Cleaning robot

Abstract

The utility model discloses a cleaning robot which comprises a robot body and cliff sensors, the cliff sensors are arranged on the side wall of the robot body along the front end, the left side and the right side of a walking path, and the cliff sensors are arranged downwards and outwards in an inclined mode and can send detection signals outwards in an inclined mode. The cliff sensor is arranged on the side wall of the machine body, and the detection range is widened; the cliff sensor adopts the laser TOF principle for detection, is more accurate and reliable, can detect clifts, steps, obstacles and the like, realizes multiple detection functions, saves the types and the number of sensors, and is beneficial to reducing the cost.

Description

TECHNICAL FIELD

[0001] The utility model relates to cleaning equipment technical field, especially a cleaning robot. BACKGROUND

[0002] The related cleaning robot is provided with a cliff sensor for preventing falling from a high platform, and the cliff sensor is mostly arranged on the bottom surface of the machine body, which results in a small detection distance and range and cannot detect the cliff in time.

[0003] In addition, the cliff sensor is mostly an ordinary infrared sensor, and the principle is to emit a laser beam to irradiate a target object, detect the reflected laser signal, and calculate the distance of the target object, wherein the reflected light beam is easily affected by the surface color, surface material and surface roughness of the target object, and if the signal of the reflected light beam is weak, calculation errors are easily caused, affecting the detection result. UTILITY MODEL CONTENT

[0004] The utility model aims at providing a cleaning robot, and the cliff sensor is arranged on the side wall of the machine body to improve the detection range, and the cliff sensor adopts laser TOF for detection, which is more accurate and reliable.

[0005] To achieve the purpose, the utility model adopts the following technical scheme:

[0006] A cleaning robot comprises a machine body and a cliff sensor.

[0007] The side wall of the machine body is provided with the cliff sensor at the front end, the left side and the right side along the walking path.

[0008] The cliff sensor is arranged in a downward and outward inclination, and can send a detection signal outwardly.

[0009] The inclination angle of the cliff sensor is between 20 degrees and 70 degrees.

[0010] In some embodiments, when the edge detection distance between the machine body and the cliff is less than a preset value, the robot performs an action of avoiding the cliff.

[0011] The preset value is set to be in the range of 1 cm to 20 cm.

[0012] In some embodiments, the cliff sensor is arranged on the top of the side wall.

[0013] In some embodiments, the cliff sensor is embedded on the top of the side wall.

[0014] In some embodiments, the front end, the left side and the right side of the side wall are provided with grooves, and the cliff sensor is assembled in the grooves.

[0015] In some embodiments, the groove is provided with a first groove surface and a second groove surface.

[0016] The first groove surface is inclinedly arranged in a downward and outward direction;

[0017] The second groove surface is inclinedly arranged in an upward and outward direction;

[0018] The cliff sensor is assembled at the first groove surface.

[0019] In some embodiments, the cliff sensor is a laser TOF ranging sensor.

[0020] In some embodiments, the cliff sensor comprises a transmitting unit and a receiving unit, and the receiving unit is provided with a filter.

[0021] In some embodiments, the cliff sensor can detect steps and obstacles.

[0022] The cliff sensor is arranged on the side wall of the machine body, thereby improving the detection range, and the cliff sensor uses laser TOF for detection, which is more accurate and reliable and can be applied to various scenes. BRIEF DESCRIPTION OF DRAWINGS

[0023] Figure 1 is a structural view of a cleaning robot of the utility model;

[0024] Figure 2 is a top view of a cleaning robot of the utility model;

[0025] Figure 3 is a partial sectional view of a cleaning robot of the utility model;

[0026] Figure 4 is a detection edge schematic view of a cleaning robot of the utility model;

[0027] Figure 5 is a detection edge schematic view of a cleaning robot of the utility model;

[0028] Figure 6 is a detection edge schematic view of a cleaning robot of the utility model;

[0029] Figure 7 is a structural view of a cliff sensor of the utility model;

[0030] Figures 8 to 12 is a detection schematic view of a cleaning robot of the utility model;

[0031] Wherein: 1-machine body; 10-side wall; 11-groove; 11a-first groove surface; 11b-second groove surface; 2-cliff sensor; 21-transmitting unit; 22-receiving unit; 23-processing chip. DETAILED DESCRIPTION

[0032] The utility model will be described in further detail below with reference to the drawings.

[0033] Reference Figures 1 to 7 A cleaning robot, comprising a body 1 and a cliff sensor 2;

[0034] The bottom of the body 1 can be provided with a walking mechanism, a cleaning mechanism, and a sterilization and acarid removal mechanism, etc.

[0035] Reference Figure 2 The side wall 10 of the body 1 is provided with a cliff sensor 2 along the front end, the left side, and the right side of the walking path, that is, the front end, the left side, and the right side of the body 1 are all provided with a cliff sensor 2, and at least three cliff sensors 2 are provided.

