Cliff sensor and self-propelled mobile device

Abstract

Embodiments of the present invention provide a cliff sensor, which includes a light-emitting element (1231) and a light-receiving element (1232). A first convex lens (1233) is provided on the light-emitting optical path of the light-emitting element (1231). A spacer (1235) is provided between the light-emitting element (1231) and the light-receiving element (1232). A first total reflection structure is provided at a portion of the first convex lens (1233) close to the spacer (1235). The first total reflection structure is used to totally reflect a first light ray, and the first light ray is a part of the light rays emitted from the light-emitting element (1231) and irradiated onto the spacer within the first convex lens (1235).

Description

Technical Field

[0001] (Related Application) This disclosure claims the priority of Chinese Patent Application No. 202210655181.6, filed on June 10, 2022, and all the disclosure contents of the above Chinese patent application are incorporated herein by reference as part of this disclosure.

[0002] This disclosure relates to the field of sensors, and specifically to cliff sensors and self-propelled mobile devices.

Background Art

[0003] A self-propelled mobile device is a machine that moves autonomously and executes operations automatically. In the operating environment of a self-propelled mobile device, the self-propelled mobile device often encounters cliffs (such as stairs, thresholds, etc.). And when the self-propelled device encounters a cliff, a fall may occur. When a fall of the self-propelled mobile device occurs, the self-propelled mobile device is likely to be damaged.

Summary of the Invention

[0004] In the content of the present invention, a series of concepts in a simplified form are introduced, which will be further described in more detail in the detailed description of the invention. The disclosure content of this disclosure is not intended to define the important features and necessary technical features of the claimed technical solution, nor is it intended to determine the scope of the claimed technical solution.

[0005] In a first aspect, an embodiment of this disclosure provides a cliff sensor including a light-emitting element and a light-receiving element, a first convex lens is provided on the light-emitting optical path of the light-emitting element, and a spacer is provided between the light-emitting element and the light-receiving element, a first total reflection structure is provided at a portion of the first convex lens close to the spacer, and the first total reflection structure is used to totally reflect a first light ray, and the first light ray is a part of the light rays emitted from the light-emitting element and irradiated to the spacer within the first convex lens.

[0006] Optionally, a second convex lens is provided on the light receiving optical path of the light receiving element.

[0007] Optionally, a second total reflection structure is provided on the second convex lens at a portion close to the spacer, and the second total reflection structure is used to totally reflect a second light ray so that the second light ray is received by the light receiving element. The second light ray is a part of the light rays that are reflected by the work target surface after being emitted from the first convex lens and then irradiated onto the spacer within the second convex lens.

[0008] Optionally, the first total reflection structure has a first inclined surface, the first inclined surface is located in a region of the first convex lens close to the spacer, the first inclined surface gradually inclines in a direction away from the spacer from a first end to a second end, the first end is one end of the first inclined surface away from the light emitting element, and the second end is one end of the first inclined surface close to the light emitting element.

[0009] Optionally, the second total reflection structure has a second inclined surface, the second inclined surface is located in a region of the exit surface of the second convex lens close to the spacer, the second inclined surface gradually inclines in a direction away from the spacer from a third end to a fourth end, the third end is one end of the second inclined surface away from the light receiving element, and the fourth end is one end of the second inclined surface close to the light receiving element.

[0010] Optionally, the cliff sensor includes a housing, a housing cavity is provided within the housing, and all of the light emitting element, the light receiving element, and the spacer are provided within the housing cavity. The first convex lens and the second convex lens are mounted on the mounting wall surface of the housing, the mounting wall surface is a light transmissive wall surface, and the mounting wall surface is the wall surface of the housing that faces the emitted light of the light emitting element and allows the incident light of the light receiving element to pass through.

[0011] Optionally, the incident surface of the first convex lens protrudes in a direction close to the light-emitting element, the exit surface of the first convex lens is flat, the exit surface of the second convex lens protrudes in the direction of the light-receiving element, and the incident surface of the second convex lens is flat.

[0012] Optionally, an external connection connector is further provided in the accommodation cavity, and the connector is connected to the light-emitting element and the light-receiving element respectively.

[0013] Optionally, a first opening is further provided at a position corresponding to the insertion end of the connector on the housing, the connector is located in the first opening, and the outer edge of the connector is flush with the edge of the first opening.

[0014] Optionally, a connection wire is provided on the connector, a second opening is provided at a position corresponding to the connection part of the connector and the connection wire on the housing, the connection wire passes through the second opening, a sealing member is provided in the second opening to seal the second opening.

[0015] Optionally, the housing includes a first housing and a second housing connected to the first housing, the accommodation cavity includes a first cavity provided in the first housing and a second cavity provided in the second housing, the first convex lens, the second convex lens, the spacer, the light-receiving element and the light-emitting element are located in the first cavity, and the connector is located in the second cavity.

