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

Abstract

A navigation and obstacle avoidance module, a cleaning device, and a cleaning system. The navigation and obstacle avoidance module comprises: a visual sensing module comprising an emitting end that emits light and a receiving end that receives a reflected signal of the reflected light; and a path planning module connected to the visual sensing module, wherein the visual sensing module transmits the reflected signal of the emitted light to the path planning module, the path planning module plans a cleaning path of a cleaning device on the basis of the reflected signal of the reflected light, and when the cleaning device is located on a horizontal locomotion surface, the elevation angle between the light emitted by the emitting end and a horizontal plane is less than or equal to 3°, and the depression angle between the light emitted by the emitting end and the horizontal plane is less than or equal to 13°. By setting the angle of the light, the light emitted by the emitting end can cover the range of a use scenario, so that the path planning module can learn information in the use scenario, and thus plane a reasonable cleaning path in the use scenario.

Description

Navigation and obstacle avoidance modules, cleaning equipment and cleaning systems Cross-references to related applications

[0001] This disclosure claims priority to Chinese patent application No. 202520172854.1, filed on January 24, 2025, the entire contents of which are incorporated herein by reference. Technical Field

[0002] This disclosure relates to the field of cleaning equipment, and more particularly to navigation and obstacle avoidance modules, cleaning equipment, and cleaning systems. Background Technology

[0003] Cleaning equipment has become one of the most commonly used devices in people's daily lives. In order to meet users' cleaning needs, some cleaning equipment has a navigation function, which can draw a map of the cleaning area for cleaning according to the map, or clean a designated area according to the instructions.

[0004] In related technologies, cleaning equipment can emit light and obtain information about the usage scenario through the reflected light. (Utility Model Content)

[0005] This disclosure provides a navigation and obstacle avoidance module, cleaning equipment, and cleaning system capable of planning a cleaning path based on the reflection signal of the reflected light.

[0006] This disclosure is achieved through the following technical solution.

[0007] The first aspect of this disclosure provides a navigation and obstacle avoidance module for a cleaning device, comprising: a visual sensing module including a transmitter emitting light and a receiver receiving reflected light; and a path planning module connected to the visual sensing module, wherein the visual sensing module transmits a reflection signal of the reflected light to the path planning module, and the path planning module plans a cleaning path for the cleaning device based on the reflection signal of the reflected light, wherein 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°.

[0008] In this embodiment of the disclosure, the first distance between the transmitter and the walking surface of the cleaning device is in the range of 4cm to 8cm.

[0009] In this embodiment of the present disclosure, 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°.

[0010] In this embodiment of the disclosure, 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, and 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, and the first length is in the range of 6mm to 8mm.

[0011] In this embodiment of the disclosure, the first preset angle is in the range of -0.5° to 3°.

[0012] In this embodiment of the disclosure, the width of the field of view of the second light beam at the second distance is greater than the width of the main body of the cleaning device. The second distance is the distance of the obstacle object relative to the emitting end along the first horizontal direction. The width of the field of view 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.

[0013] In this embodiment of the disclosure, 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 10cm to 25cm, and the second height is in the range of 1cm to 6cm.

[0014] In this embodiment of the disclosure, in the direction of gravity, the first ray is at least partially above at least a portion of the second ray.

[0015] In this embodiment of the disclosure, the transmitting end includes a transmitting element and a beam splitting element, and the light emitted by the transmitting element is split into a first beam and a second beam by the beam splitting element.

[0016] In this embodiment of the disclosure, the transmitting end includes a first transmitting element that emits a first light beam and a second transmitting element that emits a second light beam.

[0017] In this embodiment of the disclosure, the navigation obstacle avoidance module further includes a shooting module, and the path planning module is signal-connected to the shooting module.

[0018] A second aspect of this disclosure provides a cleaning device including a walking module and a navigation and obstacle avoidance module as described in any embodiment of the first aspect.

