Laser ranging unit and sweeping robot thereof

Abstract

The embodiment of the utility model is suitable for the technical field of smart home, and provides a laser ranging unit and a sweeping robot. The sweeping robot is provided with a liftable laser distance measuring sensor and an optical component, and the optical component is arranged below the surface of an upper shell of the sweeping robot and used for reflecting distance measuring laser emitted by the laser distance measuring sensor to the surface of the upper shell of the sweeping robot. According to the sweeping robot, when the laser distance measuring sensor is below the surface of the upper shell of the sweeping robot, the laser distance measuring sensor can still be used for measuring the distance of an object above the surface of the upper shell of the sweeping robot.

Description

TECHNICAL FIELD

[0001] The utility model belongs to the technical field of intelligent house, and relates to a sweeping robot, in particular to a laser ranging unit. BACKGROUND

[0002] In the running process of the sweeping robot, the environment is sensed through the sensing device, so that a reasonable cleaning path is planned. The sensing device arranged on the upper part of the sweeping robot increases the volume of the sweeping robot, and when the volume of the sweeping robot is too large, the cleaning range of the sweeping robot will be limited.

[0003] If the sensing device is arranged on the upper surface of the sweeping robot, the height of the sweeping robot will be increased by the arranged sensing device, so that the sweeping robot cannot enter the low area such as the bottom of the bed or the bottom of the sofa to clean, the working range of the sweeping robot is limited, and the user's life is inconvenient.

[0004] Therefore, the lifting sensing device can be arranged on the sweeping robot, when the sensing device is lowered below the upper shell surface of the sweeping robot, the sweeping robot can enter the low area, so that the cleaning range of the sweeping robot can be expanded.

[0005] However, when the sensing device is lowered below the upper shell surface of the sweeping robot, the sensing device is difficult to collect data. CONTENT OF THE UTILITY MODEL

[0006] Therefore, the utility model embodiment provides a laser ranging unit, which can enable the LDS (Laser distance sensor) to still use the laser ranging sensor to measure the distance of the object above the upper shell surface of the sweeping robot when the LDS is below the upper shell surface of the sweeping robot.

[0007] The first aspect of the utility model embodiment provides a laser ranging unit, which comprises a lifting laser ranging sensor and an optical component, the optical component is arranged below the upper shell surface of the sweeping robot, and wherein:

[0008] The optical component is used for reflecting the ranging laser sent by the laser ranging sensor to the upper shell surface of the sweeping robot.

[0009] In a possible implementation manner, the optical component is arranged in the sweeping robot in an inclined manner.

[0010] In a possible implementation manner, the inclination angle of the optical component is adjustable.

[0011] In a possible implementation manner, the optical component is a mirror, a light guide column or a light splitter.

[0012] In a possible implementation, the sweeping robot is provided with a control module, which is configured to:

[0013] control the laser ranging sensor to rise or fall.

[0014] In a possible implementation, the sweeping robot comprises one photoelectric sensor,

[0015] The photoelectric sensor is configured to monitor the height of the empty area above the laser ranging sensor.

[0016] The control module is configured to control the laser ranging sensor to rise when the upper surface of the laser ranging sensor is not higher than the upper shell surface of the sweeping robot and the height of the empty area monitored by the photoelectric sensor is greater than a preset height value.

[0017] In a possible implementation, the sweeping robot comprises a plurality of photoelectric sensors, and the plurality of photoelectric sensors are uniformly arranged around the laser ranging sensor.

[0018] The plurality of photoelectric sensors are respectively configured to monitor the distance of the empty area above the laser ranging sensor.

[0019] The control module is configured to control the laser ranging sensor to rise when the upper surface of the laser ranging sensor is not higher than the upper shell surface of the sweeping robot and the height of the empty area monitored by each photoelectric sensor is greater than a preset height value.

[0020] In a possible implementation, the laser ranging sensor comprises a safety device,

[0021] The control module is configured to control the laser ranging sensor to fall when the upper surface of the laser ranging sensor is higher than the upper shell surface of the sweeping robot and the safety device is triggered.

[0022] In a possible implementation, the safety device is a collision sensor.

[0023] In a possible implementation, the laser ranging sensor is provided with an anti-collision device.

[0024] The second aspect provides a sweeping robot, which comprises the laser ranging unit as described above, and the upper shell and the wheel assembly.

[0025] Compared with the prior art, the embodiments of the present application have the following advantages:

[0026] The utility model provides a kind of sweeping robot. The sweeping robot can be provided with liftable laser ranging sensor and optical component, wherein optical component can be arranged below the upper shell surface of sweeping robot. When the upper surface of laser ranging sensor is not higher than the upper shell surface of sweeping robot, ranging laser sent by laser ranging sensor to optical component can be reflected to the upper shell surface of sweeping robot by optical component, so that ranging laser can reach object object above the upper shell surface of sweeping robot, and the ranging of object object above the upper shell surface of sweeping robot is realized. In the utility model embodiment, by the lifting control of laser ranging sensor arranged on sweeping robot, the overall height of sweeping robot can be reduced, so that sweeping robot can enter low area to clean, and the cleaning range of sweeping robot is expanded. When laser ranging sensor is below the upper shell surface of sweeping robot, the direction of ranging laser is changed by optical component, so that laser ranging sensor can be used to range above the upper shell surface of sweeping robot. BRIEF DESCRIPTION OF DRAWINGS

[0027] In order to more clearly illustrate the technical scheme in the embodiments of the utility model, the drawings needed to be used in the embodiments or prior art description will be briefly introduced as follows.

