Cleaning robot

Abstract

The utility model relates to a cleaning robot. The cleaning robot comprises a robot body, a radar assembly and a first distance measuring module. The first distance measuring module comprises a laser receiving and transmitting assembly, a first reflecting part and a second reflecting part, and the laser receiving and transmitting assembly is used for transmitting a first distance measuring optical signal and a second distance measuring optical signal and receiving a first reflecting optical signal of the first distance measuring optical signal and a second reflecting optical signal of the second distance measuring optical signal; the first reflection part is used for emitting the first ranging optical signal towards the top of the robot body in the height direction and reflecting a first reflection optical signal of the first ranging optical signal back to the laser receiving and transmitting assembly; the second reflection part is located on the light path of the second distance measuring light signal and used for emitting the second distance measuring light signal towards the bottom of the robot body in the height direction and reflecting a second reflection light signal of the second distance measuring light signal back to the laser receiving and transmitting assembly. According to the scheme, the risk that the cleaning robot is clamped and falls can be reduced.

Description

Technical Field

[0001] This application relates to the field of cleaning device technology, specifically to a cleaning robot. Background Technology

[0002] With the development of intelligent cleaning technology, intelligent cleaning devices are entering more and more places, greatly reducing the labor required for cleaning. One of the most common and critical sensors in cleaning robots is radar, which commonly functions as mapping, navigation, and obstacle avoidance. Most radars are located above the cleaning robot and require a radar dome for protection. Since radar can only scan one level of height information, the highest point of the radar dome is higher than the radar scanning layer. In some special scenarios, such as with suspended objects like sofas, the radar dome can get stuck. In other special scenarios, such as on cliffs or in depressions, the cleaning robot is prone to falling. Utility Model Content

[0003] The main objective of this application is to provide a cleaning robot that reduces the risk of the cleaning robot getting stuck or falling.

[0004] To achieve the above objectives, the technical solution adopted in this application is as follows: a cleaning robot, comprising a robot body, a radar assembly, and a first ranging module. The cleaning robot has intersecting height and travel directions. The radar assembly is disposed at the top of the robot body in the height direction and protrudes relative to the robot body. The first ranging module is disposed within the robot body and located in front of the radar assembly in the travel direction. The first ranging module includes a laser transceiver assembly, a first reflector, and a second reflector. The laser transceiver assembly is used to transmit a first ranging optical signal and a second ranging optical signal, and to receive a first reflected light from the first ranging optical signal. The signal and the second reflected light signal of the second ranging light signal; the first reflector is located on the optical path of the first ranging light signal, used to emit the first ranging light signal toward the top of the robot body along the height direction, and used to reflect the first reflected light signal of the first ranging light signal back to the laser transceiver component; the second reflector is located on the optical path of the second ranging light signal, used to emit the second ranging light signal toward the bottom of the robot body along the height direction, and used to reflect the second reflected light signal of the second ranging light signal back to the laser transceiver component; wherein, the robot body moves based on the first reflected light signal and the second reflected light signal received by the laser transceiver component.

[0005] The beneficial effects of this application are as follows: The cleaning robot provided by this application has a first ranging module comprising a laser transceiver component, a first reflector, and a second reflector. The first ranging light signal emitted by the laser transceiver component can be emitted along the height direction towards the top of the robot body through the first reflector, thereby enabling the detection of suspended obstacles and reducing the risk of the cleaning robot's radar component being stuck by suspended obstacles. The second ranging light signal emitted by the laser transceiver component can be emitted along the height direction towards the bottom of the robot body through the second reflector, thereby enabling the detection of recessed areas such as cliffs and depressions, reducing the risk of the cleaning robot's radar component falling from cliffs, depressions, and other recessed areas.

[0006] Based on the above technical solution, the following improvements can be made to this application.

[0007] Furthermore, the laser transceiver assembly includes a beam splitter, a laser transmitter, and a laser receiver; the laser transmitter is used to transmit a ranging optical signal; the beam splitter is located in the optical path emitted by the laser transmitter and is used to split the ranging optical signal to obtain a first ranging optical signal and a second ranging optical signal; the laser receiver is used to receive the first reflected optical signal reflected by the first reflector and the second reflected optical signal reflected by the second reflector.

[0008] The advantage of adopting the above-mentioned further solution is that by splitting the ranging optical signal of the same laser emitter into a first ranging optical signal and a second ranging optical signal through a beam splitter, the number of laser emitters can be reduced, thereby reducing costs.

[0009] Furthermore, the laser transceiver assembly includes a first laser transmitter, a second laser transmitter, and a laser receiver; the first laser transmitter is used to transmit a first ranging optical signal; the second laser transmitter is used to transmit a second ranging optical signal; and the laser receiver is used to receive a first reflected optical signal of the first ranging optical signal reflected by a first reflector and a second reflected optical signal of the second ranging optical signal reflected by a second reflector.

[0010] The beneficial effect of adopting the above-mentioned further scheme is that the first ranging optical signal is emitted by the first laser emitter and the second ranging optical signal is emitted by the second laser emitter. That is, the first ranging optical signal and the second ranging optical signal are emitted separately by two laser emitters, which can also enable the first ranging module to form the first ranging optical signal and the second ranging optical signal. This method can reduce the interference between the first ranging optical signal and the second ranging optical signal and is simple to control.

[0011] Furthermore, the first reflective portion includes a first reflective sheet having a first reflective surface inclined relative to the height direction, extending from the middle of the robot body towards the top of the robot body, with the distance between the first reflective surface and the laser transceiver assembly gradually increasing along the travel direction; and / or, the second reflective portion includes a second reflective sheet having a second reflective surface inclined relative to the height direction, extending from the middle of the robot body towards the bottom of the robot body, with the distance between the first reflective surface and the laser transceiver assembly gradually increasing along the travel direction; the optical path of the first ranging optical signal is located on the side of the second ranging optical signal facing the top of the robot body, and the first reflective sheet is located on the side of the second reflective sheet facing the top of the robot body.

[0012] The beneficial effect of adopting the above-mentioned further solution is that the first reflective part and the second reflective part are sheet-like structures. The first ranging light signal only needs to pass through the first reflective sheet to be emitted towards the top of the robot body, and the second ranging light signal only needs to pass through the second reflective sheet to be emitted towards the bottom of the robot body. The overall structure of the first reflective part and the second reflective part is simpler and the cost is lower.

[0013] Furthermore, the cleaning robot also includes a processor, which is located in the robot body and connected to the laser transceiver assembly. The processor is used to process the first reflected light signal received by the laser transceiver assembly to obtain the first height of the obstacle in the height direction, and control the movement of the robot body based on the first height. The processor is also used to process the second reflected light signal received by the laser transceiver assembly to obtain the second height of the obstacle in the height direction, and control the movement of the robot body based on the second height.

[0014] The beneficial effect of adopting the above-mentioned further solution is that the processor is located inside the robot body, and can control the robot body to move automatically based on the detection results of suspended obstacles and recessed areas such as cliffs and depressions.

[0015] Furthermore, the cleaning robot is defined with the width direction, height direction, and travel direction intersecting each other in pairs; there is one first ranging module, with the line connecting its projection on the top and the radar component parallel to the travel direction; or multiple first ranging modules are spaced apart along the width direction, with the line connecting the projection of one first ranging module on the top and the radar component parallel to the travel direction, and the lines connecting the projections of the other first ranging modules on the top and the radar component inclined relative to the travel direction.

[0016] The beneficial effects of adopting the above-mentioned further solution are as follows: When using a single first ranging module, the cost is low, and the line connecting the projection of the first ranging module on the top of the robot body and the radar component is parallel to the direction of travel, that is, the first ranging module is located directly in front of the radar component. It can be used to measure the height of suspended obstacles directly in front of the radar component and the depth of recessed areas such as cliffs and depressions directly in front of the radar component, thus improving detection accuracy. When using multiple first ranging modules, the measurement results are more accurate, especially for suspended obstacles with local gaps or large local heights off the ground. If a single first ranging module is used for detection, there may be missed detections. Therefore, the results obtained by using multiple first ranging modules are more accurate. Furthermore, the line connecting the projection of one of the multiple first ranging modules on the top of the robot body and the radar component is parallel to the direction of travel, while the lines connecting the projections of the other first ranging modules on the top of the robot body and the radar component are set at an angle relative to the direction of travel. This can further expand the detection range of the cleaning robot in the width direction and further improve detection accuracy.

