Self-walking robot

Abstract

The invention discloses a self-walking robot. The self-walking robot comprises a radar device and a robot body, the radar device comprises a light-transmitting cover body, a first optical assembly, a second optical assembly and a driving assembly, and the first optical assembly and the second optical assembly are arranged in the light-transmitting cover body; the driving assembly drives the first optical assembly and the second optical assembly to rotate around the rotating shaft; the light-transmitting cover body comprises a first light-transmitting area and a second light-transmitting area, an assembling part is arranged on the machine body, and the radar device is assembled on the machine body through the assembling part; the assembling part is provided with a first avoiding opening, and the first light-transmitting area communicates with the outer portion of the front side of the machine body through the first avoiding opening. The first optical assembly and the second optical assembly are integrally arranged on the driving assembly, and the radar device is assembled on the assembly part of the machine body, so that the total height of the machine body is not increased too much, and good trafficability of the self-walking robot is guaranteed.

Description

Technical Field

[0001] The present invention relates to the technical field of household appliances, and particularly to a self - walking robot. Background Art

[0002] During the operation of a self - walking robot, it is necessary to scan and detect the environment through several radars. The several radars require a large installation space and need to be respectively provided with different light - transmitting structures. At the same time, the installation structures of the corresponding radars themselves and the light - transmitting structures are more complex. The complex installation structures are more time - consuming and costly to process. Moreover, it may even cause the height of the self - walking robot itself to increase due to the large space occupied by the radars. There will inevitably be various blocking objects on the traveling path of the self - walking robot. The increase in the height of the self - walking robot body will affect its passability during operation, making the self - walking robot more likely to be blocked by blocking objects, resulting in an increased probability that the work of the self - walking robot is restricted. Summary of the Invention

[0003] To solve at least one problem in the prior art, the present invention provides a self - walking robot. The self - walking robot includes a radar device and a body. The radar device includes a light - transmitting cover body, a first optical component, a second optical component, and a driving component. The first optical component and the second optical component are arranged inside the light - transmitting cover body. The driving component is used to drive the first optical component and the second optical component to rotate around a rotation axis. The light - transmitting cover body includes a first light - transmitting area and a second light - transmitting area. The first light - transmitting area is formed on the lower front side of the light - transmitting cover body, and the second light - transmitting area is formed on the upper part of the light - transmitting cover body. The light beam emitted and received by the first optical component is adapted to pass through the first light - transmitting area, and the light beam emitted and received by the second optical component is adapted to pass through the second light - transmitting area. An assembly part is provided on the body, and the radar device is assembled on the body through the assembly part. Among them, the assembly part is provided with a first avoidance opening, the first avoidance opening is located on the front side of the body, and the first light - transmitting area is communicated with the outside of the front side of the body through the first avoidance opening.

[0004] In some embodiments, the scanning angle of the light beam emitted by the first optical component on the first light - transmitting area is 90° - 180°; and / or, the scanning angle of the light beam emitted by the second optical component on the second light - transmitting area is 300° - 360°.

[0005] In some embodiments, the downward - looking included angle between the light beam emitted by the first optical component and the rotation axis is 60° - 80°, and / or, the upward - looking included angle between the light beam emitted by the second optical component and the rotation axis is 75° - 90°.

[0006] In some embodiments, the first light-transmitting area is arranged lower than the top surface of the body, and the second light-transmitting area is arranged higher than the top surface of the body.

[0007] In some embodiments, the first light-transmitting area is arranged to protrude from the first avoidance opening to the front side of the body.

[0008] In some embodiments, the light-transmitting cover body further includes a first installation area, which is arranged opposite to the first light-transmitting area in the horizontal direction. The first installation area and the first light-transmitting area are connected end to end and enclose a first accommodation space for accommodating the driving component; a convex bump is formed in the middle of the first installation area, and the convex bump protrudes in a direction away from the first light-transmitting area, and the convex bump encloses at least part of the driving component;

[0009] The assembly part is further provided with an assembly side wall, which is arranged opposite to the first installation area in the horizontal direction. A concave part is formed in the middle of the assembly side wall, and the concave part is recessed in a direction away from the radar device, and the concave part encloses the convex bump.

[0010] In some embodiments, in the height direction of the self-propelled robot, the distance between the top surface of the body and the light beam emitting point of the second optical component is L1, and L1>2mm.

[0011] In some embodiments, the self-propelled robot further includes a front bumper, which is movably connected to the body; a second avoidance opening is formed in the front bumper near the assembly part, and the second avoidance opening is arranged opposite to the first avoidance opening.

