Adjustment mechanism and autonomous mobile robot

Abstract

The embodiment of the present application provides an adjustment mechanism and an autonomous mobile robot. Wherein, the adjustment mechanism includes: a bracket for fixing a measuring sensor; an adjustment frame for connecting the bracket to an external body; a connecting member arranged on the adjustment frame for connecting the bracket to an external body; an adjusting member arranged on the adjustment frame and abutting against the bracket; wherein the connecting member and the adjusting member cooperate to change the amount of movement of the bracket relative to the external body, and the abutting force between the adjusting member and the bracket, and then adjust the posture of the bracket relative to the external body. The technical solution provided by the embodiment of the present application can change the amount of movement of the bracket relative to the external body and the abutting force between the adjusting member and the bracket through the cooperation of the connecting member and the adjusting member, and then adjust the posture of the bracket relative to the external body, that is, change the posture of the measuring sensor on the bracket, and ensure that the measuring sensor can perform measurement work and maintain the accuracy of the measurement results.

Description

Technical Field

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

[0002] As an indispensable and important sensor in service robots such as autonomous mobile robots (AMRs) or unmanned guided vehicles (AGVs), measurement sensors are used to perceive the surrounding environment of service robots. For example, measurement sensors can obtain displacement information, map information, determine the best path, and realize path planning and navigation, thereby guiding service robots to easily avoid obstacles and reach their destination smoothly.

[0003] In the prior art, the installation surface on the service robot used to install the measuring sensor has an uneven installation surface caused by a functional structure, or an uneven installation surface caused by a manufacturing error, an installation process error, etc., which makes it impossible for the measuring sensor to be installed horizontally on the service robot, thereby causing the measuring sensor to fail to achieve an ideal use effect, for example, the measuring sensor cannot perform measurement work or the measurement result has deviations. Summary of the invention

[0004] The embodiments of the present application provide an adjustment mechanism and an autonomous mobile robot capable of adjusting the posture of a measurement sensor relative to an external body.

[0005] Specifically, in one embodiment of the present application, an adjustment mechanism is provided. The adjustment mechanism includes:

[0006] A bracket for fixing the measuring sensor;

[0007] An adjustment bracket, used to connect the bracket to an external body;

[0008] A connecting member, disposed on the adjustment frame, and used to connect the bracket to the external body;

[0009] An adjusting member, arranged on the adjusting frame and abutting against the bracket;

[0010] The connecting member and the adjusting member cooperate with each other to change the amount of movement of the bracket relative to the external body and the resisting force between the adjusting member and the bracket, thereby adjusting the posture of the bracket relative to the external body.

[0011] In another embodiment of the present application, an autonomous mobile robot is provided. The autonomous mobile robot comprises: a robot body, a measuring sensor and an adjustment mechanism; wherein:

[0012] The robot body has an installation space; the adjustment mechanism is located in the installation space;

[0013] The adjustment mechanism comprises:

[0014] A bracket, used for fixing the measuring sensor;

[0015] An adjustment frame, used to connect the bracket to the robot body;

[0016] A connecting piece, arranged on the adjustment frame, for connecting the bracket to the robot body;

[0017] An adjusting member, arranged on the adjusting frame and abutting against the bracket;

[0018] The connecting member and the adjusting member cooperate with each other to change the amount of movement of the bracket relative to the robot body and the resisting force between the adjusting member and the bracket, thereby adjusting the posture of the bracket relative to the robot body.

[0019] In the technical solution provided in the embodiment of the present application, the bracket in the adjustment mechanism is used to fix the measuring sensor, and the adjustment frame is used to connect the bracket to the external body, that is, the measuring sensor can be fixed to the external body through the adjustment mechanism; the adjustment frame is provided with a connecting member and an adjusting member, the connecting member connects the bracket to the external body, and the adjusting member is against the bracket. Through the synergistic effect of the connecting member and the adjusting member, both the amount of movement of the bracket relative to the external body and the resisting force between the adjusting member and the bracket can be changed, thereby changing the posture of the bracket relative to the external body, that is, realizing the adjustment of the posture of the measuring sensor on the bracket, changing the posture of the measuring sensor on the external body, ensuring that the measuring sensor can perform measurement work and maintain the accuracy of the measurement results, and can better provide measurement services for the external body. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0021] Figure 1 A schematic diagram of the structure of an adjustment mechanism provided in one embodiment of the present application;

[0022] Figure 2 A schematic diagram of the structure of an adjustment mechanism provided in one embodiment of the present application;

[0023] Figure 3A schematic diagram of the structure of an adjustment mechanism provided in one embodiment of the present application;

[0024] Figure 4 for Figure 3 A structural schematic diagram of a bracket in FIG.