[0019] A third aspect of this disclosure provides a cleaning system comprising: a cleaning device as described in any embodiment of the second aspect. Attached Figure Description

[0020] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the scope of this disclosure. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings:

[0021] Figure 1 is a schematic diagram of the structure of a cleaning device provided in some embodiments of this disclosure;

[0022] Figure 2 is a schematic diagram of the first light beam emitted from a cleaning device provided in some embodiments of this disclosure at a lower limit of a first preset angle;

[0023] Figure 3 is a schematic diagram of the first light beam of the cleaning device provided in some embodiments of the present disclosure being emitted at the upper limit of a first preset angle;

[0024] Figure 4 is a schematic diagram of the second light emission of a cleaning device provided in some embodiments of this disclosure;

[0025] Figure 5 is a schematic diagram of the field of view of the second light beam of the cleaning device provided in some embodiments of this disclosure;

[0026] Figure 6 is a schematic diagram of the structure of the visual sensing module of the cleaning equipment provided in some embodiments of this disclosure.

[0027] Explanation of reference numerals in the attached drawings: 1 Cleaning equipment; 10 Visual sensing module; 100 Transmitter; 110 Main body; 111 Ambient light sensor; 112 Camera; 113 First supplementary light; 101 First light beam; 102 Second light beam; 2 Wall; 4 Bed; 5 Obstacle; 20 Walking module; 30 Navigation module; 40 Obstacle avoidance module; 50 Shooting module; X First horizontal direction; Y Gravity direction; Z Second horizontal direction; d First length; d1 Second length; D Second distance; H First height; h First distance; h1 Second height; θ First preset angle; α Second preset angle; A Field of view width; b Field of view angle. Detailed Implementation

[0028] The embodiments of the technical solutions disclosed herein will now be described in detail with reference to the accompanying drawings. These embodiments are merely illustrative of the technical solutions disclosed herein and are therefore intended to limit the scope of protection of this disclosure.

[0029] Cleaning equipment has become one of the most commonly used devices in people's daily lives. In order to meet users' cleaning needs, some cleaning equipment has a navigation function, which can draw a map of the cleaning area for cleaning according to the map, or clean a designated area according to the instructions.

[0030] Cleaning equipment can emit light and use the reflected light to determine the environment in which it is used. To meet navigation requirements, the light emitted by the cleaning equipment needs to cover a sufficient distance.

[0031] This disclosure provides a navigation obstacle avoidance module and a cleaning device capable of covering a preset range, aiming to solve the technical problem in related technologies where the light emitted by the cleaning device needs to cover a sufficient distance to meet navigation requirements, especially when walking in certain environments. Based on the same or similar concept, this disclosure also provides a cleaning system including the cleaning device.

[0032] The cleaning equipment disclosed herein can be automatic cleaning equipment such as sweeping machines, mopping machines, and sweeping and mopping machines. The cleaning system can include the cleaning equipment and a base station. The base station can be used for cleaning the cleaning equipment, charging the cleaning equipment, and garbage collection.

[0033] Figure 1 is a schematic diagram of the structure of a cleaning device provided in some embodiments of the present disclosure; Figure 2 is a schematic diagram of the first light beam emitted from the cleaning device provided in some embodiments of the present disclosure at the lower limit of the first preset angle; Figure 3 is a schematic diagram of the first light beam emitted from the cleaning device provided in some embodiments of the present disclosure at the upper limit of the first preset angle; Figure 4 is a schematic diagram of the second light beam emitted from the cleaning device provided in some embodiments of the present disclosure; Figure 5 is a schematic diagram of the field of view of the second light beam of the cleaning device provided in some embodiments of the present disclosure; Figure 6 is a schematic diagram of the structure of the visual sensing module of the cleaning device provided in some embodiments of the present disclosure.

[0034] As shown in Figure 1, the cleaning device 1 disclosed herein may include a navigation and obstacle avoidance module, which may include a visual sensing module 10 and a path planning module. The visual sensing module 10 may include a transmitter 100 and a receiver. The transmitter 100 can emit light. When the light emitted by the transmitter 100 encounters an object in the usage scenario, it will be reflected. The reflected light can enter the receiver, and the receiver can receive the reflection signal of the reflected light.

[0035] The visual sensing module 10 and the path planning module are connected. When light encounters an obstacle (target object), it is reflected. The emission signal of the reflected light can be transmitted from the visual sensing module to the path planning module. The path planning module can then plan the cleaning path of the cleaning device 1 based on the reflected information. The connection between the visual sensing module 10 and the path planning module can be electrical, or it can be a Bluetooth, WiFi, or other connection, as long as signal transmission is possible.

[0036] As shown in Figure 1, the cleaning device 1 may have a main body 110 and a walking module 20, which may be installed below the main body 110. The visual sensing module 10 may be located in front of the main body 110, typically with the forward direction of the cleaning device 1 as the front and the backward direction of the cleaning device 1 as the rear.

