground detection mechanism further includes a second convex lens, which is connected to the housing and disposed at the second through hole, and the light receiving element is used to receive the detection light passing through the second convex lens.

[0013] In some embodiments of the first aspect, the second convex lens is disposed on a side of the second light-transmitting portion facing the accommodating cavity.

[0014] In some embodiments of the first aspect, the housing includes an upper shell and a lower shell that are clamped together, the lower shell includes a bottom plate and a side plate arranged around the bottom plate, the light emitting element and the light receiving element are connected to the side plate, and the first through hole and the second through hole are opened on the bottom plate.

[0015] In some embodiments of the first aspect, the housing further includes a sealing ring clamped between the upper shell and the lower shell.

[0016] In some embodiments of the first aspect, the first light-transmitting portion and the second light-transmitting portion are spaced apart, and the light-transmitting member further includes an injection-molded portion connecting the first light-transmitting portion and the second light-transmitting portion, wherein the injection-molded portion is connected to the side panel.

[0017] In a second aspect, a sweeping robot is provided, comprising the ground inspection mechanism as described in the above embodiments.

[0018] The technical effect of the present invention compared to the prior art is: when there is dark material (such as a black carpet) on the ground to be inspected, the dark material is easy to absorb the detection light emitted by the light emitting component. The setting of the first convex lens can make the divergent detection light emitted by the light emitting component form a nearly parallel or parallel detection light directed to the ground to be inspected, so as to enhance the light intensity directed to the dark material. In this way, the intensity of the detection light reflected by the dark material also increases accordingly. The intensity of the detection light received by the light receiving component can be greater than the cliff threshold, thereby reducing the risk of misjudging the cliff. The sweeping robot can clean on the dark material and improve product performance. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments of the present invention or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0020] Figure 1 It is a cross-sectional view of a ground inspection mechanism provided by an embodiment of the present utility model;

[0021] Figure 2This is a three-dimensional structural diagram of the ground inspection mechanism provided by an embodiment of the present utility model;

[0022] Figure 3 It is an exploded view of the ground inspection mechanism provided by an embodiment of the present utility model.

[0023] Description of reference numerals:

[0024] 10. Outer shell; 11. Upper shell; 12. Lower shell; 13. Sealing ring; 101. Accommodating cavity; 1011. First through hole; 1012. Second through hole; 102. Mounting groove; 111. First buckle; 112. Rib; 121. Second clamping block; 11a. First mounting position; 11b. Second mounting position; 12a. Bottom plate; 12b. Side plate; 20. Light emitting element; 30. Light receiving element; 40. First convex lens; 50. Translucent element; 51. First light-transmitting portion; 52. Second light-transmitting portion; 53. Injection molding portion; 60. Second convex lens. DETAILED DESCRIPTION

[0025] The following describes in detail embodiments of the present invention, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to explain the present invention, and should not be construed as limiting the present invention.

[0026] In the description of the present invention, it should be understood that the terms "length", "width", "top", "bottom", "inside", "outside", etc. indicating the orientation or position relationship are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0027] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature specified as "first" or "second" may explicitly or implicitly include one or more of such features. In the description of this utility model, "plurality" means two or more, unless otherwise specifically defined.

[0028] In this utility model, unless otherwise specified or limited, the terms "installed," "connected," "connect," "fixed," etc. should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integration; mechanical connection, electrical connection; direct connection, indirect connection through an intermediate medium, internal communication between two components, or interaction 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.

[0029] In order to make the purpose, technical solutions and advantages of the present invention more clear, the present invention is further described in detail below with reference to the accompanying drawings and embodiments.

[0030] The present invention provides a floor detection mechanism and a floor-sweeping robot. The floor-sweeping robot includes a robot body and a floor detection mechanism connected to the robot body. The robot body is capable of walking on the ground and cleaning the ground. The floor detection mechanism is used to detect whether there is a cliff on the ground on which it is walking. When the robot body moves to the cliff threshold, the floor detection mechanism can detect the presence of a cliff in the direction of travel, and the robot body can change its direction of travel to avoid falling off the cliff.

[0031] See also Figure 1 The ground detection mechanism includes a housing 10 , a light emitting element 20 , a light receiving element 30 and a first convex lens 40 .

[0032] Housing 10 has a housing cavity 101, a first through-hole 1011, and a second through-hole 1012. Both first through-hole 1011 and second through-hole 1012 connect housing cavity 101 to the outside world. Housing cavity 101 has a first mounting position 11a and a second mounting position 11b. A first light channel is formed between first mounting position 11a and first through-hole 1011, while a second light channel is formed between second mounting position 11b and second through-hole 1012.