[0012] In some embodiments, along the radial direction of the self-propelled robot, the side surface of the light-transmitting cover body close to the front bumper is the A side surface, and the side surface of the front bumper away from the light-transmitting cover body is the B side surface. The distance between the A side surface and the B side surface is L2, and L2>8mm.

[0013] In some embodiments, the inside of the second avoidance opening is open, and the first light-transmitting area is communicated with the front side of the self-propelled robot and the outside through the first avoidance opening and the second avoidance opening in sequence; or, a front bumper light-transmitting wall is fixedly arranged in the second avoidance opening, and the front bumper light-transmitting wall is arranged opposite to the first light-transmitting area.

[0014] In some embodiments, the self-propelled robot further includes a first top cover, which is connected to the body and covers at least part of the top surface of the body, the assembly part and the radar device downward.

[0015] In some embodiments, one of the light-transmitting cover body and the assembly part is provided with a fixing part, and the other of the light-transmitting cover body and the assembly part is provided with a fixing column, and the fixing column is fixedly connected to the fixing part.

[0016] In some embodiments, one of the assembly part and the light-transmitting cover body is provided with a positioning column, and the other of the assembly part and the light-transmitting cover body is provided with a positioning hole, and the positioning column is inserted into the positioning hole.

[0017] In some embodiments, the radar device further includes a third optical component, and the elevation angle between the light beam emitted by the third optical component and the rotation axis is 30° to 90°.

[0018] Compared with the prior art, the beneficial effects of the embodiments of the present invention are as follows: The first optical component and the second optical component are integrated and arranged on the driving component, and there is no need to separately assemble the first optical component and the second optical component, which reduces the space required for separately installing multiple lidars; the installation structure required for separately installing the first optical component and the second optical component is relatively complex, and the installation structure required after integration is simpler and easier to process; after the required assembly space is reduced, the size of the assembly part of the radar device corresponding to the body will be smaller, and the first light-transmitting area of the radar device corresponds to the first avoidance opening of the assembly part, which will not excessively increase the overall height of the self-driving robot, is beneficial to improving the passability of the self-driving robot during the working process, and the light-transmitting cover body can take into account the passing requirements of the laser emitted and received by the first optical component and the second optical component, and there is no need to set additional light-transmitting structures for multiple different lidars on the body, which simplifies the structural design of the self-driving robot. Description of the Drawings

[0019] Figure 1 is an assembly schematic diagram of an embodiment provided by the present application;

[0020] Figure 2 is an exploded structural schematic diagram of an embodiment provided by the present application;

[0021] Figure 3 is an exploded schematic diagram of the radar device provided by the present application;

[0022] Figure 4 is an assembly cross-sectional schematic diagram of another embodiment provided by the present application;

[0023] Figure 5 is an assembly cross-sectional schematic diagram of a third embodiment provided by the present application;

[0024] Figure 6 is another exploded schematic diagram of an embodiment provided by the present application;

[0025] Figure 7 is Figure 6 Schematic enlarged view of the structure at position C in

[0026] Figure 8 Schematic assembly plane view of an embodiment provided by the present application;

[0027] Figure 9 Schematic partial structure plane view of an embodiment provided by the present application;

[0028] Figure 10 Another schematic assembly plane view of an embodiment provided by the present application;

[0029] Figure 11 is Figure 10 Schematic enlarged view of the structure at position A in

[0030] Figure 12 Schematic plane structure view of another embodiment of the radar device provided by the present application.

[0031] 1. Body; 11. Assembly part; 111. Fixed column; 112. Positioning column; 113. First avoidance opening; 114. Assembly side wall; 115. Concave part; 12. First top cover; 13. Second top cover; 2. Front collision; 21. Second avoidance opening; 22. Front collision light-transmitting wall; 3. Radar device; 31. Light-transmitting cover body; 311. First light-transmitting area; 312. Second light-transmitting area; 313. Fixed part; 314. First installation area; 315. Second installation area; 316. First accommodation space; 317. Convex bump; 318. Positioning hole; 319. Second accommodation space; 32. First optical component; 33. Second optical component; 34. Driving component; 35. Third optical component; 4. Screw. Detailed implementation manners

[0032] In order to enable those skilled in the art to better understand the technical solutions of the present invention, the present invention will be described in detail below with reference to the accompanying drawings. The description in this part is only exemplary and explanatory, and should not have any limiting effect on the protection scope of the present invention.