[0036] Reference Figure 3 The cliff sensor 2 is inclined downward and outward, and can emit a detection signal outwardly.

[0037] The inclination angle θ of the cliff sensor 2 is between 20 degrees and 70 degrees, for example, θ can be set to 20 degrees, 30 degrees, 40 degrees, 45 degrees, 50 degrees, 60 degrees, 70 degrees, etc.

[0038] Therefore, the cliff sensor 2 is arranged on the side wall 10 of the body 1 and detects in an inclined manner, so that the detection range is wider, and the detected data is more stable and accurate.

[0039] Reference Figures 4 to 6 When the edge detection distance H between the body 1 and the cliff is less than a preset value, the robot performs an action of avoiding the cliff;

[0040] The edge detection distance H is the horizontal distance between the body 1 and the cliff, and the action of avoiding the cliff can be a stop, a U-turn, a turn, etc., so as to change or re-plan the walking path to avoid falling;

[0041] The preset value is set in a range of 1 cm to 20 cm, for example, H can be set to 1 cm, 2 cm, 3 cm, 4 cm, 5 cm, 8 cm, 10 cm, 15 cm, 20 cm, etc.

[0042] Therefore, the cliff sensor 2 judges the edge detection distance H by detection, and when the distance between the body 1 and the cliff is less than a preset distance, a corresponding action is performed to prevent falling. Moreover, because the cliff sensor 2 is arranged on the side wall 10 of the body 1, the detection range is wide, the preset value of the edge detection distance can be set more flexibly, so that the robot can be appropriately set according to different application scenarios to improve the applicability.

[0043] The cliff sensor 2 is arranged at the top of the side wall 10, which is beneficial to improve the detection range and improve the accuracy of detection. Preferably, the cliff sensor 2 can be embedded in the top of the side wall 10, which is beneficial to improve the appearance of the body 1.

[0044] Specifically, referring to Figure 3 , the front end, the left side and the right side of the side wall 10 are each provided with a groove 11, and the cliff sensor 2 is assembled in the groove 11.

[0045] The groove 11 is provided with a first groove surface 11a and a second groove surface 11b;

[0046] The first groove surface 11a is inclined downward and outward;

[0047] The second groove surface 11b is inclined upward and outward;

[0048] The cliff sensor 2 is assembled at the first groove surface 11a.

[0049] Therefore, the first groove surface 11a and the second groove surface 11b are both inclined, forming a gradually increasing space, which facilitates the cliff sensor 2 to emit and receive detection signals.

[0050] Of course, the number of cliff sensors 2 is not limited to three, and multiple cliff sensors 2 can be provided as needed, which can be added in different directions and positions to improve the detection range and accuracy.

[0051] The cliff sensor 2 is a laser TOF distance measuring sensor.

[0052] The laser TOF distance measuring sensor measures the distance by using the flight time of laser pulses, and calculates the distance of the target object by calculating the phase difference between the emission and reflection of light; in this way, the laser TOF distance measuring sensor can not depend on the reflectivity of the object, and the color or surface characteristics of the object have less effect on the detection result.

[0053] The distance measurement method of ordinary infrared and laser sensors usually depends on the amount of light reflected from the surface of the object. The color and surface roughness of the object can significantly affect the amount of reflected light, thereby affecting the accuracy.

[0054] Therefore, the laser TOF distance measuring sensor can accurately detect a variety of objects and is suitable for a variety of application scenarios.

[0055] The cliff sensor 2 includes a transmitting unit 21 and a receiving unit 22, and the receiving unit 22 can be provided with a filter.

[0056] The filter is used to filter light outside a certain wavelength range, ensuring that only light matching the working wavelength of the sensor is received by the sensor. This is very important for reducing the interference of ambient light (especially sunlight or other strong light sources) on the measurement results;

[0057] For example, when the working wavelength of the cliff sensor 2 is about 850 nanometers, the filter allows this wavelength to pass through while blocking other wavelengths of light, thereby reducing interference and improving the accuracy and reliability of detection.

[0058] The edge detection method or steps of the robot are as follows:

[0059] The robot cleans along the preset walking route, during which the emission unit 21 of the cliff sensor 2 at the front, left, and right emits a detection signal, the receiving unit 22 receives a reflected signal, and the processing chip 23 calculates the phase difference between the emitted signal and the reflected signal to calculate and determine the edge detection distance H. When the edge detection distance H is less than a preset value, for example, when the horizontal distance between the robot body 1 and the cliff is less than 3 cm, the light beam of the emitted signal is shot outside the cliff, and the measured object distance value becomes larger (different from the previous value, abnormal), a cliff judgment is made, the cliff sensor 2 sends an alarm signal, and the robot performs corresponding actions to avoid the cliff according to the alarm signal, thereby preventing falling.

[0060] In addition to being used to detect cliffs, the cliff sensor 2 with laser TOF technology can also be used to detect steps and obstacles, etc.

