Automatic cleaning device and cleaning system

Abstract

An automatic cleaning device and a cleaning system. The automatic cleaning device comprises: an automatic cleaning device body (110); and a sensing module (120), the sensing module (120) being disposed on the automatic cleaning device body (110), and the sensing module (120) comprising: a line laser module and an RGB image acquisition module (123), wherein the line laser module is used for emitting line laser light, the emission direction of the line laser light being horizontally and downward inclined, and the line laser module comprises: an emission assembly (121), the emission assembly (121) being used for emitting single-line laser light.

Description

Automatic cleaning equipment and cleaning systems

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This disclosure claims priority to Chinese patent application No. 202322318458.9 filed on August 25, 2023. The contents of the above-mentioned Chinese patent application disclosure are hereby incorporated by reference in their entirety as a part of this application. Technical Field

[0003] The embodiments of the present application relate to the technical field of automatic cleaning equipment, and in particular to an automatic cleaning equipment and a cleaning system. Background Art

[0004] With the advancement of technology, service robots are becoming increasingly ubiquitous in everyday life, such as cleaning robots, food delivery robots, and commercial robots. All types of robots require active obstacle avoidance. These capabilities require robots to accurately circumvent obstacles such as shoes, chairs, and scales in complex environments. Currently, robots typically utilize a combination of one or more of the following solutions: binocular ranging, 3D-Tof, and structured light. However, binocular and 3D-Tof solutions suffer from low ranging accuracy, while structured light solutions are costly.

[0005] Summary of the Invention

[0006] The present disclosure aims to solve at least one of the technical problems existing in the prior art or related art.

[0007] To this end, a first aspect of the present disclosure provides an automatic cleaning device.

[0008] A second aspect of the present disclosure provides a cleaning system.

[0009] In view of this, according to a first aspect of an embodiment of the present application, an automatic cleaning device is proposed, comprising:

[0010] Automatic cleaning device body;

[0011] A sensing module is provided on the main body of the automatic cleaning device. The sensing module includes: a line laser module and an RGB image acquisition module. The line laser module is used to emit a line laser, and the emission direction of the line laser is horizontally tilted downward.

[0012] In a feasible implementation manner, the RGB image acquisition module is used to acquire environmental image information of the automatic cleaning device body.

[0013] In a feasible embodiment, the automatic cleaning device further includes:

[0014] A processor is connected to the line laser module and the RGB image acquisition module.

[0015] In a feasible implementation, the line laser module includes:

[0016] The emitting component is used to emit a single-line laser.

[0017] A receiving component is used to collect first image information of the laser on the object.

[0018] In a feasible embodiment, the transmitting assembly includes:

[0019] driving circuit unit;

[0020] A vcsel unit, the driving circuit unit is connected to the vcsel unit, and the vcsel unit is used to emit the laser.

[0021] In a feasible embodiment, the transmitting assembly further includes:

[0022] A focusing mirror unit, used for focusing the laser emitted by the vcsel unit;

[0023] The wave mirror unit is arranged on a side of the focusing mirror unit away from the vcsel unit.

[0024] In a feasible implementation manner, the receiving component includes:

[0025] sensor;

[0026] a lens unit for imaging the line laser reflected by the object onto a sensor;

[0027] a filtering unit, arranged on a side of the lens unit away from the sensor;

[0028] The signal processing unit is connected to the sensor and is used to convert the photoelectric signal into a digital signal.

[0029] In a feasible implementation manner, the perception module further includes:

[0030] a housing connected to the main body of the automatic cleaning device;

[0031] a bracket, the bracket being used to be connected to the housing;

[0032] Wherein, the line laser module and / or RGB image acquisition module is connected to the bracket.

[0033] In a feasible implementation manner, the perception module further includes:

[0034] A fill light is connected to the bracket and is used to provide fill light for the RGB image acquisition module.

[0035] In a feasible embodiment, the automatic cleaning device further includes:

[0036] A protective lens is used to cover at least one of the RGB image acquisition module, the fill light and the line laser module.

[0037] In a feasible embodiment, a hollow portion is formed in the area of ​​the protective lens corresponding to the fill light.

[0038] In a feasible implementation manner, a mounting hole is formed on the housing, and the line laser module and / or the RGB image acquisition module sends or receives signals through the mounting hole.

[0039] In a feasible implementation manner, the perception module further includes:

[0040] The pile-finding light receiving module is used to receive the pile-finding signal transmitted by the base station.

[0041] In a feasible implementation manner, the pile-finding light receiving module is arranged on the bracket.

[0042] According to a second aspect of an embodiment of the present application, a cleaning system is provided, comprising:

[0043] An automatic cleaning device as described in any of the above technical solutions;

[0044] A cleaning base station is used to provide maintenance for the automatic cleaning device.

[0045] Compared with the prior art, the present disclosure has at least the following beneficial effects:

[0046] The automatic cleaning device provided in the embodiment of the present application includes an automatic cleaning device body and a sensing module. During use, the automatic cleaning device body is used to perform service tasks, and the sensing module is used to navigate the automatic cleaning device body. Through the automatic cleaning device provided in the embodiment of the present application, during use, a laser is emitted by a line laser module. Since the output direction of the line laser module is inclined toward the ground hitting direction, when the laser is projected onto an obstacle, the outline of the laser projection will be deformed. The position of the obstacle can be determined by this deformation. Since the output direction of the line laser module is inclined toward the ground hitting direction, the laser can be projected onto the area in front of the automatic cleaning device body. By tilting it toward the ground hitting direction, the projection distance of the laser can be controlled. As the automatic cleaning device body moves, the laser can traverse the area in front of the automatic cleaning device body. Based on this, obstacles in the horizontal and vertical directions in front of the automatic cleaning device body can be identified by a line laser, and the distance between the obstacle and the automatic cleaning device body can be determined, thereby facilitating the automatic cleaning device body to avoid obstacles. Such a setting ensures the accuracy of obstacle avoidance while reducing the cost of obstacle avoidance. The distance to the obstacle can be obtained through the line laser module, and the outline of the obstacle can be obtained through the RGB image acquisition module. Based on this, the RGB image acquisition module and the line laser module are used together, which can enable the automatic cleaning device body to more accurately determine the surrounding environmental information, and improve the obstacle avoidance effect and operation effect of the automatic cleaning device body. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Various other advantages and benefits will become apparent to those skilled in the art upon reading the detailed description of the preferred embodiment below. The accompanying drawings are for illustration purposes only and are not to be considered as limiting the present application. The same reference symbols are used throughout the drawings to represent the same components. In the drawings:

[0048] FIG1 is a schematic diagram of an automatic cleaning device in use according to an embodiment of the present application;

[0049] FIG2 is a schematic structural diagram of a sensing module of an automatic cleaning device according to an embodiment of the present application;

[0050] FIG3 is a schematic structural block diagram of a sensing module of an automatic cleaning device according to an embodiment of the present application;

[0051] FIG4 is a schematic diagram of the working principle of a wave mirror unit of an automatic cleaning device according to an embodiment of the present application;

[0052] FIG5 is a schematic diagram showing the working principle of a filter unit of an automatic cleaning device according to an embodiment of the present application;

[0053] FIG6 is a schematic structural diagram of a bracket of a sensing module of an automatic cleaning device according to an embodiment of the present application;

[0054] FIG7 is a schematic flowchart of a method for controlling an automatic cleaning device according to an embodiment of the present application;

[0055] FIG8 is a schematic diagram of the obstacle avoidance principle of a control method for an automatic cleaning device according to an embodiment of the present application;

[0056] FIG9 is a schematic diagram of laser emission control in a control method for an automatic cleaning device according to an embodiment of the present application;

[0057] FIG10 is a block diagram of a computer-readable storage medium according to an embodiment of the present application;

[0058] FIG11 is a structural block diagram of an electronic device of an air conditioner according to an embodiment of the present application.

[0059] The corresponding relationship between the reference numerals and component names is as follows:

[0060] 110 automatic cleaning equipment body, 120 sensing module;

[0061] 121 transmitting component, 122 receiving component, 123 RGB image acquisition module, 124 fill light, 125 protective lens, 126 bracket, 127 housing, 128 pile-finding light receiving module;

[0062] 1211 driving circuit unit, 1212 VCSEL unit, 1213 focusing mirror unit, 1214 wave mirror unit, 1221 sensor, 1222 lens unit, 1223 filtering unit, 1224 signal processing unit, 1251 hollow part, 1261 mounting hole. DETAILED DESCRIPTION

[0063] In order to better understand the above technical solution, the technical solution of the embodiment of the present application is described in detail below through the accompanying drawings and specific embodiments. It should be understood that the embodiment of the present application and the specific features in the embodiment are detailed descriptions of the technical solution of the embodiment of the present application, rather than limitations on the technical solution of the present application. In the absence of conflict, the embodiment of the present application and the technical features in the embodiment can be combined with each other.

[0064] As shown in Figures 1 to 6, according to the first aspect of an embodiment of the present application, an automatic cleaning device is proposed, including: an automatic cleaning device body 110; a sensing module 120, the sensing module 120 is arranged on the automatic cleaning device body 110, and the sensing module 120 includes: a line laser module and an RGB image acquisition module 123, the line laser module is used to emit a line laser, and the emission direction of the line laser is horizontally tilted downward.

[0065] The automatic cleaning device provided in the embodiment of the present application includes an automatic cleaning device body 110 and a sensing module 120. During use, the automatic cleaning device body 110 is used to perform service tasks, and the sensing module 120 is used to sense the surrounding environment information for the automatic cleaning device body 110, specifically, obtaining obstacle information through a line laser, or identifying obstacle types and other information through RGB. The automatic cleaning device provided by the embodiment of the present application emits a line laser through a line laser module during use. Since the output direction of the line laser module is tilted horizontally downward, the output direction of the line laser is tilted toward the ground hitting direction. When the laser is projected onto an obstacle, the outline of the laser projection will be deformed (as shown in Figure 1, the thick black solid line is the laser). The position of the obstacle can be determined by this deformation. The line laser can be projected onto the area in front of the automatic cleaning device body 110. By tilting it toward the ground hitting direction, the projection distance of the laser can be controlled. As the automatic cleaning device body 110 moves, the laser can traverse the area in front of the automatic cleaning device body 110. Based on this, obstacles in the horizontal and vertical directions in front of the automatic cleaning device body 110 can be identified through a line laser, and the distance between the obstacle and the automatic cleaning device body 110 can be determined, thereby facilitating the automatic cleaning device body 110 to avoid obstacles. Such a setting ensures the accuracy of obstacle avoidance while reducing the cost of obstacle avoidance.

[0066] The automatic cleaning device provided in the embodiment of the present application may further include an RGB image acquisition module 123 (RGB camera) in the sensing module 120. During use, the RGB image acquisition module 123 may be used in combination with the receiving module to jointly avoid obstacles. For example, the RGB image acquisition module 123 may capture an environmental image as second image information. By parsing the second image and identifying the outline of the object in the second image information, the type of obstacle can be determined. The first image information captured by the line laser module can clearly determine the distance of the obstacle. Based on this, the automatic cleaning device body 110 is controlled to operate according to the obstacle distance and obstacle type, which can improve the operation quality of the automatic cleaning device body 110. Taking the automatic cleaning device body 110 as the cleaning device body, and taking slippers and weight scales commonly seen in home scenes as examples, the automatic cleaning device first captures an environmental image using the RGB image acquisition module 123 and identifies an irregular obstacle such as a slipper in front of the sweeper through contour matching. Next, the collision-free mode is selected to execute the obstacle avoidance strategy based on the triangulation point cloud data of the transmitting component 121 and the receiving component 122, and the nearest point of the irregular shape of the slipper to the cleaning device body is selected. If the RGB image acquisition module 123 recognizes that the obstacle on the side of the cleaning device body is a weight scale or other regular obstacle, the triangulation system point cloud data of the transmitting component 121 and the receiving component 122 can be called to select a close-fitting method to prevent missed scanning and execute the obstacle avoidance strategy. Based on this, the RGB image acquisition module 123, the transmitting component 121 and the receiving component 122 jointly perform obstacle avoidance, which can improve the obstacle avoidance effect and operation effect of the automatic cleaning device body 110.