[0017] Furthermore, the cleaning robot also includes a second ranging module, which is disposed on the robot body and located in front of the first ranging module in the driving direction. The second ranging module is used to emit a third ranging light signal and a fourth ranging light signal, and to receive a third reflected light signal of the third ranging light signal and a fourth reflected light signal of the fourth ranging light signal. The third ranging light signal is emitted parallel to the driving direction towards the front of the cleaning robot, and the fourth ranging light signal is emitted obliquely relative to the driving direction towards the front of the cleaning robot. The cleaning robot is also used to move a first forward distance in the driving direction based on the third reflected light signal received by the second ranging module, and to move a second forward distance in the oblique direction of the driving direction based on the fourth reflected light signal received by the second ranging module.

[0018] The beneficial effects of adopting the above-mentioned further solution are that the third ranging light signal emitted by the second ranging module of the cleaning robot can be emitted parallel to the travel direction and toward the front of the cleaning robot, thereby realizing the detection of the first forward obstacle with a large height. The fourth ranging light signal emitted by the second ranging module can be emitted at an angle relative to the travel direction and toward the front of the cleaning robot, thereby realizing the detection of the second forward obstacle with a small height, reducing the risk of the cleaning robot colliding with the forward obstacle. Furthermore, since the second ranging module emits the third and fourth ranging light signals toward the front of the robot body, setting the second ranging module in front of the first ranging module in the travel direction can reduce the obstruction of the third and fourth ranging light signals emitted by the second ranging module by the first ranging module.

[0019] Furthermore, the robot body includes a body and a front impact plate. The front impact plate is connected to the front side of the body. The first ranging module is located inside the body, and the second ranging module is located on the front impact plate.

[0020] The beneficial effect of adopting the above-mentioned further solution is that by setting the second ranging module on the front impact plate, that is, integrating the second ranging module into the front impact plate to form an integral module, a high degree of module integration can be achieved, saving internal space of the robot body.

[0021] Furthermore, the second ranging module includes at least one of a lidar, a visible light camera, and an infrared camera. The lidar is used to detect a first forward distance and a second forward distance, while the visible light camera and the infrared camera are used to identify stains on the working surface of the cleaning robot.

[0022] The beneficial effects of adopting the above-mentioned further solution are that the first forward distance and the second forward distance can be detected by lidar, which makes it easier to avoid obstacles in front of the cleaning robot when it moves forward. At the same time, the environment can be identified by visible light camera and infrared camera, and different cleaning strategies can be implemented for different environments such as liquid stains and solid stains. Furthermore, the second ranging module integrates lidar, visible light camera and infrared camera, making the module highly integrated and compact, saving internal space of the cleaning robot.

[0023] Furthermore, the cleaning robot also includes at least one of a visible light supplement light, an infrared supplement light, and a recharge signal light. The visible light supplement light is disposed on the front impact plate and located outside the second ranging module, the infrared supplement light is disposed on the front impact plate and located outside the second ranging module, and the recharge signal light is disposed on the front impact plate and located outside the second ranging module.

[0024] The beneficial effect of adopting the above-mentioned further solution is that at least one of the visible light supplement light, infrared supplement light h and recharge signal light is also integrated into the front impact plate, which further improves the module integration and compactness and saves internal space of the cleaning robot. Attached Figure Description

[0025] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0026] Figure 1 This is a front view structural diagram of an embodiment of the cleaning robot provided in this application;

[0027] Figure 2 yes Figure 1A simplified structural diagram of an embodiment of the first ranging module in a cleaning robot;

[0028] Figure 3 yes Figure 1 A simplified structural diagram of another embodiment of the first ranging module in a cleaning robot;

[0029] Figure 4 yes Figure 1 A schematic diagram showing a cleaning robot encountering a suspended obstacle.

[0030] Figure 5 yes Figure 1 A diagram illustrating the state of a cleaning robot encountering a recessed area.

[0031] Figure 6 yes Figure 1 A top-down view of a cleaning robot;

[0032] Figure 7 yes Figure 1 A diagram showing the state of a cleaning robot encountering an obstacle in front of it.

[0033] Figure 8 This is a schematic diagram of the assembly structure of the front impact plate and the second ranging module of the cleaning robot body provided in this application;

[0034] Figure 9 yes Figure 8 An exploded structural diagram of the front impact plate and the second ranging module;

[0035] Figure 10 yes Figure 9 A front view diagram of the front impact plate and the second ranging module.

[0036] The attached diagram lists the components represented by each number as follows:

[0037] Cleaning robot 1; working surface 1000; robot body 10; body 110; moving wheel 120; front impact plate 130; mounting hole 131; groove 132; visible light supplement light 140; infrared supplement light 150; recharge signal light 160; radar component 20; first ranging module 30; first ranging optical signal 301; second ranging optical signal 302; laser transceiver component 310; laser emitter 311; laser receiver 312; beam splitter 313; first laser emitter 311A; second laser... Light emitter 311B; first reflector 320; second reflector 330; second ranging module 40; third ranging optical signal 401; fourth ranging optical signal 402; lidar 410; visible light camera 420; infrared camera 430; suspended obstacle 2; recessed area 3; first forward obstacle 4; second forward obstacle 5; driving direction X; width direction Y; height direction Z; first height H1; first preset value h; second height H2; first forward distance D1; second forward distance D2. Detailed Implementation

[0038] The embodiments of the technical solution of this application will now be described in detail with reference to the accompanying drawings. These embodiments are only used to more clearly illustrate the technical solution of this application and are therefore merely examples, and should not be used to limit the scope of protection of this application.

[0039] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains; the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the application; the terms “comprising” and “having”, and any variations thereof, in the specification, claims, and foregoing description of the drawings are intended to cover non-exclusive inclusion.

[0040] In the description of the embodiments of this application, technical terms such as "first" and "second" are used only to distinguish different objects and should not be construed as indicating or implying relative importance or implicitly specifying the number, specific order, or primary and secondary relationship of the indicated technical features. In the description of the embodiments of this application, "multiple" means two or more, unless otherwise explicitly defined.

[0041] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0042] In the description of the embodiments in this application, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Additionally, the character " / " in this document generally indicates that the preceding and following related objects have an "or" relationship.

[0043] In the description of the embodiments of this application, the term "multiple" refers to two or more (including two), similarly, "multiple sets" refers to two or more (including two sets), and "multiple pieces" refers to two or more (including two pieces).

[0044] In the description of the embodiments of this application, the technical terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of this application and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of this application.

[0045] In the description of the embodiments of this application, unless otherwise expressly specified and limited, technical terms such as "installation," "connection," "joining," and "fixing" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. For those skilled in the art, the specific meaning of the above terms in the embodiments of this application can be understood according to the specific circumstances.

[0046] With the development of intelligent cleaning technology, intelligent cleaning devices are entering more and more places, greatly reducing the labor required for cleaning. One of the most common and critical sensors in cleaning robots is radar, which commonly functions as mapping, navigation, and obstacle avoidance. Most radars are located above the cleaning robot and require a radar dome for protection. Since radar can only scan one level of height information, the highest point of the radar dome is higher than the radar scanning layer. In some special scenarios, such as with suspended objects like sofas, the radar dome can get stuck. In other special scenarios, such as on cliffs or in depressions, the cleaning robot is prone to falling.

[0047] This application provides a cleaning robot designed to reduce the risk of it getting stuck or falling. The cleaning robot is an intelligent sweeping robot, mopping robot, or a combined sweeping and mopping robot, capable of cleaning floors while in motion. It is suitable for various indoor and outdoor environments, such as roads, parks, hotels, and stations. These cleaning robots operate in environments such as indoor environments with irregularly shaped, non-convex obstacles, or outdoor environments with obstacles or uneven terrain.

[0048] During operation, cleaning robots encounter various complex terrains and obstacles. For obstacles that are in contact with the ground but have suspended parts, such as sofas and bed edges, when the cleaning robot approaches such obstacles, it is necessary to consider whether the cleaning robot, especially the radar component on top of the robot, can pass under the suspended part of the obstacle. For uneven terrain, especially recessed areas with large differences in ground height, such as cliffs or depressions, it is necessary to consider whether the cleaning robot has the risk of falling off cliffs or depressions.

[0049] Please see Figure 1 , Figure 1 This is a front view structural diagram of an embodiment of the cleaning robot provided in this application. The cleaning robot 1 includes a robot body 10, a radar component 20, and a first ranging module 30. The cleaning robot 1 defines an intersecting height direction Z and a travel direction X. The radar component 20 is disposed on the top of the robot body 10 in the height direction Z and protrudes relative to the robot body 10. The first ranging module 30 is disposed inside the robot body 10 and is located in front of the radar component 20 in the travel direction X.