[0028] Figure 1 is a schematic diagram of a sweeping robot provided by the utility model embodiment;

[0029] Figure 2 is a scene schematic diagram provided by the utility model embodiment;

[0030] Figure 3 is a laser beam route schematic diagram provided by the utility model embodiment;

[0031] Figure 4 is a step flowchart schematic diagram of the control method of laser ranging sensor provided by the utility model embodiment;

[0032] Figure 5 is a step flowchart schematic diagram of the triggering method of laser ranging sensor provided by the utility model embodiment;

[0033] Figure 6 is a top view of sweeping robot provided by the utility model embodiment;

[0034] Figure 7 is a triggering scene schematic diagram of laser ranging sensor provided by the utility model embodiment;

[0035] Figure 8 is a step flowchart schematic diagram of the obstacle avoidance method of laser ranging sensor provided by the utility model embodiment;

[0036] Figure 9 is a kind of sweeping robot application scenario schematic diagram provided by the embodiment of the utility model;

[0037] Figure 10 is the schematic diagram of the obstacle avoidance scene of the laser ranging sensor provided by the embodiment of the utility model;

[0038] Figure 11 is the schematic diagram of the sweeping robot provided by the embodiment of the utility model;

[0039] Figure 12 is the overhead view of the sweeping robot area provided by the embodiment of the utility model;

[0040] Figure 13 is another schematic diagram of the obstacle avoidance scene of the laser ranging sensor provided by the embodiment of the utility model;

[0041] Figure 14 is the schematic diagram of the control device of the laser ranging sensor provided by the embodiment of the utility model;

[0042] Figure 15 is the schematic diagram of another control device of the laser ranging sensor provided by the embodiment of the utility model;

[0043] Figure 16 is the schematic diagram of the sweeping robot provided by the embodiment of the utility model. DETAILED DESCRIPTION

[0044] In the following description, for the purpose of explanation and not limitation, specific details are set forth, such as particular system configurations, techniques, etc., in order to provide a thorough understanding of the embodiments of the present application. However, it will be apparent to those skilled in the art that the present application can be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.

[0045] The sweeping robot can be provided with a liftable laser distance sensor (LDS), when the laser distance sensor is lowered below the upper shell surface of the sweeping robot, the sweeping robot can enter the low area, so that the cleaning range of the sweeping robot can be expanded.

[0046] However, when the laser distance sensor is lowered below the upper shell surface of the sweeping robot, the laser distance sensor is difficult to measure distance.

[0047] Based on this, the utility model provides a kind of control method, device and floor cleaning robot of laser ranging sensor, to enlarge the cleaning range of floor cleaning robot, while, it does not affect the ranging function of laser ranging sensor.

[0048] The technical solutions of the utility model are described below with specific embodiments.

[0049] Referring to Figure 1 , a schematic diagram of a floor cleaning robot is shown, as Figure 1 Indicated, floor cleaning robot is provided with liftable laser ranging sensor and optical component, wherein, optical component is arranged below the upper shell surface of floor cleaning robot.Laser ranging sensor is used to detect the distance between other objects or living beings in surrounding environment and floor cleaning robot by ranging laser, to carry out positioning or mapping.Optical component is used to reflect ranging laser emitted by laser ranging sensor to the upper shell surface of floor cleaning robot.

[0050] Liftable laser ranging sensor can have up-down moving range in vertical direction.Laser ranging sensor rises to the highest point, and the upper surface of laser ranging sensor can be higher than the upper shell surface of floor cleaning robot.Laser ranging sensor drops to the lowest point, and the upper surface of laser ranging sensor can be lower than the upper shell surface of floor cleaning robot, or the upper surface of laser ranging sensor is level with the upper shell surface of floor cleaning robot.

[0051] In the process of cleaning by using floor cleaning robot, floor cleaning robot can change the overall height of floor cleaning robot by controlling the lifting of laser ranging sensor, so that floor cleaning robot can adapt to various cleaning scenes.For example, when the height of cleaning area is low, laser ranging sensor can be lowered to not higher than the upper shell surface of floor cleaning robot, so that floor cleaning robot can enter lower area to clean, and the cleaning range of floor cleaning robot is expanded.

[0052] Liftable laser ranging sensor can have up-down moving range in vertical direction.Laser ranging sensor rises to the highest point, and the upper surface of laser ranging sensor can be higher than the upper shell surface of floor cleaning robot.Laser ranging sensor drops to the lowest point, and the upper surface of laser ranging sensor can be lower than the upper shell surface of floor cleaning robot, or the upper surface of laser ranging sensor is level with the upper shell surface of floor cleaning robot.

[0053] When the upper surface of laser ranging sensor is not higher than the upper shell surface of floor cleaning robot, floor cleaning robot can range by laser ranging sensor and optical return component. Figure 2 is a scene schematic diagram provided by the utility model embodiment, Figure 2In this context, 1 represents an obstacle, such as the underside of a bed, sofa, table, or chair; 2 represents the surface of the robot vacuum cleaner's upper casing; and 3 represents an optical deflector used to change the direction of the light beam. For example... Figure 2 As shown, when the upper surface of the laser rangefinder is not higher than the upper shell surface of the robot vacuum cleaner, the laser rangefinder can emit a rangefinder laser towards the optical reflector. The rangefinder laser can be reflected by the optical reflector onto the upper shell surface of the robot vacuum cleaner, thereby reaching the obstacle. Based on the rangefinder laser reflected by the obstacle, the robot vacuum cleaner can determine the height H1 of the obstacle from the upper shell surface of the robot vacuum cleaner, and thus determine whether the laser rangefinder sensor can rise according to the height of the obstacle.

