Cleaning equipment and cleaning system
By installing sensor components on the cleaning equipment to emit detection light, detect the distance to obstacles and plan a path, the problem of slow response speed when the robot vacuum cleaner avoids obstacles is solved, and a faster obstacle avoidance effect is achieved.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- BEIJING ROCKROBO TECH CO LTD
- Filing Date
- 2025-04-14
- Publication Date
- 2026-05-15
AI Technical Summary
When a robotic vacuum cleaner detects an obstacle that is less than a preset distance away, its response is slow, causing a delay in the obstacle avoidance process.
Sensors are installed on the cleaning equipment to emit a first and a second detection ray, which detect the distance between the equipment and the side and front of the obstacle, respectively. The controller controls the walking mechanism to plan the path and improve the avoidance speed.
By detecting the distance to obstacles in advance, cleaning equipment can plan its movement path more quickly and improve its response speed in avoiding obstacles.
Smart Images
Figure CN224235332U_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of cleaning robot technology, and more particularly to a cleaning device and cleaning system. Background Technology
[0002] A robotic vacuum cleaner is a smart home appliance that can clean floors in a room. It typically removes dust and debris through brushing and vacuuming.
[0003] Robotic vacuum cleaners are typically equipped with detection devices to monitor the distance between the robot and obstacles such as walls. During operation, the robot will change its path only after the detection device determines that the distance between the robot and an obstacle is less than or equal to a preset distance. This control process often has a delay, resulting in a slow response time to obstacles. Utility Model Content
[0004] This application provides a cleaning device and a cleaning system that can improve the response speed of the cleaning device when avoiding obstacles.
[0005] On one hand, this application provides a cleaning device, which includes: a device body, a walking mechanism, and a sensing component; wherein, the walking mechanism is disposed on the device body and is used to drive the device body to move on the surface to be cleaned; the sensing component is disposed on the side of the device body, and the sensing component is capable of emitting at least a first detection light and a second detection light, the first detection light forming a first light spot on a reference plane, the second detection light forming a second light spot on the reference plane, and the second light spot being located in front of the first light spot along the forward direction of the cleaning device; the reference plane is a plane located on the side of the device body where the sensing component is disposed, the reference plane is perpendicular to the surface to be cleaned, and parallel to the forward direction of the cleaning device.
[0006] The cleaning equipment provided in this application features a walking mechanism on its main body, which allows the main body to move to various locations within the area to be cleaned, enabling cleaning of each area. Furthermore, the main body is equipped with a sensing component that detects the distance between the main body and obstacles. Based on the detected distance, the cleaning equipment's movement path can be planned, achieving obstacle avoidance. The sensing component is configured to generate at least two detection beams. A first detection beam located at the rear along the forward direction Y detects the distance between the main body and obstacles on the side of the cleaning equipment, while a second detection beam located at the front along the forward direction Y detects the distance between the main body and obstacles in front of the side of the cleaning equipment. This allows for advance knowledge of the distance between the main body and obstacles in front of the side of the cleaning equipment. Thus, even when there is a significant distance between the cleaning equipment and obstacles, the movement path can be planned in advance, improving the cleaning equipment's response speed for obstacle avoidance.
[0007] In one possible implementation of this application, the sensing component includes a transmitting component and a receiving component. The transmitting component is disposed on the side of the device body and is used to transmit a first detection light and a second detection light. The receiving component is disposed on the side of the device body and is used to receive the reflected first detection light and second detection light.
[0008] In one possible implementation of this application, the cleaning device further includes a controller, which is disposed on the main body of the device, and the transmitting component is electrically connected to the controller; wherein, the controller can control the transmitting component to simultaneously emit a first detection light and a second detection light, or the controller can control the transmitting component to emit the first detection light and the second detection light at different time periods respectively.
[0009] In one possible implementation of this application, the transmitting component includes a first transmitter and a second transmitter, both of which are disposed on the side of the device body. The first transmitter is used to emit a first detection light beam, and the second transmitter is used to emit a second detection light beam.
[0010] In one possible implementation of this application, the transmitting component has a first transmitting region and a second transmitting region, the first transmitting region transmitting a first probe ray and the second transmitting region transmitting a second probe ray.
[0011] In one possible implementation of this application, the transmitting component includes a transmitter and a driving component. The driving component is disposed on the side of the device body. The transmitter is connected to the driving component. The driving component is used to drive the transmitter to move relative to the device body so that the transmitter is in a first position or a second position relative to the device body. The transmitter can emit a first detection light in the first position and emit a second detection light in the second position.
