Environment detection device and cleaning robot

Abstract

The utility model belongs to the technical field of cleaning instruments, and particularly relates to an environment detection device and a cleaning robot, the environment detection device comprises a laser obstacle avoidance module, a first lens, a return signal receiving module and a second lens, the laser obstacle avoidance module comprises a laser transmitter and a laser receiver, the laser transmitter is used for transmitting an infrared signal to detect an obstacle, and the laser receiver is used for receiving the infrared signal; the laser receiver is used for receiving reflected signals, the first lens is arranged on the light incident side of the laser receiver, the two return signal receiving modules are arranged in the surrounding area of the laser obstacle avoidance module and used for guiding the cleaning robot to be in butt joint with a base station, and the second lens is arranged on the light incident side of the return signal receiving modules. The laser obstacle avoidance module and the return signal receiving module do not share a light-transmitting lens, so that light channeling interference between the laser obstacle avoidance module and the return signal receiving module is eliminated, the accuracy of obstacle recognition and the accuracy of butt joint of the cleaning robot and the base station are improved, and then the cleaning efficiency is improved.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of cleaning devices, and particularly relates to an environment detection device and a cleaning robot. BACKGROUND

[0002] With the development of technology, various cleaning robots with intelligent systems have appeared in the technical field of cleaning devices, such as a sweeping robot, a mopping robot, a sweeping and mopping integrated robot, and a cleaner, etc. The cleaning robot can automatically travel and perform a cleaning operation in a certain area without the operation of a user.

[0003] The cleaning robot determines the road conditions in front to perform an obstacle avoidance operation through an environment image collected by a laser obstacle avoidance module, and receives infrared light emitted by a charging device through a return charging infrared receiving module to realize automatic searching for the charging device by the cleaning robot.

[0004] The existing cleaning robot may receive incorrect signals from the laser obstacle avoidance module or the return charging infrared receiving module, resulting in inaccurate obstacle identification or inaccurate charging device identification. Inaccurate obstacle identification may cause the cleaning robot to change a path or stop during cleaning, thereby reducing cleaning efficiency, and inaccurate charging device identification may affect the speed of the cleaning robot returning to the charging device, thereby also reducing the cleaning efficiency. CONTENT OF THE UTILITY MODEL

[0005] The application aims to provide an environment detection device and a cleaning robot to improve the accuracy of obstacle or charging device identification, thereby improving the cleaning efficiency of the cleaning robot.

[0006] In order to achieve the above-mentioned purpose, the application provides an environment detection device, which comprises:

[0007] A laser obstacle avoidance module, which comprises a laser emitter and a laser receiver, the laser emitter is used for emitting a first infrared signal to detect an obstacle, and the laser receiver is used for receiving the first infrared signal reflected by the obstacle;

[0008] A first lens, which is arranged on the light emitting side of the laser emitter and the light receiving side of the laser receiver;

[0009] Two return signal receiving modules, which are arranged at intervals and located in the surrounding area of the laser obstacle avoidance module, and are used for receiving a second infrared signal emitted by a base station;

[0010] A second lens, which corresponds to the return signal receiving module one by one and is arranged on the light receiving side of the return signal receiving module.

[0011] Optionally, the environment detection device further comprises a bracket assembly, the laser obstacle avoidance module, the return signal receiving module, the first lens and the second lens are arranged on the bracket assembly, and the bracket assembly is used at least for shielding interference light from the side of the first lens to the laser receiver and interference light from the side of the second lens to the return signal receiving module.

[0012] Optionally, the two return signal receiving modules are arranged on opposite sides of the laser obstacle avoidance module.

[0013] Optionally, the bracket assembly comprises a laser bracket and a fixing cover which are detachably connected, the fixing cover is arranged on one side of the laser bracket, the first lens and the second lens are arranged on the side of the laser bracket away from the fixing cover, the return signal receiving module is arranged on the laser bracket, and the laser obstacle avoidance module is arranged on the fixing cover.

[0014] Optionally, the side of the laser bracket mounting the fixing cover is provided with a first accommodating groove, and the bottom of the first accommodating groove is provided with a first communication hole.

