Intelligent robot

Abstract

The present application discloses an intelligent robot, which includes: a robot main body, the robot main body includes a body and a protective side plate movably connected to the body, and the protective side plate is provided with a light-transmitting area; an environmental sensing device, the environmental sensing device is fixed on one side of the body close to the protective side plate, 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 collision protection member, the collision protection member is connected to the body or the environmental sensing device, and separates the environmental sensing device from the protective side plate, and the collision protection member has elasticity and can provide an elastic buffering force for the protective side plate to move away from the environmental sensing device. The protective side plate can protect the environmental sensing device. When the protective side plate is impacted, the collision protection member can provide an elastic buffering force for the protective side plate to move away from the environmental sensing device, so as to systematically ensure the stable operation of the environmental sensing device and improve the service life and working reliability.

Description

Technical Field

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

[0002] At present, intelligent robots usually use environmental sensing devices to scan the surrounding environment to achieve functions such as ranging, obstacle avoidance and mapping. Existing environmental sensing devices are exposed on the surface of the machine 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 the present application is to provide an intelligent robot with improved working reliability.

[0004] In order to solve the above technical problems, the embodiments of the present application adopt the following technical solutions:

[0005] An intelligent robot, comprising:

[0006] A robot body, the robot body comprising a body and a protective side plate movably connected to the body, the protective side plate being provided with a light-transmitting area;

[0007] An environment sensing device, the environment sensing device is fixed to a side of the body close to the protective side plate, and the environment sensing device can send and receive environment sensing signals toward the light-transmitting area of the protective side plate within a preset scanning angle range;

[0008] A collision shield is connected to the main body or the environmental sensing device and separates the environmental sensing device from the protective side plate. The collision shield is elastic and can provide an elastic buffering force for the protective side plate to move away from the environmental sensing device.

[0009] Optionally, the collision protection member includes a connecting arm and two elastic arms respectively fixed at opposite ends of the connecting arm, the connecting arm is fixed relative to the environmental sensing device, the ends of the two elastic arms away from the connecting arm both abut against the protective side plate, and the two elastic arms are arranged at an obtuse angle in a natural state.

[0010] Optionally, the collision protection member is provided with a reinforcement portion at the connection between each of the elastic arms and the connecting arm, and each of the elastic arms and each of the reinforcement portions are bent relative to the connecting arm.

[0011] Optionally, a buffer is provided on a side of the connecting arm facing away from the environment sensing device, and the buffer is used to buffer the impact of the protective side plate on the environment sensing device.

[0012] Optionally, the main body has a front edge adjacent to the protective side panel, the robot body also includes an alignment identification device fixed to the main body and adjacent to the front edge, the environmental sensing device is stacked on top of the alignment identification device, and the collision protection member is arranged beyond the front edge.

[0013] Optionally, the main body and the protective side panels are combined to form a receiving cavity, and the robot body also includes a partition frame, which is fixed 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. The environment sensing device is at least partially accommodated in the first space, so that the environment sensing device sends and receives environment sensing signals in the first space, and the second space is used to accommodate other devices of the intelligent robot.

[0014] Optionally, the main body includes a chassis and a face cover fixedly connected to the chassis, the protective side panels are movably connected to the chassis and the face cover, the protective side panels, the chassis and the face cover together form the accommodating cavity, the partition frame is adjacent to the edges of the chassis and the face cover, a signal scanning space is provided on one side of the partition frame close to the protective side panel, 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.

[0015] Optionally, the face cover has a side panel portion, the side panel portion and the partition frame are spliced to form a closed loop, the side panel portion and the partition frame are jointly arranged around the periphery of the chassis, and the collision protection component is installed on the side of the partition frame away from the side panel portion.

[0016] Optionally, a mounting groove is recessed on the side surface of the partition frame close to the protective side panel, the mounting groove forms a part of the first space, the mounting groove has a mounting opening facing the protective side panel, and the environmental sensing device is detachably mounted on the mounting groove through the mounting opening.

[0017] Optionally, the environmental sensing device partially extends out of the mounting slot in a direction close to the protective side panel, and the collision protection component 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 a side of the partition frame close to the protective side panel, the connecting arm spans the mounting slot and is tightly fitted to the portion of the environmental sensing device extending out of the mounting slot, and the free ends of the two elastic arms extend beyond the connecting arm in a direction close to the protective side panel and abut against the protective side panel.

[0018] Optionally, an installation groove and two optical path grooves communicating with the installation groove are recessed on a side surface of the partition frame close to the protective side plate. The installation groove and the two optical path grooves form a part of the first space. The two optical path grooves are both strip-shaped, and the extending directions of the two optical path grooves are arranged at an angle. At least part of the environmental sensing device is installed in the installation groove, and the environmental sensing device can transmit and receive environmental sensing signals through the two optical path grooves to the outside.

[0019] Optionally, define the bottom surface of the robot body as a reference plane. The first space includes a signal scanning area and an avoidance area. The distance between the signal scanning area and the reference plane meets a first height threshold, and the distance between the avoidance area and the reference plane 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, and the collision protection member is arranged in the avoidance area.

[0020] Optionally, the intelligent robot further includes a sensing component adjacent to the environmental sensing device. The sensing component is arranged in the avoidance area, and the sensing component includes at least one of an infrared alignment sensor, a collision detection sensor, a cliff sensor or an obstacle avoidance sensor.

[0021] Optionally, define the bottom surface of the robot body as a reference plane. The environmental sensing device includes a base and a light-transmitting cover covering the base, as well as a driving component and a scanning component. The base is fixed to the body, and 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, and the driving component and the scanning component are accommodated 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.

[0022] Optionally, define the bottom surface of the robot body as a preset reference plane. The area through which the environmental sensing signal of the environmental sensing device passes forms the signal scanning area. The intelligent robot includes at least one obstacle avoidance sensor. The at least one obstacle avoidance sensor is installed on the protective side plate. The orthographic projection of the at least one obstacle avoidance sensor on the preset reference plane at least partially coincides with the orthographic projection of the signal scanning area on the preset reference plane. The distance between the at least one obstacle avoidance sensor and the preset reference plane is greater than or less than the distance between the signal scanning area and the preset reference plane. The at least one obstacle avoidance sensor can transmit and receive obstacle sensing signals.

[0023] Optionally, the at least one obstacle avoidance sensor includes a first obstacle avoidance sensor and a second obstacle avoidance sensor. The first obstacle avoidance sensor and the second obstacle avoidance sensor are respectively located on both sides of the environment sensing device. The first obstacle avoidance sensor and the second obstacle avoidance sensor can both transmit and receive obstacle sensing signals within a preset scanning angle range, so that the obstacle sensing signals cover a preset area in front of the intelligent robot within a preset width, and the preset width is greater than the maximum width of the intelligent robot.