[0012] In one possible implementation of this application, the transmitting component includes a transmitter and a beam splitter. The transmitter is disposed on the side of the device body, and the beam splitter is disposed on the side of the device body and located on the transmission path of the light emitted by the transmitter. The beam splitter is used to split the light emitted by the transmitter into a first detection beam and a second detection beam.
[0013] In one possible implementation of this application, the sensing component further includes a shaping component, which is disposed on the side of the device body and located on the transmission path of the first and second detection rays. The shaping component is used to adjust the transmission shape of the first and second detection rays.
[0014] In one possible implementation of this application, the shaping component includes a collimator for colliding the first probe ray and the second probe ray.
[0015] In one possible implementation of this application, the shaping component further includes a shaping element located on the side of the collimator away from the transmitting component and on the transmission path of the first and second probe rays. The shaping element is used to shape the first probe ray after it has been collimated by the collimator to form a linear first light spot, and to shape the second probe ray after it has been collimated by the collimator to form a linear second light spot.
[0016] In one possible implementation of this application, the shaping element includes a first shaping area and a second shaping area, the first shaping area being located on the transmission path with the first probe light, and the second shaping area being located on the transmission path with the second probe light.
[0017] In one possible implementation of this application, the preset angle between the transmission path of the second probe ray and the forward direction is greater than ° and less than or equal to °.
[0018] In one possible implementation of this application, the main body of the device has a clearance area corresponding to the first and second detection rays, through which the first and second detection rays are transmitted.
[0019] On the other hand, this application provides a cleaning system, which includes a base station and the cleaning equipment provided by any of the above. The base station is used to dock the cleaning equipment.
[0020] The cleaning system provided in this application includes any of the cleaning devices mentioned above. Therefore, when there is a long distance between the cleaning device and the obstacle, the movement path of the cleaning device can be planned in advance, which helps to improve the response speed of the cleaning device in avoiding obstacles. Attached Figure Description
[0021] Figure 1 A top view of the cleaning equipment provided in this application;
[0022] Figure 2 Schematic diagram of the sensor component in the cleaning equipment provided in this application Figure 1 ;
[0023] Figure 3 Schematic diagram of the sensor component in the cleaning equipment provided in this application Figure 2 .
[0024] Explanation of reference numerals in the attached figures:
[0025] 1-Main body of the device; 11-Avoidance zone; 2-Walking mechanism; 3-Sensing component; 31-First transmitter; 32-Second transmitter; 33-Drive component; 34-Shaping component; 341-First shaping component; 342-Second shaping component; 4-Side brush; 5-First detection ray; 6-Second detection ray; 7-Obstacle; X-First direction; Y-Direction of movement; C-Preset angle. Detailed Implementation
[0026] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the specific technical solutions of this application will be further described in detail below with reference to the accompanying drawings of the embodiments of this application. The following embodiments are used to illustrate this application, but are not intended to limit the scope of this application.
[0027] In the embodiments of this application, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the embodiments of this application, unless otherwise stated, "multiple" means two or more.
[0028] Furthermore, in the embodiments of this application, directional terms such as "upper," "lower," "left," and "right" are defined relative to the positions in which the components are schematically placed in the accompanying drawings. It should be understood that these directional terms are relative concepts, used for relative description and clarification, and can change accordingly depending on the position of the components in the accompanying drawings.
[0029] In the embodiments of this application, unless otherwise explicitly specified and limited, the term "connection" should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral part; it can be a direct connection or an indirect connection through an intermediate medium.
[0030] In embodiments of this application, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.
[0031] In the embodiments of this application, the terms "exemplary" or "for example" are used to indicate that something is an example, illustration, or description. Any embodiment or design that is described as "exemplary" or "for example" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or design. Specifically, the use of the terms "exemplary" or "for example" is intended to present the relevant concepts in a specific manner.
[0032] This application provides a cleaning device, which can be a sweeping robot, a mopping robot, a sweeping and mopping robot, or other cleaning devices that meet the requirements.
[0033] For example, cleaning equipment includes, but is not limited to: a main body, a walking mechanism, sensing components, control components, cleaning components, energy components, and human-machine interaction components. These components coordinate with each other to enable the cleaning equipment to move autonomously to perform its cleaning function. The functional elements constituting these components are integrated into the main body of the cleaning equipment. It is understood that the cleaning equipment can be a self-moving cleaning device, which is a device that automatically performs cleaning operations in a designated area without user intervention.
