Displacement detection assembly and cleaning robot

Abstract

According to the displacement detection assembly and the cleaning robot, a detector is located outside a propagation area where detection light passes through mirror reflection light of a target surface, so that the mirror reflection light is prevented from being projected to the detector, interference of the mirror reflection light is reduced, and recognition precision is guaranteed. According to the main technical scheme, the displacement detection assembly comprises at least one light-emitting assembly used for projecting detection light to a target surface; a propagation area of specular reflection light of the target surface to the detection light is not overlapped with an area where the detector is located, and the detector is used for receiving diffuse reflection light of the target surface to the detection light and generating image information. The device is mainly used for acquiring the displacement of the cleaning robot.

Description

TECHNICAL FIELD

[0001] The utility model relates to intelligent house technical field especially, and it is a kind of displacement detection subassembly and cleaning robot. BACKGROUND

[0002] With the continuous development of intelligent house technology, cleaning robot is used more and more frequently in daily housework. To accurately obtain the position of the cleaning robot, a movement detection device is installed on the cleaning robot, which mainly includes a light source and a sensor. The light source and the sensor are arranged in close proximity, and the light source projects detection light to the ground in a manner perpendicular to the ground. The sensor is used to obtain the ground light reflection image. After the robot moves, the displacement information before and after can be obtained by comparing the difference between the before and after images.

[0003] When the robot is in use, it may encounter scenarios of cleaning smooth surfaces, such as cleaning ceramic tile surfaces or steel plate surfaces. In these scenarios, the mirror surface reflection is strong, and the diffuse reflection is weak. A large amount of mirror surface reflection light will be projected to the sensor, and the diffuse reflection signal will be lost. The image gray scale change feature is not obvious, and the effective feature cannot be identified, which will lead to recognition failure, and then lead to inaccurate robot positioning and navigation, affecting the cleaning effect. SUMMARY

[0004] Therefore, the utility model embodiment provides a displacement detection subassembly and a cleaning robot. By avoiding the overlap between the propagation area of the mirror surface reflection light of the detection light of the target surface and the area where the detector is located, the mirror surface reflection light is prevented from being projected to the detector, the interference of the mirror surface reflection light is reduced, and the recognition accuracy is ensured.

[0005] In one aspect, the utility model provides a displacement detection subassembly, which includes:

[0006] At least one light emitting component, the light emitting component is used to project detection light to the target surface;

[0007] A detector, the propagation area of the mirror surface reflection light of the detection light of the target surface does not overlap with the area where the detector is located, and the detector is used to receive the diffuse reflection light of the detection light of the target surface and generate image information.

[0008] The projection of the detection light projected by the light emitting component to the target surface overlaps with the projection of the detector on the target surface.

[0009] The light emitting component includes a single light emitting piece.

[0010] Alternatively, the light emitting component includes a light emitting piece and a lens. The lens is located on the side where the light emitting piece emits light. The light emitting piece is used to project initial light to the lens, and the detection light is formed by refraction of the lens and projected to the target surface.

[0011] The light-emitting assembly comprises a light-emitting component, and the light-emitting component comprises at least one of a point light source, a surface light source and a line light source.

[0012] The light-emitting assembly is single, or the number of light-emitting assemblies is multiple, and the multiple light-emitting assemblies are located at different sides of the detector.

[0013] The displacement detection assembly further comprises:

[0014] The shell, the light-emitting assembly and the detector are connected with the shell.

[0015] The height adjusting component is connected with the shell, and is used for adjusting the distance between the shell and the target surface, so that the distance between the light-emitting assembly and the target surface is kept consistent.

[0016] The height adjusting component comprises an elastic component, and the elastic component is used for applying an elastic force to the shell to move towards the target surface.

[0017] The displacement detection assembly further comprises:

[0018] The light-absorbing component is arranged in the projection area of the mirror-reflected light of the target surface, and is used for absorbing the mirror-reflected light of the detection light passing through the target surface.

