Navigation and obstacle avoidance module, cleaning device, and cleaning system

Abstract

A navigation obstacle avoidance module, a cleaning device, and a cleaning system are disclosed. The navigation obstacle avoidance module includes: a visual sensing module, including a transmitter that emits light and a receiver that receives the reflected signal of the reflected light; and a path planning module connected to the visual sensing module. The visual sensing module transmits the reflected signal of the emitted light to the path planning module, and the path planning module plans the cleaning path of the cleaning device based on the reflected signal of the reflected light. When the cleaning device is located on a horizontal walking surface, the elevation angle between the light emitted from the transmitter and the horizontal plane is less than or equal to 3°, and the depression angle between the light emitted from the transmitter and the horizontal plane is less than or equal to 13°.

Claims

1. A navigation obstacle avoidance module, wherein, For cleaning equipment, the navigation and obstacle avoidance module includes: a visual sensing module, including a transmitter that emits light and a receiver that receives reflected light; and a path planning module connected to the visual sensing module, wherein the visual sensing module transmits the reflection signal of the reflected light to the path planning module, and the path planning module plans the cleaning path of the cleaning equipment based on the reflection signal of the reflected light, wherein when the cleaning equipment is located on a horizontal walking surface, the elevation angle between the light emitted from the transmitter and the horizontal plane is less than or equal to 3°, and the depression angle between the light emitted from the transmitter and the horizontal plane is less than or equal to 13°.

2. The navigation obstacle avoidance module according to claim 1, wherein, The first distance between the transmitter and the walking surface of the cleaning device is in the range of 4 cm to 8 cm.

3. The navigation obstacle avoidance module according to claim 2, wherein, The transmitting end emits a first ray and a second ray, and the angle between the first ray and the second ray is in the range of 11° to 12°.

4. The navigation obstacle avoidance module according to claim 3, wherein, The first ray has a first preset angle with the horizontal plane. The upper limit of the first preset angle is the upper limit of the elevation angle. The lower limit of the first preset angle satisfies the following condition: the tangent of the first preset angle is equal to the ratio of the first distance to the first length. The first length is the distance between the transmitting end and the target object in the first horizontal direction. The first length is in the range of 6 mm to 8 mm.

5. The navigation obstacle avoidance module according to claim 4, wherein, The first preset angle is in the range of -0.5° to 3°.

6. The navigation obstacle avoidance module according to claim 3, wherein, The second light beam has a field of view width at a second distance that is greater than the width of the main body of the cleaning device. The second distance is the distance of the obstacle relative to the emitting end along a first horizontal direction. The field of view width is the width in the second horizontal direction, and the width of the main body is the width in the second horizontal direction. The second horizontal direction is perpendicular to the first horizontal direction.

7. The navigation obstacle avoidance module according to claim 6, wherein, The second ray has a second preset angle with the horizontal plane, the lower limit of the second preset angle is the lower limit of the downward angle, and the field of view width satisfies the following conditions: half of the field of view width is equal to the product of the difference between the first height and the second height, the tangent of the complementary angle of the second preset angle, and the tangent of half of the field of view angle of the second ray. The first height is in the range of 10 cm to 25 cm, and the second height is in the range of 1 cm to 6 cm.

8. The navigation obstacle avoidance module according to claim 3, wherein, In the direction of gravity, the first ray is at least partially above at least a portion of the second ray.

9. The navigation obstacle avoidance module according to claim 8, wherein, The transmitting end includes a transmitting element and a beam splitting element. The light emitted by the transmitting element is split into a first beam and a second beam by the beam splitting element.

10. The navigation obstacle avoidance module according to claim 8, wherein, The transmitting end includes a first transmitting element that emits the first light beam and a second transmitting element that emits the second light beam.

11. The navigation obstacle avoidance module according to any one of claims 3 to 10, wherein, The navigation and obstacle avoidance module also includes a shooting module, and the path planning module is signal-connected to the shooting module.

12. A cleaning device, wherein, include: main body; A walking module, which is installed below the main body; And a navigation obstacle avoidance module as described in any one of claims 1 to 11, the navigation obstacle avoidance module being located in front of the main body.

13. A cleaning system, wherein, include: Base station; And the cleaning equipment as described in claim 12, the cleaning equipment being adapted to dock with or leave the base station.

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