[0037] The light emitted from the transmitter 100 sweeps within a certain range, and the light is emitted at a certain angle to the horizontal plane. When the cleaning device 1 is located on a horizontal walking surface, the elevation angle between the light emitted from the transmitter 100 and the horizontal plane can be set to less than or equal to 3°, and the depression angle between the light emitted from the transmitter 100 and the horizontal plane can be set to less than or equal to 13°. In this disclosure, the elevation angle is the angle between the light and the horizontal plane when the light is emitted upward in the gravitational direction Y, and the depression angle is the angle between the light and the horizontal plane when the light is emitted downward in the gravitational direction Y.

[0038] By setting the angle of the light, the light emitted by the transmitter can cover the area of ​​the usage scene when moving within a specific environment. This allows the path planning module to obtain information within the usage scene and plan a reasonable cleaning path. The specific environment referred to in this disclosure means an environment with objects that block the light in height (e.g., under a bed or sofa) or obstacles that obstruct the movement of the cleaning equipment.

[0039] The path planning module is configured to perform path planning in at least a first usage scenario and a second usage scenario. The first usage scenario includes a first length range, a second length range, and a first height range. The first length is the distance between the transmitter 100 and the target object in the first horizontal direction X. The second length range is the length of the object blocking the light in the first horizontal direction X in the gravity direction Y. The first height is the height of the object blocking the light in the gravity direction Y. The transmitter 100 has a first distance from the horizontal plane in the gravity direction Y. The elevation angle between the light emitted by the transmitter 100 and the horizontal plane satisfies the following condition: the tangent of the elevation angle is equal to the ratio of the difference between the first height and the first distance to the first length. The second usage scenario includes a second distance range. The cleaning device 1 avoids obstacles in the second distance range according to the path planning. The depression angle between the light emitted by the transmitter and the horizontal plane satisfies the following condition: the inverse tangent of the depression angle is equal to the ratio of the second distance to the first distance.

[0040] In this disclosure, an obstacle refers to an object, such as one placed on a horizontal surface, that may obstruct the path of the cleaning equipment. A target object refers to the boundary that the cleaning equipment uses for mapping, such as a wall. An occluding object refers to an obstruction above the cleaning equipment that may block the light emitted by the visual sensing module but will not obstruct the path of the cleaning equipment, such as a bed or sofa.

[0041] Since the path planning module navigates based on the emitted light information, the light needs to cover a certain range. When the cleaning device is in the first usage scenario, specifically, when used in a scenario without obstruction in the height direction as shown in Figure 2. In some embodiments, when used in a living room, the target object is wall 2, so the emitted light needs to reach wall 2, and the distance between the emitting end 100 and wall 2 in the first horizontal direction X is a first length d. Regardless of the angle between the light and the horizontal plane, the light emitted by the emitting end 100 can cover the maximum length within the first length d, thus satisfying the path planning of the cleaning device 1 within the first length d (e.g., navigation, mapping, etc. within the first length d). When the cleaning device is in the first usage scenario. In some embodiments, when the cleaning device 1 is located in a low space, for example, in some cases the cleaning device 1 can enter the bottom of a bed, cabinet, sofa, etc. to work. As shown in Figure 3, taking the cleaning device 1 working under the bed 4 as an example, working under the bed 4 means that the first light emitted will be blocked in the height direction and cannot reach the target object. The bed 4, acting as an obstruction, has a height H in the gravitational direction Y and a length d1 in the first horizontal direction X. The light emitted by the transmitter 100 must cover this second length d1 under the obstruction of the bed 4 to reach the target object. The first usage scenario limits the elevation angle range of the light emitted by the transmitter 100. When the cleaning device is in the second usage scenario, in some embodiments, during the use of the cleaning device 1, the path planning module can adjust the trajectory of the cleaning device 1 based on whether there are obstacles within a second distance range ahead. In some embodiments, it can determine whether to bypass or cross the obstacle based on information such as the second height and width. The second usage scenario limits the depression angle range of the light emitted by the transmitter 100.

[0042] This configuration allows the light emitted from the transmitter to cover the range of both the first and second usage scenarios. The path planning module can then obtain information within both scenarios and plan a suitable cleaning path to meet the cleaning requirements of the cleaning equipment. In some embodiments, obstacles at a second distance range can be avoided.