[0015] The fixing cover comprises a box body portion and a pressing plate portion which are connected, two pressing plate portions are arranged on opposite sides of the box body portion, the box body portion is provided with a second accommodating groove on the side away from the laser bracket, the bottom of the second accommodating groove is provided with a second communication hole, the box body portion is located in the first accommodating groove, and the pressing plate portion is detachably connected with the laser bracket.

[0016] The laser obstacle avoidance module further comprises a base portion, the laser transmitter and the laser receiver are located on the same side of the base portion, the base portion is arranged in the second accommodating groove, the first communication hole and the second communication hole communicate the area where the first lens is located and the area where the base portion is located, and the laser transmitter and the laser receiver are located in the first communication hole and the second communication hole.

[0017] Optionally, the side of the laser bracket mounting the fixing cover is provided with a third accommodating groove, two third accommodating grooves are located on opposite sides of the first accommodating groove, the return signal receiving module is arranged in the third accommodating groove, the pressing plate portion is located on the side of the return signal receiving module away from the second lens, the bottom of the third accommodating groove is provided with a third communication hole, and the third communication hole communicates the area where the second lens is located and the area where the return signal receiving module is located.

[0018] Optionally, the laser bracket is provided with a light shielding barrier wall on the side close to the first lens, and the light shielding barrier wall is located between the first lens and the second lens.

[0019] Optionally, the environment detection device further comprises a light isolation sheet, the light isolation sheet is arranged between the two light isolation walls and between the first lens and the laser support, the light isolation sheet is provided with a fourth communication hole, the fourth communication hole communicates the area where the laser obstacle avoidance module is located and the area where the first lens is located, and the light isolation sheet is a flexible non-light transmission structure.

[0020] Optionally, the light transmittance of the first lens is greater than that of the second lens.

[0021] Optionally, the laser transmitter comprises a line laser transmitter, the laser receiver comprises an infrared camera, the two second lenses are arranged at intervals along the width direction of the environment detection device, and the line laser transmitter and the infrared camera are arranged at intervals along the height direction of the environment detection device.

[0022] The application also provides a cleaning robot, comprising:

[0023] a robot body for automatically traveling and cleaning;

[0024] the environment detection device is arranged on the robot body.

[0025] The display panel and the display device disclosed by the application have the following beneficial effects:

[0026] In the application, the environment detection device comprises a laser obstacle avoidance module, a first lens, a return signal receiving module and a second lens, the laser obstacle avoidance module at least comprises a laser transmitter and a laser receiver, the laser transmitter is used for emitting a first infrared signal to detect an obstacle, the laser receiver is used for receiving a first infrared signal reflected by the obstacle, the first lens is arranged on the light emitting side of the laser transmitter and the light receiving side of the laser receiver, two return signal receiving modules are arranged at intervals and located in the surrounding area of the laser obstacle avoidance module, the return signal receiving module is used for receiving a second infrared signal emitted by a base station, the second infrared signal is used for guiding the cleaning robot to dock with the base station, the second lens corresponds to the return signal receiving module one by one and is arranged on the light receiving side of the return signal receiving module. The laser obstacle avoidance module and the return signal receiving module do not share a light transmission lens. Compared with the scheme of sharing a light transmission lens by the laser obstacle avoidance module and the return signal receiving module, the mutual conduction of the infrared signals in the light transmission lens is eliminated, that is, the cross-light interference between the laser obstacle avoidance module and the return signal receiving module is eliminated, the accuracy of obstacle identification and the accuracy of docking between the cleaning robot and the base station are improved, and the cleaning efficiency of the cleaning robot is improved.

[0027] Other characteristics and advantages of the application will become apparent from the following detailed description, or will be learned by practice of the application.

[0028] It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application, as claimed. BRIEF DESCRIPTION OF DRAWINGS

[0029] The accompanying drawings, which are incorporated herein and form a part of the specification, illustrate embodiments consistent with the present application and, together with the description, further serve to explain the principles of the application. It is to be understood that the drawings are designed solely for purposes of illustration to be used in conjunction with the description. Obviously, the drawings show only some of the embodiments in accordance with the application, and therefore at times specific details are shown and described, and other details omitted.

[0030] Fig. 1 is an exploded schematic view of the environment detection device in the embodiment of the present application.

[0031] Fig. 2 is a front schematic view of the environment detection device in the embodiment of the present application.

[0032] Fig. 3 is a back schematic view of the environment detection device in the embodiment of the present application.

