Intelligent robot

Abstract

The present application discloses an intelligent robot. The intelligent robot includes: a robot main body, the robot main body includes a body, a protective side plate movably connected to the body, and a partition frame. The body and the protective side plate enclose a receiving cavity. The protective side plate is provided with a light-transmitting area. The partition frame is fixedly connected to the body and is received in the receiving cavity. The partition frame divides the receiving cavity into a first space and a second space. The first space is located on the side of the partition frame close to the light-transmitting area, and the second space is located on the side of the partition frame away from the light-transmitting area; an environmental sensing device, at least part of the environmental sensing device is installed in the first space, and the environmental sensing device can transmit and receive environmental sensing signals towards the light-transmitting area of the protective side plate within a preset scanning angle range; a control circuit board, the control circuit board is installed in the second space, and the second space is electrically connected to the environmental sensing device. The above structure can ensure the stable operation of the environmental sensing device and improve its service life.

Description

Technical Field

[0001] This application relates to the field of robots, and in particular, to an intelligent robot. Background Art

[0002] Currently, intelligent robots usually use environmental sensing devices to scan the surrounding environment, and then realize functions such as ranging, obstacle avoidance, and mapping. The existing environmental sensing devices protrude relative to the upper cover of the robot so that the environmental sensing devices can directly send and receive signals to the outside world, thus facilitating the detection of the surrounding environment. However, the environmental sensing devices are exposed to the outside and are easily hit by obstacles or splashed by liquids in the external environment, affecting the working reliability of the intelligent robot. Summary of the Invention

[0003] The technical problem to be solved by this application is to provide an intelligent robot with improved working reliability.

[0004] To solve the above technical problem, the embodiments of this application adopt the following technical solutions:

[0005] An intelligent robot, the intelligent robot includes:

[0006] A robot body, the robot body includes a body, a protective side plate movably connected to the body, and a partition frame. The body and the protective side plate enclose a receiving cavity. The protective side plate is provided with a light-transmitting area. The partition frame is fixedly connected to the body and is received in the receiving cavity. The partition frame divides the receiving cavity into a first space and a second space. The first space is located on the side of the partition frame close to the light-transmitting area, and the second space is located on the side of the partition frame away from the light-transmitting area;

[0007] An environmental sensing device, at least part of the environmental sensing device is installed in the first space, and the environmental sensing device can send and receive environmental sensing signals within a preset scanning angle range toward the light-transmitting area of the protective side plate;

[0008] A control circuit board, the control circuit board is installed in the second space, and the second space is electrically connected to the environmental sensing device.

[0009] Optionally, the body includes a chassis and a face cover fixedly connected to the chassis. The protective side plate is movably connected to the chassis and the face cover. The protective side plate, the chassis, and the face cover enclose the receiving cavity. A signal scanning space is provided on the side of the partition frame close to the protective side plate. The signal scanning space forms a part of the first space, and the environmental sensing device can send and receive environmental sensing signals through the signal scanning space.

[0010] Optionally, the surface cover has a side panel portion, the side panel portion and the partition frame are spliced ​​to form a closed loop, and the side panel portion and the partition frame are jointly arranged around the periphery of the chassis.

[0011] Optionally, a side surface of the partition frame close to the protective side plate is recessed with an installation groove, the installation groove is connected to the signal scanning space, and the environment sensing device is at least partially installed in the installation groove and partially extends into the signal scanning space.

[0012] Optionally, the environmental sensing device partially extends out of the installation slot in a direction close to the protective side panel, and the robot body also includes a collision protection member, which includes a connecting arm and two elastic arms respectively fixed at opposite ends of the connecting arm, both ends of the connecting arm are fixed to one side of the partition frame close to the protective side panel, the connecting arm spans the installation slot and is tightly fitted to the portion of the environmental sensing device extending out of the installation slot, and the free ends of the two elastic arms exceed the connecting arm in a direction close to the protective side panel and contact the protective side panel.

[0013] Optionally, the side surface of the partition frame close to the protective side plate is provided with two oppositely arranged optical path grooves, both of which are connected to the mounting groove, and both of which are long strips, and the extension directions of the two optical path grooves are set at an angle, and the two optical path grooves at least form a part of the signal scanning space.

[0014] Optionally, the signal scanning space has an arc-shaped inner side wall located between the two optical path grooves, the arc-shaped inner side wall is arranged around the environment sensing device, and the center of the arc-shaped inner side wall is arranged to coincide with the scanning center of the environment sensing device.

[0015] Optionally, the main body has a front edge adjacent to the protective side panel, the partition frame is aligned with the front edge, a protrusion is provided on the side of the partition frame away from the front edge, and the mounting groove is provided at a position of the partition frame corresponding to the protrusion.

[0016] Optionally, the signal scanning space is formed on a side of the partition frame close to the face cover, and a gap is arranged between the signal scanning space and the chassis. The robot body further comprises an alignment recognition device, and the alignment recognition position is fixedly connected to the chassis and is located in the gap. The environment sensing device is partially located in the gap and is stacked with the alignment recognition device, and the environment sensing device partially extends into the signal scanning space.

[0017] Optionally, the partition frame includes a first side plate, a second side plate, and a horizontal baffle. The first side plate is connected to the chassis near the side of the face cover, the second side plate is connected to the face cover near the side of the chassis, the horizontal baffle is fixedly connected to the first side plate and the second side plate, and is spaced from the face cover. A signal scanning space is formed between the horizontal baffle, the second side plate, and the face cover.

[0018] Optionally, the first side plate is fixed to the edge of the chassis near the protective side plate, and the horizontal baffle is also spaced from the chassis. The space between the horizontal baffle and the chassis forms a part of the second space.

[0019] Optionally, a part of the environmental sensing device is received in the space between the horizontal baffle and the chassis, and a part of the environmental sensing device extends into the signal scanning space.

[0020] Optionally, the bottom surface of the robot body is defined as a reference surface. The first space includes a signal scanning area and an avoidance area. The distance between the signal scanning area and the reference surface meets a first height threshold, and the distance between the avoidance area and the reference surface meets a second height threshold. Wherein, the first height threshold is greater than the second height threshold, or the first height threshold is less than the second height threshold; the environmental sensing device transmits and receives environmental sensing signals within a preset scanning angle range in the signal scanning area. The intelligent robot includes a sensing component adjacent to the environmental sensing device, and at least part of the sensing component is arranged in the avoidance area.