[0016] Optionally, the first housing and the second housing are fixedly connected or detachably connected.

[0017] Optionally, the second housing includes a first sub-housing and a second sub-housing, and the first sub-housing and the second sub-housing together form the second cavity.

[0018] Optionally, the sealing member is a soft rubber.

[0019] In a second aspect, an embodiment of the present disclosure provides a self-propelled mobile device including a main body and the cliff sensor described above, and the cliff sensor is provided at the bottom of the main body.

[0020] The following accompanying drawings of the present disclosure are used to understand the present disclosure as a part of the embodiments of the present disclosure. The embodiments of the present invention and their descriptions are shown in the accompanying drawings to explain the principles of the present disclosure.

Brief Description of the Drawings

[0021]

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Description of Reference Numerals

[0022] Vacuum cleaning robot 110 Equipment main body 111 Front part 112 Rear part 120 Sensing Module 121 Positioning Sensor 122 Front Collision Structure 123 Cliff Sensor 1231 Light Emitting Element 1232 Light Receiving Element 1233 First Convex Lens 12331 First Inclined Plane 1234 Second Convex Lens 12341 Second Inclined Plane 1235 Spacer 1236 Accommodation Cavity 12361 First Cavity 12362 Second Cavity 1237 Connector 1238 First Opening 1239 Housing 12391 First Housing 12392 Second Housing 123921 First Sub-Housing 123922 Second Sub-Housing 12393 Mounting Wall Surface 12310 Second Opening 12311 Sealing Member 12312 Connection Line 130 Man-Machine Interaction Module 140 Left Wheel 141 Right Wheel 142 Driven Wheel 150 Cleaning System 151 Dry Cleaning System 152 Side Brush 153 Wet Cleaning System 1531 Cleaning Head 1532 Driving Unit 1533 Driving Platform 1534 Support Platform

Mode for Carrying Out the Invention

[0023] In the following description, various specific details are provided in order to offer a more thorough understanding of the present disclosure. However, it will be apparent to those skilled in the art that the present disclosure can be practiced without one or more of these details. In other instances, some well-known technical features in the relevant art are not described to avoid obscuring the present disclosure.

[0024] It should be noted that the terms used herein are for the purpose of describing particular embodiments only and are not intended to limit the exemplary embodiments according to the present disclosure. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Additionally, the terms "comprising" and / or "including" when used in this specification are intended to specify the presence of the described features, integers, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or combinations thereof.

[0025] Next, exemplary embodiments according to the present disclosure will be described in more detail with reference to the accompanying drawings. However, these exemplary embodiments can be embodied in many different forms and should not be construed as being limited to the embodiments described herein. It should be understood that these embodiments are provided to make the disclosure of the present disclosure thorough and complete and to fully convey the idea of these exemplary embodiments to those skilled in the art.

[0026] To avoid the fall of the self-propelled mobile device, an existing mobile device can be equipped with a cliff sensor used to identify cliffs. When the cliff sensor identifies a cliff, the self-propelled mobile device executes a stop or avoidance operation, thereby effectively preventing the self-propelled mobile device from being damaged by falling from a high place.

[0027] In a first aspect, as shown in FIGS. 6 and 10, an embodiment of the present disclosure provides a cliff sensor, which includes a light emitting element 1231 and a light receiving element 1232. A first convex lens 1233 is provided in the light emitting optical path of the light emitting element 1231, and a second convex lens 1234 is provided in the light receiving optical path of the light receiving element 1232. A spacer 1235 is provided between the first convex lens 1233 and the second convex lens 1234. A first total reflection structure is provided at a portion of the first convex lens 1233 close to the spacer 1235. The first total reflection structure is used to totally reflect a first light ray. Thereby, the first light ray is emitted from the first convex lens 1233 in a direction substantially parallel to a preset direction. Here, the first light ray is a part of the light rays emitted from the light emitting element 1231 and irradiated onto the spacer 1235 within the first convex lens 1233. The preset direction is the optical path direction that is emitted from the light emitting element 1231 and converted into substantially parallel light by the first convex lens 1233.

[0028] Here, the first convex lens 1233 is a lens whose incident surface protrudes in a direction close to the light emitting element 1231 and whose exit surface is a plane. Specifically, referring to FIGS. 4, 5, 6, and 10, it may be a lens whose incident surface protrudes in a direction close to the light emitting element 1231 and whose exit surface protrudes in a direction away from the light emitting element 1231. Similarly, the second convex lens 1234 may specifically be a lens whose exit surface protrudes in a direction close to the light receiving element 1232 and whose incident surface is a plane, referring to FIGS. 4, 5, 6, and 10, or a lens whose exit surface protrudes in a direction close to the light receiving element 1232 and whose incident surface protrudes in a direction away from the light receiving element 1232. The light receiving element 1232 and the light emitting element 1231 are generally infrared sensors and may also be lidar.

