Sensor module and pool cleaning robot

Abstract

The utility model provides a sensor module and a pool cleaning robot, the sensor module comprises a main body and a plurality of sensor units, at least one part of each sensor unit is arranged in the main body, the detection area of each sensor unit comprises the external area of the main body, and the orientation or the detection direction of each sensor unit is different. According to the sensor module and the pool cleaning robot comprising the sensor module provided by the embodiment of the invention, a certain direction or the whole surrounding environment can be detected according to different requirements, the practicability is higher, and the pool cleaning efficiency is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of sensors, and in particular to a sensor module and a pool cleaning robot. BACKGROUND

[0002] A pool cleaning robot usually uses an inertial sensor IMU, an ultrasonic sensor, a laser sensor, etc. to measure the distance of obstacles, and then to plan a path. However, such sensors have poor randomness, and are easily affected by environmental factors in water, with poor accuracy. Moreover, such sensors are usually limited in the number of sensors, with a single detection direction and limited detection area, directly affecting the cleaning efficiency of the pool cleaning robot. SUMMARY

[0003] In view of the above problems, the present application provides a sensor module and a pool cleaning robot having the same to improve the cleaning efficiency of a pool.

[0004] In a first aspect, a sensor module is provided, comprising:

[0005] a main body and a plurality of sensor units, at least a portion of each sensor unit being arranged inside the main body, the detection area of each sensor unit including an external area of the main body, and the orientation or detection direction of each sensor unit being different.

[0006] In one example, the main body is columnar, and the cross section of the main body is circular, semicircular, fan-shaped, polygonal or irregularly shaped.

[0007] In one example, the position of each sensor unit corresponds to an edge of the polygon.

[0008] In one example, the polygon includes a regular hexagon, an octagon or a dodecagon.

[0009] In one example, each of the plurality of sensor units includes a phased array ultrasonic sensor array.

[0010] In one example, the phased array ultrasonic sensor array includes a plurality of array elements arranged in a predetermined manner.

[0011] In one example, the plurality of ultrasonic sensor units includes a plurality of groups, each group including at least one sensor unit.

[0012] In one example, the plurality of sensor units are electrically connected or belong to the same group of sensor units.

[0013] In one example, the plurality of sensor units can be controlled synchronously, or sensor units belonging to the same group can be controlled synchronously, or multiple groups can be controlled synchronously.

[0014] In one example, a control unit is also included, wherein the plurality of sensor units are connected to the control unit, enabling the plurality of sensor units, or sensor units belonging to the same group, or multiple groups, to be synchronously controlled.

[0015] In one example, the control unit is located inside or outside the main body and is electrically connected to the sensor unit via a wire.

[0016] In one example, the sensor unit includes an ultrasonic sensor, a camera, a DTOF sensor, an infrared sensor, or radar.

[0017] Secondly, a pool cleaning robot is provided, including the sensor module described in any of the above aspects, wherein the sensor module is disposed on the top of the robot.

[0018] In one example, the multiple groups correspond to different sides of the robot.

[0019] The sensor module and the pool cleaning robot including the sensor module provided in this application embodiment can detect a certain direction or the entire surrounding environment according to different needs, which is more practical and improves the pool cleaning efficiency.

[0020] The above description is only an overview of the technical solution of this application. In order to better understand the technical means of this application and to implement it in accordance with the contents of the specification, and to make the above and other objects, features and advantages of this application more obvious and understandable, specific embodiments of this application are given below. Attached Figure Description

[0021] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the scope of this application. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings:

[0022] Figure 1 This is a perspective view of the sensor module according to this application;

[0023] Figure 2 This is a top view of the sensor module according to this application;

[0024] Figure 3 This is a top view of the sensor module according to this application;

[0025] Figure 4 is a side view of the sensor module according to the present application;

[0026] Figure 5 is a cross-sectional view along the direction of the middle line A-A' of the side view of the sensor module; Figure 4

[0027] Figure 6 is a schematic diagram of the connection between the control unit and the sensor unit in the sensor module.