[0024] Optionally, the scanning area of the obstacle sensing signal of the first obstacle avoidance sensor exceeds at least 15 mm beyond the left edge of the intelligent robot, and the scanning area of the obstacle sensing signal of the second obstacle avoidance sensor exceeds at least 15 mm beyond the right edge of the intelligent robot.

[0025] Optionally, the obstacle avoidance sensor includes a base and a sensing component. The base is hermetically connected to the inner side wall of the protective side plate. A sealed cavity is formed between the base and the protective side plate. At least a part of the sealed cavity faces the light-transmitting lens directly. The sensing component is fixedly connected to the base and is received in the sealed cavity. The sensing component can transmit and receive obstacle sensing signals through the light-transmitting lens.

[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, by fixing the environment sensing device on one side of the main body close to the protective side plate, the environment sensing device can transmit and receive environment sensing signals within a preset scanning angle range towards the light-transmitting area of the protective side plate. The protective side plate can protect the environment sensing device, block external dust or liquid or obstacles. Also, by connecting the main body or the environment sensing device with the collision protection member and separating the environment sensing device from the protective side plate, the collision protection member has elasticity. When the protective side plate is impacted, the collision protection member can provide an elastic buffer force for the protective side plate to move away from the environment sensing device, thereby reducing the impact force on the environment sensing device, and thus systematically ensuring the stable operation of the environment 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 drawings in the following description 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 according to these drawings.

[0029] Figure 1 is a schematic diagram of the partial structure decomposition of the intelligent robot provided by an embodiment of the present application Figure One ;

[0030] Figure 2 is a schematic diagram of the partial structure decomposition of the intelligent robot provided by an embodiment of the present application Figure Two ;

[0031] Figure 3 is a schematic diagram of the structure of the intelligent robot provided by an embodiment of the present application;

[0032] Figure 4 is a longitudinal sectional view of the intelligent robot provided by an embodiment of the present application Figure One ;

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

[0034] Figure 6 is Figure 5 the enlarged schematic diagram at position A in

[0035] Figure 7 is a top view structure schematic diagram of the intelligent robot provided by an embodiment of the present application Figure One ;

[0036] Figure 8 is Figure 7 the transverse sectional view of the intelligent robot provided Figure One ;

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

[0038] Figure 10 is Figure 7 the transverse sectional view of the intelligent robot provided Figure Two ;

[0039] Figure 11 is a schematic diagram of the partial structure decomposition of the intelligent robot provided by an embodiment of the present application Figure Four ;

[0040] Figure 12 is a schematic diagram of the partial structure of the intelligent robot provided by an embodiment of the present application Figure Two ;

[0041] Figure 13 is Figure 7 the transverse sectional view of the intelligent robot provided Figure Three ;

[0042] Figure 14This is a longitudinal cross-sectional view of the intelligent robot provided in the embodiment of the present application. Figure Two .

[0043] Figure 15 This is a schematic diagram of the top view of the intelligent robot provided in the embodiment of the present application. Figure Two ;

[0044] Figure 16 This is a schematic diagram of the partial structure decomposition of the intelligent robot provided in the embodiment of the present application. Figure Four ;

[0045] Figure 17 yes Figure 16 Schematic diagram of the transverse cross section of the provided intelligent robot Figure One ;

[0046] Figure 18 This is a schematic diagram of the partial structure decomposition of the intelligent robot provided in the embodiment of the present application. Figure Five ;

[0047] Figure 19 yes Figure 16 Schematic diagram of the transverse cross section of the provided intelligent robot Figure Two ;

[0048] Figure 20 is a schematic cross-sectional view of a local structure of an intelligent robot provided in an embodiment of the present application;

[0049] Figure 21 yes Figure 20 The enlarged schematic diagram at F in the middle;

[0050] Figure 22 This is a schematic diagram of the partial structure decomposition of the intelligent robot provided in the embodiment of the present application. Figure Six . DETAILED DESCRIPTION

[0051] The following will be combined with the drawings in the embodiments of the present application to clearly describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0052] See also Figures 1 to 4 and Figure 8 The embodiment of the present application provides an intelligent robot 100, and the intelligent robot 100 includes:

[0053] A robot body 10, the robot body 10 comprising a body 11 and a protective side plate 12 movably connected to the body 11, the protective side plate 12 being provided with a light-transmitting area 121;

[0054] An environmental sensing device 20 is fixed to one side of the main body 11 close to the protective side plate 12. The environmental sensing device 20 can transmit and receive environmental sensing signals to and from the light-transmitting area 121 of the protective side plate 12 within a preset scanning angle range α.

[0055] A collision protection member 60 is connected to the main body 11 or the environmental sensing device 20 and separates the environmental sensing device 20 from the protective side plate 12. The collision protection member 60 has elasticity and can provide an elastic buffering force for the protective side plate 12 to move away from the environmental sensing device 20.

[0056] 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.

[0057] Compared with the prior art, the technical solution of the embodiment of the present application has at least the following beneficial effects:

[0058] In the embodiment of the present application, by fixing the environmental sensing device 20 to one side of the main body 11 close to the protective side plate 12, the environmental sensing device 20 can transmit and receive environmental sensing signals to and from the light-transmitting area 121 of the protective side plate 12 within a preset scanning angle range α. The protective side plate 12 can protect the environmental sensing device 20 and can block external dust, liquid or obstacles. Also, by connecting the collision protection member 60 to the main body 11 or the environmental sensing device 20 and separating the environmental sensing device 20 from the protective side plate 12, the collision protection member 60 has elasticity. When the protective side plate 12 is impacted, the collision protection member 60 can provide an elastic buffering force for the protective side plate 12 to move away from the environmental sensing device 20, thereby reducing the impact force on the environmental sensing device 20, and systematically ensuring the stable operation of the environmental sensing device 20, improving the service life and working reliability.

[0059] In this embodiment, the body 11 can be in 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 mounted on the chassis 111 to protect various functional components inside the intelligent robot 100 from severe impacts or damage caused by 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 alternative embodiment, the body 11 of the intelligent robot 100 can also be of other design configurations. For example, the body 11 is an integrally formed structure or a structure with left and right separation. The embodiments of the present application do not limit the materials, shapes, structures, etc. of the body 11.

[0060] 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 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 drive wheels and at least one omnidirectional wheel. At least a part of the two drive 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 inside the chassis 111. In an alternative embodiment, the traveling mechanism 15 can also include any one of triangular crawler wheels, Mecanum wheels, etc.

[0061] The cleaning assembly 16 is detachably connected to the 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. 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, the 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 wipes the surface passed by following the movement of the robot body 10.

[0062] Buttons can be provided on the face cover 112. The face cover 112 is disposed on the chassis 111 and is fixedly connected to the chassis 111 by means of screw connection or snap connection. 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 so as 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., which 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. 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 encounters an obstacle, thereby realizing the collision perception of the intelligent robot 100 for the obstacle.

