CN-117169852-B - Distance detector and sweeping robot

CN117169852BCN 117169852 BCN117169852 BCN 117169852BCN-117169852-B

Abstract

The application provides a distance detector and a sweeping robot, wherein the distance detector comprises a light emitting chip and a first light guide component, the light emitting chip is arranged opposite to the first light guide component, the first light guide component is used for diverging light beams emitted by the light emitting chip in the vertical direction, the cross section of the first light guide component is in a fan ring shape, and the cross section area of the first light guide component is decreased in the direction from the axial center to two sides. The first light guide component is arranged to emit light beams to the light emitting chip in the vertical direction, so that the sweeping robot applying the distance detector can detect the distance between different height positions of the obstacle and the sweeping robot at the same time, the sweeping robot can be prevented from emitting collision with the irregular obstacle, the working stability of the sweeping robot is improved, the sweeping robot can finish sweeping work in various complex environments, and the application range of the sweeping robot is enlarged.

Inventors

JIANG YUHE
CHEN GUANG
SHI XIUYING
DU TIEMIN

Assignees

沈阳中光电子有限公司

Dates

Publication Date: 20260512
Application Date: 20230811

Claims (9)

1. The distance detector is characterized by comprising a light emitting chip (1) and a first light guide component (2), wherein the light emitting chip (1) is arranged opposite to the first light guide component (2), the light emitting chip (1) is overlapped with the central line of the first light guide component (2), and the first light guide component (2) is used for transmitting light beams emitted by the light emitting chip (1) and enabling the light beams to be in a divergent state in the vertical direction; The cross section of the first light guide component (2) is in a fan shape, the cross section area of the first light guide component (2) is in nonlinear decrease in the direction from the axial center to the two sides, the curved arc top of the first light guide component (2) forms a two-dimensional aspheric curve, and the two-dimensional aspheric curve enables light beams to be only diverged in the vertical direction and keep a converging state in the horizontal direction after passing through the first light guide component (2) by generating a large amount of spherical aberration in the vertical direction.
2. The distance detector according to claim 1, further comprising at least three reflected light receiving elements, at least three of which are located in the same plane as the light emitting chip (1), at least three of which are at different distances from the light emitting chip (1).
3. A distance detector according to claim 2, characterized in that the distance detector further comprises a second light guiding member (3), the second light guiding member (3) being arranged opposite at least three of the reflected light receiving assemblies, the second light guiding member (3) being arranged to control the deflection of the reflected light.
4. A distance detector according to claim 3, characterized in that the deflection angle of the reflected light through the second light guiding member (3) is a,4 ° -a-6 °.
5. A distance detector according to claim 3, characterized in that at least three of the reflected light receiving assemblies comprise a first reflected light receiving assembly (4), the centerlines of the first reflected light receiving assembly (4), the light emitting chip (1), the first light guiding member (2) and the second light guiding member (3) being in the same plane; Wherein the first reflected light receiving element (4) intersects with the central axis of the second light guiding member (3) and extends in a direction away from the light emitting chip (1).
6. The distance detector according to claim 5, characterized in that at least three of the reflected light receiving elements further comprise a second reflected light receiving element (5), the second reflected light receiving element (5) being arranged at a first directional side of the first reflected light receiving element (4) and being arranged at an angle a to the first reflected light receiving element (4), 70 ° -a ∈ 80 °.
7. The distance detector according to claim 6, characterized in that at least three of said reflected light receiving elements further comprise a third reflected light receiving element (6), said third reflected light receiving element (6) being arranged on the opposite side of said first direction of said first reflected light receiving element (4) and being arranged at an angle B to said first reflected light receiving element (4), 70 ° -B +.80 °.
8. The distance detector according to claim 7, characterized in that at least six light receiving chips (7) are arranged on each of the first, second and third reflected light receiving elements (4, 5, 6).
9. A sweeping robot comprising a distance detector according to any one of claims 1 to 8.

Description

Distance detector and sweeping robot Technical Field The application belongs to the technical field of optical equipment, and particularly relates to a distance detector and a sweeping robot. Background With the improvement of the technology level of people, intelligent sweeping robots are gradually popularized and become an indispensable sweeping tool in a plurality of families. The intelligent sweeping robot can automatically clean the ground, and meanwhile, the distance between the sweeping robot and an obstacle can be judged through the distance sensor arranged in the intelligent sweeping robot, so that the active obstacle avoidance of the sweeping robot is realized. At present, a distance sensor generally adopts a laser ranging technology, a sweeping robot can emit a very thin laser beam to an obstacle when working, a photoelectric element receives the laser beam reflected by the obstacle, a timer measures the time from the emission to the reception of the laser beam, and then the distance between the device and the obstacle is calculated. The sweeping robot can only emit a beam of laser beams with specific height to the obstacle, so that the limit is larger, and the sweeping robot can collide with the obstacle and scratch the obstacle when facing other irregularly-shaped obstacles such as arcs and the like. Disclosure of Invention Therefore, the technical problem to be solved by the application is to provide a distance detector and a sweeping robot, wherein the distance detector can detect the distances between a plurality of points in the vertical direction of an obstacle and the sweeping robot, so that the sweeping robot can be prevented from colliding with the obstacle. In order to solve the above problems, an aspect of the present application provides a distance detector, including a light emitting chip and a first light guide member, the light emitting chip being disposed opposite to the first light guide member, the first light guide member being configured to diverge a light beam emitted from the light emitting chip in a vertical direction; the cross section of the first light guide component is in a fan shape, and the cross section area of the first light guide component is decreased in the direction from the axial center to the two sides. Optionally, the light emitting chip coincides with a center line of the first light guide member. Optionally, the distance detector further includes at least three reflected light receiving components, at least three of the reflected light receiving components are located in the same plane with the light emitting chip, and at least three of the reflected light receiving components have different distances from the light emitting chip. Optionally, the distance detector further includes a second light guiding component, where the second light guiding component is disposed opposite to at least three of the reflected light receiving components, and the second light guiding component is used to control the deflection of the reflected light. Optionally, the deflection angle of the reflected light passing through the second light guide member is A, and A is more than or equal to 4 degrees and less than or equal to 6 degrees. Optionally, the at least three reflected light receiving assemblies include a first reflected light receiving assembly, and central lines of the first reflected light receiving assembly, the light emitting chip, the first light guide member, and the second light guide member are located in the same plane; Wherein the first reflected light receiving element intersects with the central axis of the second light guide member and extends in a direction away from the light emitting chip. Optionally, the at least three reflective light receiving components further include a second reflective light receiving component, where the second reflective light receiving component is disposed at a first direction side of the first reflective light receiving component and is disposed at an angle a with respect to the first reflective light receiving component, and a is greater than or equal to 70 ° and less than or equal to 80 °. Optionally, at least three of the reflective light receiving assemblies further include a third reflective light receiving assembly disposed on a reverse side of the first direction of the first reflective light receiving assembly and disposed at an angle B with respect to the first reflective light receiving assembly of 70 ° or more and B or less than 80 °. Optionally, at least six light receiving chips are disposed on each of the first, second and third reflective light receiving modules. In another aspect of the application, a sweeping robot is provided, which comprises the distance detector. Advantageous effects The embodiment of the invention provides a distance detector and a sweeping robot, wherein the distance detector can diverge light beams emitted by a light emitting chip in the vertical direction by arranging a first light g