[0054] The aforementioned optical reflecting component can be a reflector, light guide, or beam splitter, used to change the reflection direction of the laser beam. The optical reflecting component can be positioned below the upper surface of the robot vacuum cleaner, so that when the upper surface of the laser rangefinder is no higher than the upper surface of the robot vacuum cleaner's upper shell, the laser rangefinder can emit a laser beam towards the optical reflecting component. The optical reflecting component can be tilted, thus reflecting the laser beam diagonally above or directly above the laser rangefinder. The setting angle of the optical reflecting component can be determined by the user. In one possible implementation, the angle of the optical reflecting component can be automatically adjusted.

[0055] Based on optical reflectors, the laser beam emitted by a laser rangefinder can be emitted horizontally, obliquely upwards, or directly upwards, such as... Figure 3 As shown. Figure 3 This is a schematic diagram of a laser beam path provided by an embodiment of this utility model. For example... Figure 3 As shown, a robotic vacuum cleaner may include optical reflectors such as mirrors, light guides, and beam splitters. When the upper surface of the laser rangefinder is not higher than the upper shell surface of the robotic vacuum cleaner, the direction of the laser beam from the laser rangefinder can be changed by the optical reflectors, allowing the laser rangefinder to detect obstacles at angles and positions other than the horizontal direction, thus maintaining its ranging capability.

[0056] exist Figure 3 In the diagram, 1 can be an obstacle above the robot vacuum cleaner, such as under a sofa or bed. 2 can be the upper shell of the robot vacuum cleaner, and 3 can be an optical reflector or light guide column, used to change the direction of the laser beam.

[0057] like Figure 3As shown, when the upper surface of the laser rangefinder is no higher than the upper shell surface of the robotic vacuum cleaner, the laser beam from the laser rangefinder can be emitted horizontally to the optical reflector, which then reflects the laser beam diagonally above the laser rangefinder. The direction of the laser beam after reaching the upper shell surface of the robotic vacuum cleaner can be determined based on the angle of the optical reflector.

[0058] like Figure 3 As shown, the laser beam from the laser rangefinder can be directed horizontally towards the optical refracting component. When the upper surface of the laser rangefinder is higher than the upper shell surface of the robotic vacuum cleaner, the laser beam emitted by the laser rangefinder can directly measure the horizontal distance without passing through the refracting optical component.

[0059] like Figure 3 As shown, optionally, the optical reflector can have multiple angles. By changing the angle of the optical component, the reflector direction of the laser beam can be controlled, thereby controlling the detection direction and position of the laser beam and realizing full-range detection of multiple areas above the laser range sensor.

[0060] It is evident that even when the upper surface of the laser rangefinder is not higher than the upper shell surface of the robot vacuum cleaner, the robot vacuum cleaner can still achieve distance measurement by changing the direction of the laser beam through the optical reflex component.

[0061] In this embodiment of the invention, the laser rangefinder of the robotic vacuum cleaner is a height-adjustable laser rangefinder. During use, the robotic vacuum cleaner can use the laser rangefinder for positioning and mapping. When the robotic vacuum cleaner needs to enter a low-lying area, if the height of the low-lying area is less than the sum of the height of the robotic vacuum cleaner and the height of the laser rangefinder, the robotic vacuum cleaner can enter the low-lying area by controlling the laser rangefinder to avoid obstacles. When there is sufficient open space above the laser rangefinder, the laser rangefinder can be triggered to rise, facilitating positioning and mapping.

[0062] Robotic vacuum cleaners can be equipped with a control module, which can be used to control the raising or lowering of the laser rangefinder sensor. Based on the control module, the robotic vacuum cleaner can perform... Figure 4 The method in the middle.

[0063] Reference Figure 4 The diagram illustrates a step-by-step flowchart of a control method for a laser ranging sensor provided in an embodiment of the present invention. This method can be applied to a robotic vacuum cleaner, which is equipped with a liftable laser ranging sensor. The method specifically includes the following steps:

[0064] S401, when the upper surface of the laser ranging sensor is not higher than the upper shell surface of the sweeping robot, the laser ranging sensor is controlled to send ranging laser to an optical component, the optical component is arranged below the upper shell surface of the sweeping robot, and the optical component is used for reflecting the ranging laser to the upper surface of the upper shell of the sweeping robot to measure the distance of the object above the upper shell surface of the sweeping robot.

[0065] Based on this, the control method of the laser ranging sensor in the embodiment of the utility model can include the obstacle avoidance method of the laser ranging sensor and the triggering method of the laser ranging sensor. The obstacle avoidance method of the laser ranging sensor is the method of controlling the laser ranging sensor to descend, and the triggering method of the laser ranging sensor is the method of controlling the laser ranging sensor to ascend.

[0066] Referring to Figure 5 , a step flow diagram of the triggering method of the laser ranging sensor provided by the embodiment of the utility model is shown, which can specifically include the following steps:

[0067] S501, when the upper surface of the laser ranging sensor is not higher than the upper shell surface of the sweeping robot, it is determined whether there is an obstacle in a preset area above the laser ranging sensor.

[0068] The execution subject of the embodiment of the utility model can be the sweeping robot described above, which will not be described here.