[0034] Reference Figure 1 and Figure 2 , Figure 1 This is a top view of the cleaning equipment provided in this application. Figure 2 Schematic diagram of the sensor component in the cleaning equipment provided in this application Figure 1The cleaning device provided in this application includes: a device body, a walking mechanism, and a sensing component; wherein, the walking mechanism is disposed on the device body and is used to drive the device body to move on the surface to be cleaned; the sensing component is disposed on the side of the device body, and the sensing component is capable of emitting at least a first detection light and a second detection light. The first detection light forms a first light spot on a reference plane, and the second detection light forms a second light spot on the reference plane. Along the forward direction of the cleaning device, the second light spot is located in front of the first light spot. The reference plane is a plane located on the side of the device body where the sensing component is disposed, and the reference plane is perpendicular to the surface to be cleaned and parallel to the forward direction of the cleaning device.
[0035] In this embodiment, the device body 1 is used to clean dust, debris, and other garbage. For example, a negative pressure component, a side brush 4, and a mop assembly can be installed in the device body 1. Along the forward direction Y of the device body 1, the side brush 4 can be positioned on the side of the front end of the device body 1, such as on the edge of the right front part of the device body 1. The negative pressure component can absorb and collect garbage, the side brush 4 can gather garbage near corners and other locations to the suction port of the negative pressure component, and the mop assembly can wipe away stains and other dirt on the ground, thereby cleaning the surface to be cleaned.
[0036] In this embodiment, the walking mechanism 2 can generate movement to drive the cleaning equipment to move autonomously within the surface to be cleaned. For example, the surface to be cleaned can be the floor, carpet, etc. in a room.
[0037] For example, such as Figure 1 As shown, the walking mechanism 2 can be a structure including three rollers, which are arranged in a triangular pattern on the side of the device body 1 closest to the ground. For example, two rollers can be distributed along the first direction X on both sides of the device body 1, and the third roller can be located at the front end of the device body 1 along the forward direction Y. A drive unit can be provided for one of the rollers to drive its rotation, thereby moving the cleaning device. The first direction X is perpendicular to the forward direction Y of the device body 1.
[0038] In this embodiment, the sensing component 3 is used to generate a detection light to detect the distance between the cleaning device and the obstacle 7. The obstacle 7 can be a wall, table, chair, etc., on or beside the travel path of the device body 1, and the device body 1 moves along the extension direction of the obstacle 7. For ease of description and explanation, the following description uses the example of the sensing component 3 being located on the right side of the device body 1 along the forward direction Y to illustrate the cleaning device provided in this embodiment. However, it is not limited that the sensing component 3 can only be located on the right side of the device body 1; the sensing component 3 can also be located on the left side of the device body 1. The side of the device body 1 is the edge portion of the device body 1, and this side includes the side wall of the device body 1 (the circumferential wall surface of the device body 1).
[0039] For example, such as Figure 1 As shown, the sensing component 3 can be configured to generate at least two detection rays. For example, the sensing component 3 can be configured to generate a first detection ray 5 and a second detection ray 6. The first detection ray 5 can be emitted from the device body 1 along a first direction X, that is, the first detection ray 5 is transmitted along a transmission path perpendicular or nearly perpendicular to the forward direction Y of the device body 1, so that the first detection ray 5 can form a first light spot on a reference plane (e.g., a surface on an obstacle 7 parallel to the forward direction Y and perpendicular to the surface to be cleaned).
[0040] The second detection ray 6 can be emitted from the device body 1 at a preset angle C to the forward direction Y, and the second detection ray 6 is transmitted towards the front end of the device body 1, thereby forming a second light spot on the reference plane. In this way, the transmission path of the second detection ray 6 is located at the right front of the device body 1, that is, the second light spot is located in front of the first light spot.
[0041] Alternatively, the sensing component 3 can also generate a third detection ray. This third detection ray can be transmitted from the device body 1 to the front right of the device body 1, and the angle between the transmission path of the third detection ray and the forward direction Y is smaller than the preset angle C between the second detection ray 6 and the forward direction Y. In this way, the distance between the device body 1 and the obstacle 7 can be detected using at least two detection rays, as well as the height of the obstacle 7, etc.
[0042] In another example, the sensing component 3 can be positioned at the front end of the device body 1. That is, if the device body 1 is divided into two equal halves along its forward direction Y, the sensing component 3 can be positioned on the front half of the device body 1, close to the circumferential sidewall of the device body 1. For example, as... Figure 1As shown, the shape of the device body 1 can be approximately cylindrical. A side brush 4 can be positioned on the front right side of the device body 1 along its forward direction Y. The sensing component 3 can then be positioned on the front right edge of the device body 1, behind the side brush 4. Alternatively, the sensing component 3 can be positioned on the front left edge of the device body 1.
