Intelligent Robots

Abstract

The present application discloses an intelligent robot, which includes: a robot body, which includes a main body and a protective side plate movably connected to the main body, the protective side plate being provided with a hollow area extending in the circumferential direction, the main body and the protective side plate enclosing to form a receiving cavity; an environment sensing device, which is installed in the receiving cavity and is arranged adjacent to the protective side plate, the environment sensing device at least partially faces the hollow area, the environment sensing device can send and receive environment sensing signals within a preset scanning angle range, and at least part of the environment sensing signals passes through the hollow area. The hollow area does not reflect or lose the environment sensing signal, which can avoid the situation where the environment sensing device is too close to the protective side plate and causes signal reflection to form an interference signal, which is conducive to improving the sensing accuracy and working reliability of the environment sensing device.

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 a prolonged service life.

[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 hollow area extending in a circumferential direction, the body and the protective side plate enclosing a receiving cavity;

[0007] An environmental sensing device is installed in the receiving cavity and is arranged adjacent to the protective side plate. The environmental sensing device is at least partially opposite to the hollow area. The environmental sensing device can send and receive environmental sensing signals within a preset scanning angle range, and at least part of the environmental sensing signals passes through the hollow area.

[0008] Optionally, the protective side panel is provided with a translucent lens, which is in the shape of a long strip and has two end edges arranged opposite to each other. The two end edges are located on two opposite sides of the environmental sensing device, and the hollow area is arranged on the translucent lens and is spaced apart from the two end edges.

[0009] Optionally, the environmental sensing device is a laser radar, the light-transmitting lens has two long edges arranged opposite to each other, the two long edges are respectively connected to the two end edges, the hollow area has two area edges arranged opposite to each other, the two area edges are respectively adjacent to the two long edges, and the distances between the two area edges and the scanning center of the environmental sensing device in the direction perpendicular to the two long edges are both greater than 4 mm.

[0010] Optionally, the hollow area has two side edges that are arranged opposite to each other, the two side edges are respectively adjacent to the two end edges, and the two side edges are arranged at an angle to a line connecting a scanning center of the environment sensing device, wherein the angle is 40° to 70°.

[0011] Optionally, the hollow area has two area edges that are relatively set, the two area edges are located on opposite sides of the environment sensing device, and the two area edges are set at an angle to a line connecting a scanning center of the environment sensing device, wherein the angle is greater than or equal to 180°.

[0012] Optionally, the protective side plate is an arc-shaped side plate, the distance between the environment sensing device and the protective side plate is smaller than the radius of the protective side plate, and the scanning center of the environment sensing device, the center of the protective side plate and the center of the hollow area are located on the same straight line.

[0013] Optionally, the protective side panel is also provided with a non-hollow area connected to the hollow area, and the non-hollow area includes a first arc area and a second arc area, and the first arc area, the hollow area and the second arc area are arranged sequentially on the circumference of the protective side panel, and the center of the first arc area and the center of the second arc area both coincide with the center of the protective side panel.

[0014] Optionally, the robot body also includes a partition frame, which is fixedly connected to the body and accommodated in the accommodation cavity, and the partition frame divides the accommodation cavity into a first space and a second space, the first space is located on a side of the partition frame close to the hollow area, and the second space is located on a side of the partition frame away from the hollow area, the environmental sensing device is installed in the first space, and the second space is used to arrange other devices of the intelligent robot, and the partition frame can prevent dust entering from the hollow area from invading the second space.

[0015] Optionally, 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 provided with an optical path scanning space on one side close to the protective side panel, the optical path scanning space forms a part of the first space, and the environmental sensing device can send and receive environmental sensing signals through the optical path scanning space.

[0016] 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 face 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 chassis.

[0017] Optionally, the preset scanning angle is greater than or equal to 180°.

[0018] Optionally, the environmental sensing device includes a base and a dust cover covering the base, a driving component and a scanning component, the base is fixed to the main body, the dust cover and the base are combined to form a storage cavity, the dust cover can transmit environmental sensing signals, the driving component is fixed to the base, the driving component and the scanning component are accommodated in the storage cavity, and the driving component can drive the scanning component to rotate and send and receive environmental sensing signals through the dust cover.

[0019] Optionally, the bottom surface of the robot body is defined 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, and the at least one obstacle avoidance sensor is installed on the protective side panel. The orthographic projection of the at least one obstacle avoidance sensor on the preset reference plane at least partially overlaps 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, and the at least one obstacle avoidance sensor can send and receive obstacle sensing signals.

[0020] Optionally, the at least one obstacle avoidance sensor includes a first obstacle avoidance sensor and a second obstacle avoidance sensor, and the first obstacle avoidance sensor and the second obstacle avoidance sensor are respectively located on both sides of the environmental sensing device, and the first obstacle avoidance sensor and the second obstacle avoidance sensor can both send and receive obstacle sensing signals within a preset angle range, so that the obstacle sensing signal covers 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.

[0021] Optionally, the scanning area of ​​the obstacle sensing signal of the first obstacle avoidance sensor exceeds the left edge of the intelligent robot by at least 15 mm, and the scanning area of ​​the obstacle sensing signal of the second obstacle avoidance sensor exceeds the right edge of the intelligent robot by at least 15 mm.