[0019] The light-absorbing component comprises a light-absorbing surface and / or a hollowed-out space and / or an inner recessed space.

[0020] In addition, the application also provides a cleaning robot comprising at least one displacement detection assembly as described above and a robot body.

[0021] The displacement detection assembly is connected with the robot body.

[0022] The displacement detection assembly and the cleaning robot provided by the application can adjust the relative positions of the light-emitting assembly and the detection component, so that all the mirror-reflected light in the reflected light of the light-emitting assembly projected on the target surface is projected outside the detection component and is not received by the detection component, part of the diffuse reflected light in the reflected light is received by the detection component, and the signal-to-noise ratio of the received light of the detection component is improved. BRIEF DESCRIPTION OF DRAWINGS

[0023] Figure 1 The first displacement detection assembly provided by the application is shown in the structural schematic view.

[0024] Figure 2 The second displacement detection assembly provided by the application is shown in the structural schematic view.

[0025] Figure 3A structure schematic view of a third displacement detection assembly provided by the utility model embodiment;

[0026] Figure 4 A structure schematic view of a fourth displacement detection assembly provided by the utility model embodiment;

[0027] Figure 5 A structure schematic view of a cleaning robot provided by the utility model embodiment;

[0028] Figure 6 A sectional structure schematic view of part structure of a cleaning robot provided by the utility model embodiment;

[0029] Among them, displacement detection assembly-10, robot main body-20, light emitting assembly-100, light emitting piece-110, lens-120, detector-200, target surface-300, shell-400, height adjusting piece-500, light absorbing piece-600. DETAILED DESCRIPTION

[0030] In order to further illustrate the technical means and effects adopted by the utility model to achieve the predetermined utility model purposes, the specific implementation, structure, features and effects of the displacement detection assembly according to the utility model are described in detail as follows in combination with the drawings and preferred embodiments.

[0031] The utility model embodiment provides a kind of displacement detection assembly 10, it can be used on the equipment of a variety of need to carry out displacement monitoring, such as can be used in mobile cleaning equipment Intelligent marching body, such as can be used in cleaning robot.Cleaning robot can also be called intelligent cleaning equipment, sweeper, mop etc., can carry out self-moving cleaning under no user control.Cleaning robot includes robot main body 20, mobile mechanism, cleaning mechanism, sensing mechanism and other functional mechanisms are arranged on robot main body 20, and controller for carrying out functional mechanism control and power supply for power supply.Robot main body 20 can be multiple shapes, to make robot main body 20 move more stably, and can enter lower space, such as bed bottom etc. and clean, the outer contour of robot main body 20 can be flat, such as flat circle or square.Sensing mechanism includes displacement detection assembly 10 provided by the present application, can also include position sensor, attitude sensor and other sensing devices, for providing the position information, attitude information of robot main body 20 to controller, to guide the operation of mobile mechanism.

[0032] In a more specific implementation, robot main body 20 includes bottom plate and surrounding wall extending to one side of bottom plate around one week of bottom plate, and bottom plate is used to be opposite with the surface to be cleaned, such as ground.Displacement detection assembly 10 can be single, such as Figure 5As shown, the displacement detection assembly 10 can be arranged on the bottom plate to acquire the movement information of the cleaning robot through the feedback of the light reflected by the ground; or, the displacement detection assembly 10 can be multiple, and one or more displacement detection assemblies 10 can be arranged on the bottom plate and the surrounding wall respectively, so that the movement information of the cleaning robot can be acquired through different displacement detection assemblies 10 in different situations. For example, when the cleaning robot rotates in a narrow environment, the rotation information of the cleaning robot can be accurately acquired through the displacement detection assembly 10 arranged on the surrounding wall. When the cleaning robot moves along the wall, the different displacement detection assemblies 10 arranged on the bottom plate and the surrounding wall can be integrated to more accurately determine the position of the cleaning robot.