[0033] The light emitting element 20 is disposed within the accommodating cavity 101, specifically mounted in the first mounting position 11a. The light emitting element 20 is configured to emit detection light to the outside world through the first through hole 1011. The emission direction of the light emitting element 20 is toward the first through hole 1011. The detection light emitted by the light emitting element 20 is transmitted along the first optical channel to the first through hole 1011, and then emitted to the outside world through the first through hole 1011.

[0034] The light receiving element 30 is disposed within the accommodating cavity 101, specifically, is mounted at the second mounting position 11b. The light receiving element 30 is configured to receive detection light emitted from the external space into the accommodating cavity 101 through the second through hole 1012. The light received by the light receiving element 30 is detection light that can be emitted toward the light receiving element 30 along the second optical channel.

[0035] The first convex lens 40 is connected to the housing 10 and is disposed at the first through hole 1011. The first convex lens 40 is located in the emission direction of the light emitting element 20. The detection light emitted by the light emitting element 20 is emitted to the external space through the first convex lens 40. The first convex lens 40 can be directly connected to the housing 10 or indirectly connected to the housing 10 through other structures, which is not limited here.

[0036] In the sweeping robot, the emission direction of the light emitting element 20 is toward the ground, and the ground that reflects the detection light emitted from the first through hole 1011 can be named the ground to be inspected, and the receiving direction of the light receiving element 30 is toward the ground to be inspected. When the sweeping robot is traveling on normal ground without cliffs, the light receiving element 30 can receive the detection light reflected back from the ground to be inspected. When the sweeping robot travels to the cliff critical point, the distance from the first through hole 1011 to the ground to be inspected becomes longer, the optical path of the detection light changes, and the light intensity of the detection light received by the light receiving element 30 (hereinafter referred to as light intensity) is less than the cliff threshold. At this time, the sweeping robot can determine that it has reached the cliff critical point.

[0037] When there is a dark material (such as a black carpet) on the ground to be inspected, the dark material easily absorbs the detection light emitted by the light emitting element 20. The setting of the first convex lens 40 can make the divergent detection light emitted by the light emitting element 20 form a nearly parallel or parallel detection light directed toward the ground to be inspected, so as to enhance the light intensity directed toward the dark material. In this way, the intensity of the detection light reflected by the dark material also increases accordingly. The intensity of the detection light received by the light receiving element 30 can be greater than the cliff threshold, thereby reducing the risk of misjudging the cliff. The sweeping robot can clean on the dark material, thereby improving product performance.

[0038] In order to ensure that the light receiving element 30 can receive the detection light emitted by the light emitting element 20, at least one of the emission direction of the light receiving element 30 and the receiving direction of the light emitting element 20 can be set to be inclined relative to the ground to be inspected. In the illustrated embodiment, the emission direction of the light emitting element 20 can be set to be inclined relative to the ground to be inspected, and the receiving direction of the light receiving element 30 can be set to be perpendicular to the ground to be inspected. It should be noted that the inclination angle of the emission direction of the light emitting element 20 relative to the ground to be inspected can be adjusted according to the distance between the ground inspection mechanism and the ground to be inspected, as long as the light receiving element 30 can receive the detection light reflected by the ground to be inspected.

[0039] Optionally, the detection light emitted by the light emitting element 20 may be infrared, and the light receiving element 30 includes an infrared sensor that can receive infrared reflected by the ground to be inspected and send the infrared light intensity signal to the processor. The processor can process the light intensity signal and determine whether the light intensity is greater than the cliff threshold. Setting the detection light to infrared can reduce the interference of visible light on the detection process, and can reduce costs while meeting the detector requirements. The processor can be a part of the light receiving element 30 or can be independent of the light receiving element 30. The processor can be set in the housing 10 or outside the housing 10, and there is no limitation here.

[0040] In some embodiments, see Figure 1 The ground inspection mechanism also includes a light-transmitting member 50, which includes a first light-transmitting portion 51 covering the first through-hole 1011 and a second light-transmitting portion 52 covering the second through-hole 1012. The first light-transmitting portion 51 and the second light-transmitting portion 52 allow light to pass through. The first convex lens 40 is connected to the first light-transmitting portion 51, which provides support for the installation of the first convex lens 40. The first convex lens 40 is connected to the housing 10 through the first light-transmitting portion 51. The arrangement of the first light-transmitting portion 51 and the second light-transmitting portion 52 can protect the structural components within the accommodating cavity 101.