[0028] Figure 7 is a schematic diagram of the pool cleaning robot according to the present application. DETAILED DESCRIPTION

[0029] Exemplary embodiments of the present disclosure will be described in detail below with reference to the accompanying drawings. Although exemplary embodiments of the present disclosure are shown in the drawings, it is understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided so that the present disclosure can be more thoroughly understood, and the scope of the present disclosure can be accurately conveyed to those skilled in the art. Furthermore, in the following description, descriptions of well-known structures and techniques are omitted to avoid unnecessarily obscuring the concept of the present disclosure.

[0030] Various structural schematic diagrams according to embodiments of the present disclosure are shown in the drawings. These diagrams are not drawn to scale, in which certain details are exaggerated for the purpose of clarity, and certain details can be omitted. The shapes of various regions, layers, and their relative sizes and positional relationships shown in the drawings are merely exemplary, and in actuality can deviate due to manufacturing tolerances or technical limitations, and regions / layers with different shapes, sizes, and relative positions can be additionally designed by those skilled in the art according to actual needs.

[0031] The present application provides a sensor module that can be applied to a pool cleaning robot. The pool cleaning robot is capable of moving cleaning within a pool-shaped building, which can be, for example, a swimming pool, a water storage pool, a spa pool, a water storage tank, a water storage tank, etc. The present disclosure does not limit the specific presentation of the pool cleaning robot and the pool-shaped building, as long as the principles of the present disclosure can be implemented.

[0032] The sensor module of the present application will be described in detail below with reference to the accompanying drawings. Figure 1 is a perspective view of the sensor module according to the present application. Figure 2 is a top view of the sensor module according to the present application. Figure 3 is a top view of the sensor module according to the present application. Figure 4 ​is a side view of a sensor module according to the present application. As can be seen from the above-mentioned figure, the sensor module 100 comprises a main body 101 and a plurality of sensor units 102, at least a part of each of the sensor units 102 is arranged inside the main body 101, a detection area of each of the sensor units 102 comprises an outer area of the main body 101, and a direction of each of the sensor units 102 is different.

[0033] The main body 101 can be a base or a substrate for arranging or accommodating the sensor units 102. The main body 101 can be arranged in various sizes and shapes according to actual needs, such as a columnar body, a cuboid, and a polyhedron, etc.

[0034] The main body 101 can be columnar or substantially columnar. The main body 101 can have a cross section in a shape of a circle, a semi-circle, a sector, a polygon, or an irregular shape. Referring to Figures 1 to 3 , the main body 101 is composed of 12 columnar bodies arranged in sequence. As can be seen from the perspective view and the top view of the main body 101, the main body 101 is columnar. Figure 5 is a cross-sectional view of the sensor module along the direction of the middle line A-A’ of the side view of Figure 4 . Referring to Figures 1 to 3 , Figure 5 , the cross section of the main body 101 is dodecagonal. It can be understood that the main body 101 and the shape of the cross section thereof described above with reference to the figures are only exemplary, and a person skilled in the art can select the shape of the main body 101 and the cross section thereof according to actual needs, as long as the technical principles of the present application can be implemented, for example, the cross section of the main body 101 can be hexagonal, octagonal, hexadecagonal, or other polygonal.

[0035] The main body 101 comprises an inner surface 104 and an outer surface 105. As described above, the cross section of the main body 101 is dodecagonal, and the inner surface 104 is a surface of the main body 101 facing the center of the dodecagon. It can be understood that the inner surface 104 is composed of 12 faces. The outer surface 105 is a face of the main body 101 facing away from the inner surface 104. It can be understood that the outer surface 105 is also composed of 12 faces.

[0036] The main body 101 can be provided with a cavity (for example, the inside of the main body 101 is hollow), which can accommodate the sensor units 102 or a part of the sensor units 102. For example, at least a part of each of the sensor units 102 is arranged inside the main body 101. In the present application, if not specifically stated, the term “inside” of the main body refers to the area (for example, the cavity) between the outer surface 105 and the inner surface 104 of the main body 101, and the term “outside” of the main body can include the space outside the inside of the main body 101.