[0069] In the initial use stage of the sweeping robot or when the sweeping robot enters a low area for cleaning, the laser ranging sensor can be lowered to be not higher than the upper shell surface of the sweeping robot. When the upper surface of the laser ranging sensor is not higher than the upper shell surface of the sweeping robot, the sweeping robot can determine whether the laser ranging sensor can ascend.

[0070] Whether the laser ranging sensor can ascend depends on whether the area above the laser ranging sensor has a space where the laser ranging sensor can exist. Therefore, the sweeping robot can detect whether there is an obstacle in the preset area above. The preset area above can be a cylindrical area, and the height of the cylinder can be the vertical distance between the laser ranging sensor and the upper shell surface of the sweeping robot when the laser ranging sensor ascends to the highest position. The bottom of the cylinder can include the projection area of the laser ranging sensor on the upper shell surface of the sweeping robot. The bottom area of the cylinder can be larger than the projection area of the laser ranging sensor on the upper shell surface of the sweeping robot, so as to avoid the need to immediately descend to avoid obstacles after the laser ranging sensor ascends.

[0071] When the upper surface of the laser ranging sensor is not higher than the upper surface of the upper shell of the robot, the robot can determine whether there is an obstacle in a preset area above the laser ranging sensor by monitoring the height of the open area above the laser ranging sensor, so as to determine whether the laser ranging sensor can be raised. When the height of the open area above the laser ranging sensor is greater than a preset height value, it can be determined that there is no obstacle in the preset area.

[0072] In a possible implementation, the robot can detect the distance of the object above the upper surface of the upper shell of the robot by the laser ranging sensor and the optical folding component, so as to determine the distance of the object above the robot. For example Figure 2 .

[0073] The robot can control the laser ranging sensor to send ranging laser to the optical folding component. The ranging laser can be reflected to the upper surface of the upper shell of the robot via the optical folding component. The object above the upper surface of the upper shell of the robot can reflect the ranging laser. The laser ranging sensor can receive the ranging laser reflected by one or more objects above the upper surface of the upper shell of the robot again. Based on the ranging laser reflected by the one or more objects, the laser ranging sensor can determine the vertical distance between the object and the upper surface of the upper shell of the robot, and determine the shortest vertical distance. If the shortest vertical distance is greater than a preset height value, it is determined that there is no obstacle in the preset area. The preset height value can be the vertical distance between the highest position of the laser ranging sensor and the upper surface of the upper shell of the robot. The ranging method of the laser ranging sensor belongs to the prior art, and will not be described here.

[0074] For example, when the robot enters the bottom of the bed for cleaning, because the height of the edge part of the bed is relatively low, the robot can control the laser ranging sensor to descend, so that the laser ranging sensor can enter the bottom of the bed. After entering the bottom of the bed, the robot can control the laser ranging sensor to send ranging laser to the optical folding component. The ranging laser can be reflected to the upper surface of the upper shell of the robot via the optical folding component, and reach the bottom of the middle part of the bed. Because the height of the middle part of the bed is relatively high, the robot can detect that the vertical distance between the current bottom of the bed and the robot is greater than a preset height value, at this time, the robot can control the laser ranging sensor to rise.

[0075] When the control module controls the laser ranging sensor to rise or descend, it can be determined according to whether there is an obstacle in the active area above the laser ranging sensor. Based on this, a device for detecting the active area above the laser ranging sensor can be arranged on the robot.

[0076] In one possible implementation, the robotic vacuum cleaner may include a photoelectric sensor (cliff). The photoelectric sensor is used to monitor the height of the open area above the laser rangefinder; the control module is used to control the laser rangefinder to rise when the upper surface of the laser rangefinder is not higher than the upper shell surface of the robotic vacuum cleaner and the height of the open area monitored by the photoelectric sensor is greater than a preset height value.

[0077] In another possible implementation, the robotic vacuum cleaner may include multiple photoelectric sensors evenly deployed around a laser rangefinder. Each photoelectric sensor monitors the distance to an open area above the laser rangefinder. A control module controls the laser rangefinder to rise when the upper surface of the laser rangefinder is no higher than the upper shell surface of the robotic vacuum cleaner and the height of the open area monitored by each photoelectric sensor is greater than a preset height value.

[0078] Photoelectric sensors can have ranging or distance detection functions. They can determine whether there is space above a laser rangefinder based on measurement data. Photoelectric sensors can be deployed close to the laser rangefinder. They can be used to detect open areas above, thereby determining the height of those open areas. When multiple photoelectric sensors are deployed on a robotic vacuum cleaner, they can be evenly distributed around the laser rangefinder. Figure 6 As shown, Figure 6 This is a top view of a sweeping robot provided in an embodiment of this utility model. Figure 7 The black square in the image is the photoelectric sensor. For example... Figure 6 As shown, photoelectric sensors can be evenly distributed around the laser rangefinder. Figure 7 This is a schematic diagram of a triggering scenario for a laser ranging sensor provided in an embodiment of this utility model. For example... Figure 7 As shown, photoelectric sensors can have a detection field of view, and the detection range can cover the area directly above the edge of the laser rangefinder sensor. Using multiple photoelectric sensors can cover a larger detection area, thereby achieving accurate detection of whether there is space above the laser rangefinder sensor. The robotic vacuum cleaner can determine the height of the open area above each photoelectric sensor through the individual photoelectric sensors; if the height of each open area is greater than a preset height value, it can be determined that there are no obstacles in the preset area above the laser rangefinder sensor. The preset height value can be the vertical distance between the highest point of the laser rangefinder sensor and the surface of the robotic vacuum cleaner's upper shell.