[0033] It should be noted that: similar reference numerals and letters denote similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0034] It should be noted that the orientation or positional relationship indicated by terms such as "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship in which the inventive product is customarily placed during use. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present invention. In addition, terms such as "first", "second", "third", etc. are only used for distinguishing descriptions and cannot be construed as indicating or implying relative importance.

[0035] In addition, terms such as "horizontal", "vertical", "hanging" do not mean that the components are required to be absolutely horizontal or hanging, but can be slightly inclined. For example, "horizontal" only means that its direction is more horizontal relative to "vertical", and does not mean that the structure must be completely horizontal, but can be slightly inclined.

[0036] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those of ordinary skill in the technical field to which this invention belongs. The terms used in the description of the present invention herein are only for the purpose of describing specific embodiments and are not intended to limit the present invention.

[0037] The present invention will be further described in detail below with reference to the accompanying drawings.

[0038] As Figure 1 、 Figure 2 shown, a self-propelled robot includes a radar device 3 and a body 1. It should be noted that the self-propelled robot can be a sweeping / mopping robot, a sweeping and mopping integrated robot, a lawn mowing robot, a commercial robot or a logistics robot for transporting objects, etc.

[0039] The radar device 3 includes a light-transmitting cover 31, a first optical component 32, a second optical component 33, and a driving component 34. The first optical component 32 and the second optical component 33 are disposed inside the light-transmitting cover 31. Among them, the radar device 3 is a device for scanning and detecting the surrounding environment and obstacles. Both the first optical component 32 and the second optical component 33 are devices that emit and receive detection beams. The driving component 34 is used to drive the first optical component 32 and the second optical component 33 to rotate around the rotation axis. In some embodiments, the first optical component 32, the second optical component 33, and the driving component 34 are all covered inside the light-transmitting cover 31. The light-transmitting cover 31 includes a first light-transmitting area 311 and a second light-transmitting area 312. The first light-transmitting area 311 is formed on the lower front side of the light-transmitting cover 31, and the second light-transmitting area 312 is formed on the upper part of the light-transmitting cover 31. The beams emitted and received by the first optical component 32 are adapted to pass through the first light-transmitting area 311, and the beams emitted and received by the second optical component 33 are adapted to pass through the second light-transmitting area 312.

[0040] An assembly part 11 is provided on the body 1, and the radar device 3 is assembled on the body 1 through the assembly part 11.

[0041] Among them, the assembly part 11 is provided with a first avoidance opening 113. The first avoidance opening 113 is located on the front side of the body 1, and the first light-transmitting area 311 is communicated with the outside of the front side of the body 1 through the first avoidance opening 113. Among them, the first avoidance opening 113 is an open structure of the assembly part 11 located on the front side of the body 1.

[0042] In a self-propelled robot of the present application, the first optical component 32 and the second optical component 33 are integrated and disposed on the driving component 34, without the need to separately assemble the first optical component 32 and the second optical component 33, reducing the space required for separately installing multiple lidars (such as mapping lidars and obstacle avoidance lidars). The installation structure required for separately installing the first optical component 32 and the second optical component 33 is relatively complex, and the installation structure required after integration is simpler and easier to process. After the required assembly space is reduced, the size of the assembly part 11 of the radar device 3 corresponding to the body 1 will be smaller, and the first light-transmitting area 311 of the radar device 3 is correspondingly arranged with the first avoidance opening 113 of the assembly part 11, which will not excessively increase the overall height of the self-propelled robot while ensuring that the detection beams emitted by the first optical component 32 and the second optical component 33 can pass smoothly, which is beneficial to improving the passability of the self-propelled robot during operation. In addition, the light-transmitting cover 31 can take into account the passing requirements of the lasers emitted and received by the first optical component 32 and the second optical component 33, without the need to provide an additional light-transmitting structure for multiple different lidars on the body 1, simplifying the structural design of the self-propelled robot.

[0043] The technical details of each component will be introduced one by one below.

[0044] In some embodiments, the scanning angle of the light beam emitted by the first optical component 32 on the first light-transmitting area 311 is 90° to 180°; and / or, the scanning angle of the light beam emitted by the second optical component 33 on the second light-transmitting area 312 is 300° to 360°. It should be noted that the former scanning angle refers to the angle swept by the projection of the laser beam passing through the first light-transmitting area 311 emitted by the first optical component 32 on the plane perpendicular to the rotation axis, and the latter scanning angle refers to the angle swept by the projection of the laser beam passing through the second light-transmitting area 312 emitted by the second optical component 33 on the plane perpendicular to the rotation axis.