[0063] An accommodation cavity 14 is formed among the protective side plate 12, the chassis 111 and the face cover 112. The accommodation cavity 14 is used to provide an arrangement space for the internal components of the intelligent robot 100. In the accommodation cavity 14 of the intelligent robot 100, a fan, a main circuit board, a collision detection sensor, a wall-following sensor, etc. are arranged.

[0064] 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 environment sensing device 20 is fixed to the front end 113 and is arranged adjacent to the light-transmitting area 121, so that the environment sensing device 20 can emit an environment sensing signal in front of the intelligent robot 100. In this embodiment, the environment sensing device 20 can be a lidar, then the environment sensing signal can be a laser signal. The environment 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 environment sensing device 20 can receive the laser reflection signal through the light-transmitting area 121. Thus, the environment sensing device 20 perceives obstacle information through the above laser signal and performs mapping and positioning on the scene where the robot is located. The environment sensing device 20 can be a single-line lidar or a multi-line lidar, which can be set according to actual needs. In other embodiments, the environment sensing device 20 can also be any one of an ultrasonic sensor, a 3D-TOF sensor, a camera, etc.

[0065] 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 through the light-transmitting area 121 within a preset scanning angle. 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 can be any one of 180°, 190°, 200°, 210°, 220°, or 230°, etc. Those skilled in the art can set the preset scanning angle according to actual needs. The light-transmitting area 121 can be the area where the light-transmitting lens is located or the hollowed-out area, etc.

[0066] The collision protection member 60 is elastic. The collision protection member 60 can be made of metal, plastic, rubber, etc. The structural form of the collision protection member 60 can be set according to the installation needs and is not limited herein. The collision protection member 60 is located between the environmental sensing device 20 and the protective side plate 12. The installation method of the collision protection member 60 can be: the collision protection member 60 connects the body 11 and the protective side plate 12, or the collision protection member 60 connects the environmental sensing device 20 and the protective side plate 12, or the collision protection member 60 connects the body 11 or the protective side plate 12 or the environmental sensing device 20, which can be set according to actual needs. The collision protection member 60 can be elastically compressed as the protective side plate 12 moves closer to the environmental sensing device 20, and the collision protection member 60 can also be elastically extended as the protective side plate 12 moves away from the environmental sensing device 20.

[0067] Please refer to Figure 1 and Figure 4 , Further, define the bottom surface of the robot body 10 as the 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.

[0068] In this embodiment, the environmental sensing device 20 is a 2D TOF radar, which measures distance using the time-of-flight principle.

[0069] The light-transmitting cover 22 can be fixedly connected to the base 21 by screw connection, glue bonding or thread connection, and the light-transmitting cover 22 can be sealed to the base 21. The signal received and sent by the scanning component 24 can pass through the light-transmitting cover 22.

[0070] 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.

[0071] 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.

[0072] See alsoFigure 5 Further, the collision protection member 60 includes a connecting arm 61 and two elastic arms 63 respectively fixed at opposite ends of the connecting arm 61, the connecting arm 61 is fixed relative to the environment sensing device 20, the ends of the two elastic arms 63 away from the connecting arm 61 both abut against the protective side plate 12, and the two elastic arms 63 are arranged at an obtuse angle in a natural state. In this embodiment, the connecting arm 61 can be installed on the environment sensing device 20 or the body 11. The two elastic arms 63 are symmetrically arranged at the two ends of the connecting arm 61, and the two elastic arms 63 are bent relative to the connecting arm 61, so that the two elastic arms 63 form a certain angle, and the two elastic arms 63 are arranged at an obtuse angle in a natural state, so that the collision protection range of the collision protection member 60 is large enough to resist the collision impact of the protective side plate 12 on the environment sensing device 20 at all angles.

[0073] See also Figure 5 and Figure 6 Further, the collision protection member 60 is provided with a reinforcing portion 64 at the connection between each of the elastic arms 63 and the connecting arm 61, and each of the elastic arms 63 and each of the reinforcing portions 64 are bent relative to the connecting arm 61. In this embodiment, the two elastic arms 63 correspond to two reinforcing portions 64 respectively. The reinforcing portion 64 is a convex block provided at the connection between the elastic arm 63 and the connecting arm 61, and the reinforcing portion 64 can play a reinforcing role, thereby preventing the elastic arm 63 from being repeatedly squeezed by the protective side plate 12, resulting in the elastic arm 63 being repeatedly bent excessively relative to the connecting arm 61 and breaking.

[0074] See also Figure 5 and Figure 6 Further, a buffer 65 is provided on the side of the connecting arm 61 away from the environment sensing device 20, and the buffer 65 is used to buffer the impact of the protective side plate 12 on the environment sensing device 20. In this embodiment, the buffer 65 can be a spring, sponge or rubber. The buffer 65 can enhance the protective effect of the collision protection member 60 on the environment sensing device 20 at the connecting arm 61.

[0075] See also Figure 1 , Figure 5 and Figure 6 Furthermore, the main body 11 has a front edge 115 adjacent to the protective side panel 12, the robot body 10 also includes a positioning recognition device 70 fixed to the main body 11 and adjacent to the front edge 115, the environmental sensing device 20 is stacked on top of the positioning recognition device 70, and the collision protection member 60 is set beyond the front edge 115.

[0076] In this embodiment, the alignment recognition device 70 is configured to receive the alignment guiding signal of the charging device, so that the intelligent robot 100 can recognize the alignment guiding signal through the alignment recognition device 70, and then can be accurately docked with the charging device under the guidance of the alignment guiding signal. The environmental sensing device 20 is stacked on top of the alignment recognition device 70, that is, the environmental sensing device 20 is stacked on the side of the alignment recognition device 70 away from the chassis 111. Wherein, the base 21 of the environmental sensing device 20 is fixed to the side of the alignment 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 alignment 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 alignment recognition device 70 and other components arranged on the chassis 111 to avoid interference between the two. In addition, the environmental sensing device 20 and the alignment recognition device 70 form a stacked structure, which can effectively reduce the layout area occupied by the two on the chassis 111. Also, the collision protection member 60 is disposed beyond the front edge 115, wherein the connecting arm 61 of the collision protection member 60 is fixed relative to the environmental sensing device 20, and both elastic arms 63 of the collision protection member 60 extend beyond the front edge 115, so that the collision protection member 60 can protect both the environmental sensing device 20 and the alignment recognition device 70 at the same time.

[0077] Please refer to Figure 7 、 Figure 8 and Figure 9 ., further, the main body 11 and the protective side plate 12 enclose a receiving cavity 14, and the robot main body 10 further includes a partition frame 13, the partition frame 13 is fixed 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, the second space 142 is located on the side of the partition frame 13 away from the light-transmitting area 121, and at least a part of the environmental sensing device 20 is received in the first space 141, so that the environmental sensing device 20 transmits and receives environmental sensing signals in the first space 141, and the second space 142 is used to receive other components of the intelligent robot 100.