[0067] In traditional technology, some solutions use binocular vision for navigation and obstacle avoidance. The basic principle of binocular vision is similar to that of the human eye. It uses two parallel IR (infrared) cameras to shoot, and then uses a series of complex algorithms to calculate the distance of a specific point based on the difference (parallax) between the two images. When there is enough data, a depth map can be generated to measure the distance between the obstacle and the machine, thereby achieving intelligent obstacle avoidance. This solution has high requirements for the relative position of the two cameras for binocular obstacle avoidance. The binocular position calibration needs to achieve pixel-level accuracy, which makes production and manufacturing difficult. The binocular principle requires finding the feature points of the pictures taken by the two cameras and then performing triangulation. However, it is impossible to match obstacles without feature points such as white walls, resulting in ranging failure and failure to meet the requirements of accurate obstacle avoidance. The transmitting component 121 of the sensing module 120 of the automatic cleaning device provided in the embodiment of the present application emits a laser in the direction of hitting the ground. The position of the obstacle in front of the main body 110 of the automatic cleaning device can be determined based on the projection state of the laser. Even just emitting a line of laser can meet the obstacle avoidance requirements, which is low in cost and high in precision.

[0068] In traditional technology, some solutions use 3DTof obstacle avoidance solutions for navigation and obstacle avoidance. Its principle is to use an infrared light source to emit high-frequency light pulses to an object, and then receive the light pulses reflected from the object, and calculate the distance of the measured object from the camera by detecting the flight (round-trip) time and the speed of light of the light pulses. The disadvantage of this solution is that the TOF sensor is expensive, and the resolution that meets the obstacle avoidance requirements of the main body of the automatic cleaning equipment is generally more than 100 yuan; and it is limited by the TDC accuracy of the timer (nS level), and the close-range ranging accuracy is poor, generally about 10mm; at the same time, it is easy to mismeasure the reflected light as actual light in a reflective environment, resulting in inconsistent optical path, inaccurate calculation time, and large ranging error. The automatic cleaning device provided in the embodiment of the present application uses the emitting component 121 of the sensing module 120 to emit a laser in the direction of hitting the ground, and further determines the position of the obstacle in front of the main body 110 of the automatic cleaning equipment based on the projection state of the laser. It is even only necessary to emit a line of laser to meet the obstacle avoidance requirements, with low cost and high accuracy.

[0069] Traditional technologies include active structured light obstacle avoidance solutions. In standard binocular ranging, the light source is uncoded ambient light or white light. Image recognition relies entirely on the inherent features of the object being imaged, making matching difficult. However, structured light ranging differs in that the projected light source is encoded, or characterized. This results in an image of the coded light projected onto the object, modulated by the depth of the object's surface. Because structured light carries numerous feature points or codes, it provides numerous matching corner points or direct codewords, facilitating feature point matching. In other words, structured light actively provides numerous feature points for matching or directly provides codewords, eliminating the need for inherent feature points in the object, resulting in better matching results. However, this approach suffers from the limitations of structured light due to its susceptibility to sunlight interference and limited power consumption while ensuring eye safety. Therefore, strong ambient sunlight can easily overwhelm the speckle pattern, rendering ranging ineffective. Structured light is equivalent to adding a speckle projector to binoculars, resulting in high costs. The present application utilizes the emitting component 121 of the sensing module 120 to emit a laser in the direction of the ground. The laser is not easily affected by sunlight or ambient light. The position of the obstacle in front of the automatic cleaning device body 110 can be determined based on the projection state of the laser. Even only one line of laser is needed to meet the obstacle avoidance requirements, which is low-cost and high-precision.

[0070] It can be understood that, taking the automatic cleaning device body 110 of the automatic cleaning device moving on the horizontal plane as an example, the output direction of the transmitting component 121 tilting toward the ground means that the output direction of the transmitting component 121 is tilted above the ground relative to the horizontal direction.

[0071] At present, some automatic cleaning equipment bodies have solutions for avoiding obstacles through lasers. For example, some automatic cleaning equipment bodies use dual vertical line lasers. If there is an obstacle on the line of the dual-line laser, the light will be reflected to form an inflection point. By comparing the image difference, the distance of the obstacle is confirmed and the obstacle is successfully avoided. However, there is a horizontal blind spot in the vertical dual-line structured light. If there is an obstacle, the main body of the automatic cleaning equipment will not be able to avoid it. And the cost of two line lasers is relatively high. The automatic cleaning equipment provided in the embodiment of the present application utilizes the emitting component 121 of the sensing module 120 to emit a laser in the direction of hitting the ground. The laser is projected on the ground, and the position of the obstacle in front of the automatic cleaning equipment body 110 can be further determined based on the projection state of the laser. It is even possible to meet the obstacle avoidance requirements by only emitting a line of laser, which is low in cost and high in precision.

[0072] As shown in FIG. 2 , in a feasible embodiment, the output direction of the transmitting component 121 is inclined toward the ground-hitting direction at an angle of 7.5° to 15°.

[0073] In this technical solution, an angle range of the tilt direction of the transmitting assembly 121 is further provided. The angle of the output direction of the transmitting assembly 121 tilted toward the ground is 7.5° to 15°. This setting further clarifies the projection method of the laser, and can control the distance of the laser projected in front of the automatic cleaning device body 110, so that the projection distance is controlled within a reasonable range, ensuring that the projection state of the laser is easy to be captured by the automatic cleaning device, and at the same time, it can provide sufficient time for the automatic cleaning device body to avoid obstacles. It is understandable that if the angle of the output direction of the transmitting assembly 121 tilted toward the ground is less than 7.5°, then the laser projection distance may be too far, resulting in a reduction in the effective power of the laser, and thus a reduction in obstacle avoidance accuracy. At the same time, it may cause the laser to enter the human eye, which may easily cause discomfort to the user. If the angle of the output direction of the transmitting assembly 121 tilted toward the ground is greater than 15°, then the laser projection distance may be too close, resulting in inefficient obstacle distance judgment, and even may cause the automatic cleaning device body 110 to not have sufficient time to avoid obstacles.