[0043] The cleaning device provided in this embodiment has a walking mechanism 2 on its main body 1. This walking mechanism 2 drives the main body 1 to move to various positions within the area to be cleaned, allowing for cleaning of each location. Furthermore, a sensing component 3 is installed on the main body 1. This sensing component 3 detects the distance between the main body 1 and obstacles 7, enabling the cleaning device to plan its movement path and avoid obstacles based on the detected distance. The sensing component 3 is configured to generate at least two detection beams. A first detection beam located at the rear along the forward direction Y detects the distance between the main body 1 and obstacles 7 on the side of the cleaning device, while a second detection beam located at the front along the forward direction Y detects the distance between the main body 1 and obstacles 7 in front of the side of the cleaning device. This allows for advance knowledge of the distance between the main body 1 and obstacles 7 in front of the side of the cleaning device. Thus, even when there is a significant distance between the cleaning device and obstacles 7, the movement path of the cleaning device can be planned in advance, thereby improving the response speed of the cleaning device in avoiding obstacles 7.
[0044] In some possible embodiments of this application, such as Figure 2 As shown, the sensing component 3 includes a transmitting component and a receiving component (not shown in the figure). The transmitting component is disposed on the side of the device body and is used to transmit a first detection light and a second detection light. The receiving component is disposed on the side of the device body and is used to receive the reflected first detection light and second detection light.
[0045] In this embodiment, a transmitting component can be disposed on the side of the device body to generate at least two beams of detection light. Correspondingly, a receiving component can be disposed on the side of the device body to receive the detection light reflected by obstacles. For example, both the transmitting and receiving components can be electrically connected to the controller of the cleaning equipment. After the receiving component receives the detection light reflected by the obstacle, it can generate a corresponding electrical signal and upload it to the controller. The controller can then generate corresponding control commands based on the received electrical signal to control the operation of the walking mechanism.
[0046] For example, if the detection light emitted by the transmitting component is a laser light wave, the receiving component can be a photodetector. If the detection light emitted by the transmitting component is infrared light, the receiving component can be a photodetector.
[0047] In the above embodiments, since the sensing component is provided with a transmitting component and a receiving component, the transmitting component can generate a first detection light and a second detection light, and the receiving component can receive the detection light reflected by the obstacle. Thus, the movement of the walking mechanism can be controlled according to the electrical signal generated by the receiving component, thereby realizing the control of the movement path of the cleaning equipment.
[0048] In some possible embodiments of this application, such as Figure 2 As shown, the transmitting component can be configured with different structures to generate a first detection beam and a second detection beam. For example, the transmitting component includes a first transmitter and a second transmitter, both of which are located on the side of the device body. The first transmitter is used to emit the first detection beam, and the second transmitter is used to emit the second detection beam.
[0049] In this embodiment, two transmitters can be provided in the sensing component 3 to generate a first detection light 5 and a second detection light 6, respectively. For example, the transmitter can be a laser generator, an infrared generator, etc., and the detection light can be a laser, infrared, etc. For ease of description and explanation, the following uses a laser generator as an example to describe the cleaning device provided in this embodiment, but it does not limit the transmitter to only be a laser generator.
[0050] For example, the first transmitter 31 can be disposed on the side of the device body 1 along the first direction X, so that the transmission path of the first detection light 5 generated by the first transmitter 31 is perpendicular or nearly perpendicular to the forward direction Y. The second transmitter 32 can be disposed on the side of the device body 1 along a direction that forms a preset angle C with the forward direction Y, with the emission port of the second transmitter 32 facing the front end of the device body 1, so that the transmission path of the second detection light 6 generated by the second transmitter 32 has a preset angle C with the forward direction Y.
[0051] In this embodiment of the application, the transmitting component may also be configured to have a first transmitting area and a second transmitting area, wherein the first transmitting area emits a first detection ray and the second transmitting area emits a second detection ray.
[0052] For example, a transmitter can be included in the transmitting assembly, and this transmitter can be configured with a structure having two emission zones. For instance, two devices capable of generating laser or infrared light can be placed in the same transmitter, and these two devices can be located in different areas of the transmitter so that the emission ports of the two devices face different directions. In this way, a first detection light can be generated by one device, and a second detection light can be generated by the other device.
[0053] In this embodiment, the transmitting component can also be configured as a structure including a transmitter and a beam splitter. The transmitter is disposed on the side of the main body of the device, and the beam splitter is disposed on the side of the main body of the device and located on the transmission path of the light emitted by the transmitter. The beam splitter is used to split the light emitted by the transmitter into a first detection beam and a second detection beam.
[0054] For example, the transmitter can generate a laser beam or an infrared beam. The beam splitter can be a semi-transparent, semi-reflective mirror, for example, with a beam incident area and two beam exit areas on the beam splitter. In this way, after the laser or infrared beam generated by the transmitter is transmitted to the beam incident area, the beam is transmitted through the beam splitter and then emitted from the two beam exit areas as a first probe beam and a second probe beam, respectively.