[0033] Fig. 4 is a front schematic view of the bracket assembly in the embodiment of the present application.

[0034] BRIEF DESCRIPTION OF DRAWINGS

[0035] 100, laser obstacle avoidance module; 110, base body part; 120, laser emitter; 130, laser receiver;

[0036] 200, first lens; 300, return signal receiving module; 400, second lens;

[0037] 500, bracket assembly; 510, laser bracket; 511, first accommodating groove; 512, first communication hole; 513, third accommodating groove; 514, third communication hole; 515, light blocking partition wall;

[0038] 520, fixing cover; 521, box body part; 522, pressing plate part; 523, second accommodating groove; 524, second communication hole;

[0039] 600, light shielding sheet; 610, fourth communication hole. DETAILED DESCRIPTION

[0040] Example implementations will now be described more fully with reference to the accompanying drawings. Example implementations may, however, be implemented in many different forms and should not be construed as limited to the implementations set forth herein; rather, these implementations are provided so that this disclosure will be thorough and complete, and will fully convey the scope of example implementations to those skilled in the art.

[0041] Moreover, the described features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided to give a thorough understanding of embodiments of the application. One skilled in the relevant art will recognize, however, that the application can be practiced without one or more of the specific details, or with other methods, components, materials, and so forth. In other instances, well-known structures, devices, implementations, or operations are not shown or described in detail to avoid obscuring aspects of the application.

[0042] The application will be further described below with reference to the drawings and specific embodiments. It should be noted that the technical features involved in the various embodiments of the application described below can be combined with each other as long as there is no conflict. The embodiments described below with reference to the drawings are exemplary and are intended to explain the application, and cannot be understood as limiting the application.

[0043] The environment detection device in the embodiment can be used in a cleaning robot. Referring to Figs. 1 to 4 As shown in the figure, the environment detection device comprises a laser obstacle avoidance module 100, a first lens 200, a return signal receiving module 300, and a second lens 400.

[0044] The laser obstacle avoidance module 100 comprises at least a laser emitter 120 and a laser receiver 130. The laser emitter 120 is used to emit a first infrared signal to detect obstacles, and the laser receiver 130 is used to receive the first infrared signal reflected by the obstacles, so as to identify the obstacles in front. The first lens 200 is arranged on the light-emitting side of the laser emitter 120 and the light-receiving side of the laser receiver 130. It should be understood that the light-emitting side of the laser emitter 120 and the light-receiving side of the laser receiver 130 are the same side.

[0045] The two return signal receiving modules 300 are arranged at intervals and located in the surrounding area of the laser obstacle avoidance module 100. The return signal receiving module 300 is used to receive a second infrared signal emitted by a base station, and the second infrared signal is used to guide the cleaning robot to dock with the base station, so as to realize the functions of returning the cleaning robot to the base station for charging, garbage collection, cleaning the mop, drying the mop, and storing the cleaning robot. The second lens 400 corresponds to the return signal receiving module 300 one by one and is arranged on the light-receiving side of the return signal receiving module 300.

[0046] In some technical solutions, the laser obstacle avoidance module 100 and the return signal receiving module 300 of the cleaning robot share the same light-transmitting lens. Sometimes, the laser obstacle avoidance module 100 or the return signal receiving module 300 receives an incorrect signal, resulting in inaccurate obstacle identification or inaccurate docking of the cleaning robot with the base station. Inaccurate obstacle identification causes the cleaning robot to change the path or stop during cleaning, reducing the cleaning efficiency. Inaccurate docking of the cleaning robot with the base station affects the efficiency of returning to the base station for charging, garbage collection, cleaning of the mop, and drying of the mop, and also reduces the cleaning efficiency.

[0047] The applicant found that the laser obstacle avoidance module 100 and the return signal receiving module 300 share the light-transmitting lens. The infrared signals can be transmitted to each other inside the lens, resulting in cross-light interference between the laser obstacle avoidance module 100 and the return signal receiving module 300. Sometimes, the laser obstacle avoidance module 100 or the return signal receiving module 300 receives an incorrect signal, which further leads to inaccurate obstacle identification or inaccurate docking of the cleaning robot with the base station.