[0022] Optionally, the obstacle avoidance sensor includes a base and a sensor component, the base is sealed and connected to the inner wall of the protective side panel, a sealed cavity is formed between the base and the protective side panel, the sealed cavity is at least partially opposite to the light-transmitting lens, the sensor component is fixedly connected to the base and accommodated in the sealed cavity, and the sensor component can send and receive obstacle sensing signals through the light-transmitting lens.

[0023] Optionally, the intelligent robot further comprises a dustproof lens, which is fixedly connected to the protective side plate and covers the hollow area.

[0024] Compared with the prior art, the technical solution of the embodiment of the present application has at least the following beneficial effects:

[0025] In an embodiment of the present application, a receiving cavity is formed by enclosing the main body and the protective side panels, and the environment sensing device is installed in the receiving cavity, which can avoid the environment sensing device being exposed on the surface of the robot and being easily impacted; and the protective side panels are provided with a hollow area extending in the circumferential direction, and the space where the environment sensing device is located is directly connected to the outside through the hollow area, and the environment sensing device can send and receive environment sensing signals to the hollow area of ​​the protective side panels. The hollow area does not reflect or lose the environment sensing signals, which can avoid the environment sensing device being too close to the protective side panels to cause signal reflection to form interference signals, which is beneficial to improving the sensing accuracy and working reliability of the environment sensing device. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other deformation forms can be obtained based on these drawings without paying creative work.

[0027] Figure 1 This is a schematic diagram of the partial structure decomposition of the intelligent robot provided in the embodiment of the present application. Figure 1 ;

[0028] Figure 2 This is a schematic diagram of the partial structure decomposition of the intelligent robot provided in the embodiment of the present application. Figure 2 ;

[0029] Figure 3 is a schematic diagram of the structure of the intelligent robot provided in an embodiment of the present application;

[0030] Figure 4 is a longitudinal cross-sectional schematic diagram of an intelligent robot provided in an embodiment of the present application;

[0031] Figure 5 This is a schematic diagram of the top view of the intelligent robot provided in the embodiment of the present application. Figure 1 ;

[0032] Figure 6 is a schematic diagram of a transverse cross section of an intelligent robot provided in an embodiment of the present application Figure 1 ;

[0033] Figure 7 It is a schematic diagram of the structure of the protective side plate of the intelligent robot provided in an embodiment of the present application;

[0034] Figure 8 is a schematic diagram of a transverse cross section of an intelligent robot provided in an embodiment of the present application Figure 2 ;

[0035] Fig. 9 yes Figure 4 The enlarged schematic diagram at A in the middle;

[0036] Fig.10 is a schematic diagram of a transverse cross section of an intelligent robot provided in an embodiment of the present application Figure 3 ;

[0037] Fig.11 is a schematic diagram of a partial structure of an intelligent robot provided in an embodiment of the present application;

[0038] Fig.12 This is a schematic diagram of the top view of the intelligent robot provided in the embodiment of the present application. Figure 2 ;

[0039] Fig.13 This is a schematic diagram of the partial structure decomposition of the intelligent robot provided in the embodiment of the present application. Figure 3 ;

[0040] Fig.14 is a schematic diagram of a transverse cross section of an intelligent robot provided in an embodiment of the present application Figure 4 ;

[0041] Fig.15 This is a schematic diagram of the partial structure decomposition of the intelligent robot provided in the embodiment of the present application. Figure 4 ;

[0042] Fig.16 is a schematic diagram of a transverse cross section of an intelligent robot provided in an embodiment of the present application Figure 5 ;

[0043] Fig.17 is a schematic cross-sectional view of a local structure of an intelligent robot provided in an embodiment of the present application;

[0044] Fig.18 yes Fig.17 The enlarged schematic diagram at F in the middle;

[0045] Fig.19 This is a schematic diagram of the partial structure decomposition of the intelligent robot provided in the embodiment of the present application. Figure 5 ;

[0046] Fig. 20 This is a schematic diagram of the partial structure decomposition of the intelligent robot provided in the embodiment of the present application. Figure 6 . DETAILED DESCRIPTION

[0047] 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.

[0048] See also Figures 1 to 6 The embodiment of the present application provides an intelligent robot 100, and the intelligent robot 100 includes:

[0049] 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 hollow area 122 extending in a circumferential direction, the body 11 and the protective side plate 12 enclosing a receiving cavity 14;

[0050] The environment sensing device 20 is installed in the receiving cavity 14 and is arranged adjacent to the protective side plate 12. The environment sensing device 20 is at least partially opposite to the hollow area 122. The environment sensing device 20 can send and receive environment sensing signals within a preset scanning angle α, and at least part of the environment sensing signals passes through the hollow area 122.

[0051] It is understandable that the intelligent robot 100 can be any one of a sweeping robot, a mopping robot, a window cleaning robot or a vacuuming robot, etc., which is not limited here. This embodiment is described by taking the intelligent robot 100 as a sweeping robot as an example. Of course, the above other types of robots can also be applied to the solution of this application.