[0055] In the above embodiments, since the sensing component 3 includes a first transmitter 31 and a second transmitter 32, the first detection light 5 and the second detection light 6 can be generated by the first transmitter 31 and the second transmitter 32 respectively. Furthermore, by selecting the positions of the first transmitter 31 and the second transmitter 32 on the device body 1, the first detection light 5 and the second detection light 6 can be transmitted along a preset path.
[0056] In some possible embodiments of this application, the cleaning device further includes a controller (not shown in the figure), which is disposed on the main body 1 of the device, and the transmitting component is electrically connected to the controller; wherein, the controller can control the transmitting component to simultaneously emit the first detection light 5 and the second detection light 6, or the controller can control the transmitting component to emit the first detection light 5 and the second detection light 6 at different time periods respectively.
[0057] In this embodiment, a controller can be provided in the main body 1 of the device. The controller may include a control chip, a microcontroller, and a digital signal processor, etc. The first transmitter 31 and the second transmitter 32 in the transmitting assembly can both be electrically connected to the controller. For example, the first transmitter 31 and the second transmitter 32 can both be electrically connected to the same interface of the controller, or the first transmitter 31 and the second transmitter 32 can each be electrically connected to a different interface of the controller.
[0058] For example, the controller can simultaneously send control signals to the first transmitter 31 and the second transmitter 32, thereby enabling the first transmitter 31 and the second transmitter 32 to simultaneously generate the first detection light 5 and the second detection light 6. Alternatively, the controller can send control signals to the first transmitter 31 and the second transmitter 32 sequentially at different time periods through multiple interfaces, thereby enabling the first transmitter 31 and the second transmitter 32 to generate the first detection light 5 and the second detection light 6 at different time periods.
[0059] In the above embodiments, since the transmitting component generates detection light simultaneously, the distances between the device body 1 and obstacles 7 at different locations can be obtained simultaneously, which is beneficial for precise control of the movement path of the device body 1. Alternatively, the controller can control the transmitting component to generate detection light at different times. While obtaining the distances between the device body 1 and obstacles 7 at different locations, this reduces the current or voltage required for the drive signal generator to generate detection light, thus allowing the transmitting component to be controlled by a controller with lower output power.
[0060] In some possible embodiments of this application, reference is made to Figure 3 , Figure 3 Schematic diagram of the sensor component in the cleaning equipment provided in this application Figure 2 The sensing component 3 includes a transmitter and a driving component 33. The driving component 33 is disposed on the device body 1. The transmitter is connected to the driving component 33. The driving component 33 is used to drive the transmitter to move relative to the device body 1, so that the transmitter is in a first position or a second position relative to the device body 1. The transmitter can emit a first detection light 5 in the first position and a second detection light 6 in the second position.
[0061] In the embodiments of this application, such as Figure 3 As shown, the sensing component 3 can be configured to include a transmitter and a driving component 33. That is, only one first transmitter 31 is provided in the sensing component 3, so that the first transmitter 31 can be driven by the driving component 33 to change its position, thereby making the first transmitter 31 stand at different positions on the device body 1.
[0062] For example, the drive assembly 33 can adopt a structure including a drive component and a reducer. The drive component can be a servo motor, a stepper motor, etc. The reducer is fixed inside the main body 1 of the device. The output shaft of the drive component is connected to the input shaft of the reducer. The first transmitter 31 can be fixed on the output shaft of the reducer, thereby driving the reducer to rotate through the drive component, and then driving the first transmitter 31 to rotate through the reducer.
[0063] In another example, the drive assembly 33 can adopt a structure including an electromagnetic component, a rotating component, and a reset component. The rotating component can be rotatably mounted inside the device body 1, the electromagnetic component can be arranged adjacent to the rotating component, and one end of the reset component can be connected to the rotating component, while the other end can be connected to the device body 1. The first transmitter 31 can be fixed to the rotating component. In this way, a magnetic force can be applied to the rotating component by the electromagnetic component to make the rotating component rotate. When the magnetic force of the electromagnetic component disappears, the rotating component returns to its original position under the action of the reset component.
[0064] In another example, by controlling the angle and range of rotation of the drive component 33 relative to the device body 1, the drive component 33 can drive the first transmitter 31 to move between a first position and a second position, thereby enabling the detection light generated by the first transmitter 31 to be transmitted along the transmission path of the first detection light 5 or along the transmission path of the second detection light 6.
[0065] In the above embodiments, since the sensing component 3 includes a transmitter and a driving component 33, the transmitter can be driven to rotate relative to the main body 1 by the driving component 33, so that the transmitter can move between the first position and the second position. In this way, the same transmitter can generate a first detection light 5 and a second detection light 6 with different transmission paths, which is beneficial to reduce the number of transmitters.