[0048] In this embodiment, the environment detection device includes a laser obstacle avoidance module 100, a first lens 200, a return signal receiving module 300, and a second lens 400. The laser obstacle avoidance module 100 includes at least a laser transmitter 120 and a laser receiver 130. The laser transmitter 120 is used to emit a first infrared signal to detect obstacles, and the laser receiver 130 is used to receive the first infrared signal reflected by the obstacles. The first lens 200 is arranged on the light-emitting side of the laser transmitter 120 and the light-receiving side of the laser receiver 130. Two return signal receiving modules 300 are arranged at intervals and located around the laser obstacle avoidance module 100. The return signal receiving module 300 is used to receive a second infrared signal emitted by the base station. The second infrared signal is used to guide the docking of the cleaning robot with the base station. The second lens 400 corresponds to the return signal receiving module 300 one by one and is arranged on the light-receiving side of the return signal receiving module 300. The laser obstacle avoidance module 100 and the return signal receiving module 300 do not share the light-transmitting lens. Compared with the scheme in which the laser obstacle avoidance module 100 and the return signal receiving module 300 share the light-transmitting lens, the mutual transmission of the infrared signals inside the light-transmitting lens is eliminated, i.e., the cross-light interference between the laser obstacle avoidance module 100 and the return signal receiving module 300 is eliminated. The accuracy of obstacle identification and the accuracy of docking of the cleaning robot with the base station are improved, and thus the cleaning efficiency of the cleaning robot is improved.

[0049] In some embodiments, the light-transmitting rate of the first lens 200 is greater than that of the second lens 400. For example, the first lens 200 can be selected to have a light-transmitting rate greater than 95%, and the second lens 400 can be selected to have a light-transmitting rate of 70% to 85%.

[0050] The laser obstacle avoidance module 100 and the return signal receiving module 300 have different requirements for the light transmittance of the light-transmitting lens. The laser obstacle avoidance module 100 selects a light-transmitting lens with higher light transmittance, which can improve the accuracy of obstacle identification. The laser obstacle avoidance module 100 selects a general light-transmitting lens with moderate light transmittance, which can reduce the manufacturing cost of the environmental detection device and the cleaning robot.

[0051] In some embodiments, the environmental detection device further comprises a bracket assembly 500, and the laser obstacle avoidance module 100, the return signal receiving module 300, the first lens 200, and the second lens 400 are all arranged on the bracket assembly 500. The bracket assembly 500 is used to carry the laser obstacle avoidance module 100, the return signal receiving module 300, the first lens 200, and the second lens 400, and to shield the interference light from the side of the first lens 200 to the laser receiver 130 and the interference light from the side of the second lens 400 to the return signal receiving module 300. The bracket assembly 500 is also used to define the angle at which the laser receiver 130 receives the reversed first infrared signal and the angle at which the return signal receiving module 300 receives the second infrared signal.

[0052] The laser obstacle avoidance module 100 and the return signal receiving module 300 are arranged on the same bracket assembly 500 and are both shielded from external interference light by the bracket assembly 500. Compared with the scheme in which the laser obstacle avoidance module 100 and the return signal receiving module 300 are arranged on different brackets, the integration of the environmental detection device and the assembly efficiency of manufacturing the environmental detection device are improved, which is conducive to reducing the manufacturing cost of the environmental detection device and the cleaning robot.

[0053] In some embodiments, two return signal receiving modules 300 are arranged on opposite sides of the laser obstacle avoidance module 100. The first lens 200 and the second lens 400 are arranged on the front side of the environmental detection device. After the environmental detection device is installed on the front side of the cleaning robot, the two return signal receiving modules 300 are located on both sides in the width direction of the cleaning robot, and the two second lenses 400 are correspondingly located on both sides in the width direction of the first lens 200.

[0054] The two return signal receiving modules 300 are arranged on opposite sides of the laser obstacle avoidance module 100. After the environmental detection device is installed on the front side of the cleaning robot, the two return signal receiving modules 300 are located on both sides in the width direction of the cleaning robot. Compared with the scheme in which the two return signal receiving modules 300 are located on the same side of the laser obstacle avoidance module 100, the height of the environmental detection device and the cleaning robot can be reduced, which can improve the passability of the cleaning robot in low areas.