[0041] In order to increase the intensity of the detection light received by the light receiving element 30 , the first light-transmitting portion 51 and the second light-transmitting portion 52 may both be transparent.

[0042] Optionally, the first convex lens 40 is disposed on a side of the first light-transmitting portion 51 facing the accommodating cavity 101 . In this way, the first light-transmitting portion 51 can protect the first convex lens 40 .

[0043] In some embodiments, see Figure 1 The ground detection mechanism further includes a second convex lens 60, which is connected to the housing 10 and disposed at the second through hole 1012. The light receiving element 30 is configured to receive light passing through the second convex lens 60. The second convex lens 60 can focus the detection light entering the second channel from the external space to further increase the intensity of the detection light received by the light receiving element 30. The cooperation between the first convex lens 40 and the second convex lens 60 can increase the difference between the light intensity and the cliff threshold, further reducing the risk of misjudging a cliff.

[0044] Optionally, the second convex lens 60 is disposed on the side of the second light-transmitting portion 52 facing the accommodating cavity 101 . In this way, the first light-transmitting portion 51 can protect the first convex lens 40 .

[0045] It should be noted that the first convex lens 40 and the second convex lens 60 can each include at least one convex mirror, which can be a plano-convex mirror or a biconvex mirror. When the first convex lens 40 or the second convex lens 60 includes multiple convex mirrors, the multiple convex mirrors can include both plano-convex mirrors and biconvex mirrors, and the multiple convex mirrors can be arranged in sequence along the emission direction of the detection light.

[0046] Optionally, the first light-transmitting portion 51 is a flat plate, the first convex lens 40 is a single plano-convex mirror, the flat side of the first convex lens 40 is connected to the first light-transmitting portion 51, and the curved side of the first convex lens 40 faces the light emitter 20.

[0047] Optionally, the second light-transmitting portion 52 is a flat plate, the second convex lens 60 is a single plano-convex mirror, the flat side of the second convex lens 60 is connected to the second light-transmitting portion 52, and the curved side of the second convex lens 60 faces the light receiver 30.

[0048] In some embodiments, referring to Figure 2 and Figure 3 , the housing 10 includes an upper shell 11 and a lower shell 12 that are connected to each other, the lower shell 12 includes a bottom plate 12a and a side plate 12b that is arranged around the bottom plate 12a, the bottom plate 12a and the side plate 12b jointly surround to form a mounting groove 102, the side plate 12b surrounds to form a groove opening of the mounting groove 102 on the side away from the bottom plate 12a, the upper shell 11 covers the groove opening, and the upper shell 11 and the lower shell 12 jointly surround to form a receiving cavity 101. The connection is provided to realize the quick assembly of the upper shell 11 and the lower shell 12.

[0049] In the mounting groove 102, the light emitter 20 and the light receiver 30 are located. Specifically, the upper shell 11 can extend a plurality of ribs 112, and the plurality of ribs 112 can form a first mounting position 11a and a second mounting position 11b. After the upper shell 11 and the lower shell 12 are connected, the first mounting position 11a and the second mounting position 11b are located in the mounting groove 102 formed by the lower shell 12. During assembly, the light emitter 20 and the light receiver 30 can be respectively mounted on the first mounting position 11a and the second mounting position 11b before the upper shell 11 and the lower shell 12 are connected, then the ribs 112 on which the light emitter 20 and the light receiver 30 are mounted are inserted into the mounting groove 102, and finally the upper shell 11 and the lower shell 12 are connected to complete the assembly of the cliff detection mechanism.

[0050] Optionally, the first through hole 1011 and the second through hole 1012 are formed on the bottom plate 12a to facilitate processing. The first through hole 1011 and the second through hole 1012 can be arranged at intervals to increase the included angle between the emission direction of the light emitter 20 and the receiving direction of the light receiver 30, so that the cliff detection mechanism is more sensitive to the cliff.

[0051] Optionally, the upper shell 11 is provided with first buckles 111 on both sides, and the side shell is provided with second buckles on both sides. When assembling, the upper shell 11 is covered towards the notch of the mounting groove 102 of the lower shell 12, and each first buckle 111 can be buckled to the corresponding second buckle during the covering process to realize the buckling cooperation of the upper shell 11 and the lower shell 12.

[0052] In some embodiments, referring to Figure 2 and Figure 3 , the shell 10 further comprises a sealing ring 13 clamped between the upper shell 11 and the lower shell 12. The sealing ring 13 can be made of rubber material, and the upper shell 11 and the lower shell 12 can be interference extruded to the sealing ring 13 when buckled to ensure the sealing between the upper shell 11 and the lower shell 12.