[0050] See also Figure 2 and Figure 3 , Figure 2 yes Figure 1 A simplified structural diagram of an embodiment of the first ranging module 30 in the cleaning robot 1. Figure 3 yes Figure 1A simplified structural diagram of another embodiment of the first ranging module 30 in the cleaning robot 1. The first ranging module 30 includes a laser transceiver assembly 310, a first reflector 320, and a second reflector 330. The laser transceiver assembly 310 is used to emit a first ranging optical signal 301 and a second ranging optical signal 302, and to receive a first reflected optical signal of the first ranging optical signal 301 and a second reflected optical signal of the second ranging optical signal 302. The first reflector 320 is located in the optical path of the first ranging optical signal 301 and is used to emit the first ranging optical signal 301 along the height direction Z toward the top of the robot body 10, and to reflect the first reflected optical signal of the first ranging optical signal 301 back to the laser transceiver assembly 310. The second reflector 330 is located in the optical path of the second ranging optical signal 302 and is used to emit the second ranging optical signal 302 along the height direction Z toward the bottom of the robot body 10, and to reflect the second reflected optical signal of the second ranging optical signal 302 back to the laser transceiver assembly 310.

[0051] The robot body 10 moves based on the first reflected light signal and the second reflected light signal received by the laser transceiver component 310.

[0052] The robot body 10 serves as the main component of the cleaning robot 1. It is used to install components such as the radar assembly 20 and the first ranging module 30. The robot body 10 can be self-moving or can be moved by an external remote controller. Typically, to facilitate the movement of the robot body 10, a caster wheel 120 is installed at the bottom of the robot body 10. The robot body 10 moves by rolling on the ground or other working surfaces 1000 using the caster wheel 120. Generally speaking, the cleaning robot 1 can define intersecting height direction Z and travel direction X. The height direction Z and travel direction X can be perpendicular to each other. For example, when the cleaning robot 1 moves on the working surface 1000 such as the ground to clean the working surface 1000, the height direction Z can be a direction perpendicular to the working surface 1000 such as the ground. The robot body 10 has a top and a bottom in the height direction Z. The bottom of the robot body 10 is the side of the working surface 1000 such as the ground in the height direction Z. Conversely, the top of the robot body 10 is the side of the working surface 1000 such as the ground in the height direction Z. The travel direction X can be the direction of movement of the cleaning robot 1, and the travel direction X is bidirectional, that is, forward and backward. The robot body 10 has a front and a rear in the travel direction X. The front of the robot body 10 is the side in front of the cleaning robot 1 when it moves forward.

[0053] The radar assembly 20 serves as a sensing component of the cleaning robot 1, used for mapping, navigation, and obstacle avoidance. Typically, the radar assembly 20 includes a radar and a radar dome. The radar is the main functional component, and the radar dome is used to protect the radar. The radar assembly 20 is installed on the top of the robot body 10 in the height direction Z and protrudes relative to the robot body 10. Specifically, the radar can extend from the inside of the robot body 10 to the outside of the robot body 10 and protrude from the top of the robot body 10 to facilitate radar scanning. The radar dome can be directly installed on the top of the robot to facilitate its installation and fixation, covering the radar. Therefore, the radar assembly 20 as a whole protrudes from the top of the robot body 10.

[0054] The first ranging module 30 is used to detect suspended obstacles such as sofas and bed edges, as well as recessed areas such as cliffs and depressions. Specifically, the first ranging module 30 includes a laser transceiver component 310, a first reflector 320, and a second reflector 330. The laser transceiver component 310 can emit a first ranging optical signal 301 and a second ranging optical signal 302. The first ranging optical signal 301 is reflected by the first reflector 320 and then emitted toward the top of the robot body 10. The second ranging optical signal 302 is reflected by the second reflector 330 and then emitted toward the bottom of the robot body 10, thereby realizing the detection of upward and downward obstacles in the height direction Z of the cleaning robot 1.

[0055] The optical signal can usually be visible light or invisible light. The first ranging optical signal 301 and the second ranging optical signal 302 emitted by the laser transceiver component 310 can be laser pulses. Laser is a type of light that is based on the principle of stimulated emission and has the characteristics of high directionality, high monochromaticity and high brightness.

[0056] The robot body 10 can move based on the first reflected light signal and the second reflected light signal received by the laser transceiver component 310. Specifically, the robot body 10 can process the first reflected light signal and the second reflected light signal received by the laser transceiver component 310, and obtain the target distance by recording the time taken from the emission of the first ranging light signal 301 and the second ranging light signal 302 to their return and reception, thereby controlling the movement of the robot body 10.

[0057] For example, when the robot body 10 travels to suspended obstacles such as sofas or bed edges, please refer to... Figure 4 , Figure 4 yes Figure 1The diagram illustrates the state of a cleaning robot 1 encountering a suspended obstacle. A first ranging light signal 301 emitted from the top of the robot body 10 is reflected back from the bottom of the suspended obstacle 2, and then reflected back to the laser transceiver assembly 310 via the first reflector 320. The robot body 10 can then process the first reflected light signal 301 to obtain the height of the suspended obstacle 2 above the ground or the height difference between the suspended obstacle 2 and the top of the robot body 10. Further analysis of the height of the suspended obstacle 2 above the ground or... The height difference between the suspended obstacle 2 and the top of the robot body 10 is compared with a preset value. If the detected height of the suspended obstacle 2 above the ground or the height difference between the suspended obstacle 2 and the top of the robot body 10 is less than the preset value, it indicates that the height of the suspended obstacle 2 above the ground or the height difference between the suspended obstacle 2 and the top of the robot body 10 is too low. In this case, the robot body 10 needs to be controlled to move backward or turn to avoid the suspended obstacle 2. Otherwise, the radar component 20 of the cleaning robot 1 is easily stuck by the suspended obstacle 2. Furthermore, since the first ranging module 30 is located inside the robot body 10 and at the front of the radar component 20 in the X-direction of travel, even if the front of the robot body 10 enters below the suspended obstacle 2, the first ranging module 30 can detect the suspended obstacle 2 and control the robot body 10 to move backward or turn in time, thereby reducing the risk of the radar component 20 being stuck by the suspended obstacle 2.

[0058] When the cleaning robot 1 travels to a recessed area near a cliff, depression, or other area that is 1000 mm below the working surface of the cleaning robot 1, please refer to... Figure 5 , Figure 5 yes Figure 1 The diagram illustrates the state of the cleaning robot 1 when it encounters a recessed area. The second ranging light signal 302 emitted towards the bottom of the robot body 10 is reflected back by the surface of the recessed area 3, such as a cliff or depression, and then reflected back to the laser transceiver component 310 by the second reflector 330. The robot body 10 can obtain the depth of the recessed area 3 by processing the second reflected light signal of the second ranging light signal 302. The depth of the recessed area 3 is then compared with a preset value. If the detected depth of the recessed area is greater than the preset value, it indicates that the depth of the recessed area 3 is too large. At this time, it is necessary to control the robot body 10 to move backward or turn to avoid the recessed area 3. Otherwise, the cleaning robot 1 may fall off the recessed area 3.

[0059] Based on the above principle of obstacle detection for cleaning robot 1, it can be seen that cleaning robot 1 needs to process the first reflected light signal of the first ranging light signal 301 to determine the height of the suspended obstacle 2 above the ground or the height difference between the suspended obstacle 2 and the top of the robot body 10 and the preset value; process the second reflected light signal of the second ranging light signal 302 to determine the depth of the recessed area 3 such as cliffs and depressions and the preset value; and control the movement of robot body 10. This series of processes can be processed by a processor (or controller). The processor can be integrated into robot body 10, for example, integrated into the first ranging module 30, or set in other positions within robot body 10. The processor can also be a component independent of robot body 10, for example, set in an external remote control.

[0060] As can be seen, the cleaning robot 1 provided in this application embodiment has a first ranging module 30 including a laser transceiver component 310, a first reflector 320, and a second reflector 330. The first ranging light signal 301 emitted by the laser transceiver component 310 can be emitted towards the top of the robot body 10 along the height direction Z through the first reflector 320, thereby realizing the detection of suspended obstacles 2 and reducing the risk of the radar component 20 of the cleaning robot 1 being stuck by suspended obstacles 2. The second ranging light signal 302 emitted by the laser transceiver component 310 can be emitted towards the bottom of the robot body 10 along the height direction Z through the second reflector 330, thereby realizing the detection of recessed areas 3 such as cliffs and depressions, and reducing the risk of the radar component 20 of the cleaning robot 1 falling from the recessed areas 3 such as cliffs and depressions.

[0061] In some embodiments, please refer again Figure 2 , Figure 2 This application illustrates a first embodiment of the laser transceiver assembly 310 of the first ranging module 30. Figure 2 The schematic diagram shown illustrates in detail how the laser transceiver component 310 transmits the first ranging optical signal 301 and the second ranging optical signal 302, and how it receives the first reflected optical signal of the first ranging optical signal 301 and the second reflected optical signal of the second ranging optical signal 302.