[0078] In this embodiment, the receiving cavity 14 is formed between the protective side plate 12, the chassis 111 and the cover 112. The chassis 111 has a front end 113 close to the light-transmitting area 121 and a rear end arranged relative to the front end 113. The partition frame 13 is in the shape of a long strip, and the partition frame 13 is arranged close to 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 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 cost. In another embodiment, the partition frame 13, the chassis 111 and the cover 112 are independent components, and the partition frame 13 can be fixedly connected to the chassis 111 and / or the 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 cover 112 into a whole, or disassembled into multiple components, so as to facilitate maintenance or replacement of components.

[0079] 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.

[0080] 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.

[0081] The face cover 112 has a side plate portion 116, and the side plate portion 116 and the partition frame 13 are spliced to form a closed loop. The side plate portion 116 and the partition frame 13 are jointly arranged around the periphery of the chassis 111, and the collision protection member 60 is installed on the side of the partition frame 13 away from the side plate portion 116. The second space 142 is located inside the closed loop formed by the side plate 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 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 is not limited here.

[0082] The front cover 112 further includes a cover plate portion 117, which is disposed on the side of the side plate portion 116 and the partition frame 13 away from the chassis 111. The cover plate portion 117, the side plate portion 116, the partition frame 13 and the chassis 111 enclose the second space 142. The intelligent robot 100 can arrange components such as a main circuit board, a fan, and a speaker in the second space 142.

[0083] 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 with the movement of the protective side plate 12. For example, when the protective side plate 12 is extended relative to the body 11, the first space 141 becomes larger; when the protective side plate 12 is contracted relative to the body 11, the second space 142 becomes smaller. The collision protection member 60 is located in the first space 141. The collision protection member 60 is installed on the side of the partition frame 13 away from the side plate portion 116. The collision protection member 60 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; the partition frame 13 stabilizes the environment sensing device 20, preventing the environment sensing device 20 from shaking due to impact, thereby avoiding affecting the accuracy of sensing the environment.

[0084] See also Figure 7 , Figure 8 and Figure 9 Furthermore, the partition frame 13 is adjacent to the edges of the chassis 111 and the cover 112, and a signal scanning space 134 is provided on the side of the partition frame 13 close to the protective side panel 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.

[0085] In the first embodiment, the signal scanning space 134 is formed on a side of the partition frame 13 close to the cover 112 , and a gap is provided between the signal scanning space 134 and the chassis 111 , and the gap provides an arrangement space for other devices.

[0086] In the second embodiment, the signal scanning space 134 is formed on a side of the partition frame 13 close to the chassis 111 , and a gap is provided between the signal scanning space 134 and the cover 112 , and the gap provides an arrangement space for other devices.

[0087] 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 disposed opposite to the light-transmitting area 121 of the protective side plate, the horizontal baffle 133 is fixedly connected to the first side plate 131 and the second side plate 132, and is spaced from the face cover 112. A signal scanning space 134 is formed among the horizontal baffle 133, the second side plate 132, and the face cover 112.

[0088] Please refer to Figure 7 , Figure 8 , Figure 9 and Figure 10 , further, the first side plate 131 is fixed to the edge of the chassis 111 close to the protective side plate, the horizontal baffle 133 is also spaced from the chassis 111, and the space between the horizontal baffle 133 and the chassis 111 forms a part of the second space 142.

[0089] 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 layout space.

[0090] In one embodiment, the control circuit board of the intelligent robot 100 can be partially received in the space between the horizontal baffle 133 and the chassis 111. The orthographic projection of the control circuit board on the chassis 111 partially coincides with the orthographic projection of the horizontal baffle 133 on the chassis 111, making the control circuit board and the partition frame 13 have a compact structure, and the electronic control circuit board does not need to be moved backward, avoiding occupying the layout space of other components due to the backward movement of the control circuit board.

[0091] 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. The trigger rod 41 of the at least one collision detection sensor 40 can swing with the movement of the protective side plate. The at least one collision detection sensor 40 can sense whether the protective side plate 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.

[0092] See also Figure 11 and Figure 12 Furthermore, a mounting groove 135 is recessed on the side surface of the partition frame 13 close to the protective side panel 12, and the mounting groove 135 forms a part of the first space 141. The mounting groove 135 has a mounting opening facing the protective side panel 12, and the environmental sensing device 20 is detachably mounted on the mounting groove 135 through the mounting opening.

[0093] 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 groove extends from a part of the first side wall 103 towards the second side wall 104, and the groove forms the mounting groove 135. The signal scanning space 134 penetrates through the first side wall 103. The signal scanning space 134 is arranged opposite to the light-transmitting area 121 of the protective side plate 12. At least a part of the base 21 of the environmental sensing device 20 is installed in the mounting groove 135, and the light-transmitting cover 22 of the environmental sensing device 20 extends into the signal scanning space 134. The mounting groove 135 provides an arrangement space for the environmental sensing device 20 to be installed at the forefront 113 of the main body 11, which is beneficial to reducing the occupation of the internal space of the intelligent robot 100 by the environmental sensing device 20 and affecting the arrangement of other components. Moreover, the mounting groove 135 has a mounting opening facing the protective side plate 12, and the environmental sensing device 20 can be detachably installed in the mounting groove 135 through the mounting opening. Thus, when the environmental sensing device 20 needs to be replaced or repaired, the protective side plate 12 is 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.

[0094] In other embodiments, the environmental sensing device 20 is partially received in the space between the horizontal baffle 133 and the chassis 111, and the environmental sensing device 20 partially extends into the signal scanning space 134. Among them, at least a part of the base 21 of the environmental sensing device 20 is installed in the space between the horizontal baffle 133 and the chassis 111, and the light-transmitting cover 22 and the scanning assembly 24 of the environmental sensing device extend into the signal scanning space 134.

[0095] Please refer to Figure 5 and Figure 6 , further, the environmental sensing device 20 partially extends out of the mounting groove 135 in the direction close to the protective side plate 12. The collision protection member 60 includes a connecting arm 61 and two elastic arms 63 respectively fixed at 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 mounting groove 135 and tightly fits the part of the environmental sensing device 20 extending out of the mounting groove 135. The free ends of the two elastic arms 63 extend beyond the connecting arm 61 in the direction close to the protective side plate 12 and abut against the protective side plate 12.

[0096] Among them, the installation groove 135 communicates with the signal scanning space 134, and at least a part of the environmental sensing device 20 is installed in the installation groove 135 and partially extends into the signal scanning space 134.

[0097] In this embodiment, the collision protection member 60 is isolated between the protection side plate and the environmental sensing device 20. The collision protection member 60 can be a metal shrapnel, and the collision protection member 60 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 in the installation groove 135. Since the distance between the environmental sensing device 20 and the protection side plate 12 is too close, the free ends of the two elastic arms 63 are arranged beyond the connecting arm 61 in the direction close to the protection side plate and abut against the protection side plate. The two elastic arms 63 are arranged at an obtuse angle in the natural state, so that the collision protection range of the collision protection member 60 is large enough to resist the collision impact of the protection side plate 12 on the environmental sensing device 20 from all angles.