[0033] In an embodiment, as shown in Figure 1 、 Figure 2 and Figure 3 , the displacement detection assembly 10 comprises at least one light emitting assembly 100, which is used to project detection light to the target surface 300.

[0034] The detector 200, the propagation area of the specular reflection light of the detection light reflected by the target surface has no overlap with the area where the detector 200 is located, and the detector 200 is used to receive the diffuse reflection light of the detection light reflected by the target surface 300 and generate image information.

[0035] The target surface 300 can be various surfaces according to the different arrangement positions of the displacement detection assembly 10. For example, when the displacement detection assembly 10 is arranged on the bottom plate of the robot body 20, the target surface 300 is the ground, and when the displacement detection assembly 10 is arranged on the surrounding wall of the robot body 20, the target surface 300 can be the vertical surface of the wall or furniture. In the following embodiments, the principle of the displacement detection assembly 10 is described in detail with the displacement detection assembly 10 arranged on the bottom plate of the robot body 20 and the target surface 300 being the ground as an example.

[0036] The light emitting assembly 100 can be a variety of types of light emitting components, such as can employ light emitting diodes as light sources, i.e. LED light sources, which are low cost and simple to install. Alternatively, laser light sources, i.e. LD light sources, can be employed, which have advantages such as high power, long life, small size, etc. The detector 200 is used to receive reflected light from the target surface 300 and form image information, and can specifically be composed of an objective lens and a detector, the objective lens being used to converge reflected light, and the detector being mainly used for imaging, and can optionally employ a charge coupled device (CCD), a CMOS, a low-illumination solid-state imaging device, a short-wave detector, etc. The main controller of the cleaning robot is connected to the detector 200, which acquires images at a high frequency, such as tens of thousands of pictures per second, and the main controller analyzes features based on light brightness in the pictures, identifies the texture of the target surface 300, the texture being bright at high places and dim at low places, and compares pictures taken at different times to obtain changes in the texture, and then accurately acquires the moving position of the displacement detection assembly 10, i.e. the robot main body 20.

[0037] The direction of light and the type of light acquired by the detector 200 are described in detail below, taking the target surface 300 as a horizontal ground surface as an example. Figure 1 In the above, the detection light of the light emitting assembly 100 is projected to the ground surface at an angle relative to the horizontal plane, i.e. the ground surface, and the reflected light of the detection light from the ground surface includes specular reflection light a symmetrical to the incident light relative to the normal, and diffuse reflection light b due to the texture formed by the concave-convex of the ground surface. The propagation region of the specular reflection light of the detection light from the target surface 300 does not overlap with the region where the detector 200 is located, i.e. no specular reflection light a is projected to the detector 200, or in other words, the propagation path of the specular reflection light a does not pass through the detector 200, or in still another way, all of the specular reflection light a forms a projection in the plane where the detector 200 is arranged, where the projection is a theoretical projection, and the detector 200 is arranged outside the projection, thereby ensuring that the detector 200 does not receive light reflected by the ground surface by specular reflection, and only receives diffuse reflection light generated by the texture of the concave-convex, thereby ensuring that the received light has a high signal-to-noise ratio, the information of the texture of the concave-convex is clear, and changes in the texture are accurately identified, and the moving information of the cleaning robot is accurately determined.