[0045] As Figure 2 and Figure 10 shown, the first optical component 32 is mainly used to scan and detect obstacles in the forward direction of the self-walking robot through scanning, helping the self-walking robot avoid obstacle objects. The scanning angle of 90° to 180° ensures that the self-walking robot can scan completely, preventing the problem of incomplete recognition of obstacles due to too small an angle. The second optical component 33 is mainly used for the self-walking robot to identify and map the space environment, enabling the self-walking robot to record the characteristics of the surrounding environment, so as to better help the self-walking robot work in the environment. The scanning angle of 300° to 360° can ensure that the self-walking robot can scan and model the surrounding environment more comprehensively. The above scheme can effectively improve the recognition of the surrounding environment and obstacles by the self-walking robot, and improve the working performance of the self-walking robot.

[0046] In some embodiments, the downward viewing angle between the light beam emitted by the first optical component 32 and the rotation axis is 60° to 80°, and / or, the upward viewing angle between the light beam emitted by the second optical component 33 and the rotation axis is 75° to 90°.

[0047] As Figure 2 、 Figure 3 shown, the downward viewing angle of 60° to 80° between the light beam emitted by the first optical component 32 and the rotation axis can ensure that the self-walking robot detects obstacles at an appropriate distance in front and helps the self-walking robot successfully avoid them. The upward viewing angle of 75° to 90° between the light beam emitted by the second optical component 33 and the rotation axis can help the self-walking robot fully identify and map the environment.

[0048] In some embodiments, as Figure 5 shown, the first light-transmitting area 311 is set lower than the top surface of the body 1, and the second light-transmitting area 312 is set higher than the top surface of the body 1.

[0049] By setting the first light-transmitting area 311 lower than the top surface of the body 1, the overall height of the self-propelled robot can be reduced to ensure its good passability. By setting the second light-transmitting area 312 higher than the top surface of the body 1, it is convenient for the second optical component to scan the surrounding environment, preventing the top surface of the body 1 from blocking the light beam emitted by the second optical component 33, thereby affecting the detection of the second optical component 33.

[0050] In some embodiments, such as Figure 4 , Figure 5 shown, the first light-transmitting area 311 is set to protrude from the first avoidance opening 113 to the front side of the body 1.

[0051] The light beam emitted by the first optical component 32 is emitted through the first light-transmitting area 311. The first light-transmitting area 311 protruding from the front side of the body 1 can prevent the body 1 from blocking the light beam emitted from the first light-transmitting area 311, thereby affecting the detection effect of the first optical component 32, and can reduce the space occupied by the radar device 3 as a whole inside the body 1, which is beneficial to the internal space design of the body 1.

[0052] In some embodiments, such as Figure 2 and Figure 3 shown, the light-transmitting cover 31 further includes a first installation area 314. The first installation area 314 is disposed opposite to the first light-transmitting area 311 in the horizontal direction. The first installation area 314 and the first light-transmitting area 311 are connected end to end and enclose a first accommodation space 316 for accommodating the driving component 34. Among them, the first installation area 314 is a structure of the light-transmitting cover 31 that is fitted and installed with the assembly part 11. A convex bump 317 is formed in the middle of the first installation area 314. The convex bump 317 protrudes in a direction away from the first light-transmitting area 311, and the convex bump 317 surrounds at least a part of the driving component 34. Among them, the convex bump is a protruding structure on the light-transmitting cover, and its internal is a cavity. As Figure 2 shown, the assembly part 11 is further provided with an assembly side wall 114. The assembly side wall 114 is disposed opposite to the first installation area 314 in the horizontal direction. A concave portion 115 is formed in the middle of the assembly side wall 114. The concave portion 115 is recessed in a direction away from the radar device 3, and the concave portion 115 surrounds the convex bump 317.

[0053] When the convex hull 317 is fitted into the fitting part 11 during the assembly of the radar device 3, it can cooperate with the concave part 115 on the side wall to play a role in assisting positioning. Moreover, by providing the convex hull 317 and the concave part 115, the middle space between the first installation area 314 and the first light-transmitting area 311 is increased, facilitating the installation of the driving component 34. Correspondingly, there is no need to increase the space on both sides between the first installation area 314 and the first light-transmitting area 311, improving the structural integration, reducing the volume of the radar device 3, and thus reducing the space occupied by the entire radar device 3 inside the body 1, which is beneficial to the internal space design of the body 1. In addition, the first accommodating space 316 is located inside the light-transmitting cover 31, and the driving component 34 can be arranged inside the light-transmitting cover 31 to protect the driving component 34.