[0037] The sensor units 12 can be circular, square, polygonal, cylindrical, or irregularly shaped, etc. In an embodiment, a portion of the sensor units 102 is located outside the main body 101, as shown in Figure 1 A portion of the sensor units 102 protrudes from the inner surface 104 of the main body 101, as shown in Figure 1 The portion of the sensor units 102 protruding from the inner surface 104 is in the form of a circular sheet, as shown in Figure 1 It should be noted that the circular sheet shown in is only exemplary, and the portion of the sensor units 102 protruding from the inner surface 104 can also be square, polygonal, cylindrical, or irregularly shaped, etc. The present disclosure does not limit this. In another embodiment, a portion of the sensor units 12 can protrude from the outer surface 105 of the main body 101.

[0038] Another portion of the sensor units 102 (not shown) can be located inside the main body 101 (e.g., inside the cavity of the main body 101 between the inner surface 104 and the outer surface 105 of the main body 101). Such an arrangement can enable the circuit inside the main body 101 to be electrically connected to the sensor units 102 to control the sensor units 102, and make the overall shape of the sensor module 100 more neat.

[0039] In an embodiment, the entire sensor units 102 can be located inside the main body 101 (e.g., inside the cavity of the main body 101), in other words, the sensor units 102 do not protrude from the inner surface 104 and the outer surface 105 of the main body 101.

[0040] In addition, in one example, the detection area of each sensor unit 102 includes the area outside the main body 101, and the orientation or detection direction of each sensor unit is different. Referring to Figure 1 Each sensor unit 102 is arranged at a different position of the main body 101, and can detect different directions, such as detecting the hollow area surrounded by the inner surface 104 of the main body 101, or detecting the area outside the outer surface 105 of the main body 101 (i.e., away from the inner surface 104).

[0041] In one example, referring to Figure 1 and Figure 2 When the cross section of the main body 101 is polygonal, the position of each sensor unit 102 corresponds to one side of the polygon. Figure 2 is a top view of a sensor module according to the present application, referring to Figure 2In one example, the cross section of the main body 101 is a dodecagon, and 12 sensor units 102 are respectively arranged at corresponding positions of one side of the dodecagon. When the cross section of the main body is of other shapes, such as a circle, a semicircle, a sector, a polygon, or an irregular shape, a plurality of sensor units can be arranged according to actual needs such as detection angle and detection intensity, and the plurality of sensor units can be uniformly arranged at different positions of the main body or sporadically arranged at different positions of the main body.

[0042] In one example, each of the plurality of sensor units 102 includes a phased array ultrasonic sensor array, which includes a plurality of array elements (to be described in detail below) arranged in a predetermined manner.

[0043] In another example, each sensor unit 102 can be composed of a phased array ultrasonic sensor array and other types of sensors. For example, the other types of sensors can be laser sensors, single-point ultrasonic sensors, infrared sensors, etc.

[0044] In yet another example, each sensor unit 102 only includes a phased array ultrasonic sensor array and does not include other types of sensors.

[0045] The phased array ultrasonic sensor array can also be referred to as a phased array ultrasonic probe, which can generally include the following components:

[0046] (1) A phased array composed of a plurality of independent wafer units. The wafer units are made of piezoelectric material. Each wafer unit is called an ultrasonic array element (referred to as an array element), each array element has an independent connector, an excitation circuit, and can transmit and receive ultrasonic signals through piezoelectric effect and inverse piezoelectric effect, and the array elements are insulated from each other. Therefore, in terms of function, each array element can be regarded as an ultrasonic probe. For example, a phased array probe with 32 wafer units is equivalent to 32 conventional ultrasonic probes. In practice, the common size of each array element can be 0.5*10 mm, and the spacing between the array elements is, for example, 0.4~1 mm.

[0047] (2) A driving circuit. The driving circuit is used to control the excitation signal of each array element to ensure that the array elements work according to the set time and phase.