[0098] Please refer to Figure 11 and Figure 13 , further, the main body 11 has a front edge 115 adjacent to the protection side plate, the partition frame 13 is aligned with the front edge 115, a convex portion 136 is provided on a side of the partition frame 13 facing away from the front edge 115, and the installation groove 135 is provided at a position of the partition frame 13 corresponding to the convex portion 136.

[0099] 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 bulges away from the first side wall 103 to form the convex portion 136. A groove extends from the first side wall 103 corresponding to the convex portion 136 towards the second side wall 104, and the groove forms the installation groove 135. The convex portion 136 increases the local width of the partition frame 13, so that the installation groove 135 has a larger volume to accommodate the environmental sensing device 20.

[0100] Please refer to Figure 8 and Figure 12, Further, an installation groove 135 and two optical path grooves 137 communicating with the installation groove 135 are recessed in a side surface of the partition frame 13 close to the protective side plate 12. The installation groove 135 and the two optical path grooves 137 form a part of the first space 141. Both of the two optical path grooves 137 are strip-shaped, and the extending directions of the two optical path grooves 137 are arranged at an angle. At least a part of the environmental sensing device 20 is installed in the installation groove 135, and the environmental sensing device 20 can transmit and receive environmental sensing signals externally through the two optical path grooves 137.

[0101] In this embodiment, the two optical path grooves 137 at least form a part of the signal scanning space 134. The two optical path grooves 137 are recessed in the first side wall 103 of the partition frame 13. The two optical path grooves 137 are located on the same plane. The two optical path grooves 137 create a space in the partition strip, providing a channel for the environmental sensing signals of the environmental sensing device 20, so that the environmental sensing device 20 can transmit and receive environmental sensing signals within a larger preset scanning angle range α. The extending directions of the two optical path grooves 137 are arranged at an angle, and the angle between the extending directions of the two optical path grooves 137 matches the preset scanning angle of the environmental sensing device 20. The angle between the extending directions of the two optical path grooves 137 can be greater than or equal to 180°, and the angle between the extending directions of the two optical path grooves 137 can be set according to the specific value of the preset scanning angle of the environmental sensing device 20.

[0102] Please refer to Figure 8 , Figure 12 and Figure 14 , Further, define the bottom surface of the robot body 11 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, where 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 20 transmits and receives environmental sensing signals within the preset scanning angle range α in the signal scanning area 143, and the collision protection member 60 is arranged in the avoidance area 144.

[0103] 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 upper cover assembly. 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 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, and the collision shield 60 is arranged in the avoidance area 144, so that the sensor component 17 and the collision shield 60 are staggered from the signal scanning area 143, thereby preventing the scanning optical path of the environmental sensing device 20 from being blocked.

[0104] 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.

[0105] See also Figure 8 and Figure 12 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 to form an avoidance groove 139, the chassis 111 has a front edge 115 adjacent to the protective side panel, 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, and the at least one sensor is installed on the front edge 115 and at least partially accommodated in the avoidance groove 139.

[0106] In this embodiment, the avoidance groove 139 is provided by the partition frame 13, and the front edge 115 forms an arrangement area corresponding to the avoidance groove 139. The at least one sensor can be installed in the arrangement area of the front edge 115, and partially accommodated in the avoidance groove 139, so that the avoidance groove 139 and the arrangement area of the front edge 115 provide additional device arrangement space, and the at least one sensor can be installed in the above space, thereby improving the compactness of the structure, and the at least one sensor can avoid the signal scanning area 143 to avoid blocking the signal of the environment sensing device 20. For example, the at least one sensor may include at least one cliff sensor, the front edge 115 is provided with at least one through hole in the arrangement area, the at least one cliff sensor is respectively installed in the at least one through hole, and the part of the at least one cliff sensor extending out of the through hole is accommodated in the avoidance groove 139.

[0107] Further, the intelligent robot 100 further includes a control circuit board 30 fixed to the main body 11. A first electrical connection part electrically connected to the control circuit board 30 is provided on the partition frame 13. The environmental sensing device 20 is provided with the second electrical connection part detachably mating with the first electrical connection part. The environmental sensing device 20 is electrically connected to the control circuit board 30 through the second electrical connection part coming into contact and conduction with the first electrical connection part.

[0108] In this embodiment, the control circuit board 30 is installed in the second space 142. The environmental sensing device 20 is detachably installed on the partition frame 13. The first electrical connection part is a metal part provided on the partition frame 13, and the second electrical connection part is a metal part provided on the environmental sensing device 20. The second electrical connection part can come into contact and conduction or separation and disconnection with the first electrical connection part. When the environmental sensing device 20 is installed on the partition frame 13, the first electrical connection part can come into contact with the second electrical connection part to conduct electricity; when the environmental sensing device 20 is removed from the partition frame 13, the first electrical connection part can be separated from the second electrical connection part to disconnect, so that the environmental sensing device 20 can be disconnected from the control circuit board 30, thus greatly simplifying the installation and disassembly steps. Wherein, the metal part can be in the structural form of a metal contact, a metal gasket, a metal spring piece, etc., which is not limited herein.

[0109] In other embodiments, the first electrical connection part can also be an electrical connection port provided on the partition frame 13, and the second electrical connection part can be a conductive contact piece provided on the environmental sensing device 20. The second electrical connection part can be plugged and mated with or separated from the first electrical connection part to make the environmental sensing device 20 conduct electricity or disconnect from the control circuit board 30.

[0110] Please refer to Figures 15 to 18 , further, the bottom surface of the robot main body 10 is defined as a preset reference plane 50. The area through which the environmental sensing signal of the environmental sensing device 20 passes forms the signal scanning area 143. The intelligent robot 100 includes at least one obstacle avoidance sensor 17. The at least one obstacle avoidance sensor 17 is installed on the protective side plate 12. The orthographic projection of the at least one obstacle avoidance sensor 17 on the preset reference plane 50 at least partially coincides with the orthographic projection of the signal scanning area 143 on the preset reference plane 50. The distance between the at least one obstacle avoidance sensor 17 and the preset reference plane 50 is greater than or less than the distance between the signal scanning area 143 and the preset reference plane 50. The at least one obstacle avoidance sensor 17 can receive and transmit an obstacle sensing signal B.