[0029] The shape of the spacer 1235 may be plate-shaped or other irregular shapes. The material of the spacer 1235 is an opaque material, which prevents the light rays emitted from the light emitting element 1231 from being directly received by the light receiver 40 without being reflected by the work target area surface.

[0030] In a specific application, as shown in FIG. 4, the light rays emitted from the light-emitting element 1231 are irradiated into the first convex lens 1233. Most of the light rays that are not irradiated onto the spacer 1235 are converted into substantially parallel light by the first convex lens 1233 and then emitted. A part of the light rays irradiated onto the spacer 1235, that is, the first light rays, are totally reflected by the first total reflection structure, and the first light rays are emitted in a direction substantially parallel to a preset direction. That is, the first light rays are converted into substantially parallel light by the first total reflection mechanism. Thereby, the intensity of stray light is reduced, the intensity of parallel light is increased, and the intensity of the light reflected by the working target area surface and incident on the second convex lens 1234 is increased. Then, by utilizing the converging effect of the second convex lens 1234, the light rays are converged and emitted to the light-receiving element 1232, and the light intensity received by the light-receiving element 1232 is further increased. Then, the light intensity signal received by the light-receiving element 1232 is converted into an electrical signal and transmitted to the controller. The controller determines the presence or absence of a cliff based on the magnitude of the value of the electrical signal. That is, if the value of the electrical signal is greater than a predetermined value, it is determined that there is no cliff; if the value of the electrical signal is less than or equal to the predetermined value, it is determined that there is a cliff.

[0031] It should be noted that in the present disclosure, the incident surface refers to the surface on which light rays are incident, the exit surface refers to the surface from which light rays are emitted, and the working target area surface refers to the surface of the area where the self-propelled mobile device operates. For example, when the self-propelled mobile device is a sweeping robot, it should be understood that the working target area surface is the floor surface or the carpet surface.

[0032] In this embodiment, due to the first total reflection structure of the first convex lens 1233, some of the light rays irradiated onto the spacer 1235 within the first convex lens 1233 are totally reflected, and some of the light rays irradiated onto the spacer 1235 within the first convex lens 1233 are converted into substantially parallel light and emitted. As a result, the intensity of stray light is reduced, the intensity of parallel light is increased. After the light rays emitted from the light-emitting element 1231 enter the first convex lens 1233, some of the light rays are irradiated onto the bonding interface between the first convex lens 1233 and the spacer 1235. After some of the light rays are reflected by the bonding interface, they are emitted from the first convex lens 1233 in a direction away from the light-receiving element 1232, becoming stray light that is not received by the light-receiving element 1232 even after being reflected by the surface of the working area. This avoids a decrease in the intensity of the light rays received by the light-receiving element 1232, increases the intensity of the light reflected by the working object surface received by the light-receiving element 1232, reduces the false determination rate of the cliff sensor, and improves the sensing accuracy of the cliff sensor. When the working area is a dark object (such as a dark carpet), since the light-receiving element 1232 receives a stronger optical signal, the influence of color on the cliff sensor can also be reduced.

[0033] Furthermore, as shown in FIGS. 4, 5, 6, and 10, the first total reflection structure has a first inclined surface 12331. The first inclined surface 12331 is located in a region of the first convex lens 1233 close to the spacer 1235. The first inclined surface 12331 gradually inclines in a direction away from the spacer 1235 from the first end to the second end. The first end is one end of the first inclined surface 12331 away from the light-emitting element 1231, and the second end is one end of the first inclined surface 12331 close to the light-emitting element 1231.

[0034] In this embodiment, the first inclined surface 12331 gradually inclines in a direction away from the spacer 1235 from the first end to the second end. The distance between the first inclined surface 12331 and the spacer 1235 gradually increases from the first end to the second end. That is, the gap between the first inclined surface 12331 and the spacer 1235 gradually increases from the first end to the second end. The medium on the side of the first inclined surface 12331 is the material of the first convex lens 1233, that is, a medium with a high optical density, and the medium on the other side is air, that is, a medium with a low optical density. Thereby, the first inclined surface 12331 becomes a total reflection surface, and total reflection of the first light ray becomes possible.

[0035] Furthermore, as shown in FIGS. 4, 5, 6, and 10, a second total reflection structure is provided at a portion of the second convex lens 1234 close to the spacer 1235. The second total reflection structure is used to totally reflect the second light ray so that the second light ray is received by the light receiving element 1232. Here, the second light ray is a part of the light rays that are emitted from the first convex lens 1233, reflected by the work target surface, and irradiated onto the spacer 1235 within the second convex lens 1234.