[0043] In this embodiment of the disclosure, the first length d can be in the range of 6m to 8m. In some embodiments, the first length d can be 6.5m, 7m, or 7.5m. In this embodiment of the disclosure, the first distance h can be in the range of 4cm to 8cm. In some embodiments, the first distance h can be 4.5cm, 5cm, 5.5cm, 6cm, 6.5cm, 7cm, or 7.5cm.

[0044] As shown in Figure 2, the first distance of the transmitter 100 in the gravitational direction Y is h. The lower limit of the first preset angle θ satisfies the following condition: the tangent of the first preset angle θ is equal to the ratio of the first distance h to the first length d. The lower limit of the first preset angle θ is when the angle between the first ray 101 and the horizontal plane within the sweeping range is minimized. As shown in Figure 2, if the first preset angle θ satisfies the aforementioned condition, then when the angle between the first ray 101 and the horizontal plane is minimized, it can still cover the first length d range, that is, it can be emitted to the target object (e.g., wall 2), thereby enabling navigation within the first length d range.

[0045] In this disclosure, the transmitting end 100 is capable of emitting a first ray 101 and a second ray 102, with an angle between the first ray 101 and the second ray 102. In some embodiments, in the gravitational direction Y, the first ray 101 may be located above the second ray 102.

[0046] The first ray 101 can have a first preset angle θ with the horizontal plane. The upper limit of the first preset angle θ can be the upper limit of the elevation angle, and the lower limit of the first preset angle θ can be -0.5°. That is, the first ray 101 emits downward at an angle of 0.5° relative to the horizontal plane, which can satisfy navigation within the first length d range.

[0047] In this embodiment, the first height can be in the range of 10cm to 25cm, and the first height can be the height of the obstruction encountered by the cleaning device during its movement. In some embodiments, it can be the height of the lower edge of a sofa, the lower edge of a bed, etc. The cleaning device can access the bottom of the obstruction for cleaning.

[0048] In this embodiment of the disclosure, the second height is in the range of 1 cm to 6 cm, and the second height can be the height of an obstacle encountered by the cleaning device during its movement. In some embodiments, it can be any object that the cleaning device cannot cross or pass under. For objects with a second height, the cleaning device typically walks around them.

[0049] The bed 4, acting as an obstruction, has a height H in the gravitational direction Y. Its second length d1 in the first horizontal direction X. The upper limit of the first preset angle θ can be set to satisfy the following condition: the tangent of the first preset angle θ is equal to the ratio of the difference between the height H of the obstruction and the first distance h to the second length d1. The upper limit of the first preset angle θ is when the angle between the first ray 101 and the horizontal plane within its sweeping range is at its maximum. As shown in Figure 3, if the first preset angle θ satisfies the aforementioned condition, the ray, even at its maximum angle with the horizontal plane, can still cover the second length d1 range at the bottom of the bed 4, meaning it can reach the target object (e.g., wall 2). Therefore, even at the bottom of the obstruction, path planning can be performed within the second length d1 range.

[0050] In embodiments of this disclosure, the second length d1 can be in the range of 1.0m to 2.5m. In some embodiments, the second length d1 can be 2cm.

[0051] The upper limit of the first preset angle θ can be 3°, that is, the first ray 101 is emitted at an angle of 3° upward relative to the horizontal plane, which can satisfy the path planning within the first height H of the occluding object and within the first length d.

[0052] By setting the first preset angle within the range of -0.5° to -3°, the cleaning equipment can complete path planning operations in usage scenarios with a first height, first length, and first distance.

[0053] In this embodiment, the transmitter 100 can also emit a second ray 102 with a second preset angle α to the horizontal plane, and the path planning module can complete path planning within a certain range based on the reflection information of the second ray 102.

[0054] The second light beam 102 emitted from the transmitter 100 sweeps within a certain range. The second light beam 102 is emitted at a certain angle to the horizontal plane, and this angle can vary; this angle is the second preset angle. The usage scenarios of the cleaning device 1 are complex and varied. To meet the needs of different usage scenarios, the emission angle of the second light beam 102 is set to cover a second distance range, allowing the cleaning device 1 to perform path planning within this range. The second distance corresponds to the length of the cleaning device 1 in different usage scenarios, which will be explained in detail in subsequent descriptions based on specific usage scenarios.

[0055] During the use of cleaning device 1, the path planning module can adjust the movement trajectory of cleaning device 1 according to whether there are obstacles within a certain distance range ahead. In some embodiments, it can determine whether to bypass or cross the obstacle based on information such as second height and width.