[0079] For example, the photoelectric sensor can be used to sense the upper region, when the upper region is an empty region, the photoelectric sensor is not triggered. When there is an obstacle in the upper region, the photoelectric sensor is triggered. The sensing height of each photoelectric sensor can be preset. For example, the sensing height of the photoelectric sensor can be set to the preset height value. During the running of the robot, if any photoelectric sensor is triggered, it is determined that there is an obstacle above the laser ranging sensor. If none of the photoelectric sensors is triggered, it can be determined that there is no obstacle in the preset region above the laser ranging sensor.

[0080] S502, if there is no obstacle in the preset region, controlling the laser ranging sensor to rise.

[0081] In a possible implementation, the robot can control the laser ranging sensor to directly rise to the highest position.

[0082] In another possible implementation, if there is an obstacle in the preset region, the robot can control the laser ranging sensor to rise to a position below the obstacle according to the height of the obstacle. For example, the height of the robot itself is 15 cm, and the vertical distance between the upper surface of the laser ranging sensor and the upper shell surface of the robot is 5 cm when the laser ranging sensor rises to the highest position. When it is monitored that the height of the obstacle is 4 cm, the laser ranging sensor can be controlled to rise by 3 cm.

[0083] In the embodiment, when the upper surface of the laser ranging sensor is not higher than the upper shell surface of the robot, the empty region height above the laser ranging sensor can be sensed through the optical folding component or the photoelectric sensor, so that whether the laser ranging sensor rises can be determined based on the empty region height above the laser ranging sensor. Based on the method of the embodiment, the laser ranging sensor can be timely controlled to rise, so as to facilitate the robot to position and map through the laser ranging sensor.

[0084] Referring to Figure 8 , a step flowchart of an obstacle avoidance method of a laser ranging sensor is shown, which can specifically include the following steps:

[0085] S801, when the upper surface of the laser ranging sensor is higher than the upper shell surface of the robot, the region between the plane where the upper surface of the laser ranging sensor is located and the plane where the upper shell surface of the robot is located is detected for obstacles.

[0086] The execution subject of the embodiment of the utility model can be the robot described above, which will not be described here.

[0087] In this embodiment, the laser ranging sensor can descend to achieve obstacle avoidance when encountering an obstacle. Therefore, the sweeping robot needs to determine whether the laser ranging sensor needs to be avoided. When the upper surface of the laser ranging sensor is higher than the upper surface of the sweeping robot, the laser ranging sensor needs to be controlled to avoid obstacles. When the laser ranging sensor is controlled to avoid obstacles, it is first necessary to determine whether the laser ranging sensor needs to be lowered. During the operation of the sweeping robot, if the laser ranging sensor does not collide with the obstacle, it does not need to be lowered. If the sweeping robot can collide with the obstacle, it needs to be lowered to avoid obstacles.

[0088] During the operation of the sweeping robot, the sweeping robot can use the laser ranging sensor to measure the distance, so as to perceive the distance between the sweeping robot and the obstacle. The laser ranging sensor can emit ranging laser, and when there is an obstacle, the obstacle can reflect the ranging laser, so that the sweeping robot can collect the reflected laser, and based on the reflected laser, the sweeping robot can determine the distance and position of the obstacle.

[0089] During the operation of the sweeping robot, the laser ranging sensor can be located above the sweeping robot, so as to facilitate the sweeping robot to use the laser ranging sensor to measure the distance. During the cleaning process of the sweeping robot, it can be necessary to enter a lower space. For example, the sweeping robot can enter the bed bottom, under the sofa, and under the chair to clean the ground. When the sweeping robot enters the lower space, the height of the entire sweeping robot needs to be lower than the height of the space to be entered. The height of the entire sweeping robot can include the height of the laser ranging sensor above the upper surface of the sweeping robot and the height of the body of the sweeping robot.

[0090] Figure 9 It is an application scenario schematic diagram of a sweeping robot provided by the embodiment of the utility model. As shown in the figure, Figure 9 The height of the obstacle can be represented by a first height H1, the height of the body of the sweeping robot can be represented by a second height H2, and the height of the entire sweeping robot can be represented by a third height H3. In the subsequent embodiments, the first height, the second height, and the third height are continuously used.

[0091] When entering the space under the obstacle, the relationship among the first height, the second height, and the third height can be determined. If the first height is greater than the third height, the sweeping robot can directly enter the space under the obstacle, and the laser ranging sensor does not need to be controlled to descend. If the first height is less than the third height, but the first height is greater than the second height, it indicates that the laser ranging sensor can enter the space under the obstacle after descending, and at this time, the laser ranging sensor can be controlled to descend, so that the sweeping robot can enter the space under the obstacle to clean.

[0092] Based on the application scenario schematic diagram in Figure 9 , it can be known that the sweeping robot can control the laser ranging sensor to descend to avoid obstacles during operation.

[0093] During the operation of the sweeping robot, there can be no obstacles affecting the laser ranging sensor in the area directly above the laser ranging sensor, but there can be obstacles affecting the continuous operation of the laser ranging sensor in the lateral area of the laser ranging sensor. For example, when a living being or a non-living being flies in the lateral area of the laser ranging sensor, for example, when a pet bird flies to the lateral area of the laser ranging sensor or a unmanned aerial vehicle flies to the lateral area of the laser ranging sensor, a collision between the laser ranging sensor and the obstacle can occur during the continuous operation of the sweeping robot. As shown in Figure 10 . Figure 10 An application scenario schematic diagram is shown in the embodiment of the present application. Referring to Figure 10 , the height of the obstacle is higher than the body height of the sweeping robot, but the height of the obstacle is lower than the overall height of the sweeping robot. If the sweeping robot continues to approach the obstacle, a collision between the laser ranging sensor and the obstacle will inevitably occur.