[0052] Compared with the prior art, the technical solution of the embodiment of the present application has at least the following beneficial effects:

[0053] In the embodiment of the present application, the main body 11 and the protective side plate 12 are used to enclose a receiving cavity 14, and the environment sensing device 20 is installed in the receiving cavity 14, which can avoid the environment sensing device 20 being exposed to the surface of the robot and easily impacted; and the protective side plate 12 is provided with a hollow area 122 extending in the circumferential direction, and the space where the environment sensing device 20 is located is directly connected to the outside through the hollow area 122, and the environment sensing device 20 can send and receive environment sensing signals to the hollow area 122 of the protective side plate 12. The hollow area 122 does not reflect or lose the environment sensing signal, which can avoid the environment sensing device 20 being too close to the protective side plate 12 to cause signal reflection to form an interference signal, which is beneficial to improving the sensing accuracy and working reliability of the environment sensing device 20.

[0054] In this embodiment, the body 11 can be any one of a circular shape, a "D" shape, a rectangular shape, a triangular shape, etc., and those skilled in the art can set the shape of the body 11 according to actual needs. The body 11 may include a chassis 111 and a cover 112, and the cover 112 is detachably mounted on the chassis 111 to protect the various functional components inside the intelligent robot 100 from damage caused by violent impact or accidental dripping of liquid during use; the chassis 111 and / or the cover 112 are used to carry and support various functional components. In an optional embodiment, the body 11 of the intelligent robot 100 may also be other design structures, for example, the body 11 is an integrally formed structure, a structure separated on the left and right, and the embodiment of the present application does not limit the material, shape, structure, etc. of the body 11.

[0055] In this embodiment, the robot body 10 also includes a walking mechanism 15 and a cleaning component 16. The walking 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 it can be designed to move on the ground in response to a remote control command. In an embodiment of the present application, the walking mechanism 15 includes two drive wheels and at least one universal wheel. The two drive wheels and the universal wheel at least partially protrude from the bottom of the chassis 111. For example, under the action of the intelligent robot 100's own weight, the two wheels can be partially hidden in the chassis 111. In an optional embodiment, the walking mechanism 15 can also include any one of a triangular track wheel, a Mecanum wheel, etc.

[0056] 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, and the at least one middle sweeping brush may include one or both of a middle sweeping hair brush and a middle sweeping rubber brush. The at least one middle sweeping brush may be disposed in a receiving groove formed at the bottom of the chassis 111. A dust suction port is formed in the receiving groove, and the dust suction port is communicated with a dust collection box and a dust suction fan. 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 wipes the surface passed by following the movement of the robot body 10.

[0057] Buttons may 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. The protective side plate 12 is movable relative to the chassis 111 and the face cover 112 to extend or contract relative to the body 11. The protective side plate 12 may take any shape such as an arc shape, a ring shape, a U shape, etc., and can be set according to actual needs, which 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 body 11. When the at least one collision detection sensor 40 detects that the protective side plate 12 contracts relative to the body 11, a collision signal may 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 for the obstacle.

[0058] The 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 vacuum pump, a main circuit board, a collision detection sensor, a wall following sensor, etc. are arranged.

[0059] The chassis 111 has a front end 113 adjacent to the hollow area 122 and a rear end arranged relative to the front end 113. The environment sensing device 20 is fixed to the front end 113 and arranged adjacent to the hollow area 122, so that the environment sensing device 20 can transmit an environment sensing signal toward the front of the intelligent robot 100. In this embodiment, the environment sensing device 20 can be a laser radar, and the environment sensing signal can be a laser signal. The environment sensing device 20 can transmit a laser emission signal to the outside through the hollow area 122. The laser emission signal is reflected after encountering an obstacle to form a laser reflection signal. The environment sensing device 20 can receive the laser reflection signal through the hollow area 122, so that the environment sensing device 20 senses the obstacle information through the above laser signal to map and locate the scene where the robot is located. The environment sensing device 20 can be a single-line laser radar or a multi-line laser radar, 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 or a camera.

[0060] The preset scanning angle α of the environment sensing device 20 is greater than or equal to 180°, so that the environment sensing device 20 has a sufficiently large horizontal field of view angle range, and can sense most of the area in front of the intelligent robot 100, reducing the blind area of ​​environmental detection. For example, the preset scanning angle α of the environment sensing device 20 can be any one of 180°, 190°, 200°, 210°, 220° or 230°, and technicians in this field can set the preset scanning angle α according to actual needs.

[0061] The hollow area 122 extends along the circumference of the protective side plate 12, and the hollow area 122 has a certain width in the horizontal direction, so that the environment sensing device 20 can send and receive environment sensing signals through the hollow area 122. The shape of the hollow area 122 can be rectangular, trapezoidal, long strip, etc., and can be set according to actual needs.

[0062] See also Figures 5 to 8 Furthermore, the protective side panel 12 is provided with a translucent lens 62, and the translucent lens 62 is in a long strip shape. The translucent lens 62 has two end edges 123 arranged opposite to each other, and the two end edges 123 are located on two opposite sides of the environment sensing device 20. The hollow area 122 is arranged on the translucent lens 62 and is spaced apart from the two end edges 123.