[0054] Further, as Figure 3 shown, the second light-transmitting area 312 is an annular wall connected end to end, enclosing to form a second accommodating space 319 for accommodating the second optical component 33, and the second accommodating space communicates with the first accommodating space 316; as for the first optical component 32, it can be completely located in the second accommodating space 319, completely located in the first accommodating space 316, or partially located in the first accommodating space 316 and partially located in the second accommodating space 319.

[0055] The space formed after the second accommodating space 319 communicates with the first accommodating space 316 is wider, providing more assembly space for the first optical component 32 and facilitating the adjustment of the installation state of the first optical component 32 according to the actual situation.

[0056] In some embodiments, as Figure 2 and Figure 3 shown, the light-transmitting cover 31 is further provided with a second installation area 315, which is arranged at the bottom of the first accommodating space 316 and is respectively connected to the first installation area 314 and the first light-transmitting area 311, thereby forming a base structure for supporting the driving component 34 and cooperating with the fitting part 11 for installation.

[0057] In some embodiments, as Figure 10 and Figure 11 shown, in the height direction of the self-propelled robot, the distance between the top surface of the body 1 and the light beam emission point of the second optical component 33 is L1, and L1 > 2 mm. It should be noted that the second optical component 33 emits light beams to the surrounding environment during operation to identify the surrounding environment for map building. The light beams emitted by the second optical component 33 form a scanning plane, and L1 is the distance between this scanning plane and the top surface of the body 11. It should be noted that the light beam emission point of the second optical component 33 refers to the intersection point of the light beam and the second light-transmitting area 312.

[0058] In order to balance the scanning requirements of the second optical component 33 and the low-height requirements of the overall self-propelled robot, it is necessary to set the second optical component 33 to protrude from the top surface of the body 1 while ensuring that the distance between the light beam emitted by the second optical component 33 and the top surface of the body 1 is small enough to prevent the light beam emitted by the second optical component 33 from being blocked by the body 1 itself. By making the lowest point of the scanning surface of the second optical component 33 (i.e., the light beam emission point of the second optical component 33) higher than the top surface of the body 1, the light beam emitted by the second optical component 33 can be effectively prevented from being blocked by the body 1, ensuring that the second optical component 33 can work fully and properly, which is beneficial to the self-propelled robot's recognition and detection of the surrounding environment.

[0059] In some embodiments, as Figure 1 , Figure 2 shown, the self-propelled robot further includes a front bumper 2, and the front bumper 2 is movably connected to the body 1. A second avoidance opening 21 is provided near the assembly part 11 of the front bumper 2, and the second avoidance opening 21 is disposed opposite to the first avoidance opening 113.

[0060] When the self-propelled robot collides with an object during movement, since the front bumper 2 is movably connected to the body 1, the front bumper 2 can retract a certain distance during the collision to buffer the impact on the body 1 caused by the collision process. At the same time, the radar device 3 is a relatively precise device. After being assembled on the body 1, it does not directly contact the front bumper 2. Most of the impact generated by the collision of the self-propelled robot will be absorbed by the elastic connection structure between the front bumper 2 and the body 1, thereby effectively avoiding the adverse impact of the impact of the front bumper 2 collision on the radar device 3, greatly improving the stability of the radar device 3 during operation, and ensuring the rapid and stable recognition of the environment and obstacles by the self-propelled robot. The scanning light beam emitted by the first optical component 32 is emitted through the first avoidance opening 113. In order to prevent the front bumper 2 from blocking the light beam emitted by the first optical component 32, a second avoidance opening 21 is provided on the front bumper 2 and disposed corresponding to the first avoidance opening 113, which can effectively solve the above problem and ensure the effective recognition of the environment and obstacles by the first optical component 32.

[0061] In some embodiments, as Figure 9 shown, along the radial direction of the self-propelled robot, the side surface of the light-transmitting cover 31 close to the front bumper 2 is the A side surface, and the side surface of the front bumper 2 away from the light-transmitting cover 31 is the B side surface. The distance between the A side surface and the B side surface is L2, and L2 > 8 mm. It should be noted that the "radial direction" here refers to the direction away from the internal center of the self-propelled robot. The shape of the self-propelled robot can be circular, square, square with rounded corners, etc., and no specific limitation is made here. It should also be noted that L2 refers to the distance between the A side surface and the B side surface when the front bumper 2 is in the natural state without being subjected to external force impact.