[0111] By at least partially overlapping the orthographic projection of the at least one obstacle avoidance sensor 17 on the preset reference plane 50 with the orthographic projection of the signal scanning area 143 on the preset reference plane 50, the distance between the at least one obstacle avoidance sensor 17 and the preset reference plane 50 is greater than or less than the distance between the signal scanning area 143 and the preset reference plane 50, so that the signal scanning area 143 and the obstacle avoidance sensor 17 share the same arrangement space without interfering with each other, and the signal of the at least one obstacle avoidance sensor 17 and the signal of the environment sensing device 20 can work independently at different heights, so that the intelligent robot 100 can perceive the surrounding environment through the environment sensing device 20 to complete the mapping and positioning function, and at the same time can perceive obstacles in the forward direction through the obstacle avoidance sensor 17, realize the perception of obstacles at different heights in the environment, and facilitate the robot to avoid obstacles at different heights.

[0112] The light-transmitting area 121 may include a first light-transmitting area 121a and at least one second light-transmitting area 121b. The first light-transmitting area 121a is arranged correspondingly to the signal scanning area 143 of the environment sensing device 20, so that the environment sensing device 20 sends and receives environment sensing signals through the first light-transmitting area 121a; the at least one second light-transmitting area 121b is arranged one-to-one correspondingly to the at least one obstacle avoidance sensor 17, so that the at least one obstacle avoidance sensor 17 sends and receives obstacle detection signals through the at least one second light-transmitting area 121b.

[0113] The number of the obstacle avoidance sensors 17 can be one, two or more, and can be set as needed. The obstacle avoidance sensors 17 can be solid-state laser sensors, ultrasonic sensors or infrared sensors, etc. Correspondingly, the obstacle avoidance sensors 17 can detect external obstacles through laser signals, ultrasonic waves or infrared rays.

[0114] The preset reference plane 50 is provided on the chassis 111, and the preset reference plane 50 is located on the side of the chassis 111 away from the cover 112. The preset reference plane 50 is substantially parallel to the ground, and the signal scanning area 143 is substantially parallel to the preset reference plane 50. The signal scanning area 143 is located between the chassis 111 and the cover 112. The at least one obstacle avoidance sensor 17 is disposed adjacent to the protective side plate 12 and is staggered with the signal scanning area 143. The at least one obstacle avoidance sensor 17 may be located between the signal scanning area 143 and the preset reference plane 50, or the at least one obstacle avoidance sensor 17 may be located on the side of the signal scanning area 143 away from the preset reference plane 50.

[0115] See also Figures 15 to 18, further, the transmitting and receiving direction of the obstacle detection signal is set at an angle β with respect to the preset reference plane 50, and the angle β is greater than or equal to 28°. In this embodiment, the transmitting and receiving direction of the obstacle detection signal is inclined with respect to the preset reference plane 50, and the transmitting and receiving direction of the obstacle detection signal is inclined with respect to the ground, so that the at least one obstacle avoidance sensor 17 can sense low obstacles on the ground through the obstacle detection signal. The angle β is greater than or equal to 28°, and the angle β can be selected as a relatively large angle value, so that the at least one obstacle avoidance sensor 17 focuses on detecting obstacles closer to the front of the intelligent robot 100, which is beneficial to achieving a better obstacle avoidance effect.

[0116] Please refer to Figures 15 to 18 , further, the distance d between the at least one obstacle avoidance sensor 17 and the preset reference plane 50 is greater than or equal to 40 mm. In this embodiment, the distance between the preset reference plane 50 and the ground is D, then the distance between the at least one obstacle avoidance sensor 17 and the ground is greater than or equal to (40 + D) mm. For example, the distance D can be 10 mm, then the distance between the at least one obstacle avoidance sensor 17 and the ground is greater than or equal to 50 mm. The higher the installation height of the at least one obstacle avoidance sensor 17 relative to the ground, the more beneficial it is for the at least one obstacle avoidance sensor 17 to accurately detect low obstacles at a higher position, which is beneficial to exerting better working performance.

[0117] Please refer to Figures 15 to 19 , further, the at least one obstacle avoidance sensor 17 includes a first obstacle avoidance sensor 171 and a second obstacle avoidance sensor 172. The first obstacle avoidance sensor 171 and the second obstacle avoidance sensor 172 are respectively located on both sides of the environment sensing device 20. The first obstacle avoidance sensor 171 and the second obstacle avoidance sensor 172 can both transmit and receive the obstacle sensing signal B within the preset scanning angle α, so that the obstacle sensing signal B covers the preset area in front of the intelligent robot 100 within the preset width W1, and the preset width W1 is greater than the maximum width W2 of the intelligent robot 100.

[0118] In this embodiment, the first obstacle avoidance sensor 171 and the second obstacle avoidance sensor 172 are respectively located on the left and right sides of the environment sensing device 20. The obstacle sensing signals transmitted and received by the first obstacle avoidance sensor 171 and the second obstacle avoidance sensor 172 are both line lasers. The first obstacle avoidance sensor 171 is used to detect obstacles in the left front area of the intelligent robot 100 within the range of a first preset scanning angle C1 through the obstacle sensing signal, and the second obstacle avoidance sensor 172 is used to detect obstacles in the right front area of the intelligent robot 100 within the range of a second preset scanning angle C2 through the obstacle sensing signal. The first preset scanning angle C1 and the second preset scanning angle α can be set according to actual needs. The obstacle sensing signals B of the first obstacle avoidance sensor 171 and the second obstacle avoidance sensor 172 cover a preset area in front of the intelligent robot 100 within a preset width W1, and the preset width W1 is greater than the maximum width W2 of the intelligent robot 100, so as to ensure that the detection ranges of the first obstacle avoidance sensor 171 and the second obstacle avoidance sensor 172 completely cover the left front area and the right front area of the intelligent robot 100, ensure that the intelligent robot 100 can identify obstacles on both sides in front during the forward movement, reduce the sensing blind area, and avoid the intelligent robot 100 colliding with obstacles. Among them, the preset area is the area where the obstacle sensing signal B is projected onto the ground.

[0119] Please refer to Figures 17 to 19 Furthermore, the scanning area of the obstacle sensing signal B of the first obstacle avoidance sensor 171 exceeds the left edge of the intelligent robot 100 by at least 15 mm, and the scanning area of the obstacle sensing signal B of the second obstacle avoidance sensor 172 exceeds the right edge of the intelligent robot 100 by at least 15 mm.

[0120] In this embodiment, the obstacle sensing signal B of the first obstacle avoidance sensor 171 within the range of the first preset scanning angle C1 can cover the left front area of the intelligent robot 100. The area passed by the obstacle sensing signal B of the first obstacle avoidance sensor 171 forms a planar signal scanning area 143, and is arranged at an angle with the preset reference plane 50. Moreover, the above signal scanning area 143 exceeds the left edge of the intelligent robot 100 by at least 15 mm, so that the intelligent robot 100 has a sufficient detection field of view in the forward direction to identify obstacles on the left.