[0025] Figure 5 A schematic diagram of a partial structure of a robot provided in one embodiment of the present application;

[0026] Figure 6 for Figure 5 A magnified view of part A in FIG.

[0027] Figure 7 A schematic diagram of the structure of an adjustment mechanism provided in one embodiment of the present application;

[0028] Figure 8 A schematic diagram of a partial structure of a robot provided in one embodiment of the present application;

[0029] Fig. 9 A schematic diagram of the partial structure of a robot provided in one embodiment of the present application. DETAILED DESCRIPTION

[0030] In order to enable those skilled in the art to better understand the scheme of the present application, the technical scheme in the embodiment of the present application will be clearly and completely described below in conjunction with the drawings in the embodiment of the present application. It should be noted that the descriptions of "first", "second", etc. in this article are used to distinguish different messages, devices, modules, etc., do not represent the order of precedence, and do not limit the "first" and "second" to different types. The technical scheme in the embodiment of the present application will be clearly and completely described below in conjunction with the drawings in the embodiment of the present application. In addition, the embodiments described below 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 those skilled in the art without making creative work are within the scope of protection of this application.

[0031] See also Figure 1-3 As shown, this embodiment provides an adjustment mechanism. Figure 1 As shown, the adjustment mechanism includes: a bracket 1, an adjustment frame 2, a connecting member 4 and an adjusting member 5. The bracket 1 is used to fix the measuring sensor 6; the adjustment frame 2 is used to connect the bracket 1 to the external body 3; the connecting member 4 is arranged on the adjustment frame 2, and is used to connect the bracket 1 to the external body 3; the adjusting member 5 is arranged on the adjustment frame 2 and abuts against the bracket 1; wherein the connecting member 4 and the adjusting member 5 cooperate to change the amount of movement of the bracket 1 relative to the external body 3, and the abutting force between the adjusting member 5 and the bracket 1, and then adjust the posture of the bracket 1 relative to the external body 3.

[0032] It can be seen that the measuring sensor 6 is mounted on the external body 3 through the adjustment mechanism. Here, the external body can be the body of an intelligent mobile robot such as an unmanned guided vehicle or an autonomous mobile robot. A measuring sensor is mounted on the body of the unmanned guided vehicle or the autonomous mobile robot. The measuring sensor is used to measure the surrounding environmental parameters, such as the displacement of the unmanned guided vehicle or the autonomous mobile robot from other surrounding components, or the size, position, external appearance and material of other components in the surrounding environment.

[0033] Here, an autonomous mobile robot is taken as an example. A measuring sensor is installed on the body of the autonomous mobile robot. The measuring sensor measures the surrounding environment parameters of the autonomous mobile robot. The central control unit on the autonomous mobile robot analyzes and processes the measurement results of the measuring sensor, and guides the autonomous mobile robot to enter the next action or perform the next operation according to the processed measurement results. For example, the central control unit can determine the best path, realize path planning and navigation, and thus guide the autonomous mobile robot to easily avoid obstacles and reach the destination smoothly.

[0034] Specifically, different types of measuring sensors require different installation postures on the external body. Here, the required installation posture refers to the posture in which the measuring sensor installed on the external body can complete the measurement work or maintain an accurate measurement result. In other words, only when the installation state of the measuring sensor on the external body meets or is close to meeting its required installation posture can it be ensured that the measuring sensor can complete the measurement work or ensure the accuracy of the measurement. It should be noted that the posture of the measuring sensor can reflect the position and angle parameters of the measuring sensor on the external body from multiple directions.

[0035] Here, the scheme is described by taking the form of a laser radar as an example of the measuring sensor. The laser radar has an emission port that can emit a laser beam. Since the laser beam is a linear beam, the installation posture of the laser radar on the external body determines the emission path of the laser beam. Among them, the external body may have an installation space for installing the measuring sensor, and the measuring sensor is placed in the installation space of the external body. The external body has a through hole. During the measurement process of the laser radar, only after the emission port of the laser radar is aligned with the through hole on the external body, can the laser beam emitted by the laser radar be emitted to the outside through the through hole of the external body to irradiate the surface of the object to be measured, so that the laser radar can carry out the subsequent measurement process. In other words, the installation position of the laser radar on the external body is accurate, but the emission port of the laser radar is not aligned with the through hole on the external body. Then, the adjustment mechanism provided in this embodiment can be used to correct the setting angle of the emission port of the laser radar so that the emission port can face the through hole on the external body.

[0036] For example, here we take the example of a laser radar fixed on the top surface of an external body, then the installation surface on the external body for installing the laser radar is preferably a horizontal plane to ensure that the laser beam emitted by the laser radar can be directed toward the target to be detected in a horizontal direction, so that the laser radar can be used to accurately measure the measurement target outside the external body.

