Sensing module and cleaning equipment

Abstract

The utility model discloses an induction module and cleaning equipment. The induction module comprises a support, a visible light camera, an infrared camera and an infrared light supplement lamp, the visible light camera, the infrared camera and the infrared light supplement lamp are arranged on the support at intervals, and the infrared light supplement lamp is used for emitting infrared light to the external environment of the induction module; the infrared camera is used for receiving infrared light reflected by the external environment of the induction module. In the induction module, the infrared light supplement lamp can emit the infrared light to the external environment of the induction module, and the infrared camera can receive the infrared light of the external environment of the induction module, so that the infrared light can be used for identifying stains and obstacles; and the condition of misrecognition caused by interference of visible light in ambient light is avoided or reduced to a certain extent.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of cleaning, especially relates to a sensing module and cleaning equipment. BACKGROUND

[0002] In the related art, with the development of intelligent cleaning technology, intelligent cleaning devices are used in more and more families, which greatly reduces the labor of people in cleaning houses. With the iteration and upgrading of intelligent sweeping robots, the sweeping robots can identify the front or side obstacles and stop at appropriate positions to avoid collision or identify stains and clean the dirty areas. Currently, the sweeping robots can identify stains and obstacles through RGB cameras, but the RBG cameras generally use visible light for identification, which is easily disturbed by sunlight and fluorescent light in the environment light, causing misidentification. SUMMARY

[0003] The utility model embodiment provides a kind of sensing module and cleaning equipment to solve at least one technical problem existing above.

[0004] The utility model embodiment provides a kind of sensing module for cleaning equipment, the sensing module includes support, visible light camera, infrared camera and infrared fill light, the visible light camera, the infrared camera and the infrared fill light are spaced apart on the support, the infrared fill light is used to emit infrared light to the external environment of the sensing module, and the infrared camera is used to receive the infrared light reflected by the external environment of the sensing module.

[0005] In the above sensing module, the infrared fill light can emit infrared light to the external environment of the sensing module, and the infrared camera can receive the infrared light of the external environment of the sensing module, so that the infrared light can be used to identify stains and obstacles, and to a certain extent, avoid or reduce the interference of visible light in the environment light to cause misidentification.

[0006] In some embodiments, the light emitting direction of the infrared fill light is obliquely downward along the height direction of the sensing module.

[0007] In some embodiments, the angle between the light emitting direction of the infrared fill light and the ground horizontal plane is 0 to 50 degrees.

[0008] In some embodiments, the infrared fill light is closer to the bottom of the sensing module than the infrared camera.

[0009] In some embodiments, along the height direction of the sensing module, the distance between the center of the infrared fill light and the center of the infrared camera is 0 to 30 mm.

[0010] In some embodiments, the sensing module comprises an infrared laser, the infrared laser is arranged on the bracket and above the infrared camera.

[0011] In some embodiments, the sensing module comprises a dustproof sheet, the dustproof sheet is arranged on the bracket, the dustproof sheet covers the visible light camera, the infrared camera, the infrared light supplement lamp and the infrared laser on the light emitting side of the infrared light supplement lamp, the dustproof sheet comprises a visible light region and an infrared light region, the visible light camera is configured to receive visible light through the visible light region, the infrared camera is configured to receive infrared light through the infrared light region, and the infrared light emitted by the infrared light supplement lamp and the infrared laser passes through the infrared light region.

[0012] In some embodiments, the area of a single infrared light region is greater than 25 square millimeters, and / or the infrared light transmittance of the infrared light region is greater than 80%.

[0013] In some embodiments, the sensing module comprises a single dustproof sheet, the distance between the center of the infrared laser and the center of the infrared camera is greater than 10 millimeters, and the distance between the center of the infrared light supplement lamp and the center of the infrared camera is greater than 10 millimeters.

[0014] In some embodiments, the bracket comprises an upper portion and a lower portion, the infrared laser is arranged on the upper portion, the visible light camera, the infrared camera and the infrared light supplement lamp are arranged on the lower portion, the dustproof sheet comprises a first dustproof sheet and a second dustproof sheet arranged at intervals, the first dustproof sheet is arranged on the upper portion and covers the infrared laser, and the second dustproof sheet is arranged on the lower portion and covers the visible light camera, the infrared camera and the infrared light supplement lamp.

[0015] In some embodiments, the sensing module comprises an infrared receiver, the infrared receiver is arranged on the upper portion, the first dustproof sheet covers the infrared receiver, the infrared receiver is configured to receive infrared light emitted by a base station through the infrared light region, and / or;

[0016] The sensing module comprises a visible light supplement lamp, the visible light supplement lamp is arranged on the lower portion, the second dustproof sheet covers the visible light supplement lamp, and the visible light emitted by the visible light supplement lamp passes through the visible light region.

[0017] In some embodiments, the bracket is provided with a plurality of hole positions, the infrared receiver and / or the visible light supplement lamp, the visible light camera, the infrared laser, the infrared camera and the infrared light supplement lamp are arranged in a corresponding one of the hole positions, and the lower edge of the hole position where the visible light supplement lamp is located is in a horizontal state.

[0018] In some embodiments, the bracket is provided with a through hole suitable for disassembling the dustproof sheet from the side of the bracket away from the dustproof sheet.

[0019] In some embodiments, the infrared light supplement lamp has a horizontal angle greater than 90 degrees and a vertical angle of 20 to 60 degrees.

[0020] The cleaning equipment provided by the embodiment of the present application comprises the sensing module of any one of the above embodiments.

[0021] In the cleaning equipment, the infrared light supplement lamp can emit infrared light to the external environment of the sensing module, and the infrared camera can receive the infrared light of the external environment of the sensing module, so that the infrared light can be used to identify stains and obstacles, and the misidentification caused by the interference of visible light in the ambient light can be avoided or reduced to a certain extent.