[0063] The hollow area 122 can be arranged at equal intervals or unequal intervals with the two end edges 123. The light-transmitting lens 62 is also provided with a non-hollow area 125, and the area of ​​the light-transmitting lens 62 other than the hollow area 122 forms the non-hollow area 125. The non-hollow area 125 of the light-transmitting lens 62 can also transmit environmental sensing signals. The environmental sensing signal of the environmental sensing device 20 can pass through the hollow area 122 and the non-hollow area 125 of the light-transmitting lens 62. The environmental sensing device 20 is roughly adjacent to the middle position of the light-transmitting lens 62, the hollow area 122 is roughly located at the middle position of the light-transmitting lens 62, and the environmental sensing device 20 is at least partially opposite to the hollow area 122, then the environmental sensing device 20 is relatively adjacent to the hollow area 122 of the light-transmitting lens 62. Usually, since the light-transmitting lens 62 itself has a reflective effect on the signal, the distance between the environment sensing device 20 and the light-transmitting lens 62 is too close, resulting in too strong reflection, which can easily cause the signal reflection to form an interference signal, resulting in errors in the signal of the environment sensing device 20. However, the present application provides a signal channel for the environment sensing device 20 by opening a hollow area 122 in the light-transmitting lens 62. There is no signal reflection or loss in the hollow area 122. Therefore, for the environment sensing device 20, the hollow area 122 and the non-hollow area 125 can achieve a relatively uniform signal transmission effect.

[0064] See also Figure 8 In other embodiments, the hollow area 122 can also be used to completely replace the light-transmitting lens 62. The hollow area 122 has two side edges 201 arranged opposite to each other, and the two side edges 201 are located on opposite sides of the environment sensing device 20. The two side edges 201 and the line connecting the scanning center of the environment sensing device 20 are arranged at an angle, wherein the angle is greater than or equal to 180°. The line connecting the two side edges 201 and the scanning center of the environment sensing device 20 forms an angle greater than or equal to 180°, and the preset scanning angle α of the environment sensing device 20 is greater than or equal to 180°, so that the hollow area 122 has a sufficient circumferential length, and the hollow area 122 can meet the requirements of the environment sensing device 20 for sending and receiving environment sensing signals within the preset scanning angle α. Since the hollow area 122 does not reflect or lose the environmental sensing signal, and the angle between the two edges 202 of the area and the scanning center of the environmental sensing device 20 is greater than or equal to 180°, the environmental sensing signals received and sent by the environmental sensing device 20 within the preset scanning angle α will not be interfered with or blocked by the reflection of the protective side panel 12, so that the environmental sensing device 20 can work normally inside the robot, and the transparent lens 62 can be omitted, which can reduce costs.

[0065] See also Figure 4 and Fig. 9 Further, the light-transmitting lens 62 has two long edges 124 arranged opposite to each other, and the two long edges 124 are respectively connected to the two end edges 123, and the hollow area 122 has two area edges 202 arranged opposite to each other, and the two area edges 202 are respectively adjacent to the two long edges 124, and the distances between the two area edges 202 and the scanning center of the environment sensing device 20 in the direction perpendicular to the two long edges 124 are both greater than 4 mm.

[0066] In this embodiment, the two long edges 124 extend along the circumference of the protective side plate 12. The hollow area 122 is approximately located in the middle of the light-transmitting lens 62. The environment sensing device 20 sends and receives environment sensing signals to the light-transmitting lens 62 of the protective side plate 12 with the scanning center as the origin. The environment sensing signal of the environment sensing device 20 has a diffusion angle with the scanning center as the origin in the height direction, that is, the environment sensing signal of the environment sensing device 20 gradually expands toward the two area edges 202 with the scanning center as the origin in the height direction. The two area edges 202 of the hollow area 122 are respectively located on the upper and lower sides of the scanning center of the environment sensing device 20. The distances d1 and d2 between the two area edges 202 and the scanning center of the environment sensing device 20 in the direction perpendicular to the two long edges 124 are both greater than 4 mm, so that the two area edges 202 avoid the signal of the environment sensing device 20 passing through the area, thereby reducing the signal loss of the environment sensing device 20 passing through the hollow area 122.

[0067] See also Fig.10 , further, the hollow area 122 has two side edges 201 arranged opposite to each other, the two side edges 201 are respectively adjacent to the two end edges 123, and the two side edges 201 are arranged at an angle β with the line connecting the scanning center of the environment sensing device 20, wherein the angle β is 40° to 70°. In this embodiment, the two side edges 201 are respectively connected to the two area edges 202. The angle is 40° to 70°, so that the signal transmittance of the environment sensing device 20 in the hollow area 122 and the signal transmittance of the non-hollow area 125 of the environment sensing device 20 are relatively consistent, which is conducive to the environment sensing device 20 accurately sensing the environment and reducing errors, and the light-transmitting lens 62 retains a larger non-hollow area 125, which is conducive to blocking most dust from entering the interior of the intelligent robot 100.