[0038] The light emitting assembly 100 and the detector 200 can not be at the same height, as shown in Figure 1 The light emitting assembly 100 can be arranged lower than the detector 200, thereby increasing the utilization rate of light, or as shown in Figure 2As shown, the light emitting assembly 100 and the detector 200 are at the same height, which can reduce the height space occupation. The relative positions of the light emitting assembly 100 and the detector 200, and the height and angle of the light emitting assembly 100 and the detector 200 relative to the target surface 300 can be set as needed, such as can be determined according to the light type of the light emitting assembly 100, the installation position of the light emitting assembly 100 on the robot body 20, and the type of the target surface 300. In an embodiment provided by the present application, as shown Figure 2 As shown, the light emitting assembly 100 and the detector 200 are at the same height, and the vertical distance H from the target surface 300 is greater than or equal to 6 cm and less than or equal to 12 cm. In the light beam emitted by the light emitting assembly 100, the angle α between the outermost light ray farthest from the detector 200 and the vertical direction is greater than or equal to 7 degrees and less than or equal to 10 degrees. The horizontal distance L between the center point of the light emitting assembly 100 and the center point of the detector 200 is greater than or equal to 2 cm and less than or equal to 4 cm. In a more specific embodiment, the vertical distance is 10 cm, the angle α is 8.5 degrees, and the horizontal distance L is 3 cm.

[0039] The displacement detection assembly and the cleaning robot provided by the present application can adjust the relative positions of the light emitting assembly and the detection member, so that all the specular reflection light of the reflected light of the light emitting assembly projected onto the target surface is projected outside the detection member and is not received by the detection member, and part of the diffuse reflection light in the reflected light is received by the detection member, thereby improving the signal-to-noise ratio of the light received by the detection member. When the robot moves, the robot moving condition can be more accurately determined, and the detection accuracy is ensured.

[0040] The detector 200 can be arranged at any position outside the propagation area of the specular reflection light a, or in an embodiment, the projection of the detection light projected by the light emitting assembly 100 onto the target surface 300 has an overlapping area with the projection of the detector 200 on the target surface 300.

[0041] The center of the projection of the detector 200 on the target surface 300 and the center of the projection of the detection light on the target surface 300 can be at the same point. When the target surface 300 is the ground, the detector 200 is located directly above the projection of the detection light on the target surface 300. On the one hand, the distance between the detector 200 and the target surface 300 is shortened to the greatest extent, the diffuse reflection light b is maximized, the light intensity is increased, and the problem of insufficient incident light caused by the distance between the projection of the detection light on the target surface 300 being too far and the difficulty in extracting the texture features of the concave-convex of the target surface 300 is avoided. On the other hand, the image information is acquired in a direction perpendicular to the target surface 300 directly above the target surface 300, which is more accurate for acquiring the concave-convex texture features of the target surface 300, and avoids the problem of overlapping and shielding of the concave-convex texture features of the image acquired at an angle.

[0042] In an embodiment, asFigure 1 and Figure 2 As shown in FIG. 1, the light emitting assembly 100 comprises a single light emitting element, which can be the aforementioned LED light source or LD light source. Alternatively, as shown in FIG. 2, the light emitting assembly 100 comprises a light emitting element 110 and a lens 120, which is located on the side of the light emitting element 110 from which light is emitted, and the light emitting element 110 is configured to project initial light to the lens 120, and the lens 120 refracts the initial light to form detection light which is projected to the target surface 300. Figure 3

[0043] The lens 120 is configured such that the light emitting element 110 can be arranged at different positions and angles. In the condition that the incident angle of the detection light with respect to the target surface 300 is within a preset range, and the projection of the detection light on the target surface 300 is directly below the detector 200, the lens 120 can be configured such that the light emitting element 110 is arranged at the same height as the detector 200, and the light emitting element 110 is arranged closer to the detector 200, thereby reducing the overall size of the displacement detection assembly 10 and reducing the space occupied by the displacement detection assembly 10 in the cleaning robot. The lens 120 can be a combination lens or a cemented lens, which can be configured according to actual needs. In addition, the lens 120 can also be used for light convergence, such as making the detection light exit in the form of parallel light.

[0044] In one embodiment, the light emitting assembly 100 comprises a light emitting element 110, and the light emitting element 110 comprises at least one of a point light source, a surface light source, and a line light source.