[0062] Specifically, the laser transceiver assembly 310 includes a laser transmitter 311, a beam splitter 313, and a laser receiver 312. The laser transmitter 311 is used to transmit a ranging optical signal. The beam splitter 313 is located in the optical path emitted by the laser transmitter 311 and is used to split the ranging optical signal emitted by the laser transmitter 311 to obtain the first ranging optical signal 301 and the second ranging optical signal 302. The laser receiver 312 is used to receive the first reflected optical signal reflected by the first reflector 320 and the second reflected optical signal reflected by the second reflector 330.

[0063] The laser emitter 311, as a component that emits optical signals, can emit ranging optical signals. For example, the laser emitter 311 can emit a laser beam, such as a visible red semiconductor laser, which is the aforementioned ranging optical signal.

[0064] The beam splitter 313 is a component that splits the laser emitted by the laser emitter 311 into two laser beams, namely the first ranging optical signal 301 and the second ranging optical signal 302 mentioned above.

[0065] As a component for receiving optical signals, the laser receiver 312 can receive the optical signals reflected back by the first ranging optical signal 301 and the second ranging optical signal 302, namely the first reflected optical signal and the second reflected optical signal mentioned above.

[0066] It is understandable that since the first ranging optical signal 301 and the second ranging optical signal 302 are both part of the laser emitted by the laser transmitter 311, the wavelengths and frequencies of the first ranging optical signal 301 and its first reflected optical signal, as well as the second ranging optical signal 302 and its second reflected optical signal, are the same. The laser receiver 312 needs to receive the first reflected optical signal and the second reflected optical signal. In order to facilitate the differentiation between the first reflected optical signal and the second reflected optical signal received by the laser receiver 312, a time-division module can be set in the beam splitter 313 so that the first ranging optical signal 301 and the second ranging optical signal 302 can be sent in a time-division manner after beam splitting. Therefore, the laser receiver 312 can receive the first reflected optical signal of the first ranging optical signal 301 and the second reflected optical signal of the second ranging optical signal 302 in a time-division manner, thereby distinguishing the two. In addition, a frequency modulation module can be set in the beam splitter 313 to modulate the first ranging optical signal 301 and the second ranging optical signal 302 formed after beam splitting, so that the frequencies of the first ranging optical signal 301 and the second ranging optical signal 302 are different. Therefore, the laser receiver 312 receives the first reflected light signal of the first ranging optical signal 301 and the second reflected light signal of the second ranging optical signal 302 at different frequencies, thereby distinguishing the two.

[0067] In some embodiments, the laser transmitter 311 and the laser receiver 312 can be integrated into a single module, which can be referred to as a laser transceiver unit. The laser transceiver unit is disposed opposite to the beam splitter 313 and performs both laser emission and reception functions. Figure 2 The example shows a laser emitter 311 and a laser receiver 312 integrated into a single module.

[0068] As can be seen, in this embodiment of the application, the ranging optical signal of the same laser emitter 311 is split by the beam splitter 313 to obtain the first ranging optical signal 301 and the second ranging optical signal 302, which can save the number of laser emitters 311 and thus reduce the cost.

[0069] In some embodiments, please refer again Figure 3 , Figure 3 This application illustrates a second embodiment of the laser transceiver assembly 310 of the first ranging module 30. Figure 3 The schematic diagram shown illustrates in detail how the laser transceiver component 310 transmits the first ranging optical signal 301 and the second ranging optical signal 302, and how it receives the first reflected optical signal of the first ranging optical signal 301 and the second reflected optical signal of the second ranging optical signal 302.

[0070] Specifically, the laser transceiver assembly 310 includes a first laser transmitter 311A, a second laser transmitter 311B, and a laser receiver 312. The first laser transmitter 311A ​​is used to transmit a first ranging optical signal 301, the second laser transmitter 311B is used to transmit the first ranging optical signal 301, and the laser receiver 312 is used to receive the first reflected optical signal of the first ranging optical signal 301 reflected by the first reflector 320 and the second reflected optical signal of the second ranging optical signal reflected by the second reflector 330.

[0071] As can be seen, in this embodiment, the first ranging optical signal 301 is emitted by the first laser emitter 311A, and the second ranging optical signal 302 is emitted by the second laser emitter 311B. That is, the first ranging optical signal 301 and the second ranging optical signal 302 are emitted separately by the two laser emitters 311, which also enables the first ranging module 30 to form the first ranging optical signal 301 and the second ranging optical signal 302. This method can reduce the interference between the first ranging optical signal 301 and the second ranging optical signal 302, and the control is simple.

[0072] Since the laser receiver 312 needs to receive the first reflected light signal of the first ranging light signal 301 reflected by the first reflecting part 320 and the second reflected light signal of the second ranging light reflected by the second reflecting part 330, in order to facilitate the differentiation between the first reflected light signal and the second reflected light signal of the second ranging light, the first laser transmitter 311A ​​and the second laser transmitter 311B can transmit laser pulses in a time-division manner, or they can transmit laser pulses with different wavelengths.

[0073] In some embodiments, the first laser emitter 311A, the second laser emitter 311B, and the laser receiver 312 can be integrated into a single module. Figure 3 The diagram shows a configuration where the first laser emitter 311A, the second laser emitter 311B, and the laser receiver 312 are integrated into a single module.

[0074] In some embodiments, the first ranging light signal 301 emitted toward the top of the robot body 10 after being reflected by the first reflector 320 can be parallel to the height direction Z, or it can be tilted at a certain angle to the height direction Z. However, the tilt angle should not be too large, otherwise it will affect the detection results and cause the radar component 20 to still be at risk of being stuck by the suspended obstacle 2.

[0075] In some embodiments, the second ranging light signal 302 emitted toward the bottom of the robot body 10 after being reflected by the second reflector 330 can be parallel to the height direction Z, or it can be at a certain angle to the height direction Z. However, the angle of inclination should not be too large, otherwise it will affect the detection results and cause the cleaning robot 1 to still have the risk of falling from the recessed area 3 such as cliffs and depressions.

[0076] In some embodiments, see again Figure 2 and Figure 3 The first reflective part 320 includes a first reflective sheet, which has a first reflective surface that is inclined relative to the height direction Z. The distance between the first reflective surface and the laser transceiver assembly 310 gradually increases along the travel direction X from the middle of the robot body 10 toward the top of the robot body 10.

[0077] And / or, the second reflector 330 includes a second reflector sheet having a second reflective surface that is inclined relative to the height direction Z, and the distance between the first reflective surface and the laser transceiver assembly 310 gradually increases along the travel direction X in the direction from the middle of the robot body 10 toward the bottom of the robot body 10.

[0078] The optical path of the first ranging optical signal 301 is located on the side of the optical path of the second ranging optical signal 302 facing the top of the robot body 10, and the first reflector is located on the side of the second reflector facing the top of the robot body 10.

[0079] As can be seen, in this embodiment, the first reflective part 320 and the second reflective part 330 are sheet-like structures. The first ranging light signal 301 only needs to pass through the first reflective sheet to be emitted toward the top of the robot body 10, and the second ranging light signal 302 only needs to pass through the second reflective sheet to be emitted toward the bottom of the robot body 10. The overall structure of the first reflective part 320 and the second reflective part 330 is simpler and the cost is lower.

[0080] Furthermore, the optical path of the first ranging optical signal 301 is located on the side of the second ranging optical signal 302 facing the top of the robot body 10, and the first reflector is located on the side of the second reflector facing the top of the robot body 10. The optical paths of the first ranging optical signal 301 and the second ranging optical signal 302 are separated from each other in the height direction Z, and the two do not affect each other, thus improving the detection accuracy.

[0081] When the first ranging module 30 includes a first laser emitter 311A, a second laser emitter 311B, and a laser receiver 312 ( Figure 3 As shown, corresponding to the arrangement of the first and second reflective sheets, the first laser emitter 311A ​​is located on the side of the second laser emitter 311B facing the top of the robot body 10. Thus, the optical path of the first ranging light signal 301 (i.e., the first ranging light signal 301 emitted from the first laser emitter 311A ​​and reflected by the first reflective sheet to be emitted towards the top of the robot body 10) and the optical path of the second ranging light signal 302 (i.e., the second ranging light signal 302 emitted from the second laser emitter 311B and reflected by the second reflective sheet to be emitted towards the bottom of the robot body 10) do not interfere with each other. Furthermore, in this configuration, since the laser receiver 312 needs to receive the first reflected light signal of the first ranging light signal 301 reflected back from the first reflective sheet and the second reflected light signal of the second ranging light signal 302 reflected back from the second reflective sheet, to facilitate the laser receiver 312's reception of the light signals, the laser receiver 312 can be positioned in the height direction Z between the first laser emitter 311A ​​and the second laser emitter 311B.