[0062] Since the front bumper 2 will retract a certain distance after hitting an object for buffering, L2 can reserve enough retraction distance for the front bumper 2, so as to fully absorb the impact generated by the collision, and can avoid the problem that after the front bumper 2 retracts due to too short retraction distance, the radar device 3 collides with the object, resulting in damage to the radar device 3. Reserving enough L2 can effectively avoid the above problems, making the radar device 3 safer and more stable. Specifically, since the first light-transmitting area 311 is formed on the lower front side of the light-transmitting cover body (31), the A side can also be the side of the first light-transmitting area 311 close to the front bumper 2. After setting the first light-transmitting area 311 to protrude from the first avoidance opening 113 to the front side of the body 1, the layout of the radar device 3 can achieve a good balance effect between reducing the overall space occupation of the radar device 3 inside the body 1 and avoiding damage to the radar device 3 when the front bumper 2 retracts.

[0063] Further, in some embodiments, such as Figure 8 shown, the included angle between the rotation axis and the line connecting the two sides of the second avoidance opening 21 is β, and the included angle of the scanning range required by the first optical component 32 is α, and β < α. It should be noted that both β and α are the angular values of the projection of the included angle between the rotation axis and the line connecting the two sides of the second avoidance opening 21 and the included angle of the scanning range required by the first optical component 32 on the plane perpendicular to the rotation axis.

[0064] The scanning plane of the light beam emitted by the first optical component 32 is a conical surface. Making the included angle β between the rotation axis of the first optical component 32 and the line connecting the two sides of the second avoidance opening 21 greater than the included angle α of the scanning range required by the first optical component 32 can ensure that the light beams emitted by the first optical component 32 towards the two sides of the second avoidance opening 21 will not be blocked by the front bumper 2 and cannot achieve sufficient scanning angles, ensuring effective scanning detection of the environment and obstacles by the self-driving robot.

[0065] Further, in some embodiments, the difference between α and β is greater than 2°. The difference between α and β being greater than 2° can ensure that the light beams emitted by the first optical component 32 within the required scanning range will not be blocked by the front bumper 2.

[0066] In some embodiments, such as Figure 1 、 Figure 2 and Figure 4 shown, the inside of the second avoidance opening 21 is open, and the first light-transmitting area 311 is sequentially connected to the outside of the front side of the self-driving robot through the first avoidance opening 113 and the second avoidance opening 21. By setting the inside of the second avoidance opening 21 to an open structure, there is no need to set an additional light-transmitting structure for the second optical component 33 on the front bumper 2, simplifying the structural design of the self-driving robot.

[0067] In other embodiments, such as Figure 5As shown, a front collision light-transmitting wall 22 is fixedly arranged in the second avoidance opening 21, and the front collision light-transmitting wall 22 is arranged opposite to the first light-transmitting area 311. Among them, the front collision light-transmitting wall 22 is a light-transmitting structure on the front collision 2 made of a light-transmitting material. As Figure 4 shown, the front collision 2 is provided with the front collision light-transmitting wall 22, and the light beam emitted through the first light-transmitting area 311 is emitted after passing through the front collision light-transmitting wall 22. During the working process of the self-propelled robot, it may collide or rub against other objects, and the front collision light-transmitting wall 22 can play a good protective role for the radar device 3.

[0068] In some embodiments, such as Figure 4 and Figure 5 shown, the self-propelled robot further includes a first top cover 12, and the first top cover 12 is connected to the body 1 and covers at least part of the top surface of the body 1, the assembly part 11 and the radar device 3 downward; wherein the first top cover 12 is a covering structure covering the top surface of the body 1.

[0069] In the working environment of the self-propelled robot, there will be a lot of falling objects such as dust, and the first top cover 12 can play a protective role for the radar device 3.

[0070] Furthermore, as Figure 5 shown, the first top cover 12 is provided with a hole, and the second light-transmitting area 312 of the light-transmitting cover body 31 passes upward through the hole. The self-propelled robot further includes a second top cover 13, and the second top cover 13 is arranged above the first light-transmitting area 311 and covers the first light-transmitting area 311 downward, and the second top cover 13 is connected to the first top cover 12 or the body 1; both the first top cover 12 and the second top cover 13 play a protective role for the radar device 3, and the hole opened on the first top cover 12 is used for passing through the second light-transmitting area 312, facilitating the second optical component 33 to scan the surrounding environment through the second light-transmitting area 312.

[0071] In some embodiments, such as Figure 2 shown, one of the light-transmitting cover body 31 and the assembly part 11 is provided with a fixing part 313, and the other of the light-transmitting cover body 31 and the assembly part 11 is provided with a fixing column 111, and the fixing column 111 is fixedly connected to the fixing part 313. Among them, the fixing part 313 is a structure on the light-transmitting cover body 31 for fixing the light-transmitting cover body 31 on the assembly part 11, and the fixing column 111 is a structure arranged on the assembly part 11 for cooperating with the fixing part 313 to fix the light-transmitting cover body on the assembly part 11.