[0037] In the process of installing the laser radar on the external body, the surface on the external body for installing the laser radar is not flat due to other functional shapes, or there are manufacturing errors on the installation surface, or there are installation errors between the laser radar and the installation surface on the external body, resulting in the installation surface on the external body for installing the measuring sensor not being in an ideal horizontal state. The measuring sensor can be installed on the external body by using the above-mentioned adjustment mechanism, and the joint adjustment of the connecting member 4 and the adjustment member 5 on the adjustment frame 2 can be used to adjust the position of the laser radar on the bracket relative to the external body, so that the emission port of the laser radar is facing the through hole on the external body, so that the laser beam can pass through the through hole in a horizontal direction or a direction close to the horizontal direction to the object to be measured, so that the laser radar can complete the measurement work. Here, only the laser radar is used as an example of a measuring sensor, and the type of measuring sensor is not limited to laser radar.

[0038] Specifically, Figure 1 As shown, the adjustment frame 2 is provided with a first through hole 21 and a second through hole 22; the connecting member 4 passes through the first through hole 21 to connect the bracket 1 to the external body 3; the adjusting member 5 passes through the second through hole 22, and the end of the adjusting member 5 abuts against the bracket 1. Figure 1 and 2 As shown, Figure 1 The adjusting member 5 is in a state where it has not yet reached the position where it abuts against the bracket 1. Figure 1 It only shows the possible positions of the adjustment member 5. Figure 2 In FIG. 1 , the adjusting member 5 is shown in a position where it abuts against the bracket 1 .

[0039] like Figure 1 and 2 As shown, the external body 3 has an extension portion extending toward the bracket 1, and the adjustment mechanism is connected to the extension portion to connect the measurement sensor 6 to the external body 3. Specifically, as Figure 1As shown, there is a groove above the extension of the external body 3, and a bracket 1 and an adjustment bracket 2 are sequentially arranged at the groove in a direction away from the extension. A connecting member 4 is installed in the first through hole 21 on the adjustment bracket 2 to connect the first end of the bracket 1 to the extension. Through holes are provided at the extension of the external body 3 and the bracket 1 at positions corresponding to the first through holes 21. The connecting member 4 sequentially passes through the first through hole 21 on the adjustment bracket 2, the through hole on the bracket 1, and the through hole on the extension to connect the first end of the bracket 1 to the extension of the external body 3, thereby installing the measuring sensor 6 on the second end of the bracket 1 on the external body 3. The second through hole 22 on the adjustment bracket 2 is used to install the adjusting member 5.

[0040] See also Figure 1 As shown, when the position of the measuring sensor 6 installed on the external body 3 needs to be adjusted, the position of the connecting member 4 in the first through hole 21 needs to be adjusted first to release the first end of the bracket 1, so that the first end of the bracket 1 can move relative to the extension of the external body 3. In this way, when the first end of the bracket 1 is released, the degree of compression of the adjusting member 5 against the middle position of the bracket 1 is different by changing the position of the adjusting member 5 in the second through hole 22, that is, by moving the adjusting member 5 in the second through hole 22 to adjust the magnitude of the interference force between the adjusting member 5 and the bracket 1, the position of the bracket 1 can be changed.

[0041] See also Figure 2 As shown, at this time, the first end of the bracket 1 has a movable amount relative to the external body 3, and the adjusting member 5 abuts against the position between the first end and the second end of the bracket 1, which is the middle position of the bracket. Since the middle position of the bracket 1 is subjected to the squeezing force of the adjusting member 5, as the adjusting member 5 continues to approach the bracket, the force of the end of the adjusting member 5 squeezing the middle position of the bracket 1 gradually increases, as shown in FIG. Figure 1 Change to Figure 2 The second end of the bracket 1 has a tendency to rotate along the S direction until it rotates, changing the posture of the bracket 1 relative to the external body 3, specifically changing the installation angle of the measuring sensor 6 located on the second end of the bracket 1 relative to the external body in the S direction, thereby adjusting the posture of the measuring sensor 6. Here, when the second end of the bracket 1 rotates along the S direction, the activity of the first end of the bracket 1 relative to the external body 3 is also the activity in the form of rotation.

[0042] It should be noted that Figure 1 , Figure 2All of them illustrate the state that the first end of the bracket 1 is arranged between the adjustment bracket 2 and the extension part of the external body 3, which cannot be regarded as a specific limitation on the position of the bracket. For example, in some other implementations, the adjustment bracket 2 is directly arranged at the groove above the extension part, and the bracket 1 is arranged on the surface of the extension part away from the direction of the groove, that is, the extension part is located between the adjustment bracket 2 and the bracket 1, and also has the above-mentioned adjustment function on the measuring sensor. Of course, there are many other settings for the specific position of the bracket 1, as long as the setting form can achieve the above-mentioned function of changing the installation posture of the measuring sensor, which will not be described in detail here.