[0022] The additional aspects and advantages of the present application will be partially given in the following description, partially will become obvious from the following description, or will be understood through the practice of the present application. BRIEF DESCRIPTION OF DRAWINGS

[0023] The above and / or additional aspects and advantages of the present application will become apparent and more readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

[0024] Figure 1 is a front view of the sensing module of the embodiment of the present application;

[0025] Figures 2-3 is another front view of the sensing module of the embodiment of the present application;

[0026] Figures 4-5 is a perspective view of the sensing module of the embodiment of the present application;

[0027] Figure 6 is a rear view of the sensing module of the embodiment of the present application;

[0028] Figure 7 is a top view of the sensing module of the embodiment of the present application;

[0029] Figure 8 is a sectional view of the sensing module of the embodiment of the present application;

[0030] Figures 9-10 is a perspective view of the bracket of the embodiment of the present application;

[0031] Figure 11 is a front view of the bracket of the embodiment of the present application;

[0032] Figure 12 is a rear view of the support of the embodiment of the utility model;

[0033] Figure 13 is a structure schematic view of the tablet of the embodiment of the utility model;

[0034] Figure 14 is the shooting effect diagram of the infrared camera + infrared fill light of the embodiment of the utility model;

[0035] Figure 15 is the shooting effect diagram of the visible light camera of the embodiment of the utility model.

[0036] Main element figure mark explanation:

[0037] Induction module 100, support 12, visible light camera 14, infrared camera 16, infrared fill light 18, connecting portion 20, positioning hole 22, fixed hole 24, luminous surface 26, infrared laser 28, tablet 29, dustproof sheet 30, upper portion 32, lower portion 34, first dustproof sheet 36, second dustproof sheet 38, infrared receiver 40, visible light fill light 42, hole site 44, through hole 46, circuit board 48. Specific implementation

[0038] The embodiment of the utility model is described in detail below, the example of the embodiment is shown in the drawings, wherein the same or similar reference numerals represent the same or similar elements or elements with the same or similar functions throughout. The embodiment described below by referring to the drawings is exemplary, only for explaining the utility model, and cannot be understood as limiting the utility model.

[0039] In the description of the utility model, it is understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise" is based on the orientation or positional relationship shown in the drawings, only for the convenience of describing the utility model and simplifying the description, and is not indicative or implied that the indicated device or element must have a particular orientation, be constructed and operated in a particular orientation, therefore cannot be understood as limiting the utility model. In the description of the utility model, the meaning of "multiple" is two or more than two, unless otherwise specifically limited.

[0040] In the description of the utility model, it needs to explain, unless another explicit provision and limitation, term "installation", "link", "connection" should do broad sense understanding, for example, can be fixed connection, also can be detachable connection, or integrally connected.Can be mechanical connection, also can be electrical connection.Can be direct connection, also can be indirectly connected through intermediate medium, can be two elements inside the communication or two element's mutual action relation.For ordinary skilled in the art, the above-mentioned term can be understood according to the specific meaning in the utility model.

[0041] In the utility model, unless another explicit provision and limitation, first feature is "on" or "under" second feature can include that first and second features are in direct contact, also can include that first and second features are not in direct contact but are in contact through other features between them.Moreover, first feature is "on", "above" and "upper surface" of second feature includes that first feature is directly above and obliquely above second feature, or only indicates that the horizontal height of first feature is higher than that of second feature.First feature is "under", "below" and "underneath" of second feature includes that first feature is directly below and obliquely below second feature, or only indicates that the horizontal height of first feature is less than that of second feature.

[0042] The disclosure herein provides many different embodiments or examples for implementing different structures of the utility model.For simplifying the disclosure of the utility model, the components and settings of specific examples are described herein.Of course, they are only examples, and the purpose is not to limit the utility model.In addition, the utility model can repeatedly refer to numbers and / or reference letters in different examples, and such repetition is for the purpose of simplification and clarity, which itself does not indicate the relationship between the various embodiments and / or settings discussed.In addition, the utility model provides various specific examples of processes and materials, but those skilled in the art can realize the application of other processes and / or the use of other materials.

[0043] Please refer to Figures 1-8 The utility model discloses a kind of induction module 100 for cleaning equipment.Induction module 100 includes support 12, visible light camera 14, infrared camera 16 and infrared fill light 18, visible light camera 14, infrared camera 16 and infrared fill light 18 are spaced apart on support 12, infrared fill light 18 is used to emit infrared light to the external environment of induction module 100, infrared camera 16 is used to receive the infrared light reflected by the external environment of induction module 100.

[0044] The infrared light compensation lamp 18 can emit infrared light to the external environment of the sensing module 100, and the infrared camera 16 can receive the infrared light of the external environment of the sensing module 100, so that the infrared light can be used to identify stains and obstacles, and to a certain extent, avoid or reduce the interference of visible light in the environment light to cause misidentification.

[0045] Specifically, the sensing module 100 can be applied to a cleaning device, including but not limited to a sweeping machine, a scrubber, a vacuum cleaner, a pressure washer, etc. The cleaning device can include a housing and a sensing module 100, the housing can include an upper shell and a base, and the sensing module 100 can be fixed on the base. Optionally, the circumferential side of the upper shell can be provided with an opening, and the sensing module 100 can be arranged in the opening, so that the external environment where the cleaning device is located can be detected.

[0046] Optionally, the bracket 12 can be a plastic bracket manufactured by an integral molding process. Figure 4 and Figure 7 In the embodiment shown, the two sides of the bracket 12 are respectively provided with a connecting part 20, the connecting part 20 is provided with a positioning hole 22 and a fixing hole 24, and the base is provided with a positioning column and a fixing part. When installing the sensing module 100, the bracket 12 can be positioned on the base by passing the positioning hole 22 through the positioning column, and then the fixing hole 24 is passed through the fastener and connected with the fixing part, so that the bracket 12 can be fixed on the base. The fastener includes but is not limited to a screw, a rivet, a pin, etc. The fixing hole 24 includes but is not limited to a screw hole. In an embodiment, the bracket 12 can also be fixed on the base by buckling, welding, etc.