[0066] In some possible embodiments of this application, such as Figure 2 and Figure 3 As shown, the sensing component 3 also includes a shaping component 34, which is disposed on the side of the device body 1 and located on the transmission path of the first detection light 5 and the second detection light 6. The shaping component 34 is used to adjust the transmission shape of the first detection light 5 and the second detection light 6.
[0067] In this embodiment of the application, a shaping component 34 can be provided in the sensing component 3 to adjust and process the detection light generated by the transmitter.
[0068] For example, the structure of the shaping component 34 can be configured according to the type of transmitter. For instance, if the transmitter generates a laser beam, the shaping component can be configured to collimate and shape the laser beam, such as shaping the laser beam into a linear laser spot on a reference plane. If the transmitter generates infrared light, the shaping component can be configured to collimate and shape the infrared light, such as shaping the infrared light into a linear infrared spot on a reference plane.
[0069] In another example, the shaping component 34 can be positioned on the transmission path of the first probe ray 5 and the second probe ray 6, that is, the shaping component 34 can be positioned at the front end of the transmitter's outlet so that the raw signal generated by the transmitter can be transmitted to the shaping component 34. For example, as Figure 2 As shown, when the sensing component 3 includes two transmitters, a set of shaping components 34 can be provided for each transmitter; that is, a first shaping component 341 is provided for the first transmitter 31, and a second shaping component 342 is provided for the second transmitter 32. Figure 3 As shown, when the sensing component 3 includes a rotatable transmitter, a set of shaping components 34 can be provided for the transmitter. The set of shaping components 34 can be fixed on the driving component 33 so that the shaping components 34 and the transmitter rotate synchronously under the drive of the driving component 33. Alternatively, two sets of shaping components 34 can be provided for the transmitter, that is, the first shaping component 341 is set in the area corresponding to the first position of the transmitter, and the second shaping component 342 is set in the area corresponding to the second position of the transmitter.
[0070] In the above embodiments, since a shaping component 34 is provided on the transmission path of the first detection ray 5 and the second detection ray 6, the original signal generated by the transmitter can be adjusted and processed by the shaping component 34 to obtain the required first detection ray 5 and second detection ray 6. This helps to reduce the attenuation of the first detection ray 5 and the second detection ray 6 during transmission, thereby enabling the first detection ray 5 and the second detection ray 6 to maintain a high energy density, which in turn helps to improve the accuracy of obstacle 7 detection.
[0071] In some possible embodiments of this application, the shaping component 34 includes a collimator for collimating the first probe ray 5 and the second probe ray 6.
[0072] In this embodiment of the application, when the transmitter uses a device capable of generating laser or infrared light, a collimator can be provided in the shaping component 34 to collimate the first detection light 5 and the second detection light 6.
[0073] For example, when the first probe ray 5 and the second probe ray 6 are light waves, such as lasers, the collimator can be configured to collimate the laser emitted by the laser generator to reduce the divergence of the point laser. For instance, the collimator may include a collimating lens or a collimating lens group. The collimating lens can be a plano-convex lens. The materials of the collimating lens or collimating lens group include, but are not limited to, polycarbonate (PC), polymethyl methacrylate (PMMA), and glass.
[0074] In the above embodiments, since the shaping component 34 includes a collimator, the first detection ray 5 and the second detection ray 6 can be collimated by the collimator, thereby focusing or clustering the first detection ray 5 and the second detection ray 6, which is beneficial to concentrate the energy of the first detection ray 5 and the second detection ray 6 and improve the energy density of the first detection ray 5 and the second detection ray 6.
[0075] In some possible embodiments of this application, the shaping component 34 further includes a shaping element located on the side of the collimator away from the transmitting component and on the transmission path of the first probe ray 5 and the second probe ray 6. The shaping element is used to shape the first probe ray 5 after it has been collimated by the collimator to form a linear first light spot, and to shape the second probe ray 6 after it has been collimated by the collimator to form a linear second light spot.
[0076] In this embodiment, when the transmitter uses a device capable of generating laser or infrared light, a shaping component can be provided in the shaping assembly 34 to adjust the detection light collimated by the collimator into a linear detection light. The cross-section of the linear detection light exhibits a slender linear shape, rather than a dot or circle. After the linear detection light is transmitted to the obstacle 7, it forms a linear light spot on the obstacle 7.
[0077] For example, when the detected light is a light wave, such as a laser, the shaping element can be configured as a structure that shapes the laser in a linear fashion. For instance, the shaping element may include a lens group, which may include a conventional cylindrical lens, an aspherical lens, a Powell prism, an aspherical cylindrical lens, and a freeform lens, etc.