[0045] The light emitting element 110 can be a single point light source, such as a single LED lamp bead or a single laser emitter, or the light emitting element 110 can also be a combination of multiple point light sources, such as an array of multiple LED lamp beads, forming a surface light source, which can increase the light intensity and improve the brightness, so that the detector 200 can obtain sufficient light for feature recognition.

[0046] In one embodiment, the light emitting assembly 100 is a single one, or the number of light emitting assemblies 100 is multiple, and the multiple light emitting assemblies 100 are located on different sides of the detector 200.

[0047] As shown in FIG. 1, the light emitting assembly 100 can be arranged on any side of the detector 200. Alternatively, as shown in FIG. 2, the light emitting assembly 100 can be arranged on different sides of the detector 200, thereby illuminating the target surface 300 from different sides of the detector 200 and providing the detector 200 with more diffuse reflection light with higher signal-to-noise ratio, which can increase the recognition accuracy of the detector 200. The light emitting assembly 100 can also be three or more. Figures 1-3 Figure 4

[0048] ​​​In one embodiment, the displacement detection assembly 10 further comprises a housing 400, the light emitting assembly 100 and the detector 200 are connected to the housing 400. A height adjustment member 500 is connected to the housing 400, the height adjustment member 500 is used to adjust the distance between the housing 400 and the target surface 300, so that the distance between the light emitting assembly 100 and the target surface 300 is kept constant.

[0049] As shown in Figure 6 , the housing 400 serves to support and fix the light emitting assembly 100 and the detector 200, and the height adjustment member 500 is used to ensure that the distance between the light emitting assembly 100 and the detector 200 and the target surface 300 is always a preset distance, which can be, for example, to ensure that the distance between the detector 200 and the ground is always 6 cm. An opening can be provided on the bottom plate of the robot body 20 for the housing 400 to move in the vertical direction, and the housing 400 is slidingly connected to the edge of the opening. The outer contour of the housing 400 includes an upper cylindrical region and a lower arc-tapered region. The bottom end of the housing 400 has a light passage opening for the passage of detection light and reflected light. The height adjustment member 500 can be a spring located between the housing 400 and the robot body 20, which provides a spring force for the housing 400 to move towards the ground. In actual use, the bottom end of the housing 400 contacts the ground and slides on the ground following the movement of the cleaning robot. In the event that the cleaning robot encounters an obstacle, causing the bottom plate of the robot body 20 to rise, or the moving wheels of the cleaning robot are deformed or accumulate dust, causing the wheel diameter to increase, which in turn causes the bottom plate to rise, or the cleaning robot is used for a long time and the bottom plate sinks, and many other possible situations that cause the height of the displacement detection assembly 10 to change, due to the movable connection between the displacement detection assembly 10 and the housing 400 and the provision of the height adjustment member 500, the position of the displacement detection assembly 10 relative to the ground is prevented from changing, and the position of the light emitting assembly 100 and the detector 200 relative to the ground is prevented from changing, the change in the optical path caused by the change in the reflecting surface is avoided, the mirror reflected light is prevented from entering the detector 200, and the displacement detection of the cleaning robot is ensured to be effective even after long-term use.

[0050] The arc-tapered region of the housing 400 can be used for obstacle avoidance. When the housing 400 encounters an obstacle, the horizontal force can be converted to a vertical direction through the arc-shaped outer wall, and then moved upward by the spring force to avoid the obstacle.

[0051] In one embodiment, as shown in Figure 5 , the displacement detection assembly further comprises a light absorbing member 600, which is arranged in the projection area of the mirror reflected light of the target surface 300, and the light absorbing member 600 is used to absorb the mirror reflected light of the detection light passing through the target surface 300.

[0052] The light-absorbing member 600 can be a light-absorbing patch or a coating, such as a graphene coating applied to the bottom plate of the robot body 20. Alternatively, a hollowed-out or recessed space can be formed in the bottom plate of the robot body 20 at a position corresponding to the position of the specularly reflected light, so that the specularly reflected light enters the interior of the robot body 20 or a separately provided space, and is released by multiple reflections in the space. Alternatively, a graphene coating can also be applied to the recessed space.