[0074] In a feasible embodiment, the RGB image acquisition module 123 is used to collect environmental image information of the automatic cleaning device body 110. Based on this, the environmental image information is used as the second image information. By analyzing the second image and identifying the outline of the object in the second image information, the type of obstacle can be determined, and the first image information collected by the line laser module can clearly indicate the distance of the obstacle. Based on this, the automatic cleaning device body 110 is controlled to operate by the obstacle distance and obstacle type, which can improve the operation quality of the automatic cleaning device body 110. Taking the automatic cleaning device body 110 as the cleaning device body, and taking the slippers and weight scales commonly seen in home scenes as examples, the automatic cleaning device first takes a picture of the environment through the RGB image acquisition module 123, and identifies the presence of irregular obstacles such as slippers in front of the sweeper through contour matching. Next, the triangulation point cloud data of the transmitting component 121 and the receiving component 122 are combined to select the point of the irregular shape of the slippers closest to the cleaning device body to execute the obstacle avoidance strategy in collision-free mode. If the RGB image acquisition module 123 recognizes that the obstacle on the side of the cleaning device body is a weight scale or other regular obstacle, the triangulation system point cloud data of the transmitting component 121 and the receiving component 122 can be called to select a close-fitting method to prevent missed scanning and execute the obstacle avoidance strategy. Based on this, the RGB image acquisition module 123, the transmitting component 121 and the receiving component 122 jointly perform obstacle avoidance, which can improve the obstacle avoidance effect and operation effect of the automatic cleaning device body 110.

[0075] In one feasible embodiment, the automatic cleaning device further includes a processor connected to the line laser module and the RGB image acquisition module 123. This configuration facilitates the processor to obtain obstacle location information based on the line laser and to identify obstacle types based on the RGB image acquisition module 123, thereby enabling the automatic cleaning device to accurately understand its surroundings and operate accurately. The processor can be configured to execute an obstacle avoidance strategy based on the information obtained by the line laser module and the RGB image acquisition module 123.

[0076] In a feasible embodiment, the line laser module includes: a transmitting component 121, which is used to emit a single line laser; and a receiving component 122, which is used to collect first image information of the laser on an object.

[0077] In this technical solution, the emitting component 121 is used to emit a single line of laser light. This configuration can further reduce the cost of the sensing module 120, thereby reducing the cost of the automatic cleaning device while ensuring the obstacle avoidance effect.

[0078] In this technical solution, a line laser is emitted through the transmitting component 121, and the large-scale speckle projection scheme of structured light is simplified to a single-line structured light. Under the premise of human eye safety power limit, the power is concentrated on a line laser, which can improve the power density of the laser, improve the signal-to-noise ratio, and improve the ability to resist strong light.

[0079] In some examples, the emitting component 121 is used to emit a line laser, which is configured to project onto the ground. When the line laser is projected onto an obstacle, the line laser bends, and the position of the obstacle can be determined based on the bending state.

[0080] In this technical solution, the sensing module 120 may also include a receiving component 122, which receives the first image information of the laser on the object. By analyzing the first image information, the position and distance of the obstacle can be determined, which facilitates navigation of the movement of the automatic cleaning device body 110.

[0081] As shown in FIG3 , in a feasible implementation manner, the emitting component 121 includes: a driving circuit unit 1211 ; a vcsel unit 1212 , wherein the driving circuit unit 1211 is connected to the vcsel unit 1212 , and the vcsel unit 1212 is used to emit laser light.

[0082] In this technical solution, the structural composition of the emitting component 121 is further provided. The emitting component 121 may include a driving circuit unit 1211 and a VCSEL unit 1212 (vertical cavity surface emitting laser). The driving circuit unit 1211 is used to drive the VCSEL unit 1212 to emit a line laser. It can be understood that the VCSEL unit 1212 is tilted toward the direction of hitting the ground. In this way, the line laser emitted by the VCSEL unit 1212 can be projected in front of the automatic cleaning device body 110 to facilitate obstacle avoidance for the automatic cleaning device body 110.

[0083] It can be understood that the driving circuit unit 1211 is used to provide the VCSEL unit 1212 with a suitable driving voltage and current so that the VCSEL unit 1212 performs photoelectric conversion. The luminous intensity of the emitting component 121 and the driving current are linearly related. Therefore, by controlling the driving current of the driving circuit unit 1211, the response distance of the emitting component 121 and the receiving component 122 can be effectively controlled to realize the function of long-distance obstacle detection of the automatic cleaning equipment.

[0084] In some examples, the wavelength of the VCSEL unit 1212 can be in the infrared band such as 940nm, 850nm, 808nm, etc. Key VCSEL indicators include luminous intensity at rated current, divergence angle FOV, and external dimensions. Luminous intensity affects the sensing distance, and divergence angle affects the line width of the line laser. If the line width is too thin, it cannot occupy more than one pixel in the image, and the center of mass cannot be accurately calculated. If it is too wide, the energy density is likely to be reduced, which can easily lead to low reflected energy when detecting dark obstacles, making effective detection impossible. Common line widths are 1 to 5mm at the focus position. External dimensions mainly affect structural design. A smaller structure makes it easier to miniaturize the device and can indirectly increase the transmission and reception distances, thereby improving the accuracy of triangulation.

[0085] In some examples, the VCSEL unit 1212 uses 850nm, FOV 18°, and VCSEL chip size The circular ceramic substrate arrangement can ensure the accuracy of triangulation.

[0086] In a feasible embodiment, the transmitting component 121 also includes: a focusing mirror unit 1213 for focusing the laser emitted by the vcsel unit 1212; and a wave mirror unit 1214, which is arranged on the side of the focusing mirror unit 1213 away from the vcsel unit 1212.

[0087] In this technical solution, the structural composition of the emitting component 121 is further provided. The emitting component 121 may include a focusing mirror unit 1213 that can further focus the circular spot size of the VCSEL unit 1212. The line width of the line laser can be flexibly controlled by setting the focal length of the focusing mirror unit 1213 and adjusting the object distance of the VCSEL unit 1212. The focusing mirror unit 1213 can be spherical or aspherical. In this embodiment, since the divergence angle of the VCSEL unit 1212 is small, a spherical mirror is used for cost-effectiveness.

[0088] In this technical solution, the transmitting component 121 may further include a wave mirror unit 1214. The laser after focusing is projected out through the wave mirror unit 1214. The wave mirror unit 1214 can linearize the point-shaped laser so that the laser can be projected out in a linear shape.

[0089] As shown in Figure 4, in some examples, the focused circular laser spot passes through a wave mirror, and multiple rays passing through the crest and trough are emitted vertically to the center of the line. The rays passing through the 0.5 peak-to-valley depth have the largest emission angle and are emitted to the edge of the line. The rays passing through the crest (trough) and the 0.5 peak-to-valley depth are superimposed with multiple waves and emitted to the center and edge of the line according to different positions to form a line. As long as a vertical 90° wave surface is designed on the wave mirror at the same time, the emission of a single-line laser can be achieved. In order to improve the detection angle of obstacle avoidance, the laser divergence angle of the transmitting component 121 provided in the embodiment of the present application is 130°.