[0021] Optionally, the sensing component includes at least one of an infrared alignment sensor, a collision detection sensor, a cliff sensor, or an obstacle avoidance sensor.

[0022] Optionally, the surface of the partition frame corresponding to the avoidance area is recessed away from the protective side plate to form an avoidance groove. The robot body has a front edge adjacent to the protective side plate, and at least part of the front edge is disposed opposite to the avoidance groove. The sensing component includes at least one sensor, and the at least one sensor is mounted on the front edge and at least part of it is received in the avoidance groove.

[0023] Optionally, the bottom surface of the robot body is defined as a reference plane. The environmental sensing device includes a base, a light-transmitting cover covering the base, a driving component, and a scanning component. The base is fixed to the main body. The orthographic projection of the base on the reference plane coincides with the orthographic projection of the light-transmitting cover on the reference plane. The light-transmitting cover and the base enclose a receiving cavity. The driving component is fixed to the base. The driving component and the scanning component are received in the receiving cavity. The driving component can drive the scanning component to rotate and transmit and receive environmental sensing signals through the light-transmitting cover.

[0024] Optionally, the protective side plate is provided with a hollowed-out area extending circumferentially. The hollowed-out area forms at least a part of the light-transmitting area. The environmental sensing device can transmit and receive environmental sensing light signals through the hollowed-out area of the protective side plate. The partition can block dust entering from the hollowed-out area from invading the second space.

[0025] Optionally, the preset scanning angle is greater than or equal to 180°.

[0026] Compared with the prior art, the technical solution of the embodiment of the present application has at least the following beneficial effects:

[0027] In the embodiment of the present application, a receiving cavity is formed by enclosing the main body and the protective side plate. The protective side plate is provided with a light-transmitting area. The environmental sensing device is located in the receiving cavity and can transmit and receive environmental sensing signals within a preset scanning angle range towards the light-transmitting area of the protective side plate, which can avoid the situation that the environmental sensing device is exposed on the surface of the robot and is easily impacted. Moreover, the receiving cavity is divided into a first space and a second space by the partition. The first space is located on the side of the partition close to the light-transmitting area, and the second space is located on the side of the partition far from the light-transmitting area. At least part of the environmental sensing device is installed in the first space, and the control circuit board is installed in the second space. The partition serves as a shielding barrier, which can prevent the signal of the environmental sensing device from entering the second space, avoid the signal from being repeatedly reflected inside the intelligent robot to form an interference signal and interfere with the environmental sensing device. The partition can also block dust from entering the second space and polluting the control circuit board, thereby systematically ensuring the stable operation of the environmental sensing device, improving the service life and working reliability. Description of the Drawings

[0028] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other deformed forms can also be obtained based on these drawings.

[0029] Figure 1 is a top view schematic diagram of the intelligent robot provided by an embodiment of the present application;

[0030] Figure 2 is Figure 1 a transverse cross-sectional schematic of the intelligent robot provided in Figure 1 ;

[0031] Figure 3 is a partial structural decomposition schematic of the intelligent robot provided by an embodiment of the present application Figure 1 ;

[0032] Figure 4 is a partial structural decomposition schematic of the intelligent robot provided by an embodiment of the present application Figure 2 ;

[0033] Figure 5 is a structural schematic diagram of the intelligent robot provided by an embodiment of the present application;

[0034] Figure 6 is a partial structural decomposition schematic of the intelligent robot provided by an embodiment of the present application Figure 3 ;

[0035] Figure 7 is a partial structural decomposition schematic of the intelligent robot provided by an embodiment of the present application Figure 4 ;

[0036] Figure 8 is Figure 1 a transverse cross-sectional schematic of the intelligent robot provided in Figure 2 ;

[0037] Figure 9 is a partial structural decomposition schematic of the intelligent robot provided by an embodiment of the present application Figure 5 ;

[0038] Figure 10 is Figure 1 a transverse cross-sectional schematic of the intelligent robot provided in Figure 3 ;

[0039] Figure 11 is Figure 1 a transverse cross-sectional schematic of the intelligent robot provided in Figure 4 ;

[0040] Figure 12 is Figure 1 a transverse cross-sectional schematic of the intelligent robot provided in Figure 5 ;

[0041] Figure 13 is a partial structure schematic of the intelligent robot provided by an embodiment of the present application Figure 1 ;

[0042] Figure 14 Yes Figure 12 An enlarged schematic view of part A in

[0043] Figure 15 Yes Figure 1 A longitudinal cross-sectional schematic view of the intelligent robot provided in

[0044] Figure 16 This is a schematic view of the partial structure of the intelligent robot provided by the embodiments of the present application Figure 2 . Detailed implementation manners

[0045] Next, the technical solutions in the embodiments of the present application will be clearly described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

[0046] Please refer to Figure 1 、 Figure 2 and Figure 6 , the embodiments of the present application provide an intelligent robot 100, and the intelligent robot 100 includes:

[0047] A robot main body 10, the robot main body 10 includes a body 11, a protective side plate 12 movably connected to the body 11, and a partition frame 13. The body 11 and the protective side plate 12 enclose a receiving cavity 14. The protective side plate 12 is provided with a light-transmitting area 121. The partition frame 13 is fixedly connected to the body 11 and received in the receiving cavity 14. The partition frame 13 divides the receiving cavity 14 into a first space 141 and a second space 142. The first space 141 is located on the side of the partition frame 13 close to the light-transmitting area 121, and the second space 142 is located on the side of the partition frame 13 away from the light-transmitting area 121;

[0048] An environment sensing device 20, at least part of the environment sensing device 20 is installed in the first space 141, and the environment sensing device 20 can transmit and receive environment sensing signals within a preset scanning angle α range towards the light-transmitting area 121 of the protective side plate 12;

[0049] A control circuit board 30, the control circuit board 30 is installed in the second space 142, and the second space 142 is electrically connected to the environment sensing device 20.

[0050] It can be understood that the intelligent robot 100 can be any one of a floor-sweeping robot, a mopping robot, a window-cleaning robot, a vacuuming robot, etc., which is not limited herein. In this embodiment, the intelligent robot 100 is taken as an example of a floor-sweeping robot for illustration. Of course, the above-mentioned other types of robots can also apply the solution of the present application.