[0053] In another aspect, the present application also provides a cleaning robot, which comprises at least one displacement detection assembly 10 according to any one of the above embodiments, and a robot body 20. The displacement detection assembly 10 is connected to the robot body 20.

[0054] The displacement detection assembly 10 can be arranged on the bottom plate and / or the surrounding surface of the robot body 20, thereby accurately obtaining the movement information of the robot body 20. The displacement detection assembly 10 can be fixed to the robot body 20, or can also be movably connected to the robot body 20 through the height adjustment member 500 as in the above embodiments.

[0055] The displacement detection assembly 10 can comprise a housing 400, and the light-emitting assembly 100 and the detector 200 are both fixed by the housing 400. Alternatively, the displacement detection assembly 10 can also not have a separate housing, and the light-emitting assembly 100 and the detector 200 are both fixed by the housing of the robot body 20.

[0056] The cleaning robot comprises the displacement detection assembly 10 according to any one of the above embodiments, which has the advantages of the displacement detection assembly 10 according to any one of the above embodiments, which will not be described here.

[0057] The above only describes specific embodiments of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art can easily think of changes or replacements within the technical scope disclosed by the present application, which should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A displacement detection assembly, characterized by, The displacement detection assembly comprises: at least one light emitting component (100) for projecting detection light to a target surface (300); a detector (200) for receiving diffuse reflection light of the detection light from the target surface (300) and generating image information, wherein the target surface is free of overlap with a region where the detector (200) is located with respect to a propagation region of specular reflection light of the detection light, and the detector (200) is arranged outside a projection region of the specular reflection light in a plane where the detector (200) is arranged; a projection of the detection light projected by the light emitting component (100) to the target surface (300) has an overlapping region with a projection of the detector (200) on the target surface (300).

2. The displacement detection assembly according to claim 1, wherein: the light emitting component (100) comprises a single light emitting element; alternatively, the light emitting component (100) comprises a light emitting element (110) and a lens (120), the lens (120) is located on a side from which the light emitting element (110) emits light, the light emitting element (110) is configured to project initial light to the lens (120), and the initial light is refracted by the lens (120) to form the detection light and project to the target surface (300).

3. The displacement detection assembly according to claim 1, wherein: the light emitting component (100) comprises a light emitting element (110), and the light emitting element (110) comprises at least one of a point light source, a surface light source, and a line light source.

4. The displacement detection assembly according to claim 1, wherein: the light emitting component (100) is a single one, or a plurality of the light emitting components (100) are arranged on different sides of the detector (200). The displacement detection assembly further comprises:

5. The displacement detection assembly of claim 1, wherein, a housing (400) to which the light emitting component (100) and the detector (200) are connected; a height adjusting element (500) connected to the housing (400), the height adjusting element (500) being configured to adjust a distance between the housing (400) and the target surface (300) so that a distance between the light emitting component (100) and the target surface (300) is kept consistent.

6. The displacement detection assembly according to claim 5, wherein: the height adjusting element (500) comprises an elastic element configured to apply an elastic force to the housing (400) to move towards the target surface (300). The displacement detection assembly further comprises:

7. The displacement detection assembly of claim 1, wherein, a light absorbing element (600) arranged in a projection region of the specular reflection light from the target surface (300), the light absorbing element (600) being configured to absorb the specular reflection light of the detection light from the target surface (300).

8. The displacement detection assembly according to claim 7, wherein: ​ The light-absorbing member (600) comprises a light-absorbing surface and / or a hollowed-out space and / or a recessed space.

9. A cleaning robot, characterized in that, A robot (1) comprising at least one displacement detection assembly (10) according to any one of claims 1-8, and a robot body (20); The displacement detection assembly (10) is connected to the robot body (20).

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