[0048] (3) A signal processor. The signal processor is used to amplify, filter, and digitize the reflected ultrasonic signals, etc.

[0049] The phased array ultrasonic sensor array can form a synthetic ultrasonic beam by controlling the transmission timing and phase of each array element, realize the direction control of the ultrasonic beam, and for example, can selectively focus on a certain point or a certain specific detection area in space. The phased array ultrasonic sensor array can also simultaneously scan from multiple angles and process the received ultrasonic signals using efficient algorithms (such as time domain reflection method, frequency domain analysis, etc.) to extract useful information and generate images. Due to the presence of multiple array elements, the phased array ultrasonic sensor array can use multi-channel acquisition technology to synchronously receive multiple signals and improve imaging accuracy.

[0050] It should be understood that the above description of various components and functions in the phased array ultrasonic sensor array is only exemplary and does not constitute a limitation on the various parameters, functions of the above components. Those skilled in the art can select and set the phased array ultrasonic sensor array and its components, parameters, functions according to actual needs as long as the principles of the present application can be realized.

[0051] In one example, the plurality of sensor units 102 can be divided into a plurality of groups, each group including at least one sensor unit. For example, according to the need for detection direction or detection accuracy, sensor units 102 located in the same direction (or substantially the same direction) can be divided into a group, or all sensor units at different positions can be divided into a plurality of groups. The number of sensor units 102 in each group can be the same or different. For example, if the robot has a higher requirement for the detection of the direction indicated by the head, a plurality of sensor units 102 facing the direction indicated by the head can be divided into a group for detecting the direction indicated by the head, thereby obtaining a better detection result. For the left or right position of the robot, a relatively small number of sensor units 102 can be divided into a group. In this way, the robot can improve the detection effect in certain directions and improve the overall detection efficiency.

[0052] In one example, all sensor units 102 in the plurality of sensor units 102 are electrically connected. All sensor units 102 can be synchronously controlled.

[0053] In another example, the sensor units 102 belonging to the same group are electrically connected, so that the plurality of sensor units belonging to the same group can be synchronously controlled.

[0054] In another embodiment, the sensor units in some of the groups in the plurality of groups can also be electrically connected, so that the plurality of sensor units in the plurality of groups can be synchronously controlled. For example, the sensor units in the group corresponding to the direction pointed by the head of the robot can be synchronously controlled with the sensor units in the group corresponding to the direction pointed by the tail of the robot, the sensor units in the group located at the left side of the robot can be synchronously controlled with the sensor units in the group located at the right side of the robot.

[0055] In one example, the sensor module further comprises a control unit. The control unit can be set according to the control requirements of the sensors. Figure 6 The control unit is connected with the sensor units. Referring to Figure 6 , the plurality of sensor units 102 are connected with the control unit 103, so that all the sensor units in the plurality of sensor units 102 can be synchronously controlled by the control unit 103; or the sensor units 102 belonging to the same group can be synchronously controlled by one control unit 103, and the sensor units 102 of other groups can be synchronously controlled by another control unit 103 or multiple control units 103. Or all the sensor units 102 in the plurality of groups can be synchronously controlled by one control unit 103. Thus, the control unit resources are effectively utilized, and the circuit and wiring planning are optimized.

[0056] In one example, the control unit 103 can be arranged inside the main body 101. For example, a circuit board and wires can be arranged inside the main body 101, and the control unit 103 can be arranged on the circuit board and electrically connected with the sensor units 102 through the wires inside the main body 101.

[0057] In another example, the control unit 103 can be arranged outside the main body 101 and electrically connected with the sensor units 102 through wires. For example, the control unit 103 can be arranged outside the main body 101, and the sensor units 102 can be arranged inside or outside the main body 101, and the control unit 103 can be electrically connected with the sensor units 102 arranged outside through external wires. Or, the control unit 103 can be arranged outside the main body 101, and the sensor units 102 can be at least partially arranged inside the main body 101, and the control unit 103 can be electrically connected with the sensor units 102 at least partially arranged inside the main body 101 through internal wires.