[0078] In the above embodiments, since the shaping component 34 includes a shaping element, the first detection ray 5 and the second detection ray 6 can be shaped by the shaping element, so that the first detection ray 5 and the second detection ray 6 collimated by the collimator can be formed into linear first detection ray 5 and second detection ray 6, thereby enabling the first detection ray 5 and the second detection ray 6 to cover a larger detection area, which is beneficial to improving the accuracy of obstacle 7 detection.
[0079] In some possible embodiments of this application, the shaping element includes a first shaping area and a second shaping area, the first shaping area being located on the transmission path of the first probe light 5, and the second shaping area being located on the transmission path of the second probe light 6.
[0080] In this embodiment of the application, when the transmitter generates two probe rays, the shaping component can be configured with a structure having two shaping areas. That is, a first shaping area and a second shaping area with identical or nearly identical structures are provided on the same shaping component.
[0081] For example, the shaping component can be fixed to the device body 1, and the first shaping area on the shaping component is located on the transmission path with the first detection light 5, while the second shaping area is located on the transmission path with the second detection light 6.
[0082] In the above embodiment, since two shaping areas are provided on the shaping component, the first and second shaping areas on the same shaping component can be used to shape the first detection light 5 and the second detection light 6 transmitted in two directions, respectively.
[0083] In some possible embodiments of this application, such as Figure 1 As shown, the preset angle C between the transmission path of the second probe ray 6 and the forward direction Y is greater than 0° and less than or equal to 30°.
[0084] In this embodiment, the range of obstacles 7 that the cleaning device can detect on the side and in front of the cleaning device can be controlled by setting the preset angle C between the transmission path of the detection light generated by the sensing component 3 and the forward direction Y.
[0085] For example, when the preset angle C between the transmission path of the second detection beam 6 and the forward direction Y is smaller, and the distance (distance along the first direction X) between the device body 1 and the obstacle 7 on the side is fixed, the second detection beam 6 can detect the obstacle 7 located further away from the device body 1 on the right front. Conversely, when the preset angle C between the transmission path of the second detection beam 6 and the forward direction Y is larger, and the distance between the device body 1 and the obstacle 7 on the side is fixed, the second detection beam 6 can detect the obstacle 7 located closer to the device body 1 on the right front.
[0086] Another example, such as Figure 1 As shown, the preset angle C between the transmission path of the second detection ray 6 and the forward direction Y can be set to be greater than 0° and less than or equal to 30°. For example, the preset angle C can be set to 0°, 5°, 8°, 12°, 16°, 19°, 22°, 24°, 27°, or 30°. This application embodiment does not limit the specific angle value of the preset angle C.
[0087] In the above embodiment, since the angle between the transmission path of the second detection light 6 and the forward direction Y is set to be greater than 0° and less than or equal to 30°, the obstacle 7 that is at least flush with the front end of the device body 1 along the forward direction Y can be detected by the sensing component 3. This allows sufficient time and distance to be reserved for the cleaning device, so that the cleaning device does not need to stop moving along the forward direction Y first, but can avoid the obstacle 7 with a smooth path.
[0088] In some possible embodiments of this application, such as Figure 1 As shown, the main body 1 of the device has a clearance area 11 corresponding to both the first detection light 5 and the second detection light 6, and both the first detection light 5 and the second detection light 6 are transmitted through the clearance area 11.
[0089] In this embodiment, when the sensing component 3 is disposed within the device body 1, the first detection light 5 and the second detection light 6 need to pass through the housing of the device body 1 for transmission. Therefore, a clearance area 11 can be provided on the device body 1 to form a transmission channel for the first detection light 5 and the second detection light 6.
[0090] For example, a through hole can be provided on the housing of the device body 1 in the area corresponding to the first detection light 5 and the second detection light 6, respectively. Alternatively, a larger through hole can be provided on the housing, which covers the transmission path of the first detection light 5 and the second detection light 6. Other components inside the device body 1 can also be positioned away from the transmission path of the first detection light 5 and the second detection light 6 to avoid obstructing the transmitter, the first detection light 5, and the second detection light 6.
[0091] In the above embodiments, since an avoidance area 11 is provided on the device body 1, a transmission channel for the first detection light 5 and the second detection light 6 can be formed through the avoidance area 11, thereby reducing the impact of the device body 1 on the transmission of the first detection light 5 and the second detection light 6.
[0092] Additionally, this application also provides a cleaning system. The cleaning system includes a base station, which is used in conjunction with cleaning equipment.
[0093] For example, when the cleaning equipment starts working, it departs from the base station to perform the cleaning task. When the cleaning equipment is charging or performing other operations, such as water replenishment, and / or washing, and / or dust collection, it returns to the base station to complete the charging or other operations.