[0068] See also Fig.10Furthermore, the protective side plate 12 is an arc-shaped side plate, the distance between the environment sensing device 20 and the protective side plate 12 is less than the radius of the protective side plate 12, and the scanning center of the environment sensing device 20, the center of the circle of the protective side plate 12 and the center of the hollow area 122 are located on the same straight line. The environment sensing device 20 is fixed to the front end 113 of the chassis 111, and the distance between the environment sensing device 20 and the hollow area 122 of the light-transmitting lens 62 is the shortest. The signal transmittance of the environment sensing device 20 in the hollow area 122 is relatively consistent with the signal transmittance of the non-hollow area 125 of the environment sensing device 20, which is conducive to the environment sensing device 20 to accurately sense the environment and reduce errors.

[0069] The non-hollow area 125 includes a first arc area 203 and a second arc area 204. The first arc area 203, the hollow area 122 and the second arc area 204 are sequentially arranged around the protective side plate 12. The center of the first arc area 203 and the center of the second arc area 204 both coincide with the center of the protective side plate 12. The first arc area 203, the hollow area 122 and the second arc area 204 form an arc-shaped light-transmitting area with a large arc length, so that the environment sensing device 20 can send and receive signals within a large scanning angle range, reducing the detection blind area. For example, the scanning angle range of the environment sensing device 20 can be greater than or equal to 230°.

[0070] See also Figures 1 to 6 Furthermore, the robot body 10 also includes a partition frame 13, which is fixedly connected to the body 11 and accommodated in the accommodating cavity 14. The partition frame 13 divides the accommodating 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 hollow area 122, and the second space 142 is located on the side of the partition frame 13 away from the hollow area 122. The environment sensing device 20 is installed in the first space 141, and the second space 142 is used to arrange other devices of the intelligent robot 100. The partition frame 13 can prevent dust entering from the hollow area 122 from invading the second space 142.

[0071] In this embodiment, the partition frame 13 is in the shape of an elongated strip, and the partition frame 13 is disposed near the front end 113 of the chassis 111. In one embodiment, the partition frame 13 can be integrally disposed with the chassis 111 or the face cover 112, which can improve the structural stability of the partition frame 13, and can also reduce the number of components, reduce assembly difficulty and manufacturing costs. In another embodiment, the partition frame 13, the chassis 111 and the face cover 112 are independent components, and the partition frame 13 can be fixedly connected to the chassis 111 and / or the face cover 112 by means of screw connection, snap connection, riveting or plug-in connection, so as to facilitate the assembly of the partition frame 13, the chassis 111 and the face cover 112 into a whole, or disassemble them into multiple components, so as to facilitate maintenance or replacement of components.

[0072] 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.

[0073] 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.

[0074] The 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 inside the closed loop formed by the side panel 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. 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.

[0075] 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 .

[0076] 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 robot body 11 also includes an elastic member located in the first space 141, the elastic member elastically connects 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.

[0077] Please refer to 1 to Figure 6 and Fig.11 Furthermore, the partition frame 13 is adjacent to the edges of the chassis 111 and the surface cover 112, and an optical path scanning space 134 is provided on the side of the partition frame 13 close to the protective side panel 12, and the optical path 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 optical path scanning space 134.

[0078] In the present embodiment, a mounting groove 135 and two optical path grooves 137 are recessed on the side surface of the partition frame 13 close to the protective side plate 12. The environment sensing device 20 is at least partially installed in the mounting groove 135. The environment sensing device 20 can be aligned with the front edge 115 of the chassis 111. The two optical path grooves 137 are connected to the mounting groove 135. The two optical path grooves 137 are both long strips in shape. The extension directions of the two optical path grooves 137 are set at an angle. The two optical path grooves 137 at least form a part of the optical path scanning space 134.

[0079] 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. Therefore, 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.

[0080] The two optical path grooves 137 are located on the same plane. The two optical path grooves 137 open up space in the dividing strip, providing a channel for the environmental sensing signal of the environmental sensing device 20, so that the environmental sensing device 20 can send and receive environmental sensing signals within a larger preset scanning angle α. The extension directions of the two optical path grooves 137 are set at an angle, and the angle between the extension directions of the two optical path grooves 137 matches the preset scanning angle α of the environmental sensing device 20. The angle between the extension directions of the two optical path grooves 137 can be greater than or equal to 180°, and the angle between the extension directions of the two optical path grooves 137 can be set according to the specific value of the preset scanning angle α of the environmental sensing device 20.

[0081] In other embodiments, there is a gap between the environment sensing device 20 and the front edge 115 of the chassis 111 , and the scanning component 24 and the dust cover 22 of the environment sensing device 20 extend into the optical path scanning space 134 .

[0082] See also Figure 4 , Fig. 9 and Fig.11 Furthermore, the environment sensing device 20 includes a base 21 and a dust 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 dust cover 22 and the base 21 are enclosed to form a storage cavity 25, the dust cover 22 can transmit the environment sensing signal, the driving component 23 is fixed to the base 21, the driving component 23 and the scanning component 24 are accommodated in the storage cavity 25, the driving component 23 can drive the scanning component 24 to rotate and send and receive the environment sensing signal through the dust cover 22.

[0083] In this embodiment, the environment sensing device 20 is a 2DTOF radar, which uses the time-of-flight principle to measure distance.