[0072] To facilitate the fixation of the radar device 3 on the assembly part 11, the self-propelled robot includes a screw 4. A threaded hole matching the screw 4 is provided on the fixing column 111, and a fixing hole is provided on the fixing part 313. The fixing column 111 and the fixing part 313 are connected by the screw 4. Among them, the fixing part 313 and the threaded hole of the fixing column 111 are connected together under the action of the screw 4. After the screw 4 passes through the fixing hole of the fixing part 313, it is then threadedly connected to the threaded hole of the fixing column 111, which can very quickly fix the radar device 3 to the assembly part 11. Moreover, the fixing method and processing technology are simple, ensuring convenient disassembly and saving processing costs at the same time.

[0073] In some embodiments, such as Figure 2 , Figure 6 and Figure 7 shown, one of the assembly part 11 and the light-transmitting cover 31 is provided with a positioning post 112, and the other of the assembly part 11 and the light-transmitting cover 31 is provided with a positioning hole 318. The positioning post 112 and the positioning hole 318 are inserted. Among them, the positioning post 112 is a protruding structure; the positioning hole 318 is a hole with a shape structure matching the positioning post 112.

[0074] The positioning post 112 is provided on the assembly part 11, and the positioning hole 318 is provided on the light-transmitting cover 31. Of course, the positioning post 112 can also be provided on the light-transmitting cover 31, and then the positioning hole 318 is provided on the assembly part 11. When the radar device 3 and the assembly part 11 are fixedly assembled, since their shapes are not very regular, it is not easy to accurately position during assembly. And the radar device 3 is a relatively precise device, and the assembly position must be accurate. Therefore, when the two are fixedly assembled, it can be determined whether the radar device 3 is assembled to the appropriate position by judging whether the positioning post 112 is inserted into the positioning hole 318, ensuring that the radar device 3 will not be damaged due to the deviation of the assembly position, and thus ensuring the good and stable working state of the self-propelled robot.

[0075] Furthermore, in some embodiments, such as Figure 12 shown, the radar device 3 further includes a third optical component 35. The elevation angle between the light beam emitted by the third optical component 35 and the rotation axis is 60° - 80°; among them, the third optical component 35 is similar to the first optical component 32 and the second optical component 33, and is a device that emits a detection light beam to the external environment and receives the reflected light beam. The light beam emission angle ranges of the first optical component 32, the second optical component 33, and the third optical component 35 are different, so as to detect the environmental characteristics and obstacles in different angular ranges.

[0076] Unlike the first optical component 32 which is mainly used to identify obstacles on the ground in front of the self - walking robot, the third optical component 35 is mainly used to identify and detect obstacles at higher positions in front of or around the self - walking robot, such as under the sofa, under the bed, etc., further improving the integration of the radar device 3. Specifically, the third optical component 35 can be arranged above the second optical component 33, and the light beams emitted and received by it are also suitable for passing through the second light - transmitting area 312, eliminating the light - transmitting structure provided for an independent high - altitude obstacle detection radar. Through the rotational drive of the drive component 34, the detection of obstacles at higher positions within a certain range in front of or around is achieved, effectively expanding the range of obstacle recognition of the self - walking robot in the working environment and avoiding the phenomenon that the self - walking robot is stuck by higher - altitude obstacles due to the inability to recognize or misrecognize obstacles at higher positions in front of or around. In some other embodiments, the radar device 100 can integrate more optical components to achieve more other detection purposes, which are not specifically limited herein.

[0077] In the description of the present invention, it should also be noted that, unless otherwise clearly specified and defined, the terms "arranged", "installed", "connected", and "coupled" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0078] It should be noted that in this article, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non - exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed, or further includes elements inherent to such process, method, article or device. Without further limitations, an element defined by the statement "including one..." does not exclude the existence of another identical element in the process, method, article or device including the element.