[0094] The cleaning system provided in this application includes the cleaning equipment provided in any of the above embodiments. Therefore, when there is a long distance between the cleaning equipment and the obstacle, the movement path of the cleaning equipment can be planned in advance, which helps to improve the response speed of the cleaning equipment in avoiding obstacles.
[0095] The above embodiments are merely illustrative of the technical solutions of this application and are not intended to limit it. 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 all should be covered within the scope of the 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.
Claims
1. A cleaning device, characterized in that, include: Equipment body (1); Walking mechanism (2), the walking mechanism (2) is disposed on the main body of the equipment (1) and is used to drive the main body of the equipment (1) to move on the surface to be cleaned; A sensing component (3) is disposed on the side of the device body (1), and the sensing component (3) is capable of emitting at least a first detection light and a second detection light. The first detection light forms a first light spot on a reference plane, and the second detection light forms a second light spot on the reference plane. Along the forward direction of the cleaning device, the second light spot is located in front of the first light spot. The reference plane is a plane located on the side of the device body (1) where the sensing component (3) is disposed. The reference plane is perpendicular to the surface to be cleaned and parallel to the forward direction of the cleaning device.
2. The cleaning equipment according to claim 1, characterized in that, The sensing component (3) includes: A transmitting component is disposed on the side of the device body (1), and the transmitting component is used to transmit the first detection light and the second detection light; A receiving component is disposed on the side of the device body (1) and is used to receive the reflected first detection light and second detection light.
3. The cleaning equipment according to claim 2, characterized in that, The cleaning device also includes a controller, which is disposed on the main body of the device (1), and the transmitting component is electrically connected to the controller; wherein, the controller can control the transmitting component to simultaneously transmit the first detection light and the second detection light, or the controller can control the transmitting component to transmit the first detection light and the second detection light at different time periods respectively.
4. The cleaning equipment according to claim 2, characterized in that, The transmitting assembly includes a first transmitter (31) and a second transmitter (32). The first transmitter (31) and the second transmitter (32) are both disposed on the side of the main body (1) of the device. The first transmitter (31) is used to emit the first detection light, and the second transmitter (32) is used to emit the second detection light.
5. The cleaning equipment according to claim 2, characterized in that, The transmitting component has a first transmitting area and a second transmitting area, wherein the first transmitting area transmits the first detection light and the second transmitting area transmits the second detection light.
6. The cleaning equipment according to claim 2, characterized in that, The transmitting assembly includes a transmitter and a driving assembly (33). The driving assembly (33) is disposed on the side of the device body (1). The transmitter is connected to the driving assembly (33). The driving assembly (33) is used to drive the transmitter to move relative to the device body (1) so that the transmitter is in a first position or a second position relative to the device body. The transmitter can emit the first detection light in the first position and the transmitter can emit the second detection light in the second position.
7. The cleaning equipment according to claim 2, characterized in that, The transmitting component includes a transmitter and a beam splitter. The transmitter is disposed on the side of the device body (1), and the beam splitter is disposed on the side of the device body (1) and located on the transmission path of the light emitted by the transmitter. The beam splitter is used to split the light emitted by the transmitter into a first detection light and a second detection light.
8. The cleaning equipment according to any one of claims 2 to 7, characterized in that, The sensing component (3) further includes a shaping component (34), which is disposed on the side of the device body (1) and located on the transmission path of the first detection light and the second detection light. The shaping component (34) is used to adjust the transmission shape of the first detection light and the second detection light.
9. The cleaning equipment according to claim 8, characterized in that, The shaping component (34) includes a collimator for collating the first probe ray and the second probe ray.
10. The cleaning equipment according to claim 9, characterized in that, The shaping component (34) further includes a shaping element located on the side of the collimator away from the transmitting component and on the transmission path of the first probe light and the second probe light. The shaping element is used to shape the first probe light after it has been collimated by the collimator to form a linear first light spot, and to shape the second probe light after it has been collimated by the collimator to form a linear second light spot.
11. The cleaning equipment according to claim 10, characterized in that, The shaping component includes a first shaping area and a second shaping area, wherein the first shaping area is located on the transmission path of the first detection light, and the second shaping area is located on the transmission path of the second detection light.
12. The cleaning equipment according to any one of claims 1 to 7, characterized in that, The preset angle between the transmission path of the second detection ray and the forward direction is greater than 0° and less than or equal to 30°.
13. The cleaning equipment according to any one of claims 1 to 7, characterized in that, The main body (1) of the device has a clearance area (11) corresponding to the first detection light and the second detection light, and the first detection light and the second detection light are transmitted through the clearance area (11).
14. A cleaning system, characterized in that, include: The cleaning equipment according to any one of claims 1 to 13; A base station, which is used to dock the cleaning equipment.