[0094] Therefore, during the movement of the sweeping robot, whether there is an obstacle in the operation range of the laser ranging sensor can be monitored, so as to determine whether to control the laser ranging sensor to descend. During the movement of the sweeping robot, the operation range of the laser ranging sensor can be located in the area between the plane where the upper surface of the laser ranging sensor is located and the plane where the upper surface of the sweeping robot is located, so the area can be detected to determine whether there is an obstacle. That is, when the upper surface of the laser ranging sensor is higher than the upper shell surface of the sweeping robot, the area between the plane where the upper surface of the laser ranging sensor is located and the plane where the upper shell surface of the sweeping robot is located can be detected to determine whether there is a collision risk in the lateral area of the laser ranging sensor.

[0095] When the obstacle is monitored, the detection range can be determined from the area between the plane where the upper surface of the laser ranging sensor is located and the plane where the upper shell surface of the sweeping robot is located. For example, the center of the laser ranging sensor can be taken as a circular point to determine a circular range. As shown in Figure 11 . Figure 11 is a schematic diagram of a sweeping robot provided by the embodiment of the present application. Figure 11 The side view and the top view of the sweeping robot are shown in Figure 11 . The detection area in may be the operation range of the laser ranging sensor. The sweeping robot can only detect the detection range to determine whether there is an obstacle that can collide with the laser ranging sensor.

[0096] The detection area can also be set to the area corresponding to the upper shell surface of the robot vacuum cleaner. For example... Figure 12 As shown, the dashed circle represents the detection area.

[0097] In one possible implementation, the robotic vacuum cleaner can control a laser rangefinder to emit a ranging laser beam into the area between the plane containing the upper surface of the laser rangefinder and the plane containing the upper shell surface of the robotic vacuum cleaner. Then, based on the reflected ranging laser beam, the robotic vacuum cleaner can detect whether there are obstacles in the area.

[0098] Specifically, based on the ranging laser obtained after reflection, the robot vacuum can determine the shortest horizontal distance between one or more objects reflecting the ranging laser and the robot vacuum; if the shortest horizontal distance is less than a preset value, it can be determined that there is an obstacle in the area, and the obstacle includes the object corresponding to the shortest horizontal distance.

[0099] The preset values ​​mentioned above can be fixed or determined based on the location of the object being measured by the reflected laser. For example, the detection area is... Figure 10 When the area shown is within the specified range, the aforementioned preset value can be a fixed value. When the distance between each monitored object and the laser rangefinder is less than this fixed preset value, it can be determined that there is no risk of collision between the laser rangefinder and obstacles in the lateral area.

[0100] When the detection area is Figure 12 When the area is shown, the preset value can be determined based on the location of each object. For example, a robotic vacuum cleaner can store preset values ​​corresponding to each location within the detection range, so that when an object is detected, the stored preset value can be obtained based on the object's location.

[0101] In another possible implementation, a safety device can be incorporated into the laser rangefinder sensor. When this device is triggered, the presence of an obstacle can be determined. For example, the safety device could be a bumper sensor, which would detect an obstacle when a collision is detected.

[0102] Figure 13 This is a schematic diagram of an obstacle avoidance scenario provided by an embodiment of the present invention. Figure 13 As shown, when an obstacle comes into contact with the laser rangefinder, a safety device installed on the laser rangefinder is triggered. When the safety device is triggered, the robot vacuum cleaner can control the laser rangefinder to descend.

[0103] In a possible implementation, the laser ranging sensor can be further provided with an anti-collision device, so that the laser ranging sensor can be prevented from being damaged and the service life of the laser ranging sensor can be prolonged when the laser ranging sensor collides. For example, the laser ranging sensor can be wrapped with an outer cover or a silica gel anti-collision sleeve, so as to buffer the collision and reduce the damage probability.

[0104] S802, if it is detected that there is an obstacle in the region, controlling the laser ranging sensor to descend.

[0105] If an obstacle is detected in the region, the laser ranging sensor can be controlled to descend.

[0106] In a possible implementation, the laser ranging sensor can be directly controlled to descend to a position where the upper surface of the laser ranging sensor is lower than or flush with the upper shell surface of the robot.

[0107] In another possible implementation, the descending height of the laser ranging sensor can be determined according to the height of the obstacle, so that the robot can control the laser ranging sensor to descend by a certain height. For example, the vertical distance between the obstacle and the upper shell surface of the robot can be determined, and then a target height value slightly smaller than the vertical distance can be determined, and then the laser ranging sensor can be controlled to descend to a position corresponding to the target height value. For example, the body height of the robot is 15 cm, and the vertical distance between the upper surface of the laser ranging sensor and the upper shell surface of the robot is 5 cm. When it is detected that the vertical distance between the obstacle and the upper shell surface of the robot is 4 cm, the laser ranging sensor can be controlled to descend by 2 cm.

[0108] In this embodiment, when the upper surface of the laser ranging sensor is higher than the upper shell surface of the robot, the operating range of the laser ranging sensor can be detected, so that the laser ranging sensor can be controlled to descend when an obstacle is detected, thereby avoiding collision between the laser ranging sensor and the obstacle and expanding the cleaning range of the robot.