[0047] The visible light camera 14, the infrared camera 16 and the infrared light compensation lamp 18 are arranged on the bracket 12, which can reduce the influence of structure and function between each other to a certain extent.

[0048] The visible light camera 14 can also be called an RGB camera, which can collect visible light outside the sensing module 100, so as to form a visible light environment image. Optionally, the visible light environment image can be identified and processed by an AI (Artificial Intelligence) model to perceive the environmental state of the cleaning device, so that the cleaning device can perform corresponding operations. For example, the AI model can obtain obstacles in front of or at the side of the cleaning device according to the visible light environment image, so that the cleaning device can stop at a suitable position to avoid collision, or identify stains, and the cleaning device can focus on cleaning the stain area, etc.

[0049] The infrared camera 16 can collect infrared light of the external environment of the sensing module 100, perform infrared imaging, and obtain an infrared image of the environment. Optionally, the infrared camera 16 can collect infrared light with a wavelength of 790 nm (nanometer) to 980 nm.

[0050] The infrared light emitted by the infrared light supplement lamp 18 can be incident to the external environment of the sensing module 100, and the infrared camera 16 can receive the infrared light of the external environment of the sensing module 100, thereby enhancing the clarity of the infrared image and reducing the case of misrecognition to a certain extent.

[0051] Please refer to Figure 14 and Figure 15 In the same scene, the visible light camera 14 shoots Figure 15 ) and the infrared light supplement lamp 18 + infrared camera 16 shoots Figure 14 ) effect comparison. On the white porcelain tile, it is difficult to identify the image shot by the visible light camera 14, but under the irradiation of the infrared light supplement lamp 18, the image collected by the infrared camera 16 has a high highlight on the front edge of the liquid and a shadow on the back, which has obvious levels.

[0052] Optionally, the infrared light emitted by the infrared light supplement lamp 18 has a wavelength of 850 nm or 940 nm to reduce the interference of sunlight.

[0053] In some embodiments, the illumination angle of the infrared light supplement lamp 18 is a horizontal angle greater than 90 degrees and a vertical angle of 20 to 60 degrees.

[0054] In this way, the infrared energy can be more effectively utilized.

[0055] Specifically, the illumination angle of the infrared light supplement lamp 18 is similar to the FOV (Field of View). The illumination range of the infrared light supplement lamp 18 is close to a rectangle. The horizontal angle is greater than 90 degrees, and the vertical angle is 20 to 60 degrees, so that the infrared energy can be more effectively utilized, and the infrared image of the external environment of the sensing module 100 can be collected.

[0056] The horizontal angle of the illumination angle of the infrared light supplement lamp 18 is T1, and the vertical angle is T2, that is, T1> 90 degrees, and 20 degrees≤T2≤60 degrees. In some examples, T1=91 degrees, 91.5 degrees, 92 degrees, 92.5 degrees, 93 degrees, 93.5 degrees, or other values greater than 90 degrees. The upper limit of T1 can be determined according to the process of the infrared light supplement lamp 18, the height of the sensing module 100, and other factors.

[0057] In some examples, T2 = 20 degrees, 25 degrees, 30 degrees, 35 degrees, 40 degrees, 45 degrees, 50 degrees, 55 degrees, 60 degrees, or other values between 20 degrees and 60 degrees.

[0058] In some embodiments, please refer to Figure 8 The light emission direction Q of the infrared light supplement lamp 18 is obliquely downward along the height direction of the sensing module 100.

[0059] In this way, the objects in the infrared image can have more levels, and the recognition accuracy can be improved to some extent.

[0060] Specifically, in Figures 2-8 In the embodiment shown in the figure, the infrared light supplement lamp 18 is a surface light source, and the infrared light supplement lamp 18 includes a light emitting surface 26. The light emission direction Q of the infrared light supplement lamp 18 is substantially perpendicular to the light emitting surface 26. The light emission direction Q of the infrared light supplement lamp 18 is obliquely downward along the height direction of the sensing module 100, so that the infrared light emitted by the infrared light supplement lamp 18 is emitted toward the ground, better illuminating the obstacles, stains and other objects on the ground, so that the infrared camera 16 can collect clearer infrared images of the ground state. Moreover, since the infrared light of the infrared light supplement lamp 18 is obliquely downward incident on the ground, on the one hand, the parts of the obstacles, stains and other objects on the ground that are irradiated by the infrared light are different, the incident angle of the infrared light is also different, and thus the reflection angle is also different, so that an infrared image with varying brightness can be formed. On the other hand, the parts of the obstacles, stains and other objects on the ground that are away from the direction of the incident infrared light are not irradiated by the infrared light, forming a darker infrared image. It can be understood that in other embodiments, the infrared light supplement lamp 18 can be a point light source, and the light emission direction Q of the infrared light supplement lamp 18 is along the central axis direction of the point light source.

[0061] In summary, the infrared light supplement lamp 18 arranged as described above can make the parts of the objects closer to the bottom of the sensing module 100 brighter in the images collected by the infrared camera 16, so that the infrared image of the environment outside the sensing module 100 has more levels, which facilitates the AI model to identify dirt, and improves the recognition accuracy to some extent compared to the case where the visible light camera 14 cannot identify or misidentifies.

[0062] In some embodiments, please refer to Figure 14 Under the irradiation of the infrared light supplement lamp 18, the infrared image collected by the infrared camera 16 has a high light on the light-incident surface of the liquid edge and a shadow on the back, which has obvious levels, so that the presence of the clear water beach on the ground can be more accurately identified.

[0063] In some embodiments, the angle A between the light emission direction Q of the infrared light supplement lamp 18 and the ground horizontal plane H is 0 degrees to 50 degrees.

[0064] In this way, the infrared energy can be better utilized to irradiate the objects on the ground.