[0121] The obstacle sensing signal B of the second obstacle avoidance sensor 172 within the second preset scanning angle C2 can cover the front right area of the intelligent robot 100. The area through which the obstacle sensing signal B of the second obstacle avoidance sensor 172 passes forms a planar signal scanning area 143, which is arranged at an angle to the preset reference plane 50. Moreover, the above signal scanning area 143 extends at least 15 mm beyond the right edge of the intelligent robot 100, enabling the intelligent robot 100 to have a sufficient detection field of view in the forward direction to identify obstacles on the right. In summary, the environment sensing device 20 has detection fields of view on both the left and right sides, which is conducive to achieving a better obstacle avoidance effect.

[0122] Please refer to Figures 17 to 19 , further, the obstacle sensing signal B is a line laser. The obstacle sensing signal B of the first obstacle avoidance sensor 171 and the obstacle sensing signal B of the second obstacle avoidance sensor 172 approach each other and form a gap at the middle position of the preset area, and the gap d3 is less than a preset distance threshold. In this embodiment, by making the obstacle sensing signal B of the first obstacle avoidance sensor 171 and the obstacle sensing signal B of the second obstacle avoidance sensor 172 approach each other and form a gap at the middle position of the preset area, the signal scanning area 143 of the first obstacle avoidance sensor 171 and the signal scanning area 143 of the second obstacle avoidance sensor 172 are separated from each other, thus avoiding signal crosstalk between the two. Also, by setting the gap d3 to be less than the preset distance threshold, where the gap d3 can be 8 mm to 15 mm, the signal scanning area 143 of the first obstacle avoidance sensor 171 and the signal scanning area 143 of the second obstacle avoidance sensor 172 are close to each other, and the formed gap is small, which is conducive to reducing the detection blind area.

[0123] Please refer to Figure 20 , Figure 21 and Figure 22 , further, the obstacle avoidance sensor 20 includes a base 21 and a sensing component 22. The base 21 is hermetically connected to the inner side wall of the protective side plate 10. A sealed cavity 23 is formed between the base 21 and the protective side plate 10. At least part of the sealed cavity 23 faces the light-transmitting lens 11. The sensing component 22 is fixedly connected to the base 21 and is received in the sealed cavity 23. The sensing component 22 can transmit and receive the obstacle sensing signal B through the light-transmitting lens 11.

[0124] The obstacle avoidance sensor 20 includes a base 21 and a sensing assembly 22. The base 21 is sealingly connected to the inner sidewall of the protective side plate 10. A sealing cavity 23 is formed between the base 21 and the protective side plate 10. At least part of the sealing cavity 23 faces the light-transmitting lens 11. The sensing assembly 22 is fixedly connected to the base 21 and accommodated in the sealing cavity 23. The sensing assembly 22 can transmit and receive obstacle sensing signals B through the light-transmitting lens 11. Thus, the obstacle avoidance sensor 20 can be assembled with the protective side plate 10 to form an integral body. The front collision assembly 100 can sense obstacles through the obstacle avoidance sensor 20. The sensing assembly 22 of the obstacle avoidance sensor 20 can work independently and stably in the sealing cavity 23, avoiding being affected by external impacts or dust.

[0125] Please refer to Figure 20 、 Figure 21 and Figure 22 Further, the base 21 is sealingly fitted with the protective side plate 10 through a sealing ring 24. The protective side plate 10 is provided with an annular boss 25 on the inner sidewall. The base 21 has an annular edge 26 opposite to the annular boss 25. The sealing ring 24 is sealingly fitted between the annular boss 25 and the annular edge 26. The base 21 forms an inner cavity inside the annular edge 26. At least part of the sensing assembly 22 is installed in the inner cavity. The inner cavity at least forms a part of the sealing cavity 23.

[0126] Please refer to Figure 20 、 Figure 21 and Figure 22 Further, the sensing assembly 22 includes a transmitter 27 and a receiver 28 arranged side by side. Both the transmitter 27 and the receiver 28 face the light-transmitting lens 11. The transmitter 27 is used to emit obstacle detection signals, and the receiver 28 is used to receive obstacle reflection signals. Wherein, the obstacle detection signals are reflected after encountering obstacles to form the obstacle reflection signals. Wherein, the obstacle sensing signal B includes obstacle detection signals and obstacle reflection signals. Both the transmitter 27 and the receiver 28 extend into the inner cavity of the base 21. The center line of the transmitter 27 and the center line of the receiver 28 may be in the same plane, or the center line of the transmitter 27 and the center line of the receiver 28 may not be in the same plane. The number of the receivers 28 may be one or more.

[0127] Please refer to Figure 20 、 Figure 21 and Figure 22, Further, a circuit board 70 is provided on the side of the base 21 facing away from the protective side plate 10. The transmitter 27 and the receiver 28 are both provided on the circuit board 70 and are electrically connected to the circuit board 70. Moreover, a part of the transmitter 27 is located in the sealing cavity 23, and the transmitter 27 penetrates through the circuit board 70 to partially extend out of the sealing cavity 23.

[0128] In this embodiment, the circuit board 70 covers one end of the base 21 facing away from the protective side plate 10. By electrically connecting the transmitter 27 and the receiver 28 to the circuit board 70, the circuit board 70 is provided with a control chip 71. The control chip 71 is located on the side of the circuit board 70 facing away from the sealing cavity 23, which is convenient for heat dissipation. The control chip 71 can control the transmitter 27 to emit obstacle detection signals, control the receiver 28 to receive obstacle reflection signals, and sense obstacles according to the obstacle detection signals and the obstacle reflection signals. The transmitter 27 has a transmitting end 72 and a tail end 73 disposed opposite to the transmitting end 72. The transmitting end 72 is located in the sealing cavity 23, and the tail end 73 is located outside the sealing cavity 23. The part of the transmitter 27 between the transmitting end 72 and the tail end 73 penetrates through the circuit board 70, so that the part of the transmitter 27 extending out of the sealing cavity 23 does not have to occupy the space of the sealing cavity 23, which is beneficial to achieving a compact structure and miniaturized size of the obstacle avoidance sensor 20.

[0129] Please refer to Figure 20 , Figure 21 and Figure 22 , Further, a plug-in port 74 is provided on the side of the circuit board 70 facing away from the sealing cavity 23. The plug-in port 74 is used for plugging in wires so that the circuit board 70 is electrically connected to the main circuit board 70 of the intelligent robot 100 through the wires. In this embodiment, by providing the plug-in port 74 on the side of the circuit board 70 facing away from the sealing cavity 23, it is convenient to plug in wires through the plug-in port 74 to realize that the obstacle avoidance sensor 20 is electrically connected to the main circuit board 70 through the wires, so as to facilitate the installation of the obstacle avoidance sensor 20 on the intelligent robot 100 together with the protective side plate 10 and the conduction between the obstacle avoidance sensor 20 and the main circuit board 70.

[0130] In the description of this specification, the descriptions with reference to the terms "one embodiment", "some embodiments", "example", "specific example" or "some examples", etc. mean 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 any one or more embodiments or examples in a suitable manner.

[0131] The above-described embodiments do not constitute a limitation on the protection scope of the technical solution. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the above embodiments shall be included within the protection scope of the technical solution.