[0109] The method in the embodiment can control the laser ranging sensor on the sweeping robot, so that the laser ranging sensor can avoid obstacles. When the upper surface of the laser ranging sensor is higher than the upper shell surface of the sweeping robot, the sweeping robot can detect obstacles in the region between the plane where the upper surface of the laser ranging sensor is located and the plane where the upper surface of the sweeping robot is located. If it is detected that there are obstacles in the region, it indicates that the laser ranging sensor may collide with the obstacles during the movement of the sweeping robot. At this time, the laser ranging sensor can be controlled to descend, so as to avoid collision between the laser ranging sensor and the obstacles. In the embodiment of the utility model, the sweeping robot has a liftable floor fan. Through the lifting control of the laser ranging sensor, the overall height of the sweeping robot can be reduced, so that the sweeping robot can enter a lower place and expand the cleaning range of the sweeping robot.

[0110] When the sweeping robot is just started, the upper surface of the laser ranging sensor can be not higher than the upper shell surface of the sweeping robot. At this time, the sweeping robot can determine whether to control the laser ranging sensor to rise through the triggering method of the laser ranging sensor. After determining that the laser ranging sensor needs to rise, the laser ranging sensor is controlled to rise. After the laser ranging sensor rises, when the sweeping robot needs to enter a low area for cleaning, whether to control the laser ranging sensor to descend can be determined according to the height of the obstacle, the height of the fuselage and the height of the laser ranging sensor. Or whether to execute the descent of the laser ranging sensor can be determined through the obstacle avoidance method of the laser ranging sensor. After determining that the laser ranging sensor needs to descend, the laser ranging sensor is controlled to descend. After the laser ranging sensor descends, the sweeping robot can determine whether to control the laser ranging sensor to rise through the triggering method of the laser ranging sensor. After determining that the laser ranging sensor needs to rise, the laser ranging sensor is controlled to rise. During the cleaning process of the sweeping robot, the laser ranging sensor control method in the embodiment of the utility model can be continuously executed, so that the ranging accuracy of the laser ranging sensor can be ensured while the cleaning range is expanded.

[0111] It should be noted that the size of the serial number of each step in the above embodiment does not mean the order of execution. The execution order of each process should be determined according to its function and inherent logic, and should not constitute any limitation on the implementation process of the embodiment of the utility model.

[0112] The embodiment of the utility model also provides a sweeping robot. The sweeping robot can include a liftable laser ranging sensor and an optical folding component, and the optical folding component is arranged below the upper surface of the sweeping robot.

[0113] In a possible implementation, the sweeping robot can include a safety device, which can be a collision sensor.

[0114] In a possible implementation, the sweeping robot can include one or more photoelectric sensors, which can be disposed around the laser ranging sensor.

[0115] With reference to Figure 14 , a schematic diagram of a control device of a laser ranging sensor is shown, the device is applied to a sweeping robot, the sweeping robot is provided with a liftable laser ranging sensor, and specifically can include a reflection ranging module 1401, wherein:

[0116] The reflection ranging module 1401 is used for, when the upper surface of the laser ranging sensor is not higher than the upper shell surface of the sweeping robot, controlling the laser ranging sensor to send ranging laser to an optical foldback component, the optical foldback component is disposed below the upper shell surface of the sweeping robot, and the optical foldback component is used for reflecting the ranging laser above the upper shell surface of the sweeping robot to perform ranging on an object above the upper shell surface of the sweeping robot.

[0117] With reference to Figure 15 , another schematic diagram of a control device of a laser ranging sensor is shown, as shown in Figure 15 , in a possible implementation, the above device further includes:

[0118] A first judgment module is used for, when the upper surface of the laser ranging sensor is not higher than the upper shell surface of the sweeping robot, determining whether there is an obstacle in a preset area above the laser ranging sensor;

[0119] A rising module is used for, if there is no obstacle in the preset area, controlling the laser ranging sensor to rise.

[0120] In a possible implementation, the first judgment module includes:

[0121] A receiving submodule is used for receiving the ranging laser reflected again by one or more objects above the upper shell surface of the sweeping robot;

[0122] A determining submodule is used for determining the shortest vertical distance between the one or more objects and the upper shell surface of the sweeping robot according to the ranging laser reflected again by the one or more objects;

[0123] A first judgment submodule is used for, if the shortest vertical distance is greater than a preset height value, determining that there is no obstacle in the preset area.

[0124] In a possible implementation, the sweeping robot comprises one or more photoelectric sensors disposed around the laser ranging sensor, and the first judging module comprises:

[0125] an open area height detecting sub-module configured to determine an open area height above each photoelectric sensor by the photoelectric sensor;

[0126] a second judging sub-module configured to determine that there is no obstacle in a preset area above the laser ranging sensor if each open area height is greater than a preset height value.

[0127] In a possible implementation, the apparatus further comprises:

[0128] a second judging module configured to perform obstacle detection on a region between a plane on which a top surface of the laser ranging sensor is located and a plane on which a top shell surface of the sweeping robot is located when the top surface of the laser ranging sensor is higher than the top shell surface of the sweeping robot;

[0129] a lowering module configured to control the laser ranging sensor to lower if it is detected that there is an obstacle in the region.

[0130] In a possible implementation, the second judging module comprises:

[0131] a laser emitting sub-module configured to control the laser ranging sensor to emit ranging laser to the region between the plane on which the top surface of the laser ranging sensor is located and the plane on which the top shell surface of the sweeping robot is located;

[0132] an obstacle monitoring sub-module configured to detect whether there is an obstacle in the region according to the ranging laser after reflection.