[0055] In some embodiments, the laser transmitter 120 comprises a line laser transmitter, the laser receiver 130 comprises an infrared camera, and the two second lenses 400 are arranged at intervals along the width direction of the environment detection device (i.e., the width direction of the bracket assembly 500), and the line laser transmitter and the infrared camera are arranged at intervals along the height direction of the environment detection device (i.e., the height direction of the bracket assembly 500). The line laser transmitter can be arranged above the infrared camera.

[0056] The first infrared signal emitted by the line laser transmitter is a line laser, the first infrared signal passes through the first lens 200 and irradiates the obstacle, the first infrared signal reflected by the obstacle passes through the first lens 200 and irradiates the infrared camera, and the laser obstacle avoidance module 100 generates an environment detection image according to the reflected first infrared signal, thereby identifying the obstacle in front. By using the line laser transmitter and the infrared camera, the obstacle contour information can be obtained, the position of the obstacle can be accurately detected, and the cleaning efficiency of the cleaning robot can be improved.

[0057] In some embodiments, the bracket assembly 500 comprises a laser bracket 510 and a fixed cover 520 which are detachably connected, and the fixed cover 520 is arranged on one side of the laser bracket 510. The first lens 200 and the second lens 400 are arranged on the side of the laser bracket 510 away from the fixed cover 520. The return signal receiving module 300 is arranged on the laser bracket 510, and the laser obstacle avoidance module 100 is arranged on the fixed cover 520. That is, the first lens 200 and the second lens 400 are directly mounted on the laser bracket 510, and the laser obstacle avoidance module 100 is indirectly mounted on the laser bracket 510 through the fixed cover 520.

[0058] The laser obstacle avoidance module 100 is a core component of the environment detection device. When the environment detection device is manufactured, different types of laser obstacle avoidance modules 100 will be used. By indirectly mounting the laser obstacle avoidance module 100 on the laser bracket 510 through the fixed cover 520, only the fixed cover 520 with relatively simple structure needs to be replaced when the laser obstacle avoidance module 100 is replaced, and the laser bracket 510 with complex structure does not need to be replaced, thereby reducing the manufacturing cost of the environment detection device and the cleaning robot.

[0059] In some embodiments, the side (rear side) of the laser bracket 510 on which the fixed cover 520 is mounted is provided with a first accommodating groove 511, and the bottom of the first accommodating groove 511 is provided with a first communication hole 512. The fixed cover 520 comprises a box body portion 521 and a pressing plate portion 522 connected with each other, the two pressing plate portions 522 are arranged on the opposite sides of the box body portion 521, the side of the box body portion 521 away from the laser bracket 510 is provided with a second accommodating groove 523, the bottom of the second accommodating groove 523 is provided with a second communication hole 524, the box body portion 521 is located in the first accommodating groove 511, and the pressing plate portion 522 is detachably connected with the laser bracket 510. For example, the pressing plate portion 522 and the laser bracket 510 are detachably connected through buckling.

[0060] The laser obstacle avoidance module 100 further comprises a base portion 110, the laser transmitter 120 and the laser receiver 130 are located on the same side of the base portion 110. The base portion 110 is arranged in the second accommodating groove 523, and the base portion 110 is connectable to the box portion 521 through screws or buckles. The first communication hole 512 and the second communication hole 524 communicate the area where the first lens 200 is located and the area where the base portion 110 is located, and the laser transmitter 120 and the laser receiver 130 are located in the first communication hole 512 and the second communication hole 524.

[0061] The base portion 110 is arranged in the box portion 521, and the base portion 110 serves as both a rear light shielding structure of the laser receiver 130 and a connecting structure of the laser obstacle avoidance module 100 and the fixed cover 520.

[0062] In some embodiments, the laser support 510 is arranged with third accommodating grooves 513 on one side of the fixed cover 520, and the two third accommodating grooves 513 are located on opposite sides of the first accommodating groove 511. The return signal receiving module 300 is arranged in the third accommodating groove 513, and the height of the return signal receiving module 300 does not exceed the height of the laser support 510. The pressing plate portion 522 is located on the side of the return signal receiving module 300 away from the second lens 400. That is, the return signal receiving module 300 is pressed in the third accommodating groove 513 by the pressing plate portion 522. The bottom of the third accommodating groove 513 is provided with a third communication hole 514, and the third communication hole 514 communicates the area where the second lens 400 is located and the area where the return signal receiving module 300 is located.