Claims

1. An intelligent robot, characterized in that, The intelligent robot comprises: A robot body, the robot body comprising a body and a protective side plate movably connected to the body, the protective side plate being provided with a light-transmitting area; An environment sensing device, the environment sensing device is fixed to a side of the body close to the protective side plate, and the environment sensing device can send and receive environment sensing signals toward the light-transmitting area of the protective side plate within a preset scanning angle range; A collision protection member, the collision protection member is connected to the body or the environment sensing device and separates the environment sensing device from the protection side plate, the collision protection member is elastic and can provide an elastic buffering force for the protection side plate to move away from the environment sensing device; The main body and the protective side panels are enclosed to form a receiving cavity, the robot body further comprises a partition frame, the partition frame is fixed in the receiving cavity, the partition frame divides the receiving cavity into a first space and a second space, wherein the partition frame serves as a shielding barrier to prevent the signal of the environment sensing device from entering the second space; the first space is located on a side of the partition frame close to the light-transmitting area, and the second space is located on a side of the partition frame away from the light-transmitting area, the environment sensing device is at least partially received in the first space, so that the environment sensing device sends and receives environment sensing signals in the first space, and the intelligent robot further comprises a control circuit board fixed to the main body, the control circuit board is installed in the second space, and the control circuit board is electrically connected to the environment sensing device; A signal scanning space is provided on one side of the partition frame close to the protective side plate, the signal scanning space forms a part of the first space, and the environment sensing device sends and receives environment sensing signals through the signal scanning space; The side surface of the partition frame close to the protective side plate is recessed with a mounting groove and two optical path grooves connected to the mounting groove, and the mounting groove and the two optical path grooves at least form a part of the signal scanning space; the two optical path grooves are both long strips, and the extension directions of the two optical path grooves are set at an angle.

2. The intelligent robot according to claim 1, characterized in that The collision protection component includes a connecting arm and two elastic arms respectively fixed at opposite ends of the connecting arm. The connecting arm is fixed relative to the environmental sensing device. The ends of the two elastic arms away from the connecting arm both abut against the protective side plate. The two elastic arms are arranged at an obtuse angle in a natural state.

3. The intelligent robot according to claim 2, characterized in that, The collision protection member is provided with a reinforcement portion at the connection between each of the elastic arms and the connecting arm, and each of the elastic arms and each of the reinforcement portions are bent relative to the connecting arm.

4. The intelligent robot according to claim 2, characterized in that, A buffer is provided on a side of the connecting arm away from the environment sensing device, and the buffer is used to buffer the impact of the protective side plate on the environment sensing device.

5. The intelligent robot according to claim 1, characterized in that The main body has a front edge adjacent to the protective side plate, and the robot body also includes an alignment recognition device fixed to the main body and adjacent to the front edge. The environmental sensing device is stacked on top of the alignment recognition device, and the collision protection member is set beyond the front edge.

6. The intelligent robot according to claim 5, characterized in that, The main body includes a chassis and a surface cover fixedly connected to the chassis, the protective side panels are movably connected to the chassis and the surface cover, the protective side panels, the chassis and the surface cover together form the accommodating cavity, the partition frame is adjacent to the edges of the chassis and the surface cover, and a signal scanning space is provided on the side of the partition frame close to the protective side panel, the signal scanning space forms a part of the first space, and the environment sensing device can send and receive environment sensing signals through the signal scanning space.

7. The intelligent robot according to claim 6, wherein The surface cover has a side plate portion, the side plate portion and the partition frame are spliced to form a closed loop, the side plate portion and the partition frame are jointly arranged around the periphery of the chassis, and the collision protection component is installed on the side of the partition frame away from the side plate portion.

8. The intelligent robot according to claim 1, wherein The installation slot forms a part of the first space, and the installation slot has an installation opening facing the protective side plate, and the environment sensing device is detachably installed in the installation slot through the installation opening.

9. The intelligent robot according to claim 8, wherein, The environmental sensing device partially extends out of the mounting slot in a direction close to the protective side panel, and the collision protection member 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 mounting slot and is tightly fitted to the portion of the environmental sensing device extending out of the mounting slot, and the free ends of the two elastic arms exceed the connecting arm in a direction close to the protective side panel and abut against the protective side panel.

10. The intelligent robot according to claim 1, wherein, The installation slot and the two optical path slots form a part of the first space. The environment sensing device is at least partially installed in the installation slot, and the environment sensing device can send and receive environment sensing signals to the outside through the two optical path slots.

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, and the collision protection component is arranged in the avoidance area.

12. The intelligent robot according to claim 11, characterized in that, The intelligent robot also includes a sensor component adjacent to the environment sensing device, the sensor component is arranged in the avoidance area, and the sensor 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 any one of claims 1 to 12, 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 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.

14. The intelligent robot according to claim 11, wherein, Define the bottom surface of the robot body as the preset reference plane. The area through which the environmental sensing signal of the environmental sensing device passes forms the signal scanning area. The intelligent robot includes at least one obstacle avoidance sensor. The at least one obstacle avoidance sensor is installed on the protective side plate. The orthographic projection of the at least one obstacle avoidance sensor on the preset reference plane and the orthographic projection of the signal scanning area on the preset reference plane at least partially coincide. The distance between the at least one obstacle avoidance sensor and the preset reference plane is greater than or less than the distance between the signal scanning area and the preset reference plane. The at least one obstacle avoidance sensor can transmit and receive obstacle sensing signals.

15. The intelligent robot according to claim 14, characterized in that, The at least one obstacle avoidance sensor includes a first obstacle avoidance sensor and a second obstacle avoidance sensor. The first obstacle avoidance sensor and the second obstacle avoidance sensor are respectively located on both sides of the environmental sensing device. Both the first obstacle avoidance sensor and the second obstacle avoidance sensor can transmit and receive obstacle sensing signals within a preset scanning angle range, so that the obstacle sensing signals cover a preset area in front of the intelligent robot within a preset width. The preset width is greater than the maximum width of the intelligent robot.

16. The intelligent robot according to claim 15, characterized in that, The scanning area of the obstacle sensing signal of the first obstacle avoidance sensor exceeds at least 15 mm beyond the left edge of the intelligent robot. The scanning area of the obstacle sensing signal of the second obstacle avoidance sensor exceeds at least 15 mm beyond the right edge of the intelligent robot.

17. The intelligent robot according to claim 14, characterized in that, The protective side plate is provided with a light-transmitting lens. The obstacle avoidance sensor includes a base and a sensing component. The base is hermetically connected to the inner side wall of the protective side plate. A sealed cavity is formed between the base and the protective side plate. The sealed cavity is at least partially opposite to the light-transmitting lens. The sensing component is fixedly connected to the base and received in the sealed cavity. The sensing component can transmit and receive obstacle sensing signals through the light-transmitting lens.

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