[0065] Specifically, in Figures 2-8 In the illustrated embodiment, the infrared light supplement lamp 18 is a surface light source, and the infrared light supplement lamp 18 includes a light emitting surface 26. When the infrared light supplement lamp 18 is in operation, the light emitting surface 26 emits infrared light, and the infrared light is incident on the ground along an emission direction Q. The angle A between the emission direction Q of the infrared light supplement lamp 18 and the ground horizontal plane H is 0-50 degrees, which can make the infrared light more concentrated on the ground, thereby better illuminating the obstacles, stains and other objects on the ground, and to some extent, reducing or avoiding the waste of infrared energy caused by the infrared light being incident on the ground at a position far from the sensing module 100 or at a position high from the ground.

[0066] The angle A between the emission direction Q of the infrared light supplement lamp 18 and the ground horizontal plane H is 0-50 degrees, i.e. 0≤A≤50. In some examples, A = 0, 10, 15, 20, 25, 30, 35, 40, 45, 50 degrees, or other values between 0 and 50 degrees.

[0067] Alternatively, the infrared light supplement lamp can be designed according to the picture quality requirements of the infrared image output by the infrared camera. In one embodiment, the picture quality requirements of the infrared image are: the entire infrared image is as dark as possible except for the stains, the edges of the liquid stains are bright and have a sense of hierarchy. The solid stains are bright and have a clear distinction from the ground. The bottom of the infrared image has an overexposed area, and the size of the vertical overexposed area is not more than 1 / 12 of the number of image rows.

[0068] In some embodiments, please refer to Figure 2 The infrared light supplement lamp 18 is closer to the bottom of the sensing module 100 than the infrared camera 16.

[0069] Therefore, the infrared camera 16 can better collect the infrared image of the external environment of the sensing module 100.

[0070] Specifically, the infrared light emitted by the infrared light supplement lamp 18 can be incident on the ground, so that the ground and the obstacles, stains and other objects on the ground can reflect the infrared light, and the infrared camera 16 can receive the reflected infrared light to form an infrared image. The infrared light supplement lamp 18 is closer to the bottom of the sensing module 100 than the infrared camera 16, i.e. the infrared camera 16 is located above the infrared light supplement lamp 18, and the position of the infrared camera 16 is higher, so that it can better receive the infrared light reflected by the external environment of the sensing module 100, thereby forming a clearer infrared image.

[0071] In some embodiments, please refer to Figure 2 and Figure 3The distance between the center of the infrared light supplement lamp 18 and the center of the infrared camera 16 along the height direction of the induction module 100 is 0-30 mm.

[0072] In this way, the structure of the induction module 100 can be compact.

[0073] Specifically, the distance between the center of the infrared light supplement lamp 18 and the center of the infrared camera 16 along the height direction of the induction module 100 is 0-30 mm, which can make the distance between the infrared light supplement lamp 18 and the infrared camera 16 appropriate, to a certain extent, avoid the distance being too large to cause the height of the induction module 100 being too large, occupying too much space of the cleaning device, or to ensure the space of the cleaning device, increase the height of the cleaning device to limit the use scene of the cleaning device, for example, the cleaning device with large height cannot enter the space with low height for cleaning.

[0074] Please refer to Figure 2 and Figure 3 The distance between the center of the infrared light supplement lamp 18 and the center of the infrared camera 16 along the height direction of the induction module 100 is L, and L is 0-30 mm, that is, 0 mm≤L≤30 mm. In some examples, L=0 mm, 5 mm, 10 mm, 15 mm, 20 mm, 25 mm, 30 mm, or other values between 0 mm and 30 mm.

[0075] In some embodiments, please refer to Figure 2 The induction module 100 includes an infrared laser 28, which is arranged on the bracket 12 and above the infrared camera 16.

[0076] In this way, the infrared laser 28 and the infrared camera 16 can realize multiple functions of the induction module 100.

[0077] Specifically, in one embodiment, the infrared laser 28 and the infrared camera 16 can realize the function of distance measurement. For example, when the cleaning device is working, the cleaning device can emit an infrared laser beam to the surrounding environment through the infrared laser 28, and the infrared camera 16 receives the reflected light signal to calculate the distance between the target object and the cleaning device, so that the cleaning device can determine whether to proceed or avoid obstacles. Alternatively, in one embodiment, the infrared laser 28 can emit infrared laser, and the infrared laser 28 and the infrared camera 16 form a line laser ranging sensor. Alternatively, the infrared laser 28 and the infrared light supplement lamp 18 can work in time-sharing mode, for example, in a time period T, the infrared laser 28 emits laser for 4*T / 5, and the infrared light supplement lamp 18 emits infrared light for T / 5.

[0078] In an embodiment, the infrared laser 28 and the infrared camera 16 can realize the function of environmental perception. For example, the infrared laser 28 and the infrared camera 16 enable the cleaning device to perceive the changes of the surrounding environment in real time, including the position, shape and size of the obstacles, etc. When the laser beam meets the obstacle, reflection occurs, and the cleaning device determines the position and distance of the obstacle by receiving the reflected signal, so as to timely adjust the travel route to avoid collision.

[0079] In an embodiment, the infrared laser 28 and the infrared camera 16 can realize the function of navigation. For example, on the basis of a known map, the cleaning device can use the infrared laser 28 and the infrared camera 16 for navigation, and clean along the planned path.

[0080] In addition, the infrared laser 28 can also work cooperatively with other sensors. The infrared laser 28 usually works cooperatively with other sensors (such as the visible light camera 14, etc.) to improve the obstacle avoidance and navigation accuracy of the sweeping robot.

[0081] The infrared laser 28 is located above the infrared camera 16, and in the height direction of the sensing module 100, the infrared laser 28 is higher than the infrared camera 16. The laser emitted by the infrared laser 28 can be projected towards the ground. Thus, the obstacles on the ground up to the installation height of the infrared laser 28 can be irradiated by the laser emitted by the infrared laser 28, so that the infrared laser reflected by the obstacles is collected by the infrared camera 16 to form an image, enabling the sensing module 100 to detect a larger range of obstacles.