[0063] The return signal receiving module 300 is pressed in the third accommodating groove 513 by the pressing plate portion 522, that is, the return signal receiving module 300 is clamped between the laser support 510 and the fixed cover 520, and no additional parts are needed for the installation and positioning of the return signal receiving module 300, thereby reducing the number of parts and facilitating the reduction of the manufacturing cost of the environmental detection device and the cleaning robot.

[0064] In some embodiments, the laser support 510 is arranged with a light shielding barrier 515 on the side (front side) close to the first lens 200, the light shielding barrier 515 protrudes forward relative to the laser support 510, and the light shielding barrier 515 is located between the first lens 200 and the second lens 400. The first lens 200 can be bonded to the light shielding barrier 515, so as to realize the installation of the first lens 200 to the laser support 510. The rear side of the second lens 400 can be provided with buckles, and the second lens 400 can be installed to the laser support 510 through the buckles.

[0065] The light isolation barrier 515 is located between the first lens 200 and the second lens 400, and the first lens 200 and the second lens 400 are further separated by the light isolation barrier 515, further eliminating the light interference between the laser obstacle avoidance module 100 and the return signal receiving module 300, improving the accuracy of obstacle identification and the accuracy of the docking of the cleaning robot and the base station, and further improving the cleaning efficiency of the cleaning robot.

[0066] In some embodiments, the environment detection device further comprises a light isolation sheet 600, which is arranged between the two light isolation barriers 515 and between the first lens 200 and the laser bracket 510. The light isolation sheet 600 is provided with a fourth communication hole 610, which communicates the area where the laser obstacle avoidance module 100 is located and the area where the first lens 200 is located. The light isolation sheet 600 is a flexible non-light-transmitting structure, that is, the material of the light isolation sheet 600 is a flexible non-light-transmitting material. For example, the light isolation sheet 600 can be made of black silicone material.

[0067] The light isolation sheet 600 surrounds the laser transmitter 120 and the laser receiver 130, fills the gap between the first lens 200 and the light isolation barrier 515, and avoids the lateral interference light from irradiating the laser receiver 130, which affects the accuracy of obstacle identification.

[0068] The application also provides a cleaning robot, which comprises a robot body and an environment detection device, and the environment detection device is arranged on the front side of the robot body. The robot body is used for automatic travel and cleaning, and the environment detection device is used for obstacle avoidance and guiding the robot body to dock with the base station during the work of the robot body.

[0069] The cleaning robot comprises an environment detection device, which comprises a laser obstacle avoidance module 100, a first lens 200, a return signal receiving module 300 and a second lens 400. The laser obstacle avoidance module 100 at least comprises a laser transmitter 120 and a laser receiver 130, the laser transmitter 120 is used for emitting a first infrared signal to detect obstacles, the first lens 200 is arranged on the light emitting side of the laser transmitter 120 and the light receiving side of the laser receiver 130, the return signal receiving module 300 is used for guiding the cleaning robot to dock with the base station, and the second lens 400 is arranged on the light receiving side of the return signal receiving module 300. The laser obstacle avoidance module 100 and the return signal receiving module 300 do not share a light-transmitting lens, eliminating the light interference between the laser obstacle avoidance module 100 and the return signal receiving module 300, improving the accuracy of obstacle identification and the accuracy of the docking of the cleaning robot and the base station, and further improving the cleaning efficiency of the cleaning robot.

[0070] The terms "first", "second", etc. are used only for descriptive purposes and do not connote or imply relative importance or a specific order. Thus, features defined with "first", "second" etc. can explicitly or implicitly include one or more of the features. In the description of the application, the meaning of "a plurality" is two or more, unless explicitly specified and limited otherwise.

[0071] In the present application, unless otherwise explicitly specified and limited, the terms "assembly", "connection" and the like should be interpreted broadly, for example, can be fixed connection, can also be detachable connection, or integral; can be mechanical connection, can also be electrical connection; can be directly connected, can also be indirectly connected through an intermediate medium, can be internal communication of two elements or interaction relationship between two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0072] In the description of the present application, the description referring to the terms "some embodiments", "exemplarily" and the like means that the specific features, structures, materials or characteristics described in conjunction with the embodiments or examples are contained in at least one embodiment or example of the present application. In the present application, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any appropriate manner in any one or more embodiments or examples. In addition, those skilled in the art can combine and combine the different embodiments or examples described in the present application and the features of the different embodiments or examples without contradiction.