[0090] In a feasible embodiment, the receiving component 122 includes: a sensor 1221; a lens unit 1222, used to image the line laser reflected by the object on the sensor 1221; a filtering unit 1223, arranged on the side of the lens unit 1222 away from the sensor 1221; a signal processing unit 1224, connected to the sensor 1221, used to convert the photoelectric signal into a digital signal.

[0091] In this technical solution, the structural composition of the receiving component 122 is further provided. The receiving component 122 may include a lens unit 1222, a sensor 1221 and a filtering unit 1223. When the first image information is collected through the receiving component 122, the light first passes through the filtering unit 1223. The filtering unit 1223 may only allow light of the corresponding wavelength to pass through, and light of other wavelengths is cut off, thereby preventing ambient light from being received and causing serious stray light in the image, thereby improving the system signal-to-noise ratio.

[0092] In some examples, as shown in FIG5 , where the horizontal axis is wavelength and the vertical axis is signal reception intensity, the filtering unit 1223 may be a narrowband filter, such as an 850nm±10nm narrowband filter, which only allows light of the corresponding wavelength to pass through, and light of other wavelengths is cut off to prevent ambient light from being received, resulting in serious stray light in the image. The narrowband filter can improve the system signal-to-noise ratio.

[0093] In this technical solution, the lens unit 1222 is set to image the line laser reflected by the obstacle on the sensor 1221. The key indicators of the lens unit 1222 include field of view angle, F#, focal length, distortion, etc. This embodiment adopts a large field of view 120° lens, which can detect more obstacles. The focal length is 1.6mm. According to the triangle ranging formula, the larger the focal length, the higher the ranging accuracy. F# is 2.2. If the focal length is constant, the smaller the F#, the larger the lens aperture, and the greater the amount of light entering. The distortion is 2.5%, and the smaller the distortion, the better. Excessive distortion can easily affect the edge ranging accuracy of the system. If the original distortion is too large, the distortion can also be calibrated through internal reference calibration, but the effective FOV will be sacrificed.

[0094] In this technical solution, the sensor 1221 can be a photosensitive chip sensor, and the main indicators include resolution, exposure mode, pixel size, photosensitivity, etc. According to the triangulation ranging formula, the higher the resolution, the higher the ranging accuracy, but the cost will also increase. The exposure mode is divided into rolling exposure and global exposure. Global is more suitable for fast-moving scenes. The perception module 120 of this application needs to be applied to the movable automatic cleaning device body 110 and needs to strictly coordinate the timing with the line laser. Therefore, this embodiment uses a sensor with VGA resolution rolling exposure mode. The larger the pixel size, the better the photosensitivity. This embodiment uses a 3.75um pixel size. The higher the photosensitivity efficiency, the higher the photoelectric conversion efficiency under the same transmission power. The brighter the line laser presented in the image, the more conducive to the realization of dark materials and long-distance ranging. This embodiment uses a sensor with a photosensitivity efficiency of 40%.

[0095] In this technical solution, the signal processing unit 1224 is used to convert the photocurrent signal of the infrared receiving unit into a digital signal, send it to the processor of the automatic cleaning device for decoding and presenting the completed image, calculate the center of mass position, and then complete the triangulation calculation.

[0096] It can be understood that the sensor 1221, the lens unit 1222 and the filter unit 1223 form an IR (infrared) camera in combination.

[0097] As shown in Figure 6, in a feasible embodiment, the sensing module 120 also includes: a shell 127, the shell 127 is connected to the automatic cleaning device body 110; and a bracket 126, the bracket 126 is used to be connected to the shell 127; wherein, the line laser module and / or RGB image acquisition module 123 is connected to the bracket 126.

[0098] In this technical solution, the structural composition of the perception module is further provided. The perception module may include a shell 127 and a bracket 126. The bracket 126 can provide an installation position for the line laser module and / or the RGB image acquisition module 123. During the assembly process, the line laser module and / or the RGB image acquisition module 123 can be first assembled on the bracket 126, and then the bracket 126 can be connected to the shell 127, and finally the shell 127 can be connected to the automatic cleaning device body 110. Based on this, the modular assembly of the perception module can be realized, which facilitates the precise positioning of the line laser module and / or the RGB image acquisition module 123.

[0099] In a feasible implementation, the sensing module 120 further includes: a fill light 124 , which is connected to the bracket 126 and is used to provide fill light for the RGB image acquisition module 123 .

[0100] In this technical solution, the perception module may also include a fill light 124. The fill light 124 can be set to fill in the light for the RGB image acquisition module 123, so that the RGB image acquisition module 123 can collect environmental image information with more appropriate brightness and more accurately determine the type of obstacle.

[0101] In a feasible embodiment, the automatic cleaning device further includes: a protective lens 125, which is used to cover at least one of the RGB image acquisition module 123, the fill light 124 and the line laser module.

[0102] In this technical solution, the automatic cleaning device may further include a protective lens 125. By covering at least one of the RGB image acquisition module 123, the fill light 124 and the line laser module with the protective lens 125, it can achieve dustproof and waterproof effects, thereby increasing the service life of the sensing module and improving the sensing accuracy.

[0103] In some examples, the protective lens 125 can be made of a single lens or a plurality of lenses stacked together.

[0104] In a feasible embodiment, a hollow portion 1251 is formed in the area of ​​the protective lens 125 corresponding to the fill light 124. Such a configuration can improve the transmittance of the fill light 124 and ensure the fill light intensity.

[0105] In a feasible embodiment, a mounting hole 1261 is formed on the housing 127, and the line laser module and / or the RGB image acquisition module 123 sends or receives signals through the mounting hole 1261.

[0106] By forming a mounting hole 1261 on the shell 127, the aperture of the mounting hole 1261 can be slightly larger than the line laser module and / or RGB image acquisition module 123, so as to facilitate the transmission and reception of signals of the line laser module and / or RGB image acquisition module 123, facilitate accurate acquisition of the position and outline of the obstacle, and enable the operation of the automatic cleaning device body 110 to be more accurate.

[0107] In a feasible implementation, the sensing module 120 further includes:

[0108] The pile-finding light receiving module 128 is used to receive the pile-finding signal transmitted by the base station.