[0043] Specifically, Figure 1 , 2 As shown in Figures 3 and 4, the connecting member 4 includes a first bolt 41 and a nut 42 adapted to the first bolt 41; the first bolt 41 passes through the bracket 1 and the body 3; the adjusting member 5 includes a second bolt 51, and the second through hole 22 is a threaded hole. It should be pointed out that the change in the amount of movement of the bracket relative to the external body by the connecting member 4 is specifically to change the amount of movement of the first end of the bracket 1 by changing the position of the nut 42 on the first bolt 41, so the first through hole 21 on the adjusting frame 2 can be a smooth hole. The second through hole is set as a threaded hole, which is convenient for adjusting the position of the second bolt 51 on the adjusting frame 2 by using the external thread on the surface of the second bolt 51 to cooperate with the internal thread on the inner wall of the second through hole 22, which has a limiting effect on the adjusting member 5.

[0044] exist Figure 1 In the embodiment, the relative position of the first bolt 41 and the nut 42 is such that the bracket 1 has no movement relative to the external body 3, that is, the first end of the bracket 1 is locked on the extension portion of the external body 3. At this time, no matter how the second bolt 51 in the second through hole 22 is rotated, the force exerted by the end of the second bolt 51 pressing on the middle position of the bracket 1 cannot push the bracket 1 to rotate, and the relative posture of the measuring sensor 6 on the external body 3 cannot be adjusted.

[0045] Adjust the position of the nut 42 on the first bolt 41 to Figure 2 When the bracket 1 is in the middle position, the relative position of the first bolt 41 and the nut 42 can release the bracket 1 from the extension portion of the external body 3. At this time, the first end of the bracket 1 has a certain amount of mobility relative to the extension portion of the external body 3. When the position of the bracket 1 away from the first end is subjected to other external forces, the posture of the bracket may change.

[0046] Please continue to see Figure 2As shown, in the process of rotating the second bolt 51 in the threaded hole, the extrusion force between the end of the second bolt 51 and the bracket 1 will change. For example, when the second bolt 51 gradually approaches the bracket 1, the force of the second bolt 51 against the bracket 1 gradually increases, so that the second end of the bracket 1 has a tendency to rotate in the S direction until it rotates; and when the second bolt 51 gradually moves away from the bracket 1, the force of the second bolt 51 against the bracket 1 gradually decreases, so that the second end of the bracket 1 has a tendency to rotate in the opposite direction of S until it rotates.

[0047] In some other embodiments, the connector 4 may have multiple implementations, that is, the connector 4 may not be implemented by the first bolt 41 and the nut 42. For example, the connector 4 may only include a bolt. In this case, a threaded hole adapted to the first bolt 41 is provided at a position corresponding to the first through hole 21 of the adjustment frame 2 on the extension of the external body, and the first through hole 21 and the position corresponding to the first through hole 21 on the bracket 1 are both ordinary through holes. In this way, after the first bolt 41 passes through the first through hole 21 and the through hole at the corresponding position on the bracket 1, the external thread at the end of the first bolt 41 matches the internal thread in the threaded hole on the extension to connect the bracket 1 to the external body 3. In this way, the amount of movement of the bracket 1 can be adjusted by rotating the bolt. It should be noted that the threaded hole on the extension for matching with the bolt may be a threaded blind hole or a threaded through hole. When the threaded hole on the extension is a threaded blind hole, the hole depth of the threaded blind hole determines the activity space of the first end of the bracket 1. Likewise, when the threaded hole on the extension portion adapted to fit the bolt is a threaded through hole, the movable space of the first end of the bracket 1 depends on the length of the threaded connection between the bolt and the threaded through hole.

[0048] Of course, in a specific implementation, the connecting member 4 can also be implemented in more ways. For example, the connecting member 4 can include two parts, one part is used to fix the adjustment frame 2 on the external body 3, and the other part is used to enable one end of the bracket to move relative to the external body 3, or to enable one end of the bracket to move relative to the adjustment frame 2.

[0049] See also Figure 5 and Figure 6 As shown, an embodiment in which the connecting element 4 has two parts is described here. Figure 6 for Figure 5 A magnified view of part A in FIG. Figure 6As shown, the adjustment frame 2 is provided with a first through hole 21, a second through hole 22 and a third through hole 25; the connecting member 4 includes a first component 26 and a second component, the first component 26 passes through the first through hole 21 to connect the bracket 1 to the adjustment frame 2; the second component passes through the third through hole 25 and fixes the adjustment frame 2 to the external body 3; the adjustment member 5 passes through the second through hole 22, and the end of the adjustment member 2 abuts against the bracket 1; wherein the first component 26 and the adjustment member 5 cooperate to change the posture of the bracket relative to the external body. It can be seen that, see Figure 5 As shown, the second component is only used to fix the adjustment frame 2 on the external body 3, and the bracket only relies on the coordinated action of the first component 26 and the adjustment member 5 to adjust the activity of the bracket relative to the external body 3, thereby adjusting the position of the measuring sensor 6 located on the bracket 1.