[0036] In some embodiments, after being emitted from the first convex lens 1233, a part of the light rays that are reflected by the work target surface and irradiated into the second convex lens 1234 are irradiated onto the bonding interface between the second convex lens 1234 and the spacer 1235. After being reflected by the bonding interface, the original optical path of these light rays changes. Thus, after these light rays are emitted from the second convex lens 1234, they are not received by the light receiving element 1232, thereby reducing the intensity of the light rays received by the light receiving element 1232 to a certain extent.

[0037] In this embodiment, as shown in FIG. 5, by totally reflecting the second light ray by the second total reflection structure of the second convex lens 1234, after the second light ray is emitted from the second convex lens 1234, it can still be received by the light receiving element 1232, thereby increasing the intensity of the light rays received by the light receiving element 1232.

[0038] Furthermore, as shown in FIGS. 4, 5, 6, and 10, the second total reflection structure has a second inclined surface 12341, and the second inclined surface 12341 is located in a region close to the spacer 1235 on the exit surface of the second convex lens 1234. The second inclined surface 12341 gradually inclines in a direction away from the spacer 1235 from the third end to the fourth end. The third end is one end of the second inclined surface 12341 that is far from the light receiving element 1232, and the fourth end is one end of the second inclined surface 12341 that is close to the light receiving element 1232.

[0039] In this embodiment, the second inclined surface 12341 gradually inclines in a direction away from the spacer 1235 from the third end to the fourth end, and the distance between the second inclined surface 12341 and the spacer 1235 gradually increases from the third end to the fourth end. That is, the gap between the second inclined surface 12341 and the spacer 1235 gradually increases from the third end to the fourth end. As a result, the medium on the second inclined surface 12341 side becomes the material of the second convex lens 1234, that is, a medium with a high optical density, and the medium on the other side becomes air, that is, a medium with a low optical density. Thereby, the second inclined surface 12341 becomes a total reflection surface, and total reflection of the second light ray becomes possible.

[0040] Furthermore, as shown in FIGS. 6 and 10, the cliff sensor includes a housing 1239, and a housing cavity 1236 is provided in the housing 1239. The light emitting element 1231, the light receiving element 1232, and the spacer 1235 are all provided in the housing cavity 1236. The first convex lens 1233 and the second convex lens 1234 are mounted on the mounting wall surface 12393 of the housing 1239, and the mounting wall surface 12393 is a light transmitting wall surface. Here, the mounting wall surface 12393 is a wall surface in the housing 1239 that faces the emitted light of the light emitting element 1231 and through which the incident light of the light receiving element 1232 passes.

[0041] The shape of the housing 1239 may be any shape, such as a cube, a cylindrical body, etc., and is not particularly limited in this embodiment. The housing 1239 can play a role in protecting the light-emitting element 1231 and the light-receiving element 1232, and can improve the service life of the cliff sensor. And the mounting wall surface 12393 may adopt a light-transmitting wall surface, which can avoid blocking the light rays emitted from the first convex lens 1233 and the light rays incident on the second convex lens 1234. Other parts of the housing 1239 may or may not be light-transmissive. Here, the light-transmitting wall may be made of a transparent or translucent material, such as transparent plastic. Further, in some preferred embodiments, the incident surface of the first convex lens 1233 protrudes in a direction close to the light-emitting element 1231, the exit surface is a flat surface, the exit surface of the second convex lens 1234 protrudes in a direction close to the light-receiving element 1232, and the incident surface is a flat surface. Thus, both the first convex lens 1233 and the second convex lens 1234 are located within the accommodation cavity 1236, and the housing plays a role in protecting the first convex lens 1233 and the second convex lens 1234, preventing wear of the first convex lens 1233 and the second convex lens 1234 by external objects. Also, for ease of processing and installation, the spacer 1235 and the housing 1239 are integrally formed. Of course, it is also possible to manufacture the spacer 1235 and the housing 1239 separately and then assemble them.

[0042] Furthermore, the incident surface of the first convex lens 1233 protrudes in a direction close to the light-emitting element 1231, the exit surface of the first convex lens 1233 is a flat surface, the exit surface of the second convex lens 1234 protrudes in a direction close to the light-receiving element 1232, and the incident surface of the second convex lens 1234 is a flat surface.

[0043] Since the incident surface of the first convex lens 1233 protrudes in the direction close to the light-emitting element 1231, the first convex lens 1233 is located within the accommodation cavity 1236. Thereby, the housing can protect the first convex lens 1233, and wear of the incident surface of the first convex lens 1233 by an external object can be prevented. Also, since the exit surface of the first convex lens 1233 is flat, the contact area between the first convex lens 1233 and the side wall of the housing 1239 can be increased, and the connection between the first convex lens 1233 and the side wall of the housing 1239 can be made more stable.