[0084] The dust cover 22 can be fixedly connected to the base 21 by screw connection, glue bonding or thread connection, and the dust cover 22 can be sealed with the base 21. The dust cover 22 can be made of plastic or glass with good light transmittance. The signal sent and received by the scanning component 24 can pass through the dust cover 22. The dust cover 22 and the base 21 can play a dustproof role, preventing dust entering from the hollow area 122 from invading the internal scanning component 24 and the driving component 23.

[0085] 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.

[0086] 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.

[0087] 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.

[0088] See also Figures 12 to 15Furthermore, the bottom surface of the robot 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, and 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 and the orthographic projection of the signal scanning area 143 on the preset reference plane 50 at least partially overlap, 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, and the at least one obstacle avoidance sensor 17 can send and receive obstacle sensing signals B.

[0089] 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.

[0090] 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.

[0091] 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.

[0092] 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.

[0093] See also Figures 12 to 15 , further, the receiving and sending direction of the obstacle detection signal is set at an angle β with the preset reference plane 50, and the angle β is greater than or equal to 28°. In this embodiment, the receiving and sending direction of the obstacle detection signal is set obliquely relative to the preset reference plane 50, and the receiving and sending direction of the obstacle detection signal is set obliquely relative 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 select a larger angle value, so that the at least one obstacle avoidance sensor 17 can focus on detecting obstacles closer to the front of the intelligent robot 100, which is conducive to achieving a better obstacle avoidance effect.

[0094] See also Figures 12 to 15 , 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 conducive it is for the at least one obstacle avoidance sensor 17 to accurately detect low obstacles at a higher position, and to achieve better working performance.

[0095] See also Figures 12 to 16Further, 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, and the first obstacle avoidance sensor 171 and the second obstacle avoidance sensor 172 can both send and receive obstacle sensing signals B within a preset scanning angle α, so that the obstacle sensing signal B covers 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.

[0096] 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 sent 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 area in front of the intelligent robot 100 through obstacle sensing signals within the first preset scanning angle C1 range, and the second obstacle avoidance sensor 172 is used to detect obstacles in the right area in front of the intelligent robot 100 through obstacle sensing signals within the second preset scanning angle C2 range. The first preset scanning angle C1 and the second preset scanning angle α can be set according to actual needs. The obstacle sensing signal B of the first obstacle avoidance sensor 171 and the second obstacle avoidance sensor 172 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, so that the detection range of the first obstacle avoidance sensor 171 and the second obstacle avoidance sensor 172 can completely cover the left area and the right area in front of the intelligent robot 100, and ensure that the intelligent robot 100 can identify obstacles on both sides of the front during the forward process, reduce the sensing blind area, and avoid the intelligent robot 100 from colliding with obstacles. Among them, the preset area is the area where the obstacle sensing signal B is projected to the ground.

[0097] See also Figures 12 to 16 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.

[0098] In this embodiment, the obstacle sensing signal B of the first obstacle avoidance sensor 171 within the first preset scanning angle C1 can cover the front left area of ​​the intelligent robot 100, and the area through which the obstacle sensing signal B of the first obstacle avoidance sensor 171 passes forms a planar signal scanning area 143, which is set at an angle to the preset reference plane 50, and the above-mentioned 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.

[0099] 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 set at an angle to the preset reference plane 50, and the above-mentioned signal scanning area 143 exceeds the right edge of the intelligent robot 100 by at least 15mm, so that the intelligent robot 100 has sufficient detection field of view in the forward direction to identify obstacles on the right. In summary, the environmental sensing device 20 has both left and right detection fields of view, which is conducive to achieving better obstacle avoidance effects.

[0100] See also Figures 12 to 16 , 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 are close to each other and form a gap in the middle position of the preset area, and the gap d3 is less than the preset distance threshold. In this embodiment, 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 are close to each other and form a gap in the middle position of the preset area, so that 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, thereby avoiding mutual crosstalk between the signals of the two. By setting the gap d3 to be less than the preset distance threshold, the gap d3 can be 8mm to 15mm, 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 gap formed is small, which is conducive to reducing the detection blind area.

[0101] See also Figures 17 to 19Furthermore, the obstacle avoidance sensor 20 includes a base 21 and a sensor component 22. The base 21 is sealed and connected to the inner wall of the protective side panel 10. A sealed cavity 23 is formed between the base 21 and the protective side panel 10. The sealed cavity 23 is at least partially opposite to the light-transmitting lens 11. The sensor component 22 is fixedly connected to the base 21 and accommodated in the sealed cavity 23. The sensor component 22 can send and receive obstacle sensing signals B through the light-transmitting lens 11.

[0102] The obstacle avoidance sensor 20 includes a base 21 and a sensor component 22. The base 21 is sealed and connected to the inner wall of the protective side panel 10. A sealed cavity 23 is formed between the base 21 and the protective side panel 10. The sealed cavity 23 at least partially faces the light-transmitting lens 11. The sensor component 22 is fixedly connected to the base 21 and accommodated in the sealed cavity 23. The sensor component 22 can send and receive obstacle sensing signals B through the light-transmitting lens 11, so that the obstacle avoidance sensor 20 can be assembled with the protective side panel 10 to form a whole. The front collision component 100 can sense obstacles through the obstacle avoidance sensor 20. The sensor component 22 of the obstacle avoidance sensor 20 can work independently and stably in the sealed cavity 23 to prevent it from being affected by external impact or dust.