[0053] In some embodiments, the upper shell 11 and the lower shell 12 are made of plastic material, and the light-transmitting piece 50 and the lower shell 12 are integrally injection molded, that is, the first light-transmitting part 51 and the second light-transmitting part 52 are integrally injection molded with the lower shell 12 to ensure the sealing connection between the light-transmitting piece 50 and the lower shell 12, prevent liquid and dust from entering the accommodation cavity 101 through the first through hole 1011 and the second through hole 1012, and also improve the structural strength of the connection between the light-transmitting piece 50 and the lower shell 12.

[0054] By setting the sealing ring 13 and the light-transmitting piece 50, the accommodation cavity 101 can form a sealed cavity, which has waterproof and dustproof effects on the ground detection mechanism.

[0055] Among them, referring to Figure 2 and Figure 3 , the light-transmitting piece 50 further comprises an injection part 53 connecting the first light-transmitting part 51 and the second light-transmitting part 52, and the injection part 53 is connected to the side plate 12b. The injection inlet of the light-transmitting piece 50 is arranged on the injection part 53. When it is necessary to injection mold the light-transmitting piece 50, the shell 10 can be fixed on the mold first, and then the plastic is injected through the injection inlet to form the first light-transmitting part 51 at the first through hole 1011, the second light-transmitting part 52 at the second through hole 1012, and the injection part 53 on the side plate 12b. In this way, the injection port does not affect the light transmission of the first light-transmitting part 51 and the second light-transmitting part 52.

[0056] In order to improve the structural strength, the first convex lens 40 can also be integrally formed with the first light-transmitting part 51, and the second convex lens 60 can also be integrally formed with the second light-transmitting part 52.

[0057] The above are only preferred embodiments of the present application, and only the technical principles of the present application are specifically described, and these descriptions are only for explaining the principles of the present application, and cannot be interpreted as limiting the protection scope of the present application in any way. Based on the explanation herein, any modification, equivalent replacement and improvement made within the spirit and principles of the present application, and other specific embodiments of the present application that can be conceived by those skilled in the art without creative labor, should be included in the protection scope of the present application.

Claims

1. A ground inspection agency, characterized in that: include: The housing has a receiving cavity, a first through hole, and a second through hole, wherein the first through hole and the second through hole both connect the receiving cavity and the external space; a light emitting element, disposed in the accommodating cavity and configured to emit detection light to the external space through the first through hole; a light receiving element, disposed in the accommodating cavity, and configured to receive the detection light emitted from the external space into the accommodating cavity through the second through hole; A first convex lens is connected to the housing and is disposed at the first through hole. The detection light emitted by the light emitting element is emitted to the external space through the first convex lens.

2. The ground inspection mechanism according to claim 1, characterized in that: The ground inspection mechanism further includes a light-transmitting member, which includes a first light-transmitting portion covering the first through hole and a second light-transmitting portion covering the second through hole, and the first convex lens is connected to the first light-transmitting portion.

3. The ground inspection mechanism according to claim 2, characterized in that: The first convex lens is arranged on a side of the first light-transmitting portion facing the accommodating cavity.

4. The ground inspection mechanism according to claim 2, characterized in that: The light-transmitting member and the housing are integrally injection-molded.

5. The ground inspection mechanism according to claim 2, characterized in that: The ground detection mechanism further includes a second convex lens, which is connected to the housing and disposed at the second through hole. The light receiving element is used to receive the detection light passing through the second convex lens.

6. The ground inspection mechanism according to claim 5, characterized in that: The second convex lens is arranged on a side of the second light-transmitting portion facing the accommodating cavity.

7. The ground inspection mechanism according to claim 2, characterized in that: The housing includes an upper shell and a lower shell that are clamped together. The lower shell includes a bottom plate and a side plate arranged around the bottom plate. The light emitting element and the light receiving element are connected to the side plate. The first through hole and the second through hole are opened on the bottom plate.

8. The ground inspection mechanism according to claim 7, characterized in that: The housing further includes a sealing ring clamped between the upper shell and the lower shell.

9. The ground inspection mechanism according to claim 7, characterized in that: The first light-transmitting portion and the second light-transmitting portion are spaced apart from each other. The light-transmitting component further includes an injection molding portion connecting the first light-transmitting portion and the second light-transmitting portion, and the injection molding portion is connected to the side plate.

10. A sweeping robot, characterized in that: Comprising the ground inspection mechanism according to any one of claims 1 to 9.

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