[0061] Reference Figure 8 For example, when the assembly of the cliff sensor 2 is completed, H is set to about 3 cm, the vertical distance between the cliff sensor 2 and the cleaned surface is determined, and the detection distance D between the cliff sensor 2 and the cleaned surface is about 85 mm, which can be measured or calculated by the Pythagorean theorem.

[0062] Reference Figure 9 When the data D1 detected by the cliff sensor 2 is between 80 mm and 90 mm, it can be determined that the cleaning robot is walking on a relatively flat surface.

[0063] Reference Figure 10 When the data D2 detected by the cliff sensor 2 is greater than 90 mm, it can be determined that there is a cliff in the direction of travel. At this time, actions such as stopping, turning around, and turning can be performed to change or re-plan the walking path and avoid falling.

[0064] When the data detected by the cliff sensor 2 is less than 80 mm, it can be determined that there may be steps, obstacles, etc. in the direction of travel.

[0065] Reference Figure 11When the data D3 detected by the cliff sensor 2 is less than 60mm or between 50mm and 60mm, it can be determined that there is a step in the direction of travel, at which time, actions such as stopping, turning around, turning, etc. can be performed to change or re-plan the walking path, or to raise the chassis to cross the step, which can be suitable for the case where the height of the step is not high.

[0066] Reference Figure 12 When the data D4 detected by the cliff sensor 2 is less than 40mm or between 30mm and 40mm, it can be determined that there is an obstacle in the direction of travel, at which time, actions such as stopping, turning around, turning, etc. can be performed to change or re-plan the walking path to avoid the obstacle.

[0067] Therefore, the cliff sensor 2 of the laser TOF technology can detect cliffs, steps, obstacles, etc., so that various detection functions can be achieved by the cliff sensor 2 of the laser TOF technology, so that the types and quantities of sensors can be saved, and the cost can be reduced.

[0068] The robot can be applied to scenes with high platforms, cliffs, etc., such as floors, beds, sofas, tabletops, carpets, etc. with steps.

[0069] When applied to beds and sofas, the robot can clean, de-mite, sterilize, etc. the beds and sofas, at which time, the robot is equivalent to a de-mite device and can automatically walk on the beds and sofas to perform cleaning, de-mite, sterilization, etc. The surface of the bed and sofa is cloth, and the light reflectivity is low, so it is difficult for ordinary infrared and laser sensors to accurately detect the edges. In addition, the edges of the bed and sofa are mostly arc or gradually inclined structures, and the surface of the bed and sofa also has uneven and wrinkled places. If the sensor is assembled on the bottom surface of the robot body 1, the detection range is small, and misjudgment is easy to occur. Therefore, the cliff sensor 2 of the present application adopts the laser TOF ranging principle and is arranged on the top of the side wall 10 of the robot body 1, which can effectively, timely and accurately detect the edges of the bed and sofa, and is more suitable for cleaning the bed and sofa.

[0070] The above only discloses some embodiments of the present application. For those skilled in the art, without departing from the creative concept of the present application, a number of modifications and improvements can be made, which are all within the protection scope of the present application.

Claims

1. A cleaning robot, characterized in that, The machine body (1) is provided with a cliff sensor (2); The cliff sensor (2) is arranged on the front, left and right sides of the side wall (10) along the walking path. The cliff sensor (2) is arranged downward and outward, and can emit a detection signal outward. The angle (θ) of the cliff sensor (2) is between 20 degrees and 70 degrees.

2. The cleaning robot according to claim 1, wherein When the distance (H) between the machine body (1) and the cliff is less than a preset value, the robot performs an action to avoid the cliff. The preset value is between 1 cm and 20 cm.

3. The cleaning robot according to claim 2, wherein, The cliff sensor (2) is embedded in the top of the side wall (10).

4. The cleaning robot according to claim 3, wherein The front, left and right sides of the side wall (10) are provided with grooves (11), and the cliff sensor (2) is assembled in the grooves (11).

5. The cleaning robot according to claim 4, wherein The groove (11) is provided with a first groove surface (11a) and a second groove surface (11b). The first groove surface (11a) is arranged downward and outward. The second groove surface (11b) is arranged upward and outward. The cliff sensor (2) is assembled at the first groove surface (11a).

6. The cleaning robot according to claim 1, wherein, The cliff sensor (2) is a laser TOF distance measuring sensor.

7. The cleaning robot according to claim 6, wherein The cliff sensor (2) can detect steps.

8. The cleaning robot according to claim 7, wherein, When the data detected by the cliff sensor (2) is between 50 mm and 60 mm, it is determined that there is a step in the direction of travel, and the walking path is re-planned or the step is crossed.

9. The cleaning robot according to claim 6, wherein, The cliff sensor (2) can detect obstacles.

10. The cleaning robot according to claim 9, wherein, When the data detected by the cliff sensor (2) is between 30 mm and 40 mm, it is determined that there is an obstacle in the direction of travel, and the walking path is re-planned.

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