[0051] Compared with the prior art, the technical solution of the embodiment of the present application has at least the following beneficial effects:

[0052] In the embodiment of the present application, an accommodation cavity 14 is formed by enclosing the body 11 and the protective side plate 12. The protective side plate 12 is provided with a light-transmitting area 121. The environmental sensing device 20 is located in the accommodation cavity 14 and can transmit and receive environmental sensing signals within a preset scanning angle α range towards the light-transmitting area 121 of the protective side plate 12, which can avoid the situation that the environmental sensing device 20 is exposed on the surface of the robot and is easily impacted; and, the accommodation cavity 14 is divided into a first space 141 and a second space 142 by the partition frame 13. The first space 141 is located on the side of the partition frame 13 close to the light-transmitting area 121, and the second space 142 is located on the side of the partition frame 13 away from the light-transmitting area 121. At least part of the environmental sensing device 20 is installed in the first space 141, and the control circuit board 30 is installed in the second space 142. The partition frame 13 serves as a shielding barrier, which can prevent the signal of the environmental sensing device 20 from entering the second space 142, avoid the signal from being repeatedly reflected inside the intelligent robot 100 to form an interference signal and interfere with the environmental sensing device 20, and the partition frame 13 can also block dust from entering the second space 142 and polluting the control circuit board 30, thereby systematically ensuring the stable operation of the environmental sensing device 20, improving the service life and working reliability.

[0053] Please continue to refer to Figure 2 、 Figure 3 、 Figure 4 and Figure 5 , in this embodiment, the body 11 can be any one of a circular shape, a "D" shape, a rectangular shape, a triangular shape, etc. Those skilled in the art can set the shape of the body 11 according to actual needs. The body 11 can include a chassis 111 and a face cover 112. The face cover 112 is detachably installed on the chassis 111 to protect various functional components inside the intelligent robot 100 from being damaged by severe impacts or accidentally spilled liquids during use; the chassis 111 and / or the face cover 112 are used to carry and support various functional components. In an optional embodiment, the body 11 of the intelligent robot 100 can also be other design structures. For example, the body 11 is an integrally formed structure or a structure separated left and right. The embodiment of the present application does not limit the material, shape, structure, etc. of the body 11.

[0054] In this embodiment, the robot body 10 includes a traveling mechanism 15 and a cleaning assembly 16. The traveling mechanism 15 is connected to the main body 11 and is configured to drive the intelligent robot 100 to move on the ground. For example, the intelligent robot 100 can be designed to autonomously plan a path on the ground or can be designed to move on the ground in response to a remote control instruction. In the embodiments of the present application, the traveling mechanism 15 includes two driving wheels and at least one omnidirectional wheel, and at least a part of the two driving wheels and the omnidirectional wheel protrudes from the bottom of the chassis 111. For example, under the action of its own weight of the intelligent robot 100, the two wheels can be partially hidden in the chassis 111. In an alternative embodiment, the traveling mechanism 15 can further include any one of triangular crawler wheels, Mecanum wheels, etc.

[0055] The cleaning assembly 16 is detachably connected to the main body 11. The cleaning assembly 16 includes one or both of a middle sweeping assembly and a mopping assembly. The middle sweeping assembly includes at least one middle sweeping brush, and the at least one middle sweeping brush can include one or both of a middle sweeping hair brush and a middle sweeping rubber brush. The at least one middle sweeping brush can be disposed in a receiving groove opened at the bottom of the chassis 111. A dust suction port is opened in the receiving groove, and the dust suction port is communicated with a dust collection box and a dust suction fan, so that when the middle sweeping hair brush rotates, dust and garbage on the ground are stirred up, and the dust suction fan generates a suction force to suck the dust and garbage from the dust suction port into the dust collection box. The mopping assembly includes a bracket detachably connected to the chassis 111 and a wiping member attached to the bracket. The wiping member is used to fit the surface to be cleaned, and the wiping member moves along with the robot body 10 to wipe the surface passed by.

[0056] Buttons can be provided on the face cover 112. The face cover 112 covers the chassis 111, and the face cover 112 is fixedly connected to the chassis 111 by means of screw connection or the like. The protective side plate 12 is connected to the edges of the chassis 111 and the face cover 112, and the protective side plate 12 can move relative to the chassis 111 and the face cover 112 to extend or contract relative to the main body 11. The protective side plate 12 can be in any shape such as an arc shape, a ring shape, a U shape, etc., and can be set according to actual needs and is not limited herein. The intelligent robot 100 further includes at least one collision detection sensor 40 electrically connected to the control circuit board 30. The at least one collision detection sensor 40 is used to detect whether the protective side plate 12 contracts relative to the main body 11. When the at least one collision detection sensor 40 detects that the protective side plate 12 contracts relative to the main body 11, a collision signal can be generated. The collision signal represents that the protective side plate 12 of the intelligent robot 100 hits an obstacle, thereby realizing the collision perception of the intelligent robot 100 to the obstacle.

[0057] A receiving cavity 14 is formed among the protective side plate 12, the chassis 111 and the face cover 112. The receiving cavity 14 is used to provide an arrangement space for the internal components of the intelligent robot 100. In the receiving cavity 14 of the intelligent robot 100, a fan, a main circuit board, a collision detection sensor, a wall-following sensor and the like are arranged.

[0058] The chassis 111 has a front end 113 adjacent to the light-transmitting area 121 and a rear end opposite to the front end 113. The environmental sensing device 20 is fixed to the front end 113 and is arranged adjacent to the light-transmitting area 121, so that the environmental sensing device 20 can emit environmental sensing signals towards the front of the intelligent robot 100. In this embodiment, the environmental sensing device 20 may be a lidar, then the environmental sensing signal may be a laser signal. The environmental sensing device 20 can emit a laser emission signal through the light-transmitting area 121. After the laser emission signal encounters an obstacle, a laser reflection signal is formed. The environmental sensing device 20 can receive the laser reflection signal through the light-transmitting area 121. Thus, the environmental sensing device 20 senses obstacle information through the above laser signal and performs mapping and positioning on the scene where the robot is located. The environmental sensing device 20 may be a single-line lidar or a multi-line lidar, which can be set according to actual needs. In other embodiments, the environmental sensing device 20 may also be any one of an ultrasonic sensor, a 3D-TOF sensor, a camera, etc.