[0050] Specifically, Figure 6 As shown, the second component may include a plurality of fasteners such as bolts or screws. Accordingly, the adjustment frame 2 is provided with a plurality of third through holes 25. The plurality of fasteners cooperate with the plurality of third through holes 25 one by one, so that the adjustment frame 2 can be reliably fixed on the external body 3.

[0051] In specific implementation, Figure 3 As shown, the adjustment frame 2 may have a step to form a step high surface 23 and a step low surface 24 on the adjustment frame 2; the first through hole 21 penetrates the adjustment frame 2 from the step high surface 23; the second through hole 22 penetrates the adjustment frame 2 from the step low surface 24.

[0052] Here, the adjustment frame 2 is set to have a stepped structure. Considering that the connecting member 4 has the function of fixing the first end of the bracket to the external body 3 and also has the function of adjusting the amount of movement of the first end of the bracket relative to the external body 3, the connecting member 4 is set on the high surface 23 of the step on the adjustment frame 2, so that the connecting member 4 has a sufficiently large extension length along the direction of the first through hole 21, so that when the position of the nut 42 on the first bolt 41 is adjusted, the first end of the bracket 1 has a larger movable space relative to the external body 3, so as to prepare for changing the posture of the bracket. In addition, considering that the position of the adjustment member 5 in the second through hole 22 can play a role in adjusting the rotation angle of the bracket, the adjustment member 5 is set on the low surface 24 of the step of the adjustment frame 2, so that the second bolt 51 has a smaller size, which can improve the operational flexibility of the adjustment member 5 and improve the convenience of operation.

[0053] For further information, see Figure 3 , 4As shown, the bracket 1 may include an extension plate 11 and a mounting portion 12, one end of the extension plate 11 is connected to the external body 3 through the adjustment frame 2; the mounting portion 12 is arranged at the other end of the extension plate 11, and the mounting portion 12 is used to install the measuring sensor 6.

[0054] Specifically, Figure 3 As shown, a through hole is formed at one end of the extension plate 11 close to the external body 3. Figure 4 The through hole at the top of the extended plate 11 is used to pass through the connecting piece 4, so that one end of the extended plate 11 is connected to the external body through the connecting piece. The measuring sensor 6 is fixed in the mounting portion 12 at the other end of the extended plate 11, thereby fixing the measuring sensor 6 on the external body 3.

[0055] For specific implementation, see Figure 4 Here, a feasible implementation of the mounting portion 12 is given. The mounting portion 12 has a mounting back plate similar to a rectangle, and a vertical plate is vertically connected to two opposite sides of the mounting back plate similar to a rectangle, and the measuring sensor 6 is installed between the two vertical plates. It can be seen that a mounting groove for installing the measuring sensor is formed between the mounting back plate and the vertical plate on the mounting portion 12, and the vertical plate serves as the groove wall of the mounting groove, so that the measuring sensor is reliably installed on the mounting portion 12. Of course, in some other implementations, the mounting portion can also be a mounting structure with a groove directly opened by the mounting block. The specific structure of the mounting portion is not limited here, and those skilled in the art can design it according to actual needs.

[0056] Please continue to see Figure 4 As shown, the mounting back plate can be fixed to the other end of the extension plate 11 by a plurality of fastening units 13, so as to fix the mounting portion to one end of the extension plate 11. Of course, in more implementations, the extension plate 11 and the mounting portion 12 can also be connected by a fixing method such as welding or gluing, and no special limitation is made here on the fixing method between the extension plate 11 and the mounting portion 12. For example, the fastening unit 13 can be a fastener such as a bolt or a screw.

[0057] For further information, see Figure 4 As shown, the groove wall of the installation groove is provided with a locking member 14, and the locking member 14 is used to lock the measurement sensor in the installation groove. Specifically, the locking member 14 can be in the form of a locking screw, for example, the locking screw is screwed on the groove wall of the installation groove, and the end of the locking screw is pressed against the measurement sensor. By rotating the locking screw, the magnitude of the pressing force of the locking screw on the measurement sensor can be adjusted, so that the measurement sensor located in the installation groove can be locked and loosened, and the locking screw plays a role in further improving the installation reliability of the measurement sensor in the installation groove.

[0058] For example, Figure 4 As shown, two locking members 14 are respectively provided on two opposite vertical plates on the mounting portion 12 , and the four locking members 14 are used to jointly lock the mounting position of the measuring sensor, so that the measuring sensor 6 is more reliably mounted in the mounting groove of the mounting portion 12 .