[0109] In this technical solution, the sensing module may also include a pile-finding light receiving module 128. The setting of the pile-finding light receiving module 128 facilitates the reception of the pile-finding signal transmitted by the base station, so that the automatic cleaning device body 110 can return to the base station according to the received signal, thereby facilitating the smooth progress of operations such as charging, dust collection, and cleaning.

[0110] As shown in FIG7 , according to the second aspect of the embodiment of the present application, a control method is proposed for controlling an automatic cleaning device according to any of the above technical solutions. The control method includes:

[0111] Step 201: Control the emitting assembly to emit a laser beam tilted toward the ground hitting direction. It is understandable that, due to the tilted setting of the emitting assembly, the laser beam tilted toward the ground hitting direction can be emitted by simply turning on the emitting assembly.

[0112] Step 202: Based on the first image information of the laser on the object, determine the position information of the obstacle. It is understandable that when the laser in the ground direction is projected onto the obstacle, the laser will bend, and the position of the obstacle can be moved further through the bending limit.

[0113] The control method provided in the embodiment of the present application is used to control an automatic cleaning device such as any of the above technical solutions, so the control method has all the beneficial effects of the cleaning device of the above technical solutions.

[0114] The control method provided in the embodiment of the present application emits a laser through the transmitting component 121. Since the output direction of the transmitting component 121 is inclined toward the ground-hitting direction, when the laser is projected onto an obstacle, the outline of the laser projection will be deformed. The position of the obstacle can be determined by this deformation. Since the output direction of the transmitting component 121 is inclined toward the ground-hitting direction, the laser can be projected onto the area in front of the automatic cleaning device body 110. By tilting it toward the ground-hitting direction, the projection distance of the laser can be controlled. As the automatic cleaning device body 110 moves, the laser can traverse the area in front of the automatic cleaning device body 110. Based on this, obstacles in the horizontal and vertical directions in front of the automatic cleaning device body 110 can be identified by a line of laser, and the distance between the obstacle and the cleaning device body can be determined, thereby facilitating the cleaning device body to avoid obstacles. Such a setting ensures the obstacle avoidance accuracy while reducing the obstacle avoidance cost.

[0115] In a feasible embodiment, the step of controlling the transmitting component to emit a laser inclined in the direction of hitting the ground includes: controlling the receiving component to turn on after every time interval; controlling the transmitting component after every two time intervals; wherein, when the transmitting component is turned on, the receiving component is turned on synchronously.

[0116] In this technical solution, a control method for laser emission is further provided. The receiving component 122 is turned on once after each time interval, that is, the receiving component 122 collects the first image information once after each time interval, and the emitting component 121 is turned on once after each two time intervals, that is, the emitting component 121 emits a laser once every two time intervals. Based on this, taking four time intervals as an example, the receiving component 122 is turned on four times, and the emitting component 121 is turned on twice. Based on this, four first image information can be collected, of which two first image information include the projection results of the laser. Based on this, by comparing these four first image information, the influence of ambient light can be removed, and the projection state of the laser can be accurately identified, so as to determine the position information of the obstacle and the movement trend between the automatic cleaning device body 110 and the obstacle.

[0117] The output direction of the transmitting component 121 of the automatic cleaning device provided in the embodiment of the present application is inclined at an angle of 7.5° to 15° toward the ground, and can detect obstacles in the vertical and horizontal directions at the same time. By setting a time interval and controlling the opening of the receiving component 122 at intervals, the high-cost global exposure emission solution is replaced with a rolling shutter solution to ensure cost-effectiveness. The English symbol for rolling shutter is Rolling shutter. The characteristic of this shutter is that the CMOS pixels (diodes) are gradually exposed. That is, the CMOS are exposed one by one. The advantage of this is that a higher frame rate can be achieved, but the disadvantage is that when the receiving component 122 moves quickly, partial exposure (partial exposure), slope graphics (skew), and jello effect caused by wobble will occur. However, the moving speed of the automatic cleaning device is generally below 30cm / s, which is much lower than the exposure speed of the selected rolling shutter at the ms level or even the us level, so there will be no jello effect. The global shutter is also called Global shutter, and its characteristic is that the entire scene is exposed at the same time. All pixels (diodes) of the sensor 1221 collect light at the same time and expose at the same time. Unlike rolling shutter, this simultaneous exposure method eliminates the jello effect. However, the cost of a chip with the same resolution is only 50% of that of a global shutter, significantly improving the cost-effectiveness of a robot vacuum's obstacle avoidance system.

[0118] As shown in Figure 9, receiving component 122 initiates a 2.5ms exposure and simultaneously sends a synchronization signal to transmitting component 121, which then initiates a second 2.5ms exposure 33ms later. Transmitting component 121 then transmits its horizontal line laser at intervals based on the synchronization signal. The transmission timing of transmitting component 121 strictly matches the exposure time of receiving component 122, ensuring effective brightness of the line laser in the image while shortening the overall transmission time, meeting eye-safety standards.

[0119] In a feasible implementation, the step of determining the obstacle position information based on the first image information of the laser on the object includes:

[0120] The distance between the obstacle and the sensing module 120 is determined by the following formula:

[0121] q=fs / x

[0122] Among them, q is the distance between the obstacle and the main body 110 of the automatic cleaning device, f is the focal length of the receiving component 122, s is the distance between the center of the transmitting component 121 and the center of the receiving component 122, and x is the distance between the pixel point of the sensor 1221 of the sensing module 120 and the center of the sensor 1221.

[0123] This technical solution further provides a method for determining the distance to an obstacle. As shown in Figures 1 and 2, this technical solution includes a transmitting component 121 and a receiving component 122. Transmitting component 121 is used to emit one or more laser beams (which can be line lasers or lasers of other shapes; this embodiment uses a single horizontal line laser as an example). Receiving component 122 can be a CCD or CMOS IR (infrared) camera, which detects the distance between the automatic cleaning device and the obstacle through triangulation. The principle of triangulation is shown in Figure 8. According to the measured distance q=fs / x of similar triangles, q is the distance between the transmitting and receiving centers and the obstacle, f is the focal length of the receiving component 122, s is the center distance between the transmitting component 121 and the receiving component 122, and x is the distance between the pixel point on the imaging chip sensor reflected from the transmitting component 121 to the obstacle surface and back to the receiving component 122 from the center of the imaging chip sensor. The distance between the obstacle and the sensing module 120 is determined based on the focal length of the receiving component 122, the distance between the transmitting component 121 and the receiving component 122, and the detection result of the sensor 1221. The position of the obstacle can be accurately determined, which is convenient for equipment equipped with the sensing module 120 or for obstacle avoidance.