[0103] See also Figures 17 to 19 Further, the base 21 is sealed 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 side wall, the base 21 has an annular edge 26 opposite to the annular boss 25, and the sealing ring 24 is sealed between the annular boss 25 and the annular edge 26. The base 21 is formed with an inner cavity inside the annular edge 26. The sensor assembly 22 is at least partially installed in the inner cavity. The inner cavity at least forms a part of the sealed cavity 23.

[0104] See also Figures 17 to 19 Further, the sensing component 22 includes a transmitter 27 and a receiver 28 arranged side by side, and the transmitter 27 and the receiver 28 are both facing the light-transmitting lens 11, the transmitter 27 is used to transmit an obstacle detection signal, and the receiver 28 is used to receive an obstacle reflection signal, wherein the obstacle detection signal is reflected after encountering an obstacle to form the obstacle reflection signal. Wherein, the obstacle sensing signal B includes an obstacle detection signal and an obstacle reflection signal. The transmitter 27 and the receiver 28 are both arranged to 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 located on the same plane, or the center line of the transmitter 27 and the center line of the receiver 28 may not be on the same plane. The number of the receivers 28 may be one or more.

[0105] See also Figures 17 to 19 Furthermore, 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 electrically connected to the circuit board 70, and the transmitter 27 is partially located in the sealed cavity 23, and the transmitter 27 is arranged to penetrate the circuit board 70 to partially extend out of the sealed cavity 23.

[0106] In this embodiment, the circuit board 70 covers the end of the base 21 away from the protective side plate 10. The circuit board 70 is electrically connected through the transmitter 27 and the receiver 28. The circuit board 70 is provided with a control chip 71, and the control chip 71 is located on the side of the circuit board 70 away from the sealed cavity 23 for heat dissipation. The control chip 71 can control the transmitter 27 to transmit an obstacle detection signal, control the receiver 28 to receive an obstacle reflection signal, and sense obstacles according to the obstacle detection signal and the obstacle reflection signal. The transmitter 27 has a transmitting end 72 and a tail end 73 arranged relative to the transmitting end 72, the transmitting end 72 is located in the sealed cavity 23, and the tail end 73 is located outside the sealed cavity 23. The part of the transmitter 27 located between the transmitting end 72 and the tail end 73 passes through the circuit board 70, so that the part of the transmitter 27 extending out of the sealed cavity 23 does not need to occupy the space of the sealed cavity 23, which is conducive to realizing the compact structure and miniaturization of the obstacle avoidance sensor 20.

[0107] See also Figures 17 to 19 Further, a plug-in port 74 is provided on the side of the circuit board 70 away from the sealed cavity 23, and the plug-in port 74 is used to plug in a wire, so that the circuit board 70 is electrically connected to the main circuit board 70 of the intelligent robot 100 through the wire. In this embodiment, the plug-in port 74 is provided on the side of the circuit board 70 away from the sealed cavity 23, so that the wire can be plugged in 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 wire, thereby facilitating the installation of the obstacle avoidance sensor 20 on the intelligent robot 100 along with the protective side plate 10, and the obstacle avoidance sensor 20 is connected to the main circuit board 70.

[0108] See also Figure 6 and Fig. 20, further, the intelligent robot 100 also includes a dustproof lens 300, the dustproof lens 300 is fixedly connected to the protective side plate and covers the hollow area 122. In this embodiment, the hollow area is in the shape of a long strip, and the hollow area 122 has a large length, so that the environment sensing device 20 sends and receives environment sensing signals to the hollow area 122 within a preset scanning angle α. The dustproof lens 300 covers the hollow area 122, and the dustproof lens 300 can pass the environment sensing signal. The dustproof lens 300 covers the hollow area 122, and the dustproof lens 300 can prevent dust from entering the interior of the intelligent robot 100, and the dustproof lens 300 can improve the appearance of the whole machine. The dustproof lens 300 is a fully transparent or semi-transparent baffle.

[0109] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example" or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0110] The above-described implementation methods do not constitute a limitation on the protection scope of the technical solution. Any modification, equivalent replacement and improvement made within the spirit and principle of the above-described implementation methods shall be included in the protection scope of the technical solution.

Claims

1. An intelligent robot, It is 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 hollow area extending in a circumferential direction, the body and the protective side plate enclosing a receiving cavity; An environment sensing device, the environment sensing device is installed in the receiving cavity and is disposed adjacent to the protective side plate, the environment sensing device at least partially faces the hollow area, the environment sensing device can send and receive environment sensing signals within a preset scanning angle range, and at least part of the environment sensing signals passes through the hollow area; The robot body also includes a partition frame, which is fixedly connected to the body and accommodated in the accommodation cavity. The partition frame divides the accommodation cavity into a first space and a second space. The first space is located on a side of the partition frame close to the hollow area, and the second space is located on a side of the partition frame away from the hollow area. The environment sensing device is installed in the first space, and the second space is used to arrange other devices of the intelligent robot. The partition frame can prevent dust entering from the hollow area from invading the second space.