[0044] Similarly, since the exit surface of the second convex lens 1234 protrudes in the direction close to the light-receiving element 1232, the second convex lens 1234 is located within the accommodation cavity 1236. Thereby, the housing can protect the second convex lens 1234, and wear of the incident surface of the second convex lens 1234 by an external object can be prevented. Also, since the incident surface of the second convex lens 1234 is flat, the contact area between the second convex lens 1234 and the side wall of the housing 1239 can be increased, and the connection between the second convex lens 1234 and the side wall of the housing 1239 can be made more stable.

[0045] Furthermore, as shown in FIGS. 6, 7, and 10, a connector 1237 for external connection is further provided within the accommodation cavity 1236, and the connector 1237 is connected to the light-emitting element 1231 and the light-receiving element 1232, respectively.

[0046] The connector 1237 is used to enable the light-emitting element 1231 and the light-receiving element 1232 to realize connection with an external device (for example, a controller).

[0047] In some embodiments, as shown in FIGS. 6 and 10, the housing 1239 includes a first housing 12391 and a second housing 12392 connected to the first housing 12391. The accommodation cavity 1236 is also divided into two cavities, namely, a first cavity 12361 provided in the first housing 12391 and a second cavity 12362 provided in the second housing 12392. The first convex lens 1233, the second convex lens 1234, the spacer 1235, the light receiving element 1232, and the light emitting element 1231 are located in the first cavity 12361, and the connector 1237 is located in the second cavity 12362. Thereby, each member has a corresponding mounting area, and the layout of each member can be made more reasonable.

[0048] Here, the first housing 12391 and the second housing 12392 may be fixedly connected or detachably connected. Here, the fixed connection is a connection such as adhesion, and the detachable connection is a connection such as snap or bolt.

[0049] Furthermore, as shown in FIGS. 6, 7, and 10, the second housing 12392 includes a first sub-housing 123921 and a second sub-housing 123922. The first sub-housing 123921 and the second sub-housing 123922 cooperate to form the second cavity 12362. Here, the first sub-housing 123921 and the second sub-housing 123922 are connected by a detachable connection, such as locking, which can facilitate the installation of the connector 1237 into the second cavity 12362. Of course, the first sub-housing 123921 and the second sub-housing 123922 may also be connected by a fixed connection such as adhesion.

[0050] In a specific application, the connector 1237 is provided in the accommodation cavity 1236 in the following two ways. Specifically, In the first method, as shown in FIGS. 6 to 9, a first opening 1238 is further provided at a position corresponding to the insertion end of the connector of the housing 1239. The connector 1237 is located in the first opening 1238, and the outer edge of the connector 1237 and the edge of the first opening 1238 are flush.

[0051] Since the connector 1237 is located in the first opening 1238, by inserting the connection member of the external device into the first opening 1238, the connection between the connector 1237 and the connection member of the external device can be achieved, or by pulling out the connection member of the external device from the first opening 1238, the disconnection of the connection part between the connector 1237 and the external device can be achieved, thereby facilitating the use of the cliff sensor.

[0052] When the housing 1239 is divided into a first housing 12391 and a second housing 12392, the first opening 1238 is provided on the side wall of the second housing 12392 facing the first convex lens 1233 and the second convex lens 1234, so that it is easy to insert the connector 1237 and the connection member of the external device.

[0053] The outer edge of the connector 1237 and the edge of the first opening 1238 are flush, that is, the connector 1237 is as close as possible to the edge of the first opening 1238, so that the connection part between the connector 1237 and the external device can be brought into complete contact, improving the stability of the connection and avoiding the problem that the contact part between the connector 1237 and the connection part of the external device is small and prone to malfunctions due to disconnection.

[0054] In the second method, as shown in FIGS. 11 and 12, a connection line 12312 is provided on the connector 1237, a second opening 12310 is provided at a position corresponding to the connection part of the connector 1237 and the connection line 12312 of the housing 1239, the connection line 12312 is passed through the second opening 12310, and a sealing member 12311 is provided in the second opening 12310 to seal the second opening 12310.

[0055] When the housing 1239 is divided into a first housing 12391 and a second housing 12392, the second opening 12310 is located on the side wall of the second housing 12392 facing the first convex lens 1233 and the second convex lens 1234, so that it is easy to insert the connector 1237 and the connection member of the external device.

[0056] The sealing member 12311 may be made of a soft rubber, such as a thermoplastic polyurethane elastomer rubber or a thermoplastic elastomer. Here, the sealing member 12311 and the first sub-housing 123921 or the second sub-housing 123922 of the second housing 12392 may have an integral structure. Different from the material of the first sub-housing 123921 or the second sub-housing 123922 of the second housing 12392, the sealing member 12311 and the housing 1239 may be formed by two-shot injection molding. Of course, the sealing member 12311 and the first sub-housing 123921 or the second sub-housing 123922 may have a separate structure. After the sealing member is separately injected, it is fixedly connected to the first sub-housing 123921 or the second sub-housing 123922 by means such as adhesion or heat melting. When the sealing member 12311 is used for a long time and the sealing performance of the sealing member 12311 decreases, it is easy to replace the sealing member 12311.