[0058] In one example, the sensor units comprise one or more of ultrasonic sensors, cameras, single-photon imaging sensors DTOF, infrared sensors, or radars.

[0059] An ultrasonic sensor is capable of converting ultrasonic signals into other energy signals (usually electrical signals). Ultrasonic waves are mechanical waves with a frequency higher than 20 kHz. It has the characteristics of high frequency, short wavelength, small diffraction, good directionality, and directional propagation as a ray.

[0060] The camera can be used for underwater ranging and image acquisition. For example, a laser pulse can be sent using a laser emitter, the laser propagates in the water and is reflected by an obstacle, by measuring the time from emission to return of the laser pulse, the distance of the obstacle can be calculated.

[0061] Single-photon imaging sensor DTOF uses time-dependent single-photon counting to measure photon arrival time and construct a histogram to infer the most likely distance based on the highest frequency of a specific time difference.

[0062] An infrared sensor is a sensor that uses infrared rays for data processing, has the advantages of high sensitivity, and can control the operation of the driving device.

[0063] Radar uses radio waves to find targets and determine their spatial position. Therefore, radar is also called "radio positioning". Radar is an electronic device that uses electromagnetic waves to detect targets. Radar emits electromagnetic waves to illuminate the target and receives its echo, thereby obtaining information such as the distance, distance change rate (radial velocity), azimuth, altitude, etc. of the target from the electromagnetic wave emission point.

[0064] According to another embodiment of the present disclosure, a pool cleaning robot is also provided, Figure 7 is a schematic diagram of the pool cleaning robot provided by the present application. Referring to Figure 7 The pool cleaning robot 1000 includes a sensor module 100, and the sensor module 100 can be the sensor module provided by any of the above embodiments. Thus, the pool cleaning robot 1000 can detect different directions based on control instructions during cleaning operations, and can also detect in multiple directions and positions at the same time, improving detection flexibility and pool cleaning efficiency. In the past, the signals of the sensors in different directions of the robot were transmitted to the control unit through long wires, and there may be connectors on the wires. The lengths and structures of the wires are inconsistent, resulting in poor signal consistency. The sensor module of the present disclosure can ensure the synchronization of the signals transmitted by each sensor unit and the synchronization of the received instructions.

[0065] In one example, the sensor module 100 can be provided on the top of the pool cleaning robot 1000, for sensing the surrounding environment and detecting the distance of surrounding objects during the movement of the robot for cleaning, thereby more effectively planning the cleaning path.

[0066] In one example, the sensor module 100 includes a plurality of sensor units, which are divided into a plurality of groups, and the sensor units of the plurality of groups correspond to being arranged at different directions of the robot 1000. For example, a group of sensor units is arranged on each of the front, back, left and right sides of the robot, and each group of sensor units detects objects near the corresponding side of the robot.

[0067] It should be understood that the above description of the sensor module and the components of the pool cleaning robot is only exemplary and does not constitute a limitation on the various parameters, functions of the above components. Those skilled in the art can select and set the sensor module and its components, parameters and functions according to actual needs as long as the principles of the present application can be realized.

[0068] The algorithms and displays provided herein are not inherently related to any particular computer, virtual system, or other apparatus. Various general purpose systems can be used with programs in accordance with the teachings herein. General purpose system 1000 can be constructed in accordance with the description above. In addition, the present application is not described with reference to any particular programming language. It will be appreciated that a variety of programming languages can be used to implement the teachings of the present application as described herein, and any references below to specific languages are provided for disclosure of enablement only.

[0069] In the description provided herein, numerous specific details are set forth. However, it is understood that embodiments of the application can be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.