[0059] For further information, see Figure 3 As shown, the connecting member 4 and the adjusting member 5 are distributed along the extending direction of the bracket. When the connecting member and the adjusting member act, the rotation angle of the measuring sensor along the S direction can be adjusted.

[0060] For further information, see Figure 8 As shown, the number of the connecting members 4 can be two, and the number of the adjusting members 5 can also be two. The two connecting members 4 are arranged on the adjusting frame 2 at intervals along the extending direction perpendicular to the extending plate 11; the two adjusting members 5 are arranged at intervals along the extending direction perpendicular to the extending plate 11.

[0061] For example Figure 8 As shown, the two connecting members 4 are arranged on the step high surface 23 of the adjustment frame 2 at intervals along the extension direction perpendicular to the extension plate 11, and the two adjusting members 5 are arranged on the step low surface 24 at intervals along the extension direction perpendicular to the extension plate 11. Figure 8 As shown, two connecting members 4 are arranged on the step high surface 23 of the adjustment frame 2 at intervals along the X direction, and two adjusting members 5 are arranged on the step low surface 24 of the adjustment frame 2 at intervals along the X direction. At the same time, along the extension direction of the extension plate 11, that is, perpendicular to the X direction, the two connecting members 4 correspond to the positions of the two adjusting members 5 one by one. In this way, when the two connecting members 4 act, by making the two connecting members 4 have different adjustment amounts, different positions of the bracket 11 have different amounts of movement relative to the external body. When the two adjusting members 5 are adjusted to different degrees, the forces of the two adjusting members 5 against the bracket 11 are also different.

[0062] By arranging two connectors 4 and two adjustment members 5 on the adjustment frame 2, along the extension direction of the extension plate 11, the two connectors 4 correspond to the positions of the two adjustment members 5 one by one, and the connectors 4 and adjustment members 5 that are in one-to-one correspondence along the extension direction of the extension plate 11 can be used as a group of adjustment structures, and the remaining connectors and adjustment members can be used as another group of adjustment structures. In actual use, the degree of inclination of the extension plate along the connection direction of the two connectors can be adjusted by only changing the connectors and adjustment members in one group of adjustment structures, so that the adjustment mechanism can adapt to the use scenarios with different adjustment requirements. Of course, when both groups of adjustment structures are in effect, the inclination angle of the bracket in two directions can be adjusted, so that the angle adjustment of the measuring sensor relative to the external body in at least two directions can be achieved. Considering the posture adjustment requirements in more use scenarios, the specific design group number of the connectors 4 and adjustment members 5 on the adjustment frame 2 can be selected and designed according to actual needs, and no further explanation is given here.

[0063] It should be noted that, in the case where the connecting member 4 includes a first component 26 and a second component, see Figure 6 As shown, the adjustment frame 2 has a step to form a step high surface 23, a step low surface 24 and a connecting side surface 27 on the adjustment frame 2; the connecting side surface 27 connects the step high surface 23 and the step low surface 24; Figure 6 In this case, the step lower surface 24 and the step higher surface 23 are parallel, and the connecting side surface 27 is respectively arranged perpendicular to the step lower surface 24 and the step higher surface 23. The first through hole 21 penetrates the adjustment frame 2 from the step higher surface 23; the second through hole 22 penetrates the adjustment frame 2 from the step lower surface 24; and the third through hole 25 penetrates the adjustment frame 2 from the connecting side surface 27.

[0064] Here, the first component 26 and the second component can be implemented in the same manner. Figure 7 As shown, Figure 7 The third through hole and the second component are not shown. Taking the first component 26 as an example, the first component 26 may include a bolt and a nut adapted to the bolt. Here, the bolt and nut in the first component 26 may refer to the above-mentioned connecting member 4 and adopt the arrangement form of the first bolt 41 and the first nut 42, which will not be described in detail here. Of course, in other embodiments, the first component and the second component may also adopt any achievable manner, which will not be described in detail here.

[0065] For further information, see Figure 6 and Figure 7 As shown, the first component 26 and the adjusting component 5 are distributed along the extending direction of the bracket 1. When the first component 26 and the adjusting component 5 act, the rotation angle of the measuring sensor 6 along the S direction can be adjusted.

[0066] For further information, see Figure 6 As shown, the number of the first components 26 can be two, and the number of the adjusting members 5 can also be two. The two first components 26 are arranged on the adjusting frame 2 at intervals along the extending direction perpendicular to the extending plate 11; the two adjusting members 5 are arranged at intervals along the extending direction perpendicular to the extending plate 11.