[0057] By sealing the second opening 12310 with the sealing member 12311, the overall sealing performance of the cliff sensor can be improved, and the problem that dust or moisture in the external environment enters the accommodation cavity 1236, causing the connector 1237 to rust or corrode and shortening the service life of the cliff sensor can be avoided. In order to enable the cliff sensor and the external member to be smoothly connected, the connection wire 12312 extends from the second opening 12310, and the connection between the connector 1237 and the connection part of the external device is realized through the connection wire 12312 extending from the second opening 12310.

[0058] In a second aspect, an embodiment of the present disclosure provides a self-propelled mobile device including a main body and the above-mentioned cliff sensor, and the cliff sensor is provided at the bottom of the main body.

[0059] For the specific structure of the cliff sensor in this embodiment, reference may be made to the above embodiment. Since this self-propelled mobile device adopts all the technical solutions of the above all embodiments, it has at least all the beneficial effects brought by the technical solutions of the above embodiments, and the details are not repeated here.

[0060] The self-propelled mobile device of this embodiment is a device that automatically moves within the area to be cleaned and automatically performs operations. The self-propelled mobile device may be a cleaning robot, such as a sweeping robot 10, a mopping robot, a floor polishing robot, or a weeding robot. For the convenience of description, in this embodiment, the sweeping robot 10 is taken as an example to explain the technical solution of the present disclosure.

[0061] Furthermore, as shown in FIGS. 1 and 2, the sweeping robot 10 includes a device body 110, a sensing module 120, a controller, a driving module, a cleaning system 150, an energy system, and a man-machine interaction module 130. Here, as shown in FIG. 1, the device body 110 includes a front portion 111 and a rear portion 112, and may have a substantially circular shape (circular both front and rear), a substantially D-shaped shape with a square front and a circular rear, a rectangular or square shape that is square both front and rear, or other shapes, but is not limited thereto.

[0062] As shown in FIGS. 1 and 2, the sensing module 120 includes a positioning device 121 provided on the device body 110, a collision sensor provided on a front collision structure 122 of the front portion 111 of the device body 110, a proximity sensor (wall sensor) provided on the side of the device, a cliff sensor 123 provided at the lower part of the device body 110, and sensing devices such as a magnetometer, an accelerometer, a gyroscope, and an odometer provided inside the device body 110, and is used to provide various position information and motion state information of the device to the controller. The positioning device 121 includes, but is not limited to, a camera and a laser distance measuring device (LDS, Laser Distance Sensor). In some preferred embodiments, the positioning device 121 (for example, a camera or a laser sensor) is located at the front side of the main body 110, that is, at the foremost end of the front portion 111, and can accurately detect the environment in front of the cleaning robot and achieve accurate positioning.

[0063] As shown in FIG. 1, a front collision structure 122 can be mounted on the front portion 111 of the device body 110. During the cleaning process, when the drive wheel module 141 propels the cleaning robot 10 to move on the floor surface, the front collision structure 122 can detect one or more events in the traveling path of the cleaning robot 10 through a sensor system provided thereon, such as a collision sensor or a proximity sensor (infrared sensor). The cleaning robot 10 can control the drive module to respond to the events detected by the front collision structure 122, such as an obstacle or a wall, for example, to execute an obstacle avoidance operation by moving away from the obstacle.

[0064] The controller is provided on a circuit board within the device body 110 and includes a NAND non-volatile memory such as a hard disk, a flash memory, and a random access memory, and a communicable computing processor such as a central processing unit and an application processor. The application processor can draw a real-time map of the environment where the cleaning robot 10 is located by using a positioning algorithm, such as simultaneous localization and mapping (SLAM), based on the obstacle information fed back by the laser distance measuring device. Then, by combining the distance information and speed information fed back by a sensor provided on the front collision structure 122, a sensing device such as a cliff sensor 123, a magnetometer, an accelerometer, a gyroscope, and a travel distance meter, the current working state, the current position of the cleaning robot 10, and the current posture of the cleaning robot 10, such as crossing a threshold, climbing a carpet, being on a cliff, being hooked above or below, having a full dust box, or being lifted, are comprehensively determined, and specific next operation strategies are provided according to different situations, so that the cleaning robot 10 can have better cleaning performance and user experience.