[0082] Optionally, the infrared laser 28, the infrared camera 16 and the visible light camera 14 can be fixed on the bracket 12 by gluing. Further, at least one of the infrared laser 28, the infrared camera 16 and the visible light camera 14 is pre-fixed by using the pressing sheet 29 before gluing, which is conducive to improving the installation accuracy of the components.

[0083] In some embodiments, please refer to Figure 1 The sensing module 100 includes a dustproof sheet 30, which is arranged on the bracket 12. The dustproof sheet 30 covers the visible light camera 14, the infrared camera 16, the infrared light supplement lamp 18 and the infrared laser 28 on the light emitting side of the infrared light supplement lamp 18. The dustproof sheet 30 includes a visible light region and an infrared light region. The visible light camera 14 is used to receive visible light through the visible light region, the infrared camera 16 is used to receive infrared light through the infrared light region, and the infrared light emitted by the infrared light supplement lamp 18 and the infrared laser 28 passes through the infrared light region.

[0084] Thus, dust can accumulate on the dustproof sheet 30, but not on the sensors, illuminants, etc., which provides a certain degree of convenience for cleaning.

[0085] Specifically, the light-out side of the infrared light supplement lamp 18 can be the outside of the sensing module 100, and the illuminating member includes the infrared light supplement lamp 18. The sensors include the visible light camera 14, the infrared camera 16, and the infrared laser 28.

[0086] The sensing module 100 is applied to a cleaning device, and the working environment of the cleaning device has dust, which can stick to the illuminating member and the sensors to cause poor lighting effect, abnormal data acquisition, and the like. The dust sheet 30 covers the visible light camera 14, the infrared camera 16, the infrared light supplement lamp 18, and the infrared laser 28 on the light-out side of the infrared light supplement lamp 18, so that dust accumulates on the dust sheet, and does not accumulate on the visible light camera 14, the infrared camera 16, the infrared laser 28, and the infrared light supplement lamp 18. When cleaning the dust, the dust can be removed by wiping the dust sheet 30 with a paper towel or a cloth, which provides a certain degree of convenience for cleaning. After the dust is cleaned, the reliability of the sensing module 100 can be ensured to a certain extent.

[0087] The visible light region can substantially transmit most of the visible light and the infrared light. The infrared light region can transmit most of the infrared light and substantially not transmit the visible light. The visible light camera 14 is configured to receive the visible light through the visible light region, the infrared camera 16 is configured to receive the infrared light through the infrared light region, and the infrared light emitted by the infrared light supplement lamp 18 and the infrared laser 28 passes through the infrared light region, which can be beneficial to reducing the influence of the visible light on the infrared camera 16, the infrared light supplement lamp 18, and the infrared laser 28, and ensuring the normal work of the visible light camera 14.

[0088] The number of the infrared light region and the visible light region is not specifically limited in the present application. The infrared light region is set to not interfere with the normal work of the visible light camera 14, other visible light sensors, and visible light illuminating members.

[0089] In one embodiment, the material of the dust sheet 30 can be transparent plastic, which can transmit the visible light and the infrared light. A film can be coated on a certain region of the dust sheet 30 to form the infrared light region, and other regions without the film form the visible light region. In one embodiment, the dust sheet 30 can include two parts connected to each other, one part is made of transparent material to form the visible light region, and the other part is made of a mixed material of color powder and transparent material to form the infrared light region.

[0090] In some embodiments, the area of a single infrared light region is greater than 25 square millimeters (mm 2 ), and / or the infrared light transmittance of the infrared light region is greater than 80%.

[0091] Therefore, the size of the infrared light region can be moderate, and / or the imaging effect of the infrared camera 16 can be ensured to a certain extent, and the light emission efficiency of the infrared light supplement lamp 18 and the infrared laser 28 can be ensured to a certain extent.

[0092] Specifically, in one embodiment, the area of the single infrared light region is greater than 25mm 2 , and the infrared light transmittance of the infrared light region is greater than 80%. In one embodiment, the area of the single infrared light region is greater than 25mm 2 , and the infrared light transmittance of the infrared light region is greater than 80%.

[0093] In one embodiment, when the number of infrared light regions is multiple (two or more), the area of each infrared light region is greater than 25mm 2 . In one embodiment, when the number of infrared light regions is single, the area of the single infrared light region is greater than 25mm 2 .

[0094] The area of the single infrared light region is greater than 25mm 2 , and the area of the infrared light region is moderate, which can meet the normal use requirements of the infrared laser 28, the infrared camera 16, the infrared light supplement lamp 18 (and / or the infrared receiver 40 of the subsequent embodiment).

[0095] The area of the single infrared light region is S, S is greater than 25mm 2 , in some examples, S = 25.5mm 2 , 26mm 2 , 26.5mm 2 , 27mm 2 , 27.5mm 2 , 28mm 2 , 28.5mm 2 , 29mm 2 or greater than 25.5mm 2 . The upper limit of S can be determined according to the number of components receiving and emitting infrared light, the size of the dustproof sheet 30, and the size of the sensing module 100, and the like, which is not limited in the present application.

[0096] The infrared light transmittance of the infrared light region is greater than 80%, which can enable the infrared light emitted by the infrared light supplement lamp 18 and the infrared laser 28 to be fully incident to the external environment of the sensing module 100, and enable the infrared camera 16 (and the infrared receiver 40 of the subsequent embodiment) to fully receive the external infrared reflected by the external environment of the sensing module 100, thereby ensuring the imaging effect of the infrared camera 16 to a certain extent, and the light emission efficiency of the infrared light supplement lamp 18 and the infrared laser 28 to a certain extent.

[0097] The infrared light in the infrared light region has a transmittance T, and T is greater than 80%. In some examples, T = 80.1%, 80.5%, 81%, 82%, 85%, 88%, 90%, 90.5%, 91%, 92%, 94%, 96%, 97%, 98%, 99%, 100%, or other values greater than 80%.