[0059] The light-transmitting area 121 extends along the circumferential direction of the protective side plate 12. The light-transmitting area 121 has a certain width in the horizontal direction, so that the environmental sensing device 20 can transmit and receive environmental sensing signals within a preset scanning angle α through the light-transmitting area 121. The preset scanning angle α of the environmental sensing device 20 is greater than or equal to 180°, so that the environmental sensing device 20 has a sufficiently large horizontal field of view range and can sense most of the area in front of the intelligent robot 100, reducing the environmental detection blind area. For example, the preset scanning angle α of the environmental sensing device 20 may be any one of 180°, 190°, 200°, 210°, 220°, 230°, etc. Those skilled in the art can set the preset scanning angle α according to actual needs.

[0060] Please continue to refer to Figure 3 、 Figure 4 and Figure 6, the partition frame 13 is in the shape of a long strip, and the partition frame 13 is arranged near the front end 113 of the chassis 111. In one embodiment, the partition frame 13 can be integrally arranged with the chassis 111 or the surface cover 112, which can improve the structural stability of the partition frame 13, and can also reduce the number of components, reduce the difficulty of assembly and manufacturing costs. In another embodiment, the partition frame 13, the chassis 111 and the surface cover 112 are independent components, and the partition frame 13 can be fixedly connected to the chassis 111 and / or the surface cover 112 by screw connection, snap connection, riveting or plug-in, so as to facilitate the assembly of the partition frame 13, the chassis 111 and the surface cover 112 into a whole, or disassemble them into multiple components, so as to facilitate maintenance or replacement of components.

[0061] The material and specific shape of the partition frame 13 can be set according to actual needs, and those skilled in the art can set them according to actual needs.

[0062] The partition frame 13 is lightproof and can form a light shielding barrier, thereby preventing the signal of the environment sensing device 20 from leaking into the second space 142, thereby preventing the signal of the environment sensing device 20 from being further repeatedly reflected to form a strong interference signal, thereby reducing interference to the environment sensing device 20. In addition, the partition frame 13 can prevent dust from entering the second space 142.

[0063] The face cover 112 has a side panel portion 116, and the side panel portion 116 and the partition frame 13 are spliced ​​to form a closed loop. The side panel portion 116 and the partition frame 13 are jointly arranged around the periphery of the chassis 111, and the second space 142 is located on the inner side of the closed loop formed by the side panel portion 116 and the partition frame 13, so that the second space 142 can be used as a sufficiently large arrangement space to reduce the influence of the partition frame 13 on the arrangement of internal devices of the intelligent robot 100. Among them, the side panel portion 116 is roughly U-shaped, and the closed loop can be a circular closed loop, a rectangular closed loop, a D-shaped closed loop or a special-shaped closed loop, etc., which are not limited here. In one embodiment, the outer side wall of the side panel portion 116 can smoothly transition with the outer side wall of the partition frame 13.

[0064] The surface cover 112 further includes a cover plate portion 117 , which covers the side plate portion 116 and the partition frame 13 on a side away from the bottom plate 111 . The cover plate portion 117 , the side plate portion 116 , the partition frame 13 and the bottom plate 111 together form the second space 142 .

[0065] The first space 141 is located between the protective side plate 12 and the partition frame 13. Since the protective side plate 12 can move freely, the first space 141 can change as the protective side plate 12 moves. For example, when the protective side plate 12 extends relative to the body 11, the first space 141 becomes larger; when the protective side plate 12 contracts relative to the body 11, the second space 142 becomes smaller. The robot body 11 further includes an elastic member located in the first space 141. The elastic member is elastically connected to the body 11 and the protective side plate 12, and the elastic member can provide an elastic force for the protective side plate 12 to move away from the partition frame 13, so that the first space 141 can automatically return to a larger state.

[0066] Please continue to refer to Figure 3 , Figure 4 and Figure 6 , and further, define the bottom surface of the robot body 10 as a reference surface 50. The environmental sensing device 20 includes a base 21, a light-transmitting cover 22 covering the base 21, a driving component 23, and a scanning component 24. The base 21 is fixed to the body 11. The orthographic projection of the base 21 on the reference surface 50 coincides with the orthographic projection of the light-transmitting cover 22 on the reference surface 50. The light-transmitting cover 22 and the base 21 enclose a storage cavity 25. The driving component 23 is fixed to the base 21. The driving component 23 and the scanning component 24 are received in the storage cavity 25. The driving component 23 can drive the scanning component 24 to rotate and transmit and receive environmental sensing signals through the light-transmitting cover 22.

[0067] In this embodiment, the environmental sensing device 20 is a 2D TOF radar, which measures distance using the time-of-flight principle.

[0068] The light-transmitting cover 22 can be fixedly connected to the base 21 by means such as screw connection, glue bonding, or threaded connection. The light-transmitting cover 22 can be hermetically connected to the base 21. The signals transmitted and received by the scanning component 24 can pass through the light-transmitting cover 22.

[0069] The driving assembly 23 includes a motor stator and a motor rotor. The motor stator and the motor rotor can form a brushless motor with a compact structure, which occupies a small space. The motor stator is fixedly mounted on the base 21, and the motor rotor is fixedly mounted on the scanning assembly 24. The central axis of the motor stator, the central axis of the motor rotor and the rotation axis of the scanning assembly 24 coincide with each other. The motor stator can drive the motor rotor to rotate relative to the base 21 by electromagnetic force, thereby driving the scanning assembly 24 to rotate relative to the base 21. In other embodiments, the driving assembly 23 may include a motor and a transmission member, the motor is fixed on the base 21, and the transmission member is transmission-connected between the scanning assembly 24 and the driving shaft of the motor, and the transmission member can be a conveyor belt or a gear, so that the motor can drive the scanning assembly 24 to rotate via the transmission member.