[0082] In other embodiments, the specific structures of the first reflector 320 and the second reflector 330 are not limited. For example, the first reflector 320 and the second reflector 330 may include multiple reflective sheets. The first ranging light signal 301 emitted by the first laser emitter 311A ​​is reflected multiple times by the multiple reflective sheets of the first reflector 320 before being emitted toward the top of the robot body 10. The second ranging light signal 302 emitted by the second laser emitter 311B is reflected multiple times by the multiple reflective sheets of the second reflector 330 before being emitted toward the bottom of the robot body 10. However, it is understood that the more times the first ranging light signal 301 / second ranging light signal 302 is reflected, the greater its energy loss, and the more difficult it is for the laser receiver 312 to receive the reflected light signals of the first ranging light signal 301 / second ranging light signal 302. Therefore, the number of times the first ranging light signal 301 / second ranging light signal 302 is reflected by the first reflector 320 / second reflector 330 should be minimized to improve detection accuracy.

[0083] In some embodiments, the first reflective surface and the second reflective surface may be other structures besides the two reflective sheets. For example, the two reflective surfaces of the same reflector may be used as the first reflective surface and the second reflective surface, respectively.

[0084] In some embodiments, the cleaning robot 1 further includes a processor (not shown in the figure), which is disposed on the robot body 10 and connected to the laser transceiver component 310. The processor is used to process the first reflected light signal received by the laser transceiver component 310 to obtain the first height H1 of the obstacle in the height direction Z, and control the robot body 10 to move based on the first height H1. The processor is also used to process the second reflected light signal received by the laser transceiver component 310 to obtain the second height H2 of the obstacle in the height direction Z, and control the robot body 10 to move based on the second height H2.

[0085] The processor can control the movement of the robot body 10 based on the relationship between the first height H1 and the first preset value h, and can also control the movement of the robot body 10 based on the relationship between the second height H2 and the second preset value.

[0086] The first height H1 can refer to the height of a suspended obstacle 2, such as a sofa or bed edge. Specifically, it can refer to the distance between the bottom of the suspended obstacle 2 and the top of the robot body 10 in the height direction Z. The first preset value h can be the height of the radar component 20 protruding from the top of the robot body 10. Figure 4(Scheme shown). The processor determines the relationship between the first height H1 and the first preset value h. When H1 > h, it indicates that the height of the suspended obstacle 2 is high enough for the radar component 20 on top of the cleaning robot 1 to pass through. In this case, the processor controls the robot body 10 to continue moving forward, so that the cleaning robot 1 and its radar component 20 enter below the suspended obstacle 2. The cleaning robot 1 can clean the working surface 1000 below the suspended obstacle 2. When H1 ≤ h, it indicates that the height of the suspended obstacle 2 is insufficient for the radar component 20 on top of the cleaning robot 1 to pass through. In this case, the processor controls the robot body 10 to retreat or turn to avoid the suspended obstacle 2.

[0087] Of course, the definitions of the first height H1 and the first preset value h in this application can be other schemes. For example, the first height H1 can be selected as the height of the suspended obstacle 2 above the ground, that is, the distance between the suspended obstacle 2 and the working surface 1000 along the height direction Z. Correspondingly, the first preset value h is the distance between the top of the radar component 20 and the bottom of the moving wheel 120 along the height direction Z.

[0088] The second height H2 can be the distance in the height direction Z between the surface of the recessed area 3, such as a cliff or depression, and the bottom of the moving wheel 120. Figure 5 (As shown in the scheme), the second height H2 can also be the distance along the height direction Z between the surface of the recessed area 3 such as cliffs or depressions and the bottom of the robot body 10. The second preset value is a preset height value. For example, the specific value of the second preset value can be based on the fact that the robot body 10 can travel to the recessed area 3 such as cliffs or depressions without falling off.

[0089] The processor is located inside the robot body 10, and can be integrated into the first ranging module 30 or located in other parts of the robot body 10.

[0090] As can be seen, in this embodiment, the processor is located within the robot body 10 and can control the robot body 10 to move autonomously based on the detection results of suspended obstacles 2 and recessed areas 3 such as cliffs and depressions. In this way, autonomous control of the cleaning robot 1 can be achieved, improving the real-time performance of the control. In other embodiments, the processor at least has the function of processing the first reflected light signal received by the laser transceiver component 310 to obtain a first height H1, and processing the second reflected light signal received by the laser transceiver component 310 to obtain a second height H2. Especially when the processor is integrated within the first ranging module 30, the processor integrated within the first ranging module 30 may only have the function of processing the first reflected light signal received by the laser transceiver component 310 to obtain a first height H1, and processing the second reflected light signal received by the laser transceiver component 310 to obtain a second height H2.

[0091] In other words, the processor integrated in the first ranging module 30 only has the function of processing the received optical signals to obtain the data of the first height H1 and the second height H2. In short, the first ranging module 30 only has the function of ranging. The actions of judging the magnitude of the first height H1 and the first preset value h, judging the magnitude of the second height H2 and the second preset value, and controlling the movement of the robot according to the judgment results can be executed by another controller set in the robot body 10. Thus, the first ranging module 30 can use general electrical components such as laser sensors that have the functions of signal reception, signal transmission and signal processing of received signals, which is easy to procure.

[0092] In other embodiments, the processor can be independent of the cleaning robot 1. For example, the processor can be located in a remote control that is independent of the cleaning robot 1, and the cleaning robot 1 can be controlled by the remote control.

[0093] In some embodiments, please refer to Figure 6 , Figure 6 yes Figure 1 The cleaning robot 1 is shown in a top view. The cleaning robot 1 is further defined with a width direction Y, a height direction Z, and a travel direction X, which intersect each other with the width direction Y. There is one first ranging module 30, and the line connecting the projection of the first ranging module 30 on the top of the robot body 10 and the radar component 20 is parallel to the travel direction X. Alternatively, multiple first ranging modules 30 are arranged at intervals along the width direction Y. The line connecting the projection of one first ranging module 30 on the top of the robot body 10 and the radar component 20 is parallel to the travel direction X, while the lines connecting the projections of the other first ranging modules 30 on the top of the robot body 10 and the radar component 20 are inclined relative to the travel direction X.

[0094] In this embodiment of the application, the number of first ranging modules 30 set in the width direction Y can be one or more (two or more).

[0095] When a single first ranging module 30 is used, the cost is low, and the line connecting the projection of the first ranging module on the top of the robot body 10 and the radar component 20 is parallel to the travel direction X. That is, the first ranging module 30 is located directly in front of the radar component 20, which can be used to measure the height of suspended obstacles 2 directly in front of the radar component 20 and the depth of recessed areas 3 such as cliffs and depressions directly in front of the radar component 20, thereby improving the detection accuracy.

[0096] When multiple first ranging modules 30 are used, the measurement results are more accurate, especially for suspended obstacles 2 with local gaps or large local heights off the ground. If a single first ranging module 30 is used for detection, there may be missed or false detections. Therefore, the results obtained by using multiple first ranging modules 30 are more accurate. Furthermore, the line connecting the projection of one of the first ranging modules 30 on the top of the robot body 10 and the radar component 20 is parallel to the travel direction X. The lines connecting the projections of the other first ranging modules 30 on the top of the robot body 10 and the radar component 20 are set at an angle relative to the travel direction X. This can further expand the detection range of the cleaning robot 1 in the width direction Y and further improve the detection accuracy.

[0097] In other embodiments, it is not excluded that when a single first ranging module 30 is provided, the line connecting the projection of the first ranging module 30 on the top of the robot body 10 and the radar component 20 is tilted relative to the travel direction X.

[0098] In some embodiments, the cleaning robot 1 further includes a second ranging module 40, which is disposed on the robot body 10 and located in front of the first ranging module 30 in the travel direction X. The second ranging module 40 is used to emit a third ranging light signal 401 and a fourth ranging light signal 402, and to receive a third reflected light signal of the third ranging light signal 401 and a fourth reflected light signal of the fourth ranging light signal 402. The third ranging light signal 401 is emitted parallel to the travel direction X toward the front of the cleaning robot 1, and the fourth ranging light signal 402 is emitted obliquely toward the front of the cleaning robot 1 relative to the travel direction X. The cleaning robot 1 also moves a first forward distance D1 in the direction of the travel direction X obtained by the third reflected light signal received by the second ranging module 40, and moves a second forward distance D2 in the oblique direction of the travel direction X obtained by the fourth reflected light signal received by the second ranging module 40.