[0098] In some embodiments, the sensing module 100 includes a single dust sheet 30, the distance between the center of the infrared laser 28 and the center of the infrared camera 16 is greater than 10 mm, and the distance between the center of the infrared fill light 18 and the center of the infrared camera 16 is greater than 10 mm.

[0099] In this way, the infrared light transmitted by the dust sheet 30 can cause a certain degree of crosstalk interference to the infrared camera 16.

[0100] Specifically, in one embodiment, the dust sheet 30 is integral, and the sensing module 100 includes a single dust sheet 30. When the infrared laser 28 and the infrared fill light 18 are working, infrared light can be emitted in the direction of the dust sheet 30, and most of the infrared light can penetrate the dust sheet 30 and enter the external environment of the sensing module 100. A small part of the infrared light (hereinafter referred to as the first small part) is reflected by the dust sheet 30 towards the surface of the infrared laser 28 and the infrared fill light 18 into the space between the dust sheet 30 and the bracket 12. A small part of the infrared light entering the dust sheet 30 (hereinafter referred to as the second small part) is reflected inside the dust sheet 30 and exits from the dust sheet 30 into the space between the dust sheet 30 and the bracket 12. The first small part and the second small part can eventually enter the infrared camera 16 and cause crosstalk interference to the infrared camera 16, which can cause overexposure.

[0101] The distance between the center of the infrared laser 28 and the center of the infrared camera 16 is greater than 10 mm, and the distance between the center of the infrared fill light 18 and the center of the infrared camera 16 is greater than 10 mm, which can make the distance between the infrared laser and the infrared camera 16 and the distance between the infrared fill light 18 and the infrared camera 16 appropriate, and can consume the first small part and the second small part as much as possible during the transmission of the first small part and the second small part, to a certain extent, reduce or avoid the crosstalk interference of the dust sheet 30 to the infrared camera 16.

[0102] Please refer to Figure 2 and Figure 3The distance between the center of the infrared laser 28 and the center of the infrared camera 16 is D1, and D1 is greater than 10 mm. In some examples, D1 = 10.1 mm, 10.5 mm, 11 mm, 11.5 mm, 12 mm, 12.5 mm, 13 mm, or other values greater than 10 mm. The upper limit of D1 can be determined according to the size of the sensing module 100, the distance between other components, and other factors, which are not specifically limited in the present application.

[0103] Please refer to Figure 2 and Figure 3 The distance between the center of the infrared light supplement lamp 18 and the center of the infrared camera 16 is D2, and D2 is greater than 10 mm. In some examples, D2 = 10.1 mm, 10.5 mm, 11 mm, 11.5 mm, 12 mm, 12.5 mm, 13 mm, or other values greater than 10 mm. The upper limit of D2 can be determined according to the size of the sensing module 100, the distance between other components, and other factors, which are not specifically limited in the present application. D1 can be equal to D2, D1 can be greater than D2, and D1 can be less than D2.

[0104] In some embodiments, please refer to Figures 1-2 The bracket 12 includes an upper portion 32 and a lower portion 34, the infrared laser 28 is arranged on the upper portion 32, the visible light camera 14, the infrared camera 16, and the infrared light supplement lamp 18 are arranged on the lower portion 34, the dustproof sheet 30 includes a first dustproof sheet 36 and a second dustproof sheet 38 arranged at intervals, the first dustproof sheet 36 is arranged on the upper portion 32 and covers the infrared laser 28, and the second dustproof sheet 38 is arranged on the lower portion 34 and covers the visible light camera 14, the infrared camera 16, and the infrared light supplement lamp 18.

[0105] Therefore, the infrared light transmitted by the dustproof sheet 30 can reduce the crosstalk interference on the infrared camera 16 to a certain extent.

[0106] Specifically, in the embodiment shown in Figure 1 The dustproof sheet 30 is a split dustproof sheet, and the dustproof sheet 30 includes a first dustproof sheet 36 and a second dustproof sheet 38 arranged at intervals. Optionally, the entire first dustproof sheet 36 is an infrared dustproof sheet, and the first dustproof sheet 36 covers the infrared laser 28, thereby reducing the adverse effects of external visible light on the infrared laser 28. In addition, on the outside of the sensing module 100, the user cannot see the components such as the infrared laser 28 under the first dustproof sheet 36, making the overall sensing module 100 more aesthetically pleasing.

[0107] Since the first dustproof sheet 36 and the second dustproof sheet 38 are spaced apart, the first dustproof sheet 36 and the second dustproof sheet 38 can be prevented from interfering with each other. When the infrared laser 28 emits infrared light, a first small portion and a second small portion of the infrared light can not be transmitted to the second dustproof sheet 38 through the first dustproof sheet 36, thereby causing light interference to the infrared camera 16. The light interference can cause overexposure of the infrared camera 16. In addition, the infrared laser 28 is located higher, which is conducive to the sensing module 100 to realize the function of measuring the distance of obstacles in a larger range.

[0108] The second dustproof sheet 38 covers the visible light camera 14, the infrared camera 16, and the infrared fill light 18, so that the adverse effects of external visible light on the infrared camera 16 and the infrared fill light 18 can be reduced. Optionally, the second dustproof sheet 38 can include a visible light region and an infrared light region. On the outside of the sensing module 100, the user cannot see the infrared camera 16, the infrared fill light 18, and other components under the infrared light region of the second dustproof sheet 38, so that the overall appearance of the sensing module 100 is more beautiful.

[0109] The infrared light emitted by the infrared fill light 18 can be emitted to the external environment of the sensing module 100 through the infrared light region, and the infrared light of the external environment of the sensing module 100 can be incident to the infrared camera 16 through the infrared light region. The visible light of the external environment of the sensing module 100 can be incident to the visible light camera 14 through the visible light region.