[0133] In a possible implementation, the obstacle monitoring sub-module comprises:

[0134] a shortest horizontal distance determining unit configured to determine a shortest horizontal distance between one or more objects that reflect the ranging laser and the sweeping robot according to the ranging laser after reflection;

[0135] a judging unit configured to determine that there is an obstacle in the region if the shortest horizontal distance is less than a preset value, and the obstacle comprises the object corresponding to the shortest horizontal distance.

[0136] In a possible implementation, the second judging module comprises:

[0137] The insurance determination submodule is used to determine the presence of an obstacle in the area when the insurance device installed on the laser ranging sensor is triggered. The obstacle includes the object that triggered the insurance device.

[0138] In one possible implementation, the above-mentioned descent module includes:

[0139] The distance determination submodule is used to determine the vertical distance between the obstacle and the upper shell surface of the sweeping robot;

[0140] The descent submodule is used to control the laser rangefinder to descend to a position where the distance between the upper surface of the laser rangefinder and the upper shell surface of the sweeping robot is less than the vertical distance.

[0141] As the apparatus embodiments are basically similar to the method embodiments, they are described in a relatively simple manner. For relevant details, please refer to the description in the method embodiment section.

[0142] Figure 16 This is a structural schematic diagram of a sweeping robot provided as an embodiment of the present utility model. Figure 16 As shown, the robotic vacuum cleaner 160 of this embodiment includes: at least one processor 1600 ( Figure 16 (Only one is shown in the diagram), memory 1601, and computer program 1602 stored in said memory 1601 and executable on said at least one processor 1600, which, when executing said computer program 1602, implements the steps in any of the above method embodiments.

[0143] The robotic vacuum cleaner may include, but is not limited to, a processor 1600 and a memory 1601. Those skilled in the art will understand that... Figure 16 This is merely an example of a robotic vacuum cleaner 160 and does not constitute a limitation on the robotic vacuum cleaner 160. It may include more or fewer parts than shown in the figure, or combine certain parts, or different parts, such as input / output devices, network access devices, etc.

[0144] The processor 1600 can be a central processing unit (CPU), and can also be other general-purpose processors, a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor.

[0145] The memory 1601 can be an internal storage unit of the sweeping robot 160 in some embodiments, for example, a hard disk or a memory of the sweeping robot 160. The memory 1601 can also be an external storage device of the sweeping robot 160 in other embodiments, for example, a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the sweeping robot 160. Further, the memory 1601 can include both the internal storage unit and the external storage device of the sweeping robot 160. The memory 1601 is used to store an operating system, an application program, a boot loader, data and other programs, for example, program codes of the computer program, etc. The memory 1601 can also be used to temporarily store data that has been output or will be output.

[0146] The computer readable storage medium stores a computer program, and the computer program is executed by the processor to implement the steps in each of the method embodiments.

[0147] The computer program product is provided in the embodiment of the utility model, when the computer program product runs on the sweeping robot, makes the sweeping robot execute and realizes the steps in each of the method embodiments.

[0148] The above-described embodiments are only used to illustrate the technical solutions of the present application, and are not intended to limit them. Although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent substitutions for part of the technical features; and these modifications or substitutions do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the protection scope of the present application.

Claims

1. A laser range finder unit, characterized by, The laser ranging sensor and the optical component are arranged in the upper surface of the upper shell of the robot. The optical component is arranged to reflect the ranging laser emitted by the laser ranging sensor to the upper surface of the upper shell of the robot.

2. The laser ranging unit of claim 1, wherein, The optical component is arranged in the robot in an inclined manner.

3. The laser ranging unit of claim 2, wherein, The angle of inclination of the optical component is adjustable.

4. The laser ranging unit of claim 1, wherein, The optical component is a mirror or a light guide column, a beam splitter.

5. Laser ranging unit according to any of claims 1-4, characterized in that The robot is provided with a control module, which is configured to: control the laser ranging sensor to rise or fall.

6. The laser ranging unit of claim 5, wherein, The robot comprises a photoelectric sensor, The photoelectric sensor is configured to monitor the height of the empty area above the laser ranging sensor. The control module is configured to control the laser ranging sensor to rise when the upper surface of the laser ranging sensor is not higher than the upper surface of the upper shell of the robot and the height of the empty area monitored by the photoelectric sensor is greater than a preset height value.

7. The laser ranging unit of claim 5, wherein, The robot comprises a plurality of photoelectric sensors, which are uniformly arranged around the laser ranging sensor. The plurality of photoelectric sensors are configured to monitor the distance of the empty area above the laser ranging sensor respectively. The control module is configured to control the laser ranging sensor to rise when the upper surface of the laser ranging sensor is not higher than the upper surface of the upper shell of the robot and the height of the empty area monitored by each of the photoelectric sensors is greater than a preset height value.

8. The laser ranging unit of claim 5, wherein, The laser ranging sensor comprises a safety device, The control module is configured to control the laser ranging sensor to fall when the upper surface of the laser ranging sensor is higher than the upper surface of the upper shell of the robot and the safety device is triggered.

9. The laser ranging unit of claim 8, wherein, The safety device is a collision sensor.

10. The laser ranging unit of claim 1, wherein, The laser ranging sensor is provided with an anti-collision device.

11. A robot, comprising the laser ranging unit according to any one of claims 1-10, and an upper shell and a wheel assembly.

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