[0099] The second ranging module 40 is used to detect whether there are obstacles in front of the cleaning robot 1 when it moves forward. These obstacles can also be referred to as forward obstacles. Please refer to [the relevant documentation]. Figure 1 and Figure 7 , Figure 7 yes Figure 1The diagram illustrates the state of a cleaning robot 1 encountering a forward obstacle. Since the cleaning robot 1 has a certain dimension in the height direction Z, and the robot body 10 moves on the working surface 1000 (e.g., the ground), the second ranging module 40 is at a certain height above the working surface 1000 (e.g., the ground) in the height direction Z. The height of the forward obstacle can vary; some obstacles are high, and some are low. If the second ranging module 40 emits a ranging light signal parallel to the travel direction X towards the front of the cleaning robot 1, when the forward obstacle is low, the ranging light signal emitted by the second ranging module 40 may be higher than the obstacle, thus preventing the ranging light signal from being reflected back by the low-height forward obstacle. The second ranging module 40 causes inaccurate detection results. In this embodiment, the second ranging module 40 emits a third ranging light signal 401 and a fourth ranging light signal 402. The third ranging light signal 401 is emitted parallel to the driving direction X towards the front of the cleaning robot 1. The third ranging light signal 401 can be reflected back by a tall forward obstacle (which can also be called the first forward obstacle 4), thereby realizing the detection of the tall forward obstacle. The fourth ranging light signal 402 is emitted at an angle relative to the driving direction X towards the front of the cleaning robot 1. The fourth ranging light signal 402 can be reflected back by a shorter forward obstacle (which can also be called the second forward obstacle 5), thereby realizing the detection of the shorter forward obstacle.

[0100] The principle by which the second ranging module 40 transmits the third ranging optical signal 401 and the fourth ranging optical signal 402, and receives the third reflected optical signal of the third ranging optical signal 401 and the fourth reflected optical signal of the fourth ranging optical signal 402, is similar to the principle by which the aforementioned laser transceiver assembly 310 transmits the first ranging optical signal 301 and the second ranging optical signal 302, and receives the first reflected optical signal of the first ranging optical signal 301 and the second reflected optical signal of the second ranging optical signal 302.

[0101] The third ranging optical signal 401 and the fourth ranging optical signal 402 can typically be visible or invisible light, such as a laser pulse. The second ranging module 40 can obtain the first forward distance D1 and the second forward distance D2 by recording the time elapsed from the emission of the third and fourth reflected optical signals to their return and reception.

[0102] For example, when the robot body 10 moves close to the first forward obstacle 4, the second ranging module 40 emits a third ranging light signal 401. The third ranging light signal 401 is reflected back to the second ranging module 40 by the side of the first forward obstacle 4 facing the front of the robot body 10. Then, the robot body 10 can obtain the first forward distance D1 of the first forward obstacle 4 by processing the third reflected light signal of the third ranging light signal 401. Then, it judges the magnitude of the first forward distance D1 of the first forward obstacle 4 with a preset value. If the detected first forward distance D1 is greater than the preset value, it indicates that there is no first forward obstacle 4 in front of the robot body 10 or the first forward obstacle 4 is far away from the front of the robot body 10. In this case, the robot body 10 is controlled to move forward normally. If the detected first forward distance D1 is less than the preset value, it indicates that the first forward obstacle 4 is too close to the front of the robot body 10. In this case, the robot body 10 needs to be controlled to move backward or turn to avoid the first forward obstacle 4.

[0103] Similarly, when the robot body 10 moves close to the second forward obstacle 5, the second ranging module 40 emits a fourth ranging light signal 402. The fourth ranging light signal 402 is reflected back to the second ranging module 40 by the side of the second forward obstacle 5 facing the front of the robot body 10. Then, the robot body 10 can obtain the second forward distance D2 of the second forward obstacle 5 by processing the fourth reflected light signal of the fourth ranging light signal 402. Then, it judges the magnitude of the second forward distance D2 of the second forward obstacle 5 with a preset value. If the detected second forward distance D2 is greater than the preset value, it indicates that there is no second forward obstacle 5 in front of the robot body 10 or the second forward obstacle 5 is far away from the front of the robot body 10. In this case, the robot body 10 is controlled to move forward normally. If the detected second forward distance D2 is less than the preset value, it indicates that the second forward obstacle 5 is too close to the front of the robot body 10. In this case, the robot body 10 needs to be controlled to move backward or turn to avoid the second forward obstacle 5.

[0104] The first forward distance D1 means the straight-line distance between the front end of the robot body 10 and the first forward obstacle 4 towards the front end of the robot body 10. The first forward distance D1 is the distance along the emission direction of the third ranging light signal 401, that is, the distance in the direction parallel to the travel direction X.

[0105] The second forward distance D2 is the straight-line distance between the front end of the robot body 10 and the second forward obstacle 5 towards the front end of the robot body 10. The second forward distance D2 is the distance along the emission direction of the fourth ranging light signal 402, that is, the distance in the direction of inclination relative to the travel direction X.

[0106] The second ranging module 40 has at least the function of transmitting and receiving ranging optical signals (specifically, transmitting a third ranging optical signal 401 and a fourth ranging optical signal 402, and receiving a third reflected optical signal of the third ranging optical signal 401 and a fourth reflected optical signal of the fourth ranging optical signal 402). In some embodiments, the second ranging module 40 may also integrate a processor to process the received third reflected optical signal of the third ranging optical signal 401 and the fourth reflected optical signal of the fourth ranging optical signal 402 to obtain the aforementioned first forward distance D1 and second forward distance D2. In other embodiments, the processor to process the received third reflected optical signal of the third ranging optical signal 401 and the fourth reflected optical signal of the fourth ranging optical signal 402 may be set independently of the second ranging module 40, that is, the processor is set outside the second ranging module 40.

[0107] In this embodiment, the processor used to process the third reflected light signal of the received third ranging light signal 401 and the fourth reflected light signal of the fourth ranging light signal 402 can be the same processor used to process the first reflected light signal of the first ranging light signal 301 and the second reflected light signal of the second ranging light signal 302, or it can be a different processor.

[0108] In one specific embodiment, the first ranging module 30 integrates a processor for processing the first reflected light signal of the received first ranging optical signal 301 and the second reflected light signal of the second ranging optical signal 302 to obtain the first height H1 and the second height H2. The processor in the first ranging module 30 can also be referred to as the first processor. The second ranging module 40 also integrates a processor for processing the third reflected light signal of the received third ranging optical signal 401 and the fourth reflected light signal of the fourth ranging optical signal 402 to obtain the first forward distance D1 and the second forward distance D2. The processor in the second ranging module 40 can also be referred to as the second processor. Meanwhile, the robot body 10 has a controller, and the first processor and the second processor are electrically connected to the controller. The controller is used to determine the relationship between the first height H1 obtained by the first processor and the first preset value, and to determine the relationship between the second height H2 and the second preset value. Based on the determination results, the controller controls the movement of the robot body 10. The controller is also used to determine the relationship between the first forward distance D1 obtained by the second processor and the preset value, and to determine the relationship between the second forward distance D2 and the preset value. Based on the determination results, the controller controls the movement of the robot body 10.

[0109] As can be seen, the cleaning robot 1 provided in this application embodiment has a third ranging light signal 401 emitted by the second ranging module 40 of the cleaning robot 1, which can be emitted parallel to the driving direction X and toward the front of the cleaning robot 1, thereby realizing the detection of the first forward obstacle 4 with a large height. The fourth ranging light signal 402 emitted by the second ranging module 40 can be emitted at an angle relative to the driving direction X and toward the front of the cleaning robot 1, thereby realizing the detection of the second forward obstacle 5 with a small height, reducing the risk of the cleaning robot 1 colliding with the forward obstacle.

[0110] Furthermore, since the second ranging module 40 emits the third ranging light signal 401 and the fourth ranging light signal 402 toward the front of the robot body 10, placing the second ranging module 40 in front of the first ranging module 30 can reduce the obstruction of the third ranging light signal 401 and the fourth ranging light signal 402 emitted by the second ranging module 40 by the first ranging module 30.

[0111] In some embodiments, the robot body 10 includes a fuselage 110 and a front impact plate, the front impact plate being connected to the front side of the fuselage 110. (See also...) Figures 8 to 10 , Figure 8 This is a schematic diagram of the assembly structure of the front impact plate of the robot body 10 and the second ranging module 40 of the cleaning robot 1 provided in this application. Figure 9 yes Figure 8 An exploded view of the front impact plate 130 and the second ranging module 40. Figure 10 yes Figure 9 The front view of the front impact plate 130 and the second ranging module 40 is shown in the diagram. The first ranging module 30 is disposed inside the fuselage 110, and the second ranging module 40 is disposed in the front impact plate 130.