[0110] In some embodiments, please refer to Figure 2 The sensing module 100 includes an infrared receiver 40, the infrared receiver 40 is arranged on the upper portion 32, the first dustproof sheet 36 covers the infrared receiver 40, and the infrared receiver 40 is configured to receive infrared light emitted by the base station through the infrared light region, and / or;

[0111] The sensing module 100 includes a visible light fill light 42, the visible light fill light 42 is arranged on the lower portion 34, the second dustproof sheet 38 covers the visible light fill light 42, and the visible light fill light 42 emits visible light through the visible light region.

[0112] Therefore, the cleaning device can locate the base station through the infrared receiver 40, so that the cleaning device can automatically return to the base station, and / or the imaging quality of the visible light camera 14 can be improved.

[0113] Specifically, in one embodiment, the sensing module 100 includes an infrared receiver 40, the infrared receiver 40 is arranged on the upper portion 32, the first dustproof sheet 36 covers the infrared receiver 40, and the infrared receiver 40 is configured to receive infrared light emitted by the base station through the infrared light region, and the sensing module 100 includes a visible light fill light 42, the visible light fill light 42 is arranged on the lower portion 34, the second dustproof sheet 38 covers the visible light fill light 42, and the visible light fill light 42 emits visible light through the visible light region.

[0114] In one embodiment, the sensing module 100 includes an infrared receiver 40 disposed on the upper portion 32, the first dustproof sheet 36 covers the infrared receiver 40, and the infrared receiver 40 is configured to receive infrared light emitted by the base station through an infrared light area, or the sensing module 100 includes a visible light fill-in light 42 disposed on the lower portion 34, the second dustproof sheet 38 covers the visible light fill-in light 42, and the visible light fill-in light 42 emits visible light through a visible light area.

[0115] Optionally, the infrared receiver 40 can be used as an infrared charging light. The base station can include an infrared emitter, and the infrared receiver 40 receives infrared light emitted by the base station, so that the cleaning device can determine the relative position between the cleaning device and the base station, and the cleaning device can adjust the pose according to the relative position to automatically return to the base station. After returning to the base station, the base station can perform operations such as charging the cleaning device, cleaning the mop tray, cleaning the side brush, emptying the sewage, and emptying the garbage. The first dustproof sheet 36 can be an infrared dustproof sheet covering the infrared receiver 40, which can prevent visible light from adversely affecting the infrared receiver 40 to a certain extent.

[0116] When the visible light fill-in light 42 is working, it can emit visible light to the external environment of the sensing module 100, thereby illuminating the external environment of the sensing module 100 and improving the imaging quality of the visible light camera 14, which is conducive to obstacle avoidance and other operations. The second dustproof sheet 38 covers the visible light fill-in light 42, and the visible light fill-in light 42 emits visible light through the visible light area to the external environment of the sensing module 100. Optionally, the light emitted by the visible light fill-in light 42 is white light.

[0117] The number of infrared receivers 40 is not specifically limited in the present application. Optionally, in Figure 2 the embodiment shown, the number of infrared receivers 40 is two, which are respectively located on the left and right sides of the infrared laser 28. Optionally, each infrared receiver 40 is pre-positioned and fixed on the bracket 12 by a pressing sheet 29.

[0118] In some embodiments, please refer to Figure 2 and Figures 9-12 , the bracket 12 is provided with a plurality of hole positions 44, the infrared receiver 40 and / or the visible light fill-in light 42, the visible light camera 14, the infrared laser 28, the infrared camera 16, and the infrared fill-in light 18 are disposed in a corresponding one of the hole positions 44, and the lower edge of the hole position 44 where the visible light fill-in light 42 is located is in a horizontal state.

[0119] Therefore, the hole position 44 can facilitate the installation and work of various sensors and illuminating members. The lower edge of the hole position 44 where the visible light supplement light 42 is located is in a horizontal shape, which can reduce or avoid the overlapping degree of the illumination ranges of the visible light supplement light 42 and the infrared supplement light 18 to a certain extent, thereby reducing or avoiding the overexposure of the infrared camera 16 to a certain extent.

[0120] Specifically, the infrared supplement light 18, the visible light supplement light 42 and the infrared laser 28 can be used as illuminating members, and the visible light sensor, the infrared camera 16 and the infrared receiver 40 can be used as sensors. One hole position 44 of the bracket 12 can correspond to one sensor or one illuminating member. During installation, the sensor or the illuminating member can be positioned according to the position of the hole position 44, thereby improving the installation efficiency of the sensor and the illuminating member. During work of the sensor, the infrared light and the visible light of the external environment of the sensing module 100 can be received through the hole position 44. During work of the illuminating member, the infrared light and the visible light emitted by the illuminating member can be incident on the external environment of the sensing module 100 through the hole position 44.

[0121] The lower edge of the hole position 44 where the visible light supplement light 42 is located is in a horizontal shape. When the visible light supplement light 42 works, part of the visible light emitted by the visible light supplement light 42 is blocked by the lower edge of the hole position 44 and cannot reach the area on the ground close to the sensing module 100. The area on the ground close to the sensing module 100 is not irradiated by the visible light emitted by the visible light supplement light 42, thereby reducing or avoiding the overlapping degree of the illumination ranges of the visible light supplement light 42 and the infrared supplement light 18 to a certain extent, and further reducing or avoiding the overexposure of the infrared camera 16 to a certain extent.

[0122] Optionally, in the embodiment shown in the figure, the visible light supplement light 42 is located above the infrared supplement light 18. The infrared supplement light 18 and the visible light supplement light 42 are located on the same side of the infrared camera 16, and the visible light camera 14 is located on the opposite side of the infrared camera 16. Figure 2

[0123] In some embodiments, the bracket 12 is provided with a through hole 46, and the through hole 46 is adapted to detach the dustproof sheet 30 from the side of the bracket 12 away from the dustproof sheet 30.

[0124] Therefore, the dustproof sheet 30 is convenient to detach.