[0124] In a feasible embodiment, the control method also includes: obtaining second image information through an RGB image acquisition module; determining obstacle type information based on the second image information; and determining the travel path of the automatic cleaning device body based on the obstacle position information and obstacle type information.

[0125] In this technical solution, the control method may also include an RGB image acquisition module 123 acquiring the type of obstacle. The RGB image acquisition module 123 may be used in combination with the receiving module for obstacle avoidance. For example, the RGB image acquisition module 123 may capture an image of the environment as second image information. By parsing the second image and identifying the outline of the object in the second image information, the type of obstacle can be determined. The first image information captured by the receiving module can clarify the distance of the obstacle. Based on this, the automatic cleaning device body 110 is controlled to operate according to the obstacle distance and obstacle type, thereby improving the operation quality of the automatic cleaning device body 110. For example, taking the automatic cleaning device body 110 as the cleaning device body, and using slippers and scales commonly seen in household scenes as examples, the automatic cleaning device first captures an image of the environment using the RGB image acquisition module 123 and identifies an irregular obstacle such as a slipper in front of the sweeper through contour matching. Next, the triangulated ranging point cloud data from the transmitting component 121 and the receiving component 122 are combined to select the point of the irregular slipper closest to the cleaning device body and execute the obstacle avoidance strategy in collision-free mode. If the RGB image acquisition module 123 recognizes that the obstacle on the side of the cleaning device body is a weight scale or other regular obstacle, the triangulation system point cloud data of the transmitting component 121 and the receiving component 122 can be called to select a close-fitting method to prevent missed scanning and execute the obstacle avoidance strategy. Based on this, the RGB image acquisition module 123, the transmitting component 121 and the receiving component 122 jointly perform obstacle avoidance, which can improve the obstacle avoidance effect and operation effect of the automatic cleaning device body 110.

[0126] In a feasible embodiment, the step of determining the travel path of the automatic cleaning device body includes: when there is no obstacle in front of the automatic cleaning device body, controlling the automatic cleaning device body to maintain the current travel direction; when the obstacle position information is a horizontal obstacle, changing the travel path of the automatic cleaning device body so that the automatic cleaning device body bypasses the obstacle.

[0127] In this technical solution, specific steps are further provided to determine the travel path of the automatic cleaning device body 110. When there is no obstacle in front of the automatic cleaning device body 110, the automatic cleaning device body 110 is controlled to maintain the current travel direction, so as to control the automatic cleaning device body 110 to perform the work task as soon as possible. When the obstacle position information is a horizontal obstacle, the travel path of the automatic cleaning device body 110 is changed so that the automatic cleaning device body 110 can bypass the obstacle, thereby avoiding the automatic cleaning device body 110 from colliding with the obstacle.

[0128] As shown in FIG10 , according to the third aspect of an embodiment of the present application, a computer-readable storage medium 410 is proposed. The computer-readable storage medium 410 stores a computer program 420 for implementing a control method according to any of the above technical solutions.

[0129] Since the computer-readable storage medium 410 provided in the embodiment of the present application implements the control method of any of the above technical solutions, the computer-readable storage medium 410 has all the beneficial effects of the control method of the above technical solutions.

[0130] The computer-readable storage medium 410 provided in the embodiment of the present application emits a laser through the transmitting component 121. Since the output direction of the transmitting component 121 is inclined toward the ground-hitting direction, when the laser is projected onto an obstacle, the outline of the laser projection will be deformed. The position of the obstacle can be determined by this deformation. Since the output direction of the transmitting component 121 is inclined toward the ground-hitting direction, the laser can be projected onto the area in front of the automatic cleaning device body 110. By tilting it toward the ground-hitting direction, the projection distance of the laser can be controlled. As the automatic cleaning device body 110 moves, the laser can traverse the area in front of the automatic cleaning device body 110. Based on this, obstacles in the horizontal and vertical directions in front of the automatic cleaning device body 110 can be identified by a line of laser, and the distance between the obstacle and the cleaning device body can be determined, thereby facilitating the cleaning device body to avoid obstacles. Such a setting ensures the obstacle avoidance accuracy while reducing the obstacle avoidance cost.

[0131] Based on this understanding, the technical solution of the present application can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, USB flash drive, mobile hard disk, etc.), including a number of instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to execute the methods described in each implementation scenario of the present application.

[0132] As shown in Figure 11, according to the fourth aspect of an embodiment of the present application, an electronic device is proposed, including: a memory 510, which stores a computer program 420; a processor 520, which executes the computer program 420; wherein, when the processor 520 executes the computer program 420, it implements a control method such as any of the above technical solutions.

[0133] Since the electronic device provided in the embodiments of the present application implements the control method of any of the above technical solutions, the electronic device has all the beneficial effects of the control method of the above technical solutions.

[0134] The electronic device provided in the embodiment of the present application emits a laser through the transmitting component 121. Since the output direction of the transmitting component 121 is inclined toward the ground-hitting direction, when the laser is projected onto an obstacle, the outline of the laser projection will be deformed. The position of the obstacle can be determined by this deformation. Since the output direction of the transmitting component 121 is inclined toward the ground-hitting direction, the laser can be projected onto the area in front of the automatic cleaning device body 110. By tilting it toward the ground-hitting direction, the projection distance of the laser can be controlled. As the automatic cleaning device body 110 moves, the laser can traverse the area in front of the automatic cleaning device body 110. Based on this, obstacles in the horizontal and vertical directions in front of the automatic cleaning device body 110 can be identified by a line of laser, and the distance between the obstacle and the cleaning device body can be determined, thereby facilitating the cleaning device body to avoid obstacles. Such a setting ensures the accuracy of obstacle avoidance while reducing the cost of obstacle avoidance.

[0135] According to another aspect of the embodiments of the present application, a cleaning system is proposed, comprising: an automatic cleaning device as described in any of the above technical solutions; and a cleaning base station, wherein the cleaning base station is used to provide maintenance for the automatic cleaning device.

[0136] The cleaning system provided in the embodiment of the present application includes an automatic cleaning device as described in any of the above technical solutions. Therefore, the cleaning system has all the beneficial effects of the automatic cleaning device as described in any of the above technical solutions, which will not be described in detail here.