[0112] The front impact plate 130 is used to directly collide with obstacles during the movement of the robot body 10 and to buffer the collision. Specifically, the front impact plate 130 is connected to the front side of the body 110, so it can directly collide with obstacles during the forward movement of the robot body 10. The front impact plate 130 can be a curved plate-like structure that covers the front of the body 110 and extends to a part of the side, thus protecting the front and part of the side of the body 110 during its forward movement.

[0113] The second ranging module 40 is disposed on the front impact plate 130. A mounting hole 131 can be opened on the front impact plate 130. The second ranging module 40 is snapped into the mounting hole 131. After the second ranging module 40 is installed in the mounting hole 131, the second ranging module 40 preferably does not protrude from the mounting hole 131, that is, the second ranging module 40 does not protrude from the outer surface of the front impact plate 130, so as to reduce the risk of collision damage to the second ranging module 40 when the front impact plate 130 collides with an obstacle.

[0114] Furthermore, after the second ranging module 40 is installed in the mounting hole 131, the rear end of the second ranging module 40 is located on the rear side of the front impact plate 130 to extend into the body 110, so as to facilitate the wiring of the second ranging module 40 in the body 110.

[0115] To facilitate the installation of the second ranging module 40 on the front impact plate 130 without the second ranging module 40 protruding from the outer surface of the front impact plate 130, the front impact plate 130 is recessed in the direction of travel X towards the body 110 of the robot body 10 (i.e., the front impact plate 130 faces the rear). The mounting hole 131 is provided at the bottom of the groove 132. The second ranging module 40 can be inserted through the mounting hole 131 to facilitate the installation of the second ranging module 40 on the front impact plate 130. At the same time, the front end of the second ranging module 40 can be accommodated in the groove 132 to prevent the second ranging module 40 from protruding from the outer surface of the front impact plate 130.

[0116] In this embodiment, by setting the second ranging module 40 on the front impact plate 130, that is, integrating the second ranging module 40 into the front impact plate 130 to form an integral module, the module can be highly integrated, saving the internal space of the robot body 10.

[0117] In some embodiments, the second ranging module 40 includes at least one of a lidar 410, a visible light camera 420, and an infrared camera 430. The lidar 410 is used to detect a first forward distance D1 and a second forward distance D2, and the visible light camera 420 and the infrared camera 430 are used to identify stains on the working surface 1000 of the cleaning robot 1.

[0118] The lidar 410, as the main functional component of the second ranging module 40, is used to measure the first forward distance D1 and the second forward distance D2. Specifically, the lidar 410 emits a third ranging optical signal 401 and a fourth ranging optical signal 402, and receives the third reflected optical signal of the third ranging optical signal 401 and the fourth reflected optical signal of the fourth ranging optical signal 402, thereby obtaining the first forward distance D1 and the second forward distance D2. The lidar 410 is a laser sensor; specifically, it is a radar system that uses emitted laser beams to detect the position, velocity, and other characteristics of a target. The lidar 410 works by emitting a detection signal (laser beam) towards the target, then comparing and processing the received signal reflected back from the target (target echo) with the emitted signal to obtain relevant information about the target, such as target distance, azimuth, altitude, velocity, attitude, and even shape parameters, thereby enabling the detection of targets such as the ground or obstacles on the earth's surface. Generally, a lidar 410 can be composed of a laser transmitter, an optical receiver, and an information processing system. The laser transmitter converts electrical pulses into light pulses and emits them. The optical receiver then converts the light pulses reflected from the target back into electrical pulses, which are then sent to the information processing system for processing. The principle of the lidar 410 is well-known in the field and will not be elaborated upon here; only its general structure and working principle are briefly described above.

[0119] The lidar 410 in this embodiment can emit a third ranging light signal 401 and a fourth ranging light signal 402 in different directions, i.e., it emits multiple laser beams. Therefore, the lidar 410 is a multi-line lidar, which can more accurately perceive various obstacles at different heights in front of the robot body 10 when it is moving. In other embodiments, the lidar 410 is not limited to emitting the third ranging light signal 401 and the fourth ranging light signal 402, but can also emit more ranging light signals to obtain more comprehensive distance and position information of obstacles.

[0120] The visible light camera 420 primarily identifies and perceives the environment by capturing visible light images. It can provide rich color and detail information, helping the cleaning robot 1 to better identify and distinguish different types of objects. For example, by analyzing image content, the visible light camera 420 can help the cleaning robot 1 identify items such as furniture and appliances, thereby avoiding collisions or detours. In addition, combined with image processing algorithms, the visible light camera 420 can also perform more complex tasks, such as identifying stains on the working surface 1000 of the cleaning robot 1.

[0121] The infrared camera 430 relies on infrared light for detection, which is invisible to the human eye. It detects obstacles by emitting infrared light and receiving the reflected signals. Its advantage is that it can operate normally in dark environments because infrared light is unaffected by visible light. Furthermore, combined with image processing algorithms, the infrared camera 430 can perform more complex tasks, such as identifying stains on the working surface 1000 of the cleaning robot 1.

[0122] The visible light camera 420 and the infrared camera 430 can be arranged in various ways on the second ranging module 40. For example, they can be set on the side of the second ranging module 40 in the width direction Y. They can also be installed in different positions according to application requirements, such as on the top or bottom of the second ranging module 40 in the height direction Z.

[0123] As can be seen, in this embodiment, the first forward distance D1 and the second forward distance D2 are detected by the lidar 410, which makes it easier to avoid obstacles in front of the cleaning robot 1 when it moves forward. At the same time, the environment can be identified by the visible light camera 420 and the infrared camera 430, and different cleaning strategies can be implemented for different environments such as liquid stains and solid stains. Furthermore, the second ranging module 40 integrates the lidar 410, the visible light camera 420 and the infrared camera 430. The module is highly integrated and compact, saving internal space of the cleaning robot 1.

[0124] In some embodiments, the cleaning robot 1 further includes at least one of a visible light supplement light 140, an infrared supplement light 150, and a recharge signal light 160. The visible light supplement light 140 is disposed on the front impact plate 130 and located outside the second ranging module 40, the infrared supplement light 150 is disposed on the front impact plate 130 and located outside the second ranging module 40, and the recharge signal light 160 is disposed on the front impact plate 130 and located outside the second ranging module 40. The visible light supplement light 140 is used to supplement the visible light camera 420, thereby improving the image quality captured by the visible light camera 420 in low-light environments.

[0125] The visible light supplement light 140 is disposed on the front impact plate 130, which enables the visible light supplement light 140 to be integrated into the front impact plate 130, further improving the module integration.

[0126] The visible light supplement light 140 is located outside the second ranging module 40 to reduce interference between the visible light supplement light 140 and the second ranging module 40. The visible light supplement light 140 can be set on one side of the second ranging module 40 in the width direction Y, or the visible light supplement light 140 can be set on both sides of the second ranging module 40 in the width direction Y to further enhance the supplement light effect.

[0127] To facilitate the installation of the visible light supplement light 140 on the front impact plate 130, the front impact plate 130 has a recessed groove 132 formed in the direction of travel X towards the body 110 of the robot body 10. The mounting hole 131 is located in the center area of ​​the bottom of the groove 132. The bottom of the groove 132 has a mounting part formed outside the mounting hole 131. The visible light supplement light 140 is installed in the mounting part, so that the visible light supplement light 140 can be accommodated in the groove 132, avoiding the visible light supplement light 140 from protruding from the outer surface of the front impact plate 130, thereby reducing the risk of collision damage to the visible light supplement light 140 when the front impact plate 130 collides with an obstacle.

[0128] The infrared fill light 150 mainly provides an infrared light source for the infrared camera 430 in low-light or nighttime environments, enabling the infrared camera 430 to capture images clearly in low-light or nighttime environments, thus helping the infrared camera 430 to function effectively.

[0129] The infrared fill light 150 is disposed on the front bumper 130, which enables the infrared fill light 150 to be integrated into the front bumper 130, further improving the module integration. The infrared fill light 150 is located on the outside of the second ranging module 40 to reduce interference between the infrared fill light 150 and the second ranging module 40. The infrared fill light 150 can be disposed on one side of the second ranging module 40 in the width direction Y, or the infrared fill light 150 can be disposed on both sides of the second ranging module 40 in the width direction Y to further enhance the infrared fill light effect.

[0130] To facilitate the installation of the infrared auxiliary light 150 on the front bumper 130, the infrared auxiliary light 150 can also be installed in the aforementioned mounting portion, so that the infrared auxiliary light 150 can also be accommodated in the groove 132, preventing the infrared auxiliary light 150 from protruding from the outer surface of the front bumper 130, thereby reducing the risk of collision damage to the infrared auxiliary light 150 when the front bumper 130 collides with an obstacle.