[0065] As shown in FIG. 2, the driving module can steer the device body 110 to travel across the floor surface based on a driving command having distance and angle information. The driving module includes a main driving wheel module, and the main driving wheel module can control the left wheel 140 and the right wheel 141. Preferably, in order to more accurately control the movement of the device, the main driving wheel module includes a left driving wheel module and a right driving wheel module respectively. The left and right driving wheel modules are provided along the horizontal axis defined by the device body 110. In order for the cleaning robot 10 to move more stably on the floor surface or have stronger movement ability, the cleaning robot 10 may be provided with one or more driven wheels 142. The driven wheel 142 includes, but is not limited to, a universal wheel. The main driving wheel module includes a driving motor and a control circuit for controlling the driving motor. A circuit for measuring the driving current and an odometer may be connected to the main driving wheel module. The left wheel 140 and the right wheel 141 are provided with a biased drop suspension system, are movably fixed, for example, rotatably attached to the device body 110, and receive a spring bias biased downward from the device body 110. The spring bias enables the driving wheels to maintain contact and traction with the floor surface with a certain ground contact force, and at the same time enables the cleaning element of the cleaning robot 10 to contact the floor surface with a certain pressure.

[0066] The energy system includes a rechargeable battery such as a nickel-metal hydride battery or a lithium battery. A charge control circuit, a battery pack charging temperature detection circuit, and a battery voltage shortage monitoring circuit may be connected to the rechargeable battery, and the charge control circuit, the battery pack charging temperature detection circuit, and the battery voltage shortage monitoring circuit are connected to the microcomputer control circuit. The host computer is connected to the charging pile for charging through a charging electrode 160 provided on the side or below the main body.

[0067] The man-machine interactive module 130 includes buttons on the host computer panel. The buttons are available for the user to make function selections and may include a display screen and / or an indicator lamp and / or a speaker. The display screen, indicator lamp, and speaker display the current mode or function options of the device to the user and may further include a mobile phone client program. For the path navigation type automatic cleaning robot 10, the mobile phone client can display a map of the device's location environment and the device's location to the user, and can provide richer and more user-friendly function items. Specifically, the cleaning robot has various modes such as a working mode and a self-cleaning mode. Here, the working mode refers to the mode in which the cleaning robot automatically performs cleaning operations, and the self-cleaning mode refers to the mode in which the cleaning robot removes dirt on the roller brush and the side brush 152 on the base, automatically collects the dirt, and / or automatically washes and dries the mop cloth.

[0068] The cleaning system 150 may be a dry cleaning system 151 and / or a wet cleaning system 153.

[0069] As shown in FIG. 2, the dry cleaning system 151 provided by the embodiment of the present disclosure includes a roller brush, a dust box, a fan, and an air outlet. The roller brush having a certain interference with the floor sweeps up the dust on the floor and rolls it up in front of the dust suction port between the roller brush and the dust box. Then, it is sucked into the dust box by the gas having a suction force generated by the fan and passing through the dust box. The dry cleaning system 151 may further include a side brush 152 having a rotating shaft. In order to move the debris to the roller brush area of the cleaning system 150, the rotating shaft forms a certain angle with the floor.

[0070] As shown in FIGS. 2 and 3, the wet cleaning system 153 provided by the embodiments of the present disclosure includes a cleaning head 1531, a drive unit 1532, a water supply mechanism, a liquid storage tank, and the like. Here, the cleaning head 1531 may be provided below the liquid storage tank, and the cleaning liquid inside the liquid storage tank is transferred to the cleaning head 1531 through the water supply mechanism, and the cleaning head 1531 performs wet cleaning on the plane to be cleaned. In other embodiments of the present disclosure, the cleaning liquid inside the liquid storage tank may be directly sprayed onto the plane to be cleaned, and the cleaning head 1531 realizes the cleaning of the plane by spreading the cleaning liquid evenly.

[0071] Here, the cleaning head 1531 is used to clean the surface to be cleaned, and the drive unit 1532 is used to drive the cleaning head 1531 to basically reciprocate along the target surface, and the target surface is a part of the surface to be cleaned. The cleaning head 1531 reciprocates along the surface to be cleaned, and a mop cloth is provided on the contact surface between the cleaning head 1531 and the surface to be cleaned. The drive unit 1532 reciprocates the mop cloth of the cleaning head 1531 to generate high-frequency friction with the surface to be cleaned, thereby removing the dirt on the surface to be cleaned, or the mop cloth is installed in a floating state, and during the cleaning process, it is not necessary to drive the mop cloth to reciprocate by the drive unit 1532, and it always contacts the cleaning surface.

[0072] As shown in FIG. 3, the drive unit 1532 may further include a drive platform 1533 and a support platform 1534. The drive platform 1533 is connected to the bottom surface of the device body 110 and is used to provide a driving force. The support platform 1534 is detachably connected to the drive platform 1533 and is used to support the cleaning head 1531, and it moves up and down by the drive of the drive platform 1533.