[0137] The cleaning system provided in the embodiment of the present application is such that when performing cleaning operations, the automatic cleaning device can be away from the cleaning base station to perform cleaning tasks. When the automatic cleaning device completes cleaning or needs maintenance, it can return to the cleaning base station. The cleaning base station can charge the automatic cleaning device, clean the mop, collect dust, or replenish water.

[0138] In some examples, the electronic device may further include a user interface, a network interface, a camera, a radio frequency (RF) circuit, a sensor 1221, an audio circuit, a Wi-Fi module, etc. The user interface may include a display, an input unit such as a keyboard, etc., and the optional user interface may also include a USB interface, a card reader interface, etc. The network interface may optionally include a standard wired interface, a wireless interface (such as a Wi-Fi interface), etc.

[0139] In an exemplary embodiment, the electronic device may further include an input / output interface and a display device, wherein each functional unit may communicate with each other via a bus. The memory 510 stores a computer program 420, and the processor 520 is configured to execute the program stored in the memory 510 and perform the method in the above embodiment.

[0140] The storage medium may also include an operating system and a network communication module. The operating system is a program that manages the hardware and software resources of the physical device used in the above method, supporting the execution of the information processing program and other software and / or programs. The network communication module is used to enable communication between components within the storage medium and with other hardware and software within the physical information processing device.

[0141] Through the description of the above implementation methods, those skilled in the art can clearly understand that the present application can be implemented by means of software plus a necessary general hardware platform, or by hardware.

[0142] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program 420 products according to embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program 420 instructions. These computer program 420 instructions can be provided to a processor 520 of a general-purpose computer, a special-purpose computer, an embedded computer, or other programmable data processing device to produce a machine, so that the instructions executed by the processor 520 of the computer or other programmable data processing device produce a device for implementing the functions specified in one or more processes in the flowchart and / or one or more boxes in the block diagram.

[0143] In the present disclosure, the terms "first", "second", and "third" are used for descriptive purposes only and are not to be understood as indicating or implying relative importance; the term "plurality" refers to two or more, unless otherwise expressly defined. Terms such as "installed", "connected", "connected", and "fixed" should be understood in a broad sense. For example, "connected" can mean a fixed connection, a detachable connection, or an integral connection; "connected" can mean a direct connection or an indirect connection through an intermediate medium. For those skilled in the art, the specific meanings of the above terms in the present disclosure can be understood according to the specific circumstances.

[0144] In the description of the present disclosure, it is to be understood that the terms "up", "down", "left", "right", "front", "back", etc., indicating directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present disclosure and simplifying the description, rather than indicating or implying that the device or unit referred to must have a specific direction, be constructed and operated in a specific direction, and therefore, cannot be understood as a limitation on the present disclosure.

[0145] Throughout this specification, terms such as "one embodiment," "some embodiments," and "a specific embodiment" mean that the specific features, structures, materials, or characteristics described in conjunction with that embodiment or example are included in at least one embodiment or example of the present disclosure. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0146] The above are merely preferred embodiments of the present disclosure and are not intended to limit the present disclosure. Those skilled in the art will readily appreciate that various modifications and variations of the present disclosure are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present disclosure shall be included within the scope of protection of the present disclosure.

Claims

1. An automatic cleaning device, characterized in that: include: Automatic cleaning device body; A sensing module, which is arranged on the main body of the automatic cleaning device, and comprises: a line laser module and an RGB image acquisition module, wherein the line laser module is used to emit a line laser, and the emission direction of the line laser is horizontally inclined downward; Wherein, the line laser module includes: an emitting component, and the emitting component is used to emit a single-line laser.

2. The automatic cleaning device according to claim 1, wherein: The RGB image acquisition module is used to acquire environmental image information of the automatic cleaning device body as second image information.

3. The automatic cleaning device according to claim 1, further comprising: A processor is connected to the line laser module and the RGB image acquisition module and is configured to execute an obstacle avoidance strategy based on information obtained through the line laser module and the RGB image acquisition module.

4. The automatic cleaning device according to claim 1, wherein the line laser module further comprises: A receiving component is used to collect first image information of the laser on the object.

5. The automatic cleaning device according to claim 4, wherein the launch assembly comprises: A driving circuit unit; A vertical cavity surface emitting laser, a vcsel unit, wherein the driving circuit unit is connected to the vcsel unit, the vcsel unit is used to emit the laser, and the driving circuit unit is configured to drive the vcsel unit to emit the laser.

6. The automatic cleaning device according to claim 5, wherein the launch assembly further comprises: A focusing mirror unit, used for focusing the laser emitted by the vcsel unit; A wave mirror unit is arranged on a side of the focusing mirror unit away from the vcsel unit; Wherein, the wave mirror unit is configured to project the focused laser in a linear shape.

7. The automatic cleaning device according to claim 4, wherein the receiving component comprises: sensor; A lens unit for imaging the line laser reflected by the object on a sensor; A filter unit, arranged on a side of the lens unit away from the sensor; The signal processing unit is connected to the sensor and is used to convert the photoelectric signal into a digital signal.

8. The automatic cleaning device according to any one of claims 1 to 7, wherein the sensing module further comprises: A shell connected to the main body of the automatic cleaning device; A bracket, the bracket is used to be connected to the housing; Wherein, the line laser module and / or RGB image acquisition module is connected to the bracket.

9. The automatic cleaning device according to claim 8, wherein the sensing module further comprises: A fill light is connected to the bracket and is used to provide fill light for the RGB image acquisition module.

10. The automatic cleaning device according to claim 9, further comprising: A protective lens is used to cover at least one of the RGB image acquisition module, the fill light and the line laser module.

11. The automatic cleaning device according to claim 10, wherein: A hollow portion is formed in the area of ​​the protective lens corresponding to the fill light.

12. The automatic cleaning device according to claim 8, wherein a mounting hole is formed on the shell, and the line laser module and / or the RGB image acquisition module sends or receives signals through the mounting hole.

13. The automatic cleaning device according to claim 8, wherein the sensing module further comprises: The pile-finding light receiving module is used to receive the pile-finding signal transmitted by the base station.

14. The automatic cleaning device according to claim 13, wherein the pile-finding light receiving module is arranged on the bracket.

15. A cleaning system, characterized in that: include: The automatic cleaning device according to any one of claims 1 to 14; A cleaning base station, wherein the cleaning base station is used to provide maintenance for the automatic cleaning device.

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