[0067] For example Figure 5 As shown, two first components 26 are arranged on the step high surface 23 of the adjustment frame 2 at intervals along the extension direction perpendicular to the extension plate 11, and two adjustment members 5 are arranged on the step low surface 24 at intervals along the extension direction perpendicular to the extension plate 11. Figure 5 As shown, two first components 26 are arranged on the step high surface 23 of the adjustment frame 2 at intervals along the X direction, and two adjustment members 5 are arranged on the step low surface 24 of the adjustment frame 2 at intervals along the X direction. At the same time, along the extension direction of the extension plate 11, that is, perpendicular to the X direction, the two first components 26 correspond to the positions of the two adjustment members 5 one by one. In this way, when the two first components 26 act, by making the two first components 26 have different adjustment amounts, different positions of the bracket 11 have different amounts of movement relative to the external body. When the two adjustment members 5 are adjusted to different degrees, the forces of the two adjustment members 5 against the bracket 11 are also different.

[0068] This embodiment also provides an autonomous mobile robot. Figure 8 As shown, the autonomous mobile robot includes: a robot body 100, a measuring sensor 6 and an adjustment mechanism. The robot body has an installation space; the adjustment mechanism is located in the installation space. The adjustment mechanism includes: a bracket, an adjustment frame 2, a connecting member 4 and an adjusting member 5. The bracket is used to fix the measuring sensor 6; the adjustment frame 2 is used to connect the bracket to the robot body 100; the connecting member 4 is arranged on the adjustment frame 2, and is used to connect the bracket to the robot body 100; the adjusting member 4 is arranged on the adjustment frame 2 and is against the bracket. The connecting member 4 and the adjusting member 5 cooperate to change the amount of movement of the bracket relative to the robot body 100, and the counteracting force between the adjusting member 5 and the bracket, and then adjust the posture of the bracket relative to the robot body 100.

[0069] For details, see Figure 8As shown, taking the form of the measuring sensor 6 as a laser radar as an example, the autonomous mobile robot may also include a housing 101, which is arranged outside the robot body 100 and the installation space, and a through hole 102 is also provided on the housing 101. Under ideal installation conditions, the emission port on the laser radar for emitting laser light is aligned with the through hole 102 on the housing 101, so as to ensure that the laser beam emitted by the laser radar is emitted to the outside through the through hole 102 of the housing 101 to irradiate the surface of the object to be measured. In actual use, due to manufacturing or installation errors, the emission port of the laser radar cannot be aligned with the through hole 102 on the housing, or only part of the laser beam can pass through the through hole 102 on the housing. The laser radar can be corrected by using an adjustment mechanism so that the emission port can be aligned with the through hole 102 on the housing, so that the laser beam emitted by the laser radar can be emitted to the outside through the through hole on the housing as much as possible, ensuring that the laser radar can perform accurate measurement.

[0070] For further information, see Fig. 9 As shown, the autonomous mobile robot further includes a top cover 7. The top cover 7 covers the installation space; the top cover 7 has an adjustment hole 8 penetrating the top cover; the adjustment hole 8 corresponds to the position of the connecting member 4 and the adjusting member 5 to expose the connecting member 4 and the adjusting member 5. In this way, during specific use, an adjustment tool such as a screwdriver can be passed through the adjustment hole 8 on the top cover 7, and the adjustment tool can be rotated to adjust the rotation angle of the connecting member 4 and the adjusting member 5 to adjust the posture of the measuring sensor relative to the robot body. That is, the posture of the measuring sensor in the robot body can be adjusted without removing the top cover 7 from the robot body, so that the measuring sensor can have an ideal measuring working posture.

[0071] Furthermore, the autonomous mobile robot may also include a central control unit, and a signal transmission connection is provided between the central control unit and the measurement sensor so as to transmit the measurement result measured by the measurement sensor to the central control unit. After the central control unit analyzes and processes the measurement result, for example, the central control unit may also be used to generate an execution signal, which is used to instruct the autonomous mobile robot to perform operation instructions such as movement or reversal. The central control unit may be a control system or control chip composed of a single-chip microcomputer or a single-chip microcomputer, and the specific type of the central control unit will not be described in detail here.

[0072] In specific implementation, the measuring sensor 6 can be selected from any one of a laser radar, a depth camera, an infrared night vision camera, an ultrasonic sensor or a laser scanner. Of course, the measuring sensor 6 can also use other types of sensors.