[0073] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limiting the present application. Those skilled in the art can make changes, modifications, replacements and variations to the above embodiments within the scope of the present application, and any changes or modifications made in accordance with the claims and description of the present application shall be within the scope of the present application.

Claims

1. An environmental detection device, characterized in that, include: A laser obstacle avoidance module includes a laser transmitter and a laser receiver. The laser transmitter is used to emit a first infrared signal to detect obstacles, and the laser receiver is used to receive the first infrared signal reflected by the obstacle. The first lens is disposed on the light-emitting side of the laser emitter and the light-incident side of the laser receiver; The two return signal receiving modules are spaced apart and located in the area surrounding the laser obstacle avoidance module. The return signal receiving module is used to receive the second infrared signal emitted by the base station. The second lens corresponds one-to-one with the return signal receiving module and is disposed on the light-incident side of the return signal receiving module.

2. The environmental detection device according to claim 1, characterized in that, The environmental detection device also includes a support assembly. The laser obstacle avoidance module, the return signal receiving module, the first lens, and the second lens are all mounted on the support assembly. The support assembly is at least used to block interference light emitted from the side other than the first lens toward the laser receiver and interference light emitted from the side other than the second lens toward the return signal receiving module.

3. The environmental detection device according to claim 2, characterized in that, The two return signal receiving modules are located on opposite sides of the laser obstacle avoidance module.

4. The environmental detection device according to claim 3, characterized in that, The support assembly includes a detachably connected laser support and a fixed cover. The fixed cover is disposed on one side of the laser support, the first lens and the second lens are disposed on the side of the laser support away from the fixed cover, the return signal receiving module is disposed on the laser support, and the laser obstacle avoidance module is disposed on the fixed cover.

5. The environmental detection device according to claim 4, characterized in that, The laser bracket has a first receiving groove on the side where the fixing cover is installed, and a first connecting hole is provided at the bottom of the first receiving groove; The fixed cover includes a box body and a pressure plate connected to each other. The two pressure plates are arranged on opposite sides of the box body. A second receiving groove is provided on the side of the box body away from the laser bracket. A second connecting hole is provided at the bottom of the second receiving groove. The box body is located in the first receiving groove. The pressure plate is detachably connected to the laser bracket. The laser obstacle avoidance module also includes a base portion, the laser emitter and the laser receiver are located on the same side of the base portion, the base portion is disposed in the second receiving groove, the first connecting hole and the second connecting hole connect the area where the first lens is located and the area where the base portion is located, and the laser emitter and the laser receiver are located in the first connecting hole and the second connecting hole.

6. The environmental detection device according to claim 5, characterized in that, The laser bracket has a third receiving groove on one side where the fixing cover is installed. The two third receiving grooves are located on opposite sides of the first receiving groove. The return signal receiving module is disposed in the third receiving groove. The pressure plate is located on the side of the return signal receiving module away from the second lens. The bottom of the third receiving groove has a third connecting hole, which connects the area where the second lens is located and the area where the return signal receiving module is located.

7. The environmental detection device according to claim 4, characterized in that, The laser bracket has a light-blocking wall on the side near the first lens, and the light-blocking wall is located between the first lens and the second lens.

8. The environmental detection device according to claim 7, characterized in that, The environmental detection device also includes a light-blocking plate, which is disposed between the two light-blocking walls and between the first lens and the laser support. The light-blocking plate has a fourth connecting hole, which connects the area where the laser obstacle avoidance module is located and the area where the first lens is located. The light-blocking plate is a flexible, non-transparent structural component.

9. The environmental detection device according to claim 1, characterized in that, The light transmittance of the first lens is greater than that of the second lens.

10. The environmental detection device according to claim 1, characterized in that, The laser emitter includes a line laser emitter, the laser receiver includes an infrared camera, two second lenses are spaced apart along the width direction of the environmental detection device, and the line laser emitter and the infrared camera are spaced apart along the height direction of the environmental detection device.

11. A cleaning robot, characterized in that, include: The main body of the robot is used for automatic movement and cleaning. The environmental detection device as described in any one of claims 1 to 10 is mounted on the robot body.

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