[0070] The scanning component 24 includes a laser emitter and a single-photon detection chip, the plane where the emission light path of the laser emitter and the receiving light path of the single-photon detection chip are located is perpendicular to the rotation axis direction of the scanning component 24, and the emission light path of the laser emitter is parallel to the receiving light path of the single-photon detection chip. In other embodiments, the laser radar can also be a triangulation ranging radar. The scanning component 24 can be driven to rotate by the driving component 23, wherein the laser transmitter can transmit a detection light signal, the single-photon detection chip can receive a reflected light signal reflected by an obstacle, and the laser radar can realize two-dimensional ranging according to the time-of-flight ranging principle; a detection chip with a larger photosensitive area or multiple detection chips or a focusing transparent member is usually used to improve the ability of the laser radar to detect reflected light, but it will increase the system complexity and volume of the laser radar, and the present application uses a small-sized single-photon detection chip, and the emission light path of the laser transmitter is parallel to the receiving light path of the single-photon detection chip, which greatly compresses the space occupied by the scanning component 24, thereby reducing the volume of the radar, wherein the small-sized single-photon detection chip has a high photoelectric gain, which significantly improves the ability of the laser radar to detect reflected light signals, and the ranging effect can be guaranteed without adding complex circuit devices. Therefore, the volume of the laser radar is small, and there is no need to occupy too much internal space of the robot body 10. In other embodiments, the environment sensing device 20 can be a solid-state laser radar.

[0071] See also Figure 7 and Figure 8 Furthermore, a signal scanning space 134 is provided on one side of the partition frame 13 close to the protective side plate 12 , and the signal scanning space 134 forms a part of the first space 141 , and the environment sensing device 20 can send and receive environment sensing signals through the signal scanning space 134 .

[0072] In the first embodiment, the signal scanning space 134 is formed on the side of the partition frame 13 close to the face cover 112. There is a gap between the signal scanning space 134 and the chassis 111, and this gap provides an arrangement space for other components.

[0073] In the second embodiment, the signal scanning space 134 is formed on the side of the partition frame 13 close to the chassis 111. There is a gap between the signal scanning space 134 and the face cover 112, and this gap provides an arrangement space for other components.

[0074] This embodiment will be described by taking the first embodiment as an example. In this embodiment, the partition frame 13 includes a first side plate 131, a second side plate 132, and a horizontal baffle 133. The first side plate 131, the second side plate 132, and the horizontal baffle 133 all extend along the length direction of the partition frame 13. The first side plate 131 is connected to the side of the chassis 111 close to the face cover 112. The second side plate 132 is connected to the side of the face cover 112 close to the chassis 111. The second side plate 132 is arranged opposite to the light-transmitting area 121 of the protective side plate 12. The horizontal baffle 133 is fixedly connected to the first side plate 131 and the second side plate 132, and is arranged at an interval from the face cover 112. The signal scanning space 134 is formed among the horizontal baffle 133, the second side plate 132, and the face cover 112.

[0075] Please refer to Figure 7 、 Figure 8 and Figure 9 Furthermore, the first side plate 131 is fixed to the edge of the chassis 111 close to the protective side plate 12. The horizontal baffle 133 is also arranged at an interval from the chassis 111, and the interval between the horizontal baffle 133 and the chassis 111 forms a part of the second space 142.

[0076] In this embodiment, the first side plate 131 is close to the front end 113 of the chassis 111, and the first side plate 131 is aligned with the edge of the chassis 111, so that the second space 142 is maximized, facilitating the provision of a larger arrangement space.

[0077] Please continue to refer to Figure 9In one embodiment, the control circuit board 30 can be partially accommodated in the gap between the horizontal baffle 133 and the chassis 111, and the orthographic projection of the control circuit board 30 on the chassis 111 partially overlaps with the orthographic projection of the horizontal baffle 133 on the chassis 111, so that the control circuit board 30 and the partition frame 13 have a compact structure, and the control circuit board 30 does not need to move backward, thereby avoiding the control circuit board 30 from moving backward and occupying the arrangement space of other components.

[0078] Please continue reading Figure 7 and Figure 8 In one embodiment, the robot body 10 further includes at least one collision detection sensor 40, which is installed in the interval between the horizontal baffle 133 and the chassis 111. The at least one collision detection sensor 40 is staggered with the signal scanning space 134 to prevent the at least one collision detection sensor 40 from interfering with the environment sensing device 20. The first side plate 131 is provided with at least one opening, and the at least one opening corresponds to the at least one collision detection sensor 40 one by one. Each of the collision detection sensors 40 has a movable trigger rod 41, and the trigger rod 41 of the at least one collision detection sensor 40 passes through the at least one opening to contact the protective side plate 12. The trigger rod 41 of the at least one collision detection sensor 40 can swing with the movement of the protective side plate 12. The at least one collision detection sensor 40 can sense whether the protective side plate 12 is hit by a collision through the trigger rod 41, and further generate a collision detection signal according to the collision of the protective side plate 12.

[0079] See also Figure 1 and Figure 10 Furthermore, a mounting groove 135 is recessed on the side surface of the partition frame 13 close to the protective side plate 12, and the mounting groove 135 forms a part of the first space 141. The mounting groove 135 is connected to the signal scanning space 134, and the environmental sensing device 20 is at least partially installed in the mounting groove 135 and partially extends into the signal scanning space 134.

[0080] In this embodiment, the partition frame 13 has a first side wall 103 adjacent to the protective side plate 12 and a second side wall 104 opposite to the first side wall 103. The first side wall 103 is aligned with the edge of the chassis 111. A portion of the first side wall 103 extends toward the second side wall 104 with a groove, and the groove forms the mounting groove 135. The signal scanning space 134 is set through the first side wall 103. The signal scanning space 134 is set relative to the light-transmitting area 121 of the protective side plate 12. The base 21 of the environment sensing device 20 is at least partially installed in the mounting groove 135, and the light-transmitting cover 22 of the environment sensing device 20 extends into the signal scanning space 134. The mounting groove 135 provides an arrangement space for the environment sensing device 20 to be installed at the front end 113 of the body 11, which is conducive to reducing the occupation of the internal space of the intelligent robot 100 by the environment sensing device 20 and affecting the arrangement of other components. Furthermore, the mounting groove 135 has a mounting opening opened toward the protective side panel 12, and the environmental sensing device 20 can be detachably mounted on the mounting groove 135 through the mounting opening. Thus, when the environmental sensing device 20 needs to be replaced or repaired, the protective side panel can be removed, and the environmental sensing device 20 can be removed from the mounting groove 135 without removing the face cover 112, thereby significantly simplifying the disassembly and assembly steps.