[0125] Specifically, the bracket 12 can be provided with a mounting frame, and the dustproof sheet 30 can be arranged in the frame of the mounting frame to shield the sensors and the illuminating members. When the sensing module 100 is disassembled, the dustproof sheet 30 can be detached from the rear side of the bracket 12 by using a tool to pass through the through hole 46 and push the dustproof sheet 30 out from the rear side, thereby facilitating the detachment of the dustproof sheet 30.

[0126] ​Optionally, the sensing module 100 further comprises a circuit board 48 mounted on the bracket 12, and the circuit board 48 is electrically connected with the infrared camera 16, the infrared fill light 18, the infrared laser 28, the infrared receiver 40, the visible light camera 14 and the visible light fill light 42.

[0127] In summary, in the sensing module 100 of the utility model, the combination of the infrared fill light 18 and the infrared camera 16 can solve the problem of misidentification of patterned ceramic tiles, or the problem that transparent or white liquid on white ceramic tiles and black liquid on black ceramic tiles cannot be identified.

[0128] The cleaning equipment provided by the utility model embodiment comprises the sensing module 100 of any one of the above-mentioned embodiments.

[0129] In the above-mentioned cleaning equipment, the infrared fill light 18 can emit infrared light to the external environment of the sensing module 100, and the infrared camera 16 can receive the infrared light of the external environment of the sensing module 100, so that the infrared light can be used to identify stains and obstacles, and to a certain extent, the interference of visible light in the ambient light can be avoided or reduced to cause misidentification.

[0130] Specifically, the cleaning equipment includes but is not limited to a sweeping machine, a scrubbing machine, a dust collector and a pressure cleaning machine and the like. The cleaning equipment can comprise a shell and the sensing module 100, the shell can comprise an upper shell and a base, and the sensing module 100 can be fixed on the base. Optionally, the circumferential side of the upper shell can be provided with an opening, and the sensing module 100 can be arranged in the opening, so that the external environment where the cleaning equipment is located can be detected.

[0131] In the description of the present specification, the description of the terms "one embodiment", "some embodiments", "illustrative embodiment", "example", "specific example" or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiments or examples are included in at least one embodiment or example of the utility model. In the present specification, 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 one or more embodiments or examples in a suitable manner.

[0132] Although the embodiments of the utility model have been shown and described, those skilled in the art can understand that various changes, modifications, replacements and variations can be made to these embodiments without departing from the principles and purposes of the utility model, and the scope of the utility model is defined by the claims and their equivalents.

Claims

1. A sensing module for use in cleaning equipment, characterized in that, The sensing module comprises a bracket, a visible light camera, an infrared camera and an infrared fill light, the visible light camera, the infrared camera and the infrared fill light are arranged on the bracket in a spaced manner, the infrared fill light is used for emitting infrared light to the external environment of the sensing module, and the infrared camera is used for receiving the infrared light reflected by the external environment of the sensing module. The light emitting direction of the infrared fill light is arranged obliquely downward along the height direction of the sensing module.

2. The induction module of claim 1, wherein, The included angle between the light emitting direction of the infrared fill light and the ground horizontal plane is 0-50 degrees.

3. The inductive module of claim 1, wherein, The infrared fill light is closer to the bottom of the sensing module than the infrared camera.

4. The inductive module of claim 1, wherein, Along the height direction of the sensing module, the distance between the center of the infrared fill light and the center of the infrared camera is 0-30 mm.

5. The inductive module of claim 1, wherein, The sensing module comprises an infrared laser, which is arranged on the bracket and above the infrared camera.

6. The inductive module of claim 5, wherein, The sensing module comprises a dustproof sheet, which is arranged on the bracket, covers the visible light camera, the infrared camera, the infrared fill light and the infrared laser on the light emitting side of the infrared fill light, and comprises a visible light area and an infrared light area, the visible light camera is used for receiving visible light through the visible light area, the infrared camera is used for receiving infrared light through the infrared light area, and the infrared light emitted by the infrared fill light and the infrared laser passes through the infrared light area.

7. The inductive module of claim 6, wherein, The area of a single infrared light area is greater than 25 square millimeters, and / or the infrared light transmittance of the infrared light area is greater than 80%.

8. The induction module of claim 6 or 7, wherein, The sensing module comprises a single dustproof sheet, the distance between the center of the infrared laser and the center of the infrared camera is greater than 10 mm, and the distance between the center of the infrared fill light and the center of the infrared camera is greater than 10 mm.

9. The induction module of claim 6 or 7, wherein, The bracket comprises an upper part and a lower part, the infrared laser is arranged on the upper part, the visible light camera, the infrared camera and the infrared fill light are arranged on the lower part, the dustproof sheet comprises a first dustproof sheet and a second dustproof sheet arranged in a spaced manner, the first dustproof sheet is arranged on the upper part and covers the infrared laser, and the second dustproof sheet is arranged on the lower part and covers the visible light camera, the infrared camera and the infrared fill light.

10. The inductive module of claim 9, wherein, The sensing module comprises an infrared receiver arranged on the upper part, the first dustproof sheet covers the infrared receiver, the infrared receiver is used for receiving infrared light emitted by a base station through the infrared light area, and / or; The sensing module comprises a visible light fill light arranged on the lower part, the second dustproof sheet covers the visible light fill light, and the visible light emitted by the visible light fill light passes through the visible light area.

11. The inductive module of claim 10, wherein, The support is provided with a plurality of hole positions, the infrared receiver and / or the visible light supplementary light lamp, the visible light camera, the infrared laser, the infrared camera, the infrared supplementary light lamp are arranged in a corresponding one of the hole positions, and the lower edge of the hole position where the visible light supplementary light lamp is arranged is horizontally arranged.

12. The inductive module of claim 6, wherein, The support is provided with a through hole, and the through hole is suitable for disassembling the dustproof sheet from the side of the support away from the dustproof sheet.

13. The inductive module of claim 1, wherein: The illumination angle of the infrared supplementary light lamp is greater than 90 degrees in a transverse direction and is 20-60 degrees in a longitudinal direction.

14. A cleaning apparatus, characterized by An induction module comprising any one of claims 1-13.

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