[0073] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. An adjustment mechanism, characterized in that: include: A bracket for fixing the measuring sensor; An adjustment bracket, used to connect the bracket to an external body; A connecting member, disposed on the adjustment frame, and used to connect the bracket to the external body; An adjusting member, arranged on the adjusting frame and abutting against the bracket; The connecting member and the adjusting member cooperate with each other to change the amount of movement of the bracket relative to the external body and the resisting force between the adjusting member and the bracket, thereby adjusting the posture of the bracket relative to the external body; The number of the connecting members is two, and the number of the adjusting members is also two; along the extension direction of the extension plate of the bracket, the two connecting members correspond to the positions of the two adjusting members one by one; the two connecting members are arranged at intervals along the extension direction perpendicular to the extension direction of the extension plate of the bracket; the two adjusting members are arranged at intervals along the extension direction perpendicular to the extension direction of the extension plate of the bracket; When the two connecting members are in action, different positions of the bracket have different amounts of movement relative to the external body; and the two adjusting members exert different forces on the bracket.

2. The adjustment mechanism according to claim 1, characterized in that: The adjustment frame is provided with a first through hole and a second through hole; The connecting member passes through the first through hole to connect the bracket to the external body; The adjusting member passes through the second through hole, and an end portion of the adjusting member abuts against the bracket.

3. The adjustment mechanism according to claim 2, characterized in that: The connecting member includes a first bolt and a nut matched with the first bolt, the first bolt passes through the bracket and the external body; or, the connecting member includes the first bolt, the external body is provided with a threaded hole matched with the first bolt, the first bolt passes through the bracket and is screwed into the threaded hole on the external body; The adjusting member includes a second bolt, and the second through hole is a threaded hole.

4. The adjustment mechanism according to claim 3, characterized in that: Adjusting the position of the nut on the first bolt or adjusting the screwing amount of the first bolt into the threaded hole on the external body to change the amount of movement of the bracket relative to the external body; The second bolt in the threaded hole is rotated to change the force of the second bolt against the bracket.

5. The adjustment mechanism according to claim 2, characterized in that: The adjustment frame has a step to form a step high surface and a step low surface on the adjustment frame; The first through hole penetrates the adjustment frame from the high surface of the step; and the second through hole penetrates the adjustment frame from the low surface of the step.

6. The adjustment mechanism according to any one of claims 1 to 5, characterized in that: The support comprises: An extension plate, one end of which is connected to the external body through the adjustment frame; The mounting portion is arranged at the other end of the extending plate and is used for mounting the measuring sensor.

7. The adjustment mechanism according to claim 6, characterized in that: The mounting portion has a mounting groove for accommodating the measuring sensor; A locking piece is provided on the groove wall of the installation groove, and the locking piece is used to lock the measuring sensor in the installation groove.

8. The adjustment mechanism according to claim 1, characterized in that: The adjustment frame is provided with a first through hole, a second through hole and a third through hole; The connecting member includes a first component and a second component, and the first component passes through the first through hole to connect the bracket to the adjustment frame; The second component passes through the third through hole and is fixed to the external body, so as to fix the adjustment frame to the external body; The adjusting member passes through the second through hole, and an end of the adjusting member abuts against the bracket; Wherein, the first component cooperates with the adjusting component to change the posture of the bracket relative to the external body.

9. The adjustment mechanism according to claim 8, characterized in that: The adjustment frame has a step to form a step high surface, a step low surface and a connecting side surface on the adjustment frame; the connecting side surface connects the step high surface and the step low surface; The first through hole penetrates the adjustment frame from the high side of the step; the second through hole penetrates the adjustment frame from the low side of the step; and the third through hole penetrates the adjustment frame from the connecting side.

10. An autonomous mobile robot, characterized in that: include: Robot body, measuring sensor and adjustment mechanism; wherein, The robot body has an installation space; the adjustment mechanism is located in the installation space; The adjustment mechanism comprises: A bracket, used for fixing the measuring sensor; An adjustment frame, used to connect the bracket to the robot body; A connecting piece, arranged on the adjustment frame, for connecting the bracket to the robot body; An adjusting member, arranged on the adjusting frame and abutting against the bracket; The connecting member and the adjusting member cooperate with each other to change the amount of movement of the bracket relative to the robot body and the resisting force between the adjusting member and the bracket, thereby adjusting the posture of the bracket relative to the robot body; The number of the connecting members is two, the number of the adjusting members is also two, the two connecting members are arranged at intervals along the extending direction perpendicular to the extending plate of the bracket; the two adjusting members are arranged at intervals along the extending direction perpendicular to the extending plate of the bracket; When the two connecting members are in action, different positions of the bracket have different amounts of movement relative to the robot body; and the two adjusting members have different forces acting on the bracket.

11. The autonomous mobile robot according to claim 10, characterized in that: It also includes a top cover; the top cover covers the installation space; The top cover is provided with an adjustment hole penetrating the top cover; The adjustment hole corresponds to the positions of the connecting member and the adjusting member to expose the connecting member and the adjusting member.

12. The autonomous mobile robot according to claim 10, characterized in that: The measuring sensor includes: a laser radar, a depth camera, an infrared night vision camera, an ultrasonic sensor or a laser scanner.

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