[0073] Here, the wet cleaning system 153 may be connected to the device main body 110 via an active lifting module. When the wet cleaning system 153 does not temporarily participate in the operation, for example, when the cleaning robot 10 stops at the base station to clean the cleaning head 1531 of the wet cleaning system 153, inject water into the liquid storage tank, or encounters a surface to be cleaned that cannot be cleaned by the wet cleaning system 153, the active lifting module raises the wet cleaning system 153.

[0074] Although the present disclosure has been described through the above embodiments, it should be understood that the above embodiments are only used for illustrative and explanatory purposes and do not limit the present disclosure to the scope of the described embodiments. In addition, those skilled in the art should understand that the present disclosure is not limited to the above embodiments, and various modifications and changes can be made in accordance with the teachings of the present disclosure, and all of these modifications and changes are included in the protection scope of the present disclosure. The protection scope of the present disclosure shall be defined by the appended claims and their equivalent scope.

Claims

1. A cliff sensor comprising a light emitting element and a light receiving element, wherein a first convex lens is provided in the light emitting optical path of the light emitting element, and a spacer is provided between the light emitting element and the light receiving element, wherein a first total reflection structure is provided in a portion of the first convex lens close to the spacer, the first total reflection structure being used to totally reflect a first light beam, the first light beam being a part of the light beams emitted from the light emitting element and irradiated onto the spacer within the first convex lens, a cliff sensor characterized by this.

2. The cliff sensor according to claim 1, wherein a second convex lens is provided in the light receiving optical path of the light receiving element.

3. A second total reflection structure is provided in a portion of the second convex lens close to the spacer, the second total reflection structure being used to totally reflect a second light beam so that the second light beam is received by the light receiving element, the second light beam being a part of the light beams reflected into the second convex lens by a work target surface and irradiated onto the spacer after being emitted from the first convex lens, the cliff sensor according to claim 2.

4. The first total reflection structure has a first inclined surface, the first inclined surface being located in a region of the first convex lens close to the spacer, the first inclined surface gradually inclining in a direction away from the spacer from a first end to a second end, the first end being an end of the first inclined surface away from the light emitting element, and the second end being an end of the first inclined surface close to the light emitting element, the cliff sensor according to claim 1.

5. The second total reflection structure has a second inclined surface, the second inclined surface being located in a region of the exit surface of the second convex lens close to the spacer, the second inclined surface gradually inclining in a direction away from the spacer from a third end to a fourth end, the third end being an end of the second inclined surface away from the light receiving element, and the fourth end being an end of the second inclined surface close to the light receiving element, the cliff sensor according to claim 3.

6. The cliff sensor includes a housing, a housing cavity is provided within the housing, and the light emitting element, the light receiving element, and the spacer are all provided within the housing cavity. The first convex lens and the second convex lens are attached to the mounting wall surface of the housing. The mounting wall surface is a light-transmitting wall surface, and the mounting wall surface is a wall surface in the housing that faces the emitted light of the light-emitting element and through which the incident light of the light-receiving element passes. The cliff sensor according to claim 2.

7. The incident surface of the first convex lens protrudes in a direction close to the light-emitting element, the exit surface of the first convex lens is a flat surface, the exit surface of the second convex lens protrudes in the direction of the light-receiving element, and the incident surface of the second convex lens is a flat surface. The cliff sensor according to claim 6.

8. An external connection connector is further provided in the accommodation cavity, and the connector is connected to the light-emitting element and the light-receiving element respectively. The cliff sensor according to claim 6.

9. A first opening is further provided at a position corresponding to the insertion end of the connector of the housing. The connector is located in the first opening, and the outer edge of the connector is flush with the edge of the first opening. The cliff sensor according to claim 8.

10. A connection wire is provided on the connector, a second opening is provided at a position corresponding to the connection portion of the connector of the housing and the connection wire, the connection wire passes through the second opening, and a sealing member is provided in the second opening to seal the second opening. The cliff sensor according to claim 8.

11. The housing includes a first housing and a second housing connected to the first housing. The accommodation cavity includes a first cavity provided in the first housing and a second cavity provided in the second housing. The first convex lens, the second convex lens, the spacer, the light-receiving element, and the light-emitting element are located in the first cavity, and the connector is located in the second cavity. The cliff sensor according to claim 8.

12. The first housing and the second housing are fixedly connected or detachably connected. The cliff sensor according to claim 11.

13. The second housing includes a first sub-housing and a second sub-housing, and the first sub-housing and the second sub-housing together form the second cavity. The cliff sensor according to claim 12.

14. The sealing member is a soft rubber. The cliff sensor according to claim 10.

15. A self-propelled mobile device comprising a main body and a cliff sensor according to any one of claims 1 to 14, wherein the cliff sensor is provided at the bottom of the main body.

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