[0081] In other embodiments, the environment sensing device 20 is partially accommodated in the gap between the horizontal baffle 133 and the chassis 111, and the environment sensing device 20 partially extends into the signal scanning space 134. The base 21 of the environment sensing device 20 is at least partially installed in the gap between the horizontal baffle 133 and the chassis 111, and the light-transmitting cover 22 of the environment sensing device extends into the signal scanning space 134.

[0082] See also Figure 10 and Figure 11 Furthermore, the main body 11 has a front edge 115 adjacent to the protective side plate 12, the partition frame 13 is aligned with the front edge 115, a protrusion 136 is provided on the side of the partition frame 13 away from the front edge 115, and the mounting groove 135 is provided at a position of the partition frame 13 corresponding to the protrusion 136.

[0083] In this embodiment, the first side wall 103 of the partition frame 13 is aligned with the front edge 115. The second side wall 104 protrudes away from the first side wall 103 to form the protruding portion 136. A groove extends from the first side wall 103 corresponding to the protruding portion 136 toward the second side wall 104, and the groove forms the installation groove 135. The protruding portion 136 increases the local width of the partition frame 13 to provide a larger-sized groove for accommodating the environmental sensing device 20, and the dimensions of other parts of the partition frame 13 can be controlled to a smaller value.

[0084] Please refer to Figure 8 , Figure 10 , Figure 12 and Figure 13 , further, two light path grooves 137 are recessed in the side surface of the partition frame 13 close to the protective side plate 12 and are oppositely arranged. Both of the two light path grooves 137 communicate with the installation groove 135. Both of the two light path grooves 137 are strip-shaped, and the extending directions of the two light path grooves 137 are arranged at an angle. The two light path grooves 137 at least form a part of the signal scanning space 134.

[0085] In this embodiment, the two light path grooves 137 are recessed in the first side wall 103 of the partition frame 13. The two light path grooves 137 are located on the same plane. The two light path grooves 137 create space in the partition bar, providing a channel for the environmental sensing signals of the environmental sensing device 20, enabling the environmental sensing device 20 to receive and transmit environmental sensing signals within a larger preset scanning angle α range. The extending directions of the two light path grooves 137 are arranged at an angle, and the angle between the extending directions of the two light path grooves 137 matches the preset scanning angle α of the environmental sensing device 20. The angle between the extending directions of the two light path grooves 137 can be greater than or equal to 180°, and the angle between the extending directions of the two light path grooves 137 can be set according to the specific value of the preset scanning angle α of the environmental sensing device 20.

[0086] Please refer to Figure 8 and Figure 13, Further, the environmental sensing device 20 partially extends out of the installation groove 135 in the direction close to the protective side plate 12. The robot body 10 further includes a collision protection member 60, which includes a connecting arm 61 and two elastic arms 63 respectively fixed to opposite ends of the connecting arm 61. Both ends of the connecting arm 61 are fixed to the side of the partition frame 13 close to the protective side plate 12. The connecting arm 61 straddles the installation groove 135 and tightly fits the part of the environmental sensing device 20 extending out of the installation groove 135. The free ends of the two elastic arms 63 are arranged beyond the connecting arm 61 in the direction close to the protective side plate 12 and abut against the protective side plate 12.

[0087] In this embodiment, the collision protection member 60 is isolated between the protective side plate 12 and the environmental sensing device 20. The collision protection member 60 can be a metal elastic sheet and has elasticity. By the connecting arm 61 straddling the installation groove 135 and tightly fitting the part of the environmental sensing device 20 extending out of the installation groove 135, the connecting arm 61 can fix the environmental sensing device 20 stably in the installation groove 135. Also, by the free ends of the two elastic arms 63 being arranged beyond the connecting arm 61 in the direction close to the protective side plate 12 and abutting against the protective side plate 12, the two elastic arms 63 are arranged at an obtuse angle in the natural state, so that the two elastic arms 63 have a sufficient opening angle to balance the impact of the collision received by the protective side plate 12.

[0088] Please refer to Figure 12 and Figure 14 , Further, the signal scanning space 134 has an arc-shaped inner side wall 138 located between the two light path grooves 137. The arc-shaped inner side wall 138 is arranged around the environmental sensing device 20, and the center of the arc-shaped inner side wall 138 coincides with the scanning center of the environmental sensing device 20. In this embodiment, the arc-shaped inner side wall 138 is arranged around the light-transmitting cover 22 and the scanning assembly 24. The center of the arc-shaped inner side wall 138 coincides with the scanning center of the environmental sensing device 20, that is, the center of the arc-shaped inner side wall 138 coincides with the center line of the light-transmitting cover 22 and the rotation axis center line of the scanning assembly 24. The scanning assembly 24 can rotate 360° within the light-transmitting cover 22 and receive and transmit environmental sensing signals passing through the light-transmitting cover 22 during the rotation process. Since the center of the arc-shaped inner side wall 138 coincides with the scanning center of the environmental sensing device 20, the sensing signals of the environmental sensing device 20 for the arc-shaped inner side wall 138 are consistent everywhere, which is convenient for distinguishing the scanning signals of the environmental sensing component at the arc-shaped inner side wall 138 and the scanning signals within the preset scanning angle α range.

[0089] Please refer toFigure 16 , Further, the signal scanning space 134 is formed on one side of the partition frame 13 close to the face cover 112. There is a gap between the signal scanning space 134 and the chassis 111. The robot body 11 further includes a positioning and recognition device 70. The positioning and recognition device 70 is fixedly connected to the chassis 111 and is located within the gap. Part of the environmental sensing device 20 is located within the gap and is stacked with the positioning and recognition device 70. Part of the environmental sensing device 20 extends into the signal scanning space 134.

[0090] In this embodiment, the positioning and recognition device 70 is electrically connected to the control circuit board 30. The positioning and recognition device 70 is used to receive the positioning and guiding signal of the charging device, so that the intelligent robot 100 can identify the positioning and guiding signal through the positioning and recognition device 70, and then can accurately dock with the charging device under the guidance of the positioning and guiding signal. The positioning and recognition device 70 is fixed to the front end 113 of the chassis 111, and the environmental sensing device 20 is stacked on the side of the positioning and recognition device 70 away from the chassis 111, thereby reducing the layout space of the environmental sensing device 20 occupying the chassis 111.