[0131] When the collision plate 130 integrates both a visible light supplement light 140 and an infrared supplement light 150, the visible light supplement light 140 and the infrared supplement light 150 can be arranged at Z intervals along the height direction, and they are respectively arranged corresponding to the positions of the visible light camera 420 and the infrared camera 430. For example, when the visible light camera 420 is located on the side of the infrared camera 430 facing the top of the robot body 10, the visible light supplement light 140 is also located on the side of the infrared supplement light 150 facing the top of the robot body 10, so that the visible light supplement light 140 is as close as possible to the visible light camera 420, and the infrared supplement light 150 is as close as possible to the infrared camera 430, so as to improve the visible light supplement light effect and the infrared supplement light effect.

[0132] Recharging refers to the intelligent feature of the cleaning robot 1 that automatically seeks out and charges its charging dock when its battery level drops below a certain threshold. The charging dock is typically located in a specific area of ​​the user's home. The cleaning robot 1 uses technologies such as lasers or infrared to identify the charging dock's location and automatically proceeds to charge. After charging, the cleaning robot 1 automatically returns to its previous working position to continue the remaining cleaning tasks. Specifically, the principle behind the cleaning robot 1's recharging is that the charging dock continuously emits signals. When the cleaning robot 1's battery is low and it needs to recharge, it slowly moves within its working area. Upon receiving the signal from the charging dock, the cleaning robot 1 moves towards it and eventually docks to recharge.

[0133] The recharge indicator light 160 is used to display the charging status of the cleaning robot 1. When the cleaning robot 1 is charging, the indicator light will light up, indicating that the cleaning robot 1 is receiving power. When charging is complete, the indicator light will turn off or become constantly lit, indicating that charging is finished.

[0134] The recharge signal light 160 is disposed on the front bumper 130, which enables the recharge signal light 160 to be integrated into the front bumper 130, further improving the module integration. The recharge signal light 160 is also located on the outside of the second ranging module 40 to reduce interference between the recharge signal light 160 and the second ranging module 40. The recharge signal light 160 can be disposed on one side of the second ranging module 40 in the width direction Y.

[0135] To facilitate the installation of the recharge signal light 160 on the front bumper 130, the recharge signal light 160 can also be installed in the aforementioned mounting portion, so that the recharge signal light 160 can also be accommodated in the groove 132, preventing the recharge signal light 160 from protruding from the outer surface of the front bumper 130, thereby reducing the risk of collision damage to the recharge signal light 160 when the front bumper 130 collides with an obstacle.

[0136] When the collision plate 130 integrates a visible light supplement light 140, an infrared supplement light 150, and a recharge signal light 160, the recharge signal light 160 can be located on one side of the visible light supplement light 140 and the infrared supplement light 150 in the height direction Z, for example, on the side of the visible light supplement light 140 and the infrared supplement light 150 in the height direction Z facing the bottom of the robot body 10, and is spaced apart from the visible light supplement light 140 and the infrared supplement light 150 in the height direction Z.

[0137] In this embodiment, at least one of the visible light supplement light 140, the infrared supplement light 150, and the recharge signal light 160 is also integrated into the front impact plate 130, further improving the module integration and compactness, and saving internal space of the cleaning robot 1.

[0138] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and not to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. These modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application, and they should all be covered within the scope of the claims and specification of this application. In particular, as long as there is no structural conflict, the various technical features mentioned in the embodiments can be combined in any way. This application is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

Claims

1. A cleaning robot, characterized in that, The cleaning robot is defined with intersecting height and travel directions, and the cleaning robot includes: Robot body; A radar assembly is disposed at the top of the robot body in the height direction and protrudes relative to the robot body; The first ranging module is disposed inside the robot body and is located in front of the radar assembly in the direction of travel; The first ranging module includes: A laser transceiver assembly is used to transmit a first ranging optical signal and a second ranging optical signal, and to receive a first reflected optical signal of the first ranging optical signal and a second reflected optical signal of the second ranging optical signal. The first reflector is located in the optical path of the first ranging optical signal, and is used to emit the first ranging optical signal toward the top of the robot body along the height direction, and to reflect the first reflected optical signal of the first ranging optical signal back to the laser transceiver assembly. The second reflector is located in the optical path of the second ranging optical signal, and is used to emit the second ranging optical signal toward the bottom of the robot body along the height direction, and to reflect the second reflected optical signal of the second ranging optical signal back to the laser transceiver assembly. The robot body moves based on the first reflected light signal and the second reflected light signal received by the laser transceiver component.

2. The cleaning robot according to claim 1, characterized in that, The laser transceiver assembly includes a beam splitter, a laser transmitter, and a laser receiver; The laser emitter is used to emit ranging optical signals; The beam splitter is located in the optical path emitted by the laser emitter and is used to split the ranging optical signal to obtain the first ranging optical signal and the second ranging optical signal. The laser receiver is used to receive the first reflected light signal reflected by the first reflector and the second reflected light signal reflected by the second reflector.

3. The cleaning robot according to claim 1, characterized in that, The laser transceiver assembly includes: A first laser emitter is used to emit the first ranging optical signal; A second laser emitter is used to emit the second ranging optical signal; A laser receiver is used to receive the first reflected light signal of the first ranging light signal reflected by the first reflector and the second reflected light signal of the second ranging light signal reflected by the second reflector.

4. The cleaning robot according to claim 1, characterized in that, The first reflective part includes a first reflective sheet, which has a first reflective surface that is inclined relative to the height direction. The distance between the first reflective surface and the laser transceiver assembly gradually increases along the travel direction from the middle of the robot body toward the top of the robot body. And / or, the second reflective portion includes a second reflective sheet having a second reflective surface that is inclined relative to the height direction, and the distance between the first reflective surface and the laser transceiver assembly gradually increases along the travel direction from the middle of the robot body toward the bottom of the robot body; The optical path of the first ranging optical signal is located on the side of the second ranging optical signal facing the top of the robot body, and the first reflector is located on the side of the second reflector facing the top of the robot body.

5. The cleaning robot according to claim 1, characterized in that, The cleaning robot also includes a processor, which is located on the robot body and connected to the laser transceiver component. The processor is used to process the first reflected light signal received by the laser transceiver component to obtain a first height of the obstacle in the height direction, and to control the movement of the robot body based on the first height. The processor is also used to process the second reflected light signal received by the laser transceiver component to obtain a second height of the obstacle in the height direction, and to control the movement of the robot body based on the second height.

6. The cleaning robot according to claim 1, characterized in that, The cleaning robot also has a width direction, and the height direction, the travel direction and the width direction intersect each other; The first ranging module is a single unit, and the line connecting the projection at the top and the radar component is parallel to the driving direction. Alternatively, multiple first ranging modules may be spaced apart along the width direction, with the line connecting the projection of one first ranging module at the top and the radar component parallel to the driving direction, and the line connecting the projection of the other first ranging modules at the top and the radar component inclined relative to the driving direction.

7. The cleaning robot according to claim 1, characterized in that, The cleaning robot also includes a second ranging module, which is disposed on the robot body and located in front of the first ranging module in the direction of travel. The second ranging module is used to emit a third ranging optical signal and a fourth ranging optical signal, and to receive a third reflected optical signal of the third ranging optical signal and a fourth reflected optical signal of the fourth ranging optical signal; wherein, the third ranging optical signal is emitted parallel to the driving direction toward the front of the cleaning robot, and the fourth ranging optical signal is emitted obliquely to the driving direction toward the front of the cleaning robot. The cleaning robot also moves a first forward distance in the driving direction based on the third reflected light signal received by the second ranging module, and moves a second forward distance in the tilt direction of the driving direction based on the fourth reflected light signal received by the second ranging module.

8. The cleaning robot according to claim 7, characterized in that, The robot body includes a fuselage and a front impact plate. The front impact plate is connected to the front side of the fuselage. The first ranging module is disposed inside the fuselage, and the second ranging module is disposed on the front impact plate.

9. The cleaning robot according to claim 8, characterized in that, The second ranging module includes at least one of a lidar, a visible light camera, and an infrared camera. The lidar is used to detect the first forward distance and the second forward distance, and the visible light camera and the infrared camera are used to identify stains on the working surface of the cleaning robot.

10. The cleaning robot according to claim 9, characterized in that, The cleaning robot also includes at least one of a visible light supplement light, an infrared supplement light, and a recharge signal light. The visible light supplement light is disposed on the front impact plate and located outside the second ranging module. The infrared supplement light is disposed on the front impact plate and located outside the second ranging module. The recharge signal light is disposed on the front impact plate and located outside the second ranging module.

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