[0056] If the second ray 102 encounters a target object, it will be reflected. The path planning module can obtain information about the target object based on the reflected information, and thus obtain scene information within the second distance range to complete the path planning operation.

[0057] In this disclosure, the path planning module may include a navigation module 30 and an obstacle avoidance module 40. The navigation module 30 can navigate according to the reflection information of the first light ray 101, and the obstacle avoidance module 40 can avoid obstacles according to the reflection information of the second light ray 102.

[0058] As shown in Figure 4, the distance between the obstacle object 5 and the transmitter 100 in the first horizontal direction X is the second distance D. The second light ray 102 emitted by the cleaning device 1 has a second preset angle α with the horizontal plane. The second preset angle α satisfies the following relationship: the tangent value of the second preset angle α is equal to the ratio of the second distance D to the first height h.

[0059] In this embodiment of the disclosure, the second distance can be in the range of 25cm to 35cm. In some embodiments, the second distance can be 26cm, 27cm, 28cm, 29cm, 30cm, 31cm, 32cm, 33cm, or 34cm.

[0060] In this embodiment, the second preset angle α can be in the range of 8.5° to 12°. By setting the second preset angle α within this range, the cleaning device 1 can identify and judge obstacles at a distance of 25cm to 35cm.

[0061] In this embodiment of the disclosure, the field of view A of the second ray 102 at the obstacle located at the second distance D is greater than the width of the main body of the cleaning device 1. The field of view A is the width in the second horizontal direction Z, and the width of the main body is the width in the second horizontal direction Z. The second horizontal direction Z is located in the horizontal plane and is perpendicular to the first horizontal direction X.

[0062] In the path planning operation, the height direction of the obstacle object 5 can be identified by adjusting the second preset angle α for path planning. The field of view width A is greater than the width of the main body of the cleaning equipment 1, which allows the path planning module to identify obstacles that are wider than the main body of the cleaning equipment, and thus avoid them.

[0063] In this embodiment of the disclosure, the field of view width A satisfies the following condition: half of the field of view width A is equal to the product of the difference between the first height H and the second height h1, the tangent of the complementary angle of the second preset angle α, and the tangent of half of the field of view angle b of the second ray 102.

[0064] In this embodiment of the disclosure, the field of view b of the second ray 102 can be 120°, but the disclosure is not limited thereto. In some embodiments, the field of view b of the second ray 102 can also be other angles.

[0065] In this embodiment of the disclosure, the second height h1 can be approximately 5 cm, but the disclosure is not limited to this. In some embodiments, the second height h1 can also be other heights. The second height h1 is the height of the obstacle object in the gravitational direction Y.

[0066] With this setting, the field of view width can be determined for different cleaning equipment sizes and different usage scenarios. The field of view width of the second light, set according to these conditions, can ensure that the path planning module can identify obstacles of a certain width to avoid.

[0067] In this embodiment of the disclosure, the first ray 101 may be located above the second ray 102 in the gravitational direction Y. However, this disclosure is not limited thereto. In some embodiments, the first ray 101 may be located below the second ray 102 or both may be arranged side by side.

[0068] In this embodiment of the disclosure, the transmitting end 100 may include a transmitting element and a beam splitting element, wherein the light emitted by the transmitting element is split into a first beam 101 and a second beam 102 by the beam splitting element.

[0069] In this embodiment of the disclosure, the angle between the first ray 101 and the second ray 102 is in the range of 11° to 12°.

[0070] There is a preset angle between the first light ray 101 and the second light ray 102. Therefore, while adjusting the first preset angle θ of the first light ray 101, the second preset angle α of the second light ray 102 will also change. Thus, the second preset angle α can be adjusted at the same time according to the adjustment of the first preset angle θ, thereby obtaining a cleaning device 1 that can simultaneously meet the planning requirements of the path planning module.

[0071] With this setup, the path planning module can use a single transmitting element, and the navigation module 30 and obstacle avoidance module 40 can both emit a first and a second beam of light through a single transmitting element. This helps reduce costs and save installation space, enabling the miniaturization of the cleaning equipment.

[0072] However, this disclosure is not limited to emitting a first light ray and a second light ray through a single emitting element. In some embodiments, the emitting end 100 includes a first emitting element that emits the first light ray and a second emitting element that emits the second light ray.