[0091] The environmental sensing device 20 is stacked on the top of the positioning and recognition device 70, that is, the environmental sensing device 20 is stacked on the side of the positioning and recognition device 70 away from the chassis 111. Among them, the base 21 of the environmental sensing device 20 is fixed to the side of the positioning and recognition device 70 away from the chassis 111, and the scanning component 24 of the environmental sensing device 20 is located on the side of the base 21 away from the positioning and recognition device 70. Thus, the scanning component 24 of the environmental sensing device 20 is at a relatively high installation height, and further the scanning area formed by the environmental sensing signal is also at a relatively high scanning height, so that sufficient layout space can be reserved for the positioning and recognition device 70 and other devices arranged on the chassis 111 to avoid interference between the two. In addition, the environmental sensing device 20 and the positioning and recognition device 70 form a stacked structure, which can effectively reduce the layout area occupied by the two on the chassis 111.

[0092] Please refer to Figure 2 、 Figure 15 and Figure 16, further, the bottom surface of the robot body 10 is defined as the reference surface 50, the first space 141 includes a signal scanning area 143 and an avoidance area 144, the distance between the signal scanning area 143 and the reference surface 50 satisfies a first height threshold, and the distance between the avoidance area 144 and the reference surface 50 satisfies a second height threshold, wherein the first height threshold is greater than the second height threshold, or the first height threshold is less than the second height threshold; the environment sensing device 20 sends and receives environment sensing signals within a preset scanning angle α in the signal scanning area 143, and the intelligent robot 100 includes a sensor component 17 adjacent to the environment sensing device 20, and the sensor component 17 is at least partially arranged in the avoidance area 144.

[0093] In this embodiment, the reference surface 50 is disposed on the chassis 111, and the reference surface 50 is located on the side of the chassis 111 away from the cover 112. The environmental sensing signal of the scanning component 24 passes through the signal scanning area 143, and the signal scanning area 143 is substantially parallel to the reference surface 50. Since the preset scanning angle α is greater than or equal to 180°, the signal scanning area 143 needs to occupy a portion of the space of the inner cavity. In order to prevent the sensor component 17 from blocking the scanning optical path of the laser radar, the sensor component 17 is at least partially arranged in the avoidance area 144, so that the sensor component 17 is staggered with the signal scanning area 143, thereby preventing the scanning optical path of the environmental sensing device 20 from being blocked.

[0094] The sensor component 17 may include any one or more of an obstacle avoidance sensor, a collision detection sensor, a ground detection sensor, etc., and may be configured according to actual needs.

[0095] See also Figure 15 and Figure 16 Furthermore, the surface of the partition frame 13 corresponding to the avoidance area 144 is recessed in a direction away from the protective side panel 12 to form an avoidance groove 139, the robot body has a front edge 115 adjacent to the protective side panel 12, the chassis 111 has a front edge 115 adjacent to the protective side panel 12, and the front edge 115 is at least partially arranged opposite to the avoidance groove 139, and the sensor component 17 includes at least one sensor 201, and the at least one sensor 201 is installed on the front edge 115 and is at least partially accommodated in the avoidance groove 139.

[0096] In this embodiment, the avoidance groove 139 is arranged through the partition frame 13, and an arrangement area is formed at the position where the front edge 115 corresponds to the avoidance groove 139. The at least one sensor 201 can be installed in the arrangement area of the front edge 115 and partially received in the avoidance groove 139. Thus, the avoidance groove 139 and the arrangement area of the front edge 115 provide additional device arrangement space, and the at least one sensor 201 can be installed in the above space, thereby improving the structural compactness. Moreover, the at least one sensor 201 can avoid the signal scanning area 143 and prevent blocking the signals of the environmental sensing device 20. The at least one sensor 201 can be a cliff sensor. At least one through hole is provided on the front edge 115, and the at least one sensor 201 is respectively installed in the at least one through hole. The part of the at least one cliff sensor extending out of the through hole is received in the avoidance groove 139.

[0097] Please refer to Figure 3 , further, the protective side plate 12 is provided with a hollowed-out area 122 extending in the circumferential direction. The hollowed-out area 122 at least forms a part of the light-transmitting area 121. The environmental sensing device 20 can transmit and receive environmental sensing light signals through the hollowed-out area 122 of the protective side plate 12, and the partition frame 13 can prevent dust entering from the hollowed-out area 122 from invading the second space 142.

[0098] Among them, the signal transmittance of the environmental sensing device 20 in the hollowed-out area 122 can be further improved, which is beneficial to improving the sensing accuracy of the environmental sensing device 20.

[0099] In one embodiment, the protective side plate 12 is provided with a light-transmitting lens 62. The light-transmitting lens 62 is in a strip shape. The light-transmitting lens 62 has two end edges 123 arranged oppositely, and the two end edges 123 are located on the opposite sides of the environmental sensing device 20. The hollowed-out area 122 is arranged on the light-transmitting lens 62 and is spaced from the two end edges 123.

[0100] In another embodiment, the hollowed-out area 122 completely forms the light-transmitting area 121, that is, the protective side plate 12 is not provided with the light-transmitting lens 62. The light-transmitting lens 62 has two end edges 123 arranged oppositely and two long edges 124 arranged oppositely. The two long edges 124 are respectively connected to the two end edges 123. The protective side plate 12 is provided with at least one support rib, and the at least one support rib is fixed to the two long edges 124 of the hollowed-out area 122 to reinforce the part of the protective side plate 12 corresponding to the hollowed-out area 122.

[0101] In the description of this specification, the description referring to terms such as "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples.

[0102] The above-described embodiments do not constitute a limitation on the protection scope of the technical solution. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the above embodiments shall be included in the protection scope of the technical solution.