[0070] Similarly, it is to be understood that the above description is only illustrative of the application and certain examples thereof, and is subject to the prior art. Various modifications and changes can be made to such

[0071] Those skilled in the art can understand that the modules in the device in the embodiments can be adaptively changed and arranged in one or more devices different from the embodiments. The modules or units or components in the embodiments can be combined into one module or unit or component, and in addition, they can be divided into multiple sub-modules or sub-units or sub-components. All features disclosed in the specification (including the abstract and drawings), and all processes or units of any method or device disclosed herein can be combined in any combination, except that at least some of such features and / or processes or units are mutually exclusive. Unless explicitly stated otherwise, each feature disclosed in the specification (including the abstract and drawings) can be replaced by an alternative feature providing the same, equivalent or similar purpose.

[0072] Furthermore, those skilled in the art will recognize that, although some of the examples herein include certain features of the other examples, not all of those features are required in order to practice those other examples. As such, the described features are not meant to be limiting and the scope of claims is to be accorded the broadest interpretation so as to encompass all the readily-equivalent structures and functions. In the claims, means-plus-function clauses are intended to cover the structures described herein as performing the recited functions and not only structural equivalents but also equivalent structures. Thus although not explicitly stated, means-plus-function clauses can include both structural and functional equivalents. In contrast, although means-plus-function clauses can include structural equivalents, structural equivalents are not intended to invoke 35 U.S.C. § 112, sixth paragraph, unless the exact claim language states only structural

[0073] It is to be noted that the above-mentioned examples illustrate rather than limit the application. Any reference signs in the claims should not be construed as limiting the scope of the application. The word "comprising" does not exclude the presence of elements or steps other than those listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The application can be implemented by means of both hardware and software, and any combination thereof. In the embodiments utilizing a plurality of devices, these devices are either functionally or physically independent. The use of the words first, second, third and the like does not imply any ordering but rather are used for naming purposes only. The word "step" does not imply any order. The word "step" can be interpreted as "means" or "component" or "means for" or "component for".

Claims

1. A sensor module, characterized by, The application relates to a sensor module, comprising: a main body and a plurality of sensor units, at least a part of each of the sensor units is arranged inside the main body, a detection area of each of the sensor units comprises an external area of the main body, and a direction of each of the sensor units is different.

2. The sensor module of claim 1, wherein, The main body is in a columnar shape, and a cross section of the main body is in a circular shape, a semicircular shape, a fan shape, a polygonal shape or an irregular shape.

3. The sensor module of claim 2, wherein, If the cross section of the main body is in a polygonal shape, a position of each of the sensor units corresponds to an edge of the polygonal shape.

4. The sensor module of claim 3, wherein, The polygonal shape comprises a regular hexagonal shape, an octagonal shape or a dodecagonal shape.

5. The sensor module according to any one of claims 1-4, wherein, Each of the plurality of sensor units comprises a phased array ultrasonic sensor array.

6. The sensor module of claim 5, wherein, The phased array ultrasonic sensor array comprises a plurality of array elements arranged in a predetermined manner.

7. The sensor module according to any one of claims 1-6, wherein, The plurality of sensor units comprises a plurality of groups, each group comprises at least one sensor unit.

8. The sensor module according to any one of claims 1-7, wherein, The plurality of sensor units are electrically connected or the sensor units belonging to the same group are electrically connected.

9. The sensor module of claim 8, wherein, The plurality of sensor units can be synchronously controlled or the sensor units belonging to the same group can be synchronously controlled or a plurality of groups can be synchronously controlled.

10. The sensor module of any one of claims 1-9, wherein, The application further comprises a control unit, the plurality of sensor units are connected with the control unit, so that the plurality of sensor units or the sensor units belonging to the same group or the plurality of groups can be synchronously controlled.

11. The sensor module of claim 10, wherein, The control unit is arranged inside the main body or outside the main body and is electrically connected with the sensor units through wires.

12. The sensor module of any one of claims 1-4, 7-11, wherein, The sensor units comprise ultrasonic sensors, cameras, DTOF, infrared sensors or radars.

13. A pool cleaning robot characterized by, The application further comprises a robot, the sensor module is arranged on a top of the robot.

14. The pool cleaning robot of claim 13, wherein, The plurality of groups correspond to different sides of the robot.

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