2. The intelligent robot according to claim 1, It is characterized in that The protective side panel is provided with a light-transmitting lens, which is in the shape of a long strip and has two end edges arranged opposite to each other. The two end edges are located on two opposite sides of the environment sensing device, and the hollow area is arranged on the light-transmitting lens and is spaced apart from the two end edges.

3. The intelligent robot according to claim 2, It is characterized in that The environment sensing device is a laser radar, the light-transmitting lens has two long edges arranged opposite to each other, the two long edges are respectively connected to the two end edges, the hollow area has two area edges arranged opposite to each other, the two area edges are respectively adjacent to the two long edges, and the distances between the two area edges and the scanning center of the environment sensing device in the direction perpendicular to the two long edges are both greater than 4 mm.

4. The intelligent robot according to claim 2, It is characterized in that The hollow area has two side edges arranged opposite to each other, the two side edges are respectively adjacent to the two end edges, and the two side edges are arranged at an angle to a line connecting a scanning center of the environment sensing device, wherein the angle is 40° to 70°.

5. The intelligent robot according to claim 1, It is characterized in that The hollow area has two area edges arranged opposite to each other, the two area edges are located on opposite sides of the environment sensing device, and the line connecting the two area edges and the scanning center of the environment sensing device is arranged at an angle, wherein the angle is greater than or equal to 180°.

6. The intelligent robot according to claim 1, It is characterized in that The protective side plate is an arc-shaped side plate, the distance between the environment sensing device and the protective side plate is smaller than the radius of the protective side plate, and the scanning center of the environment sensing device, the center of the protective side plate and the center of the hollow area are located on the same straight line.

7. The intelligent robot according to claim 6, It is characterized in that The protective side plate is also provided with a non-hollow area connected to the hollow area, and the non-hollow area includes a first arc area and a second arc area, and the first arc area, the hollow area and the second arc area are arranged sequentially on the circumference of the protective side plate, and the center of the first arc area and the center of the second arc area both coincide with the center of the protective side plate.

8. The intelligent robot according to claim 1, It is 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 provided with an optical path scanning space on one side close to the protective side panel, the optical path scanning space forms a part of the first space, and the environment sensing device can send and receive environment sensing signals through the optical path scanning space.

9. The intelligent robot according to claim 1, It is characterized in that The main body includes a chassis and a surface cover fixedly connected to the chassis, the protective side panels movably connect the chassis and the surface cover, the protective side panels, the chassis and the surface cover together form the accommodating cavity, 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 chassis.

10. The intelligent robot according to any one of claims 1 to 9, It is characterized in that The preset scanning angle is greater than or equal to 180°.

11. The intelligent robot according to any one of claims 1 to 9, It is characterized in that The environmental sensing device includes a base and a dust cover covering the base, a driving component and a scanning component. The base is fixed to the main body, the dust cover and the base are combined to form a storage cavity, the dust cover can transmit environmental sensing signals, the driving component is fixed to the base, the driving component and the scanning component are accommodated in the storage cavity, and the driving component can drive the scanning component to rotate and send and receive environmental sensing signals through the dust cover.

12. The intelligent robot according to any one of claims 1 to 9, It is characterized in that The bottom surface of the robot body is defined as a preset reference surface, and the area through which the environmental sensing signal of the environmental sensing device passes forms a signal scanning area. The intelligent robot includes at least one obstacle avoidance sensor, and the at least one obstacle avoidance sensor is installed on the protective side panel. The orthographic projection of the at least one obstacle avoidance sensor on the preset reference surface and the orthographic projection of the signal scanning area on the preset reference surface at least partially overlap, the distance between the at least one obstacle avoidance sensor and the preset reference surface is greater than or less than the distance between the signal scanning area and the preset reference surface, and the at least one obstacle avoidance sensor can send and receive obstacle sensing signals.

13. The intelligent robot according to claim 12, It is characterized in that The at least one obstacle avoidance sensor includes a first obstacle avoidance sensor and a second obstacle avoidance sensor, wherein the first obstacle avoidance sensor and the second obstacle avoidance sensor are respectively located on both sides of the environment sensing device, and the first obstacle avoidance sensor and the second obstacle avoidance sensor can both send and receive obstacle sensing signals within a preset angle range so that the obstacle sensing signal covers 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.

14. The intelligent robot according to claim 13, It is characterized in that The scanning area of ​​the obstacle sensing signal of the first obstacle avoidance sensor exceeds the left edge of the intelligent robot by at least 15 mm, and the scanning area of ​​the obstacle sensing signal of the second obstacle avoidance sensor exceeds the right edge of the intelligent robot by at least 15 mm.

15. The intelligent robot according to claim 12, It is characterized in that The obstacle avoidance sensor includes a base and a sensor component. The protective side panel is provided with a light-transmitting lens. The base is sealed and connected to the inner wall of the protective side panel. A sealed cavity is formed between the base and the protective side panel. The sealed cavity is at least partially opposite to the light-transmitting lens. The sensor component is fixedly connected to the base and accommodated in the sealed cavity. The sensor component can send and receive obstacle sensing signals through the light-transmitting lens.

16. The intelligent robot according to any one of claims 1 to 9, It is characterized in that The intelligent robot also includes a dustproof lens, which is fixedly connected to the protective side plate and covers the hollow area.

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