[0073] By emitting a first ray and a second ray respectively through two emitting elements, on the one hand, the two emitting elements can achieve more flexible angle adjustment; on the other hand, the two emitting elements can also be better used to identify target objects.

[0074] As shown in Figure 6, the navigation module 30 can be located above the obstacle avoidance module 40. With this arrangement, since the first light ray 101 can be located above the second light ray 102, it is convenient for the navigation module 30 to receive the reflection information of the first light ray 101, and it is also convenient for the obstacle avoidance module 40 to receive the reflection information of the second light ray 102.

[0075] As shown in Figure 6, the transmitter 100 may include an ambient light sensor 111, a camera 112, and a first fill light 113. The ambient light sensor 111 may be an infrared light sensor, and the first fill light 113 may be an infrared fill light.

[0076] In this embodiment, the cleaning device 1 may further include a camera module 50, which may be an RGB camera, and the path planning module is signal-connected to the color camera module. In some embodiments, the obstacle avoidance module 40 may be signal-connected to the color camera module.

[0077] It is equipped with a camera module for recognition. By fusing the information obtained by the color camera with obstacle avoidance information, path planning and recognition functions can be realized.

[0078] Based on the same or similar concepts, this disclosure may also provide a cleaning device and a cleaning system. The cleaning device may include a walking module 20 and a navigation and obstacle avoidance module as described in the foregoing embodiments. The cleaning system may include the cleaning device as described in the foregoing embodiments.

[0079] By using a cleaning device as described in the preceding embodiments, the light emitted by the transmitter of the cleaning system can cover the range of the usage scenario, thereby enabling the path planning module to obtain information within the usage scenario and plan a reasonable cleaning path within the usage scenario.

[0080] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs; the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of this disclosure; the terms “comprising” and “having”, and any variations thereof, in the specification, claims and foregoing description of the drawings of this disclosure are intended to cover non-exclusive inclusion.

[0081] In the description of the embodiments of this disclosure, technical terms such as "first," "second," and "third" are used only to distinguish different objects and should not be construed as indicating or implying relative importance or implicitly specifying the number, specific order, or primary or secondary relationship of the indicated technical features. In the description of the embodiments of this disclosure, "a plurality of" means two or more, unless otherwise explicitly defined.

[0082] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this disclosure. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0083] In the description of the embodiments of this disclosure, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. Additionally, the character " / " in this document generally indicates that the preceding and following related objects are in an "or" relationship.

[0084] The above embodiments are merely illustrative of the technical solutions of this disclosure and are not intended to limit it. Although this disclosure has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. These modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this disclosure, and they should all be covered within the scope of the claims and specification of this disclosure. In particular, as long as there is no structural conflict, the various technical features mentioned in the various embodiments can be combined in any way. This disclosure is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

Claims

1. A navigation obstacle avoidance module, characterized in that, For use in cleaning equipment, the navigation and obstacle avoidance module includes: A visual sensing module includes an emitting end that emits light and a receiving end that receives reflected light. A path planning module is connected to the vision sensing module. The vision 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. When the cleaning device is located on a horizontal walking surface, the angle of elevation between the light emitted from the emitting end and the horizontal plane is less than or equal to 3°, and the angle of depression between the light emitted from the emitting end and the horizontal plane is less than or equal to 13°.

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

3. The navigation obstacle avoidance module according to claim 1 or 2, characterized in that, 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, characterized in that, 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 6mm to 8mm.

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

6. The navigation obstacle avoidance module according to claim 3, characterized in that, 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 any one of claims 3-6, characterized in that, The second ray has a second preset angle with the horizontal plane, and the lower limit of the second preset angle is the lower limit of the downward angle. 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 light ray. The first height is in the range of 10cm to 25cm, and the second height is in the range of 1cm to 6cm.

8. The navigation obstacle avoidance module according to any one of claims 3-7, characterized in that, 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 any one of claims 1-8, characterized in that, The transmitting end includes an emitting element and a beam splitting element. The light emitted by the emitting element is split into a first beam and a second beam by the beam splitting element.

10. The navigation obstacle avoidance module according to any one of claims 1-8, characterized in that, 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 1 to 10, characterized in that, 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, characterized in that, include: Walking module; and The navigation obstacle avoidance module according to any one of claims 1 to 11.

13. A cleaning system, characterized in that, include: Base station; And the cleaning equipment as described in claim 12.

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