Claims

1. An intelligent robot, characterized in that, The intelligent robot includes: A robot main body, which includes a body, a protective side plate movably connected to the body, and a partition frame. The body and the protective side plate enclose a receiving cavity. The protective side plate is provided with a light-transmitting area. The partition frame is fixedly connected to the body and is received in the receiving cavity. The partition frame divides the receiving cavity into a first space and a second space. The first space is located on the side of the partition frame close to the light-transmitting area, and the second space is located on the side of the partition frame far from the light-transmitting area; An environmental sensing device, at least part of which is installed in the first space. The environmental sensing device can transmit and receive environmental sensing signals towards the light-transmitting area of the protective side plate within a preset scanning angle range. Wherein, the partition frame serves as a shielding barrier to prevent the signals of the environmental sensing device from entering the second space; A control circuit board, which is installed in the second space. The second space is electrically connected to the environmental sensing device; A signal scanning space is provided on the side of the partition frame close to the protective side plate. The signal scanning space forms a part of the first space. The environmental sensing device can transmit and receive environmental sensing signals through the signal scanning space; An installation groove is recessed on the side surface of the partition frame close to the protective side plate; Two optical path grooves are recessed on the side surface of the partition frame close to the protective side plate and are arranged oppositely. Both of the two optical path grooves are communicated with the installation groove. Both of the two optical path grooves are strip-shaped, and the extending directions of the two optical path grooves are arranged at an angle. The two optical path grooves at least form a part of the signal scanning space; The signal scanning space has an arc-shaped inner side wall located between the two optical path grooves. The arc-shaped inner side wall is arranged around the environmental sensing device, and the center of the arc-shaped inner side wall coincides with the scanning center of the environmental sensing device; 2. The intelligent robot according to claim 1, characterized in that, The body includes a chassis and a face cover fixedly connected to the chassis. The protective side plate is movably connected to the chassis and the face cover. The protective side plate, the chassis and the face cover enclose the receiving cavity; 3. The intelligent robot according to claim 2, wherein, The face cover has a side plate part. The side plate part and the partition frame are spliced to form a closed loop. The side plate part and the partition frame jointly surround the periphery of the chassis; 4. The intelligent robot according to claim 2, wherein, The installation groove is communicated with the signal scanning space. At least part of the environmental sensing device is installed in the installation groove and partially extends into the signal scanning space; 5. The intelligent robot according to claim 4, wherein, The environmental sensing device partially extends out of the installation groove in the direction close to the protective side plate. The robot main body further includes a collision protection member, which includes a connecting arm and two elastic arms respectively fixed at opposite ends of the connecting arm. Both ends of the connecting arm are fixed to the side of the partition frame close to the protective side plate. The connecting arm straddles the installation groove and tightly fits the part of the environmental sensing device extending out of the installation groove. The free ends of the two elastic arms exceed the connecting arm in the direction close to the protective side plate and abut against the protective side plate.

6. The intelligent robot according to claim 4, characterized in that, The main body has a front edge adjacent to the protective side plate, the partition frame is aligned with the front edge, a protrusion is provided on the side of the partition frame away from the front edge, and the mounting groove is provided at a position of the partition frame corresponding to the protrusion.

7. The intelligent robot according to claim 2, characterized in that, The signal scanning space is formed on the side of the partition frame close to the face cover, and a gap is arranged between the signal scanning space and the chassis. The robot body also includes a positioning recognition device, and the positioning recognition position is fixedly connected to the chassis and is located in the gap. The environment sensing device is partially located in the gap and is stacked with the positioning recognition device, and the environment sensing device partially extends into the signal scanning space.

8. The intelligent robot according to claim 2, characterized in that, The partition frame includes a first side plate, a second side plate and a horizontal baffle, the first side plate is connected to the side of the chassis close to the surface cover, the second side plate is connected to the side of the surface cover close to the chassis, the horizontal baffle is fixedly connected to the first side plate and the second side plate, and is spaced apart from the surface cover, and the signal scanning space is formed between the horizontal baffle, the second side plate and the surface cover.

9. The intelligent robot according to claim 8, wherein, The first side plate is fixed to the edge of the chassis close to the protective side plate, and the horizontal baffle is also spaced apart from the chassis. The space between the horizontal baffle and the chassis forms a part of the second space.

10. The intelligent robot according to claim 9, wherein, The environment sensing device is partially accommodated in the interval between the horizontal baffle and the chassis, and the environment sensing device partially extends into the signal scanning space.

11. The intelligent robot according to claim 1, wherein, The bottom surface of the robot body is defined as a reference surface, the first space includes a signal scanning area and an avoidance area, the distance between the signal scanning area and the reference surface satisfies a first height threshold, and the distance between the avoidance area and the reference surface satisfies a second height threshold, wherein the first height threshold is greater than the second height threshold, or the first height threshold is less than the second height threshold; the environment sensing device sends and receives environment sensing signals within a preset scanning angle range in the signal scanning area, the intelligent robot includes a sensor component adjacent to the environment sensing device, and the sensor component is at least partially arranged in the avoidance area.

12. The intelligent robot according to claim 11, wherein The sensing component includes at least one of an infrared alignment sensor, a collision detection sensor, a cliff sensor or an obstacle avoidance sensor.

13. The intelligent robot according to claim 11, characterized in that, The surface of the partition frame corresponding to the avoidance area is recessed in a direction away from the protective side panel to form an avoidance groove. The robot body has a front edge adjacent to the protective side panel, and the front edge is at least partially arranged opposite to the avoidance groove. The sensor component includes at least one sensor, and the at least one sensor is installed on the front edge and at least partially accommodated in the avoidance groove.

14. The intelligent robot according to any one of claims 1 to 13, characterized in that, Define the bottom surface of the robot body as the reference plane. The environmental sensing device includes a base, a light-transmitting cover covering the base, a driving component, and a scanning component. The base is fixed to the body. The orthographic projection of the base on the reference plane coincides with the orthographic projection of the light-transmitting cover on the reference plane. The light-transmitting cover and the base enclose a storage cavity. The driving component is fixed to the base. The driving component and the scanning component are received in the storage cavity. The driving component can drive the scanning component to rotate and transmit and receive environmental sensing signals through the light-transmitting cover.

15. The intelligent robot according to any one of claims 1 to 13, characterized in that, The protective side plate is provided with a hollowed-out area extending circumferentially. The hollowed-out area at least forms a part of the light-transmitting area. The environmental sensing device can transmit and receive environmental sensing light signals through the hollowed-out area of the protective side plate. The partition frame can block dust entering from the hollowed-out area from invading the second space.

16. The intelligent robot according to any one of claims 1 to 13, characterized in that, The preset scanning angle is greater than or equal to 180°.

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