[0079] Although the embodiments of the present invention have been shown and described, for those of ordinary skill in the art, it can be understood that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A self-propelled robot, characterized in that, it includes: A radar device (3), the radar device (3) includes a light-transmitting cover body (31), a first optical component (32), a second optical component (33) and a driving component (34), the first optical component (32) and the second optical component (33) are arranged inside the light-transmitting cover body (31); the driving component (34) is used to drive the first optical component (32) and the second optical component (33) to rotate around a rotation axis; the light-transmitting cover body (31) includes a first light-transmitting area (311) and a second light-transmitting area (312), the first light-transmitting area (311) is formed on the lower front side of the light-transmitting cover body (31), and the second light-transmitting area (312) is formed on the upper part of the light-transmitting cover body (31); the light beam emitted and received by the first optical component (32) is adapted to pass through the first light-transmitting area (311), and the light beam emitted and received by the second optical component (33) is adapted to pass through the second light-transmitting area (312); A body (1), an assembly part (11) is provided on the body (1), and the radar device (3) is assembled on the assembly part (11); wherein, the assembly part (11) is provided with a first avoidance opening (113), the first avoidance opening (113) is located on the front side of the body (1), and the first light-transmitting area (311) is communicated with the outside of the front side of the body (1) through the first avoidance opening (113).

2. The self-propelled robot according to claim 1, characterized in that, The scanning angle of the light beam emitted by the first optical component (32) on the first light-transmitting area (311) is 90° to 180°; and / or, the scanning angle of the light beam emitted by the second optical component (33) on the second light-transmitting area (312) is 300° to 360°.

3. The self-propelled robot according to claim 1, characterized in that, The downward viewing angle between the light beam emitted by the first optical component (32) and the rotation axis is 60° to 80°, and / or, the upward viewing angle between the light beam emitted by the second optical component (33) and the rotation axis is 75° to 90°.

4. The self-propelled robot according to claim 1, characterized in that, The first light-transmitting area (311) is set lower than the top surface of the body (1), and the second light-transmitting area (312) is set at least partially higher than the top surface of the body (1).

5. The self-propelled robot according to claim 1, characterized in that, The first light-transmitting area (311) is set to protrude from the first avoidance opening (113) to the front side of the body (1).

6. The self-propelled robot according to claim 1, characterized in that, The light-transmitting cover body (31) further includes a first installation area (314). The first installation area (314) is disposed opposite to the first light-transmitting area (311) in the horizontal direction. The first installation area (314) and the first light-transmitting area (311) are connected end to end to enclose a first accommodation space (316) for accommodating the driving assembly (34). A convex bump (317) is formed in the middle of the first installation area (314). The convex bump (317) protrudes in a direction away from the first light-transmitting area (311), and the convex bump (317) surrounds at least a part of the driving assembly (34). The assembly part (11) further has an assembly side wall (114). The assembly side wall (114) is disposed opposite to the first installation area (314) in the horizontal direction. A concave part (115) is formed in the middle of the assembly side wall (114). The concave part (115) is recessed in a direction away from the radar device (3), and the concave part (115) surrounds the convex bump (317).

7. The self-propelled robot according to claim 1, wherein, in the height direction of the self-propelled robot, the distance between the top surface of the body (1) and the light beam emitting point of the second optical component (33) is L1, and L1 > 2 mm.

8. The self-propelled robot according to claim 1, wherein, it further includes a front bumper (2). The front bumper (2) is movably connected to the body (1); a second avoidance opening (21) is formed near the assembly part (11) of the front bumper (2), and the second avoidance opening (21) is disposed opposite to the first avoidance opening (113).

9. The self-propelled robot according to claim 8, wherein, along the radial direction of the self-propelled robot, the side surface of the light-transmitting cover body (31) close to the front bumper (2) is the A side surface, and the side surface of the front bumper (2) away from the light-transmitting cover body (31) is the B side surface. The distance between the A side surface and the B side surface is L2, and L2 > 8 mm.

10. The self-propelled robot according to claim 8, wherein, the inside of the second avoidance opening (21) is open. The first light-transmitting area (311) is communicated with the front side of the self-propelled robot and the outside through the first avoidance opening (113) and the second avoidance opening (21) in sequence; or, a front bumper light-transmitting wall is fixedly arranged inside the second avoidance opening (21), and the front bumper light-transmitting wall is disposed opposite to the first light-transmitting area (311) through the first avoidance opening (113).

11. The self-propelled robot according to claim 1, wherein, it further includes a first top cover. The top cover is connected to the body (1) and covers downwards at least a part of the top surface of the body (1), the assembly part (11), and the radar device (3).

12. The self-propelled robot according to claim 1, wherein, One of the light-transmitting cover body (31) and the assembly part (11) is provided with a fixing part (313), and the other of the light-transmitting cover body (31) and the assembly part (11) is provided with a fixing post (111), and the fixing post (111) is fixedly connected to the fixing part (313).

13. The self-propelled robot according to claim 1, characterized in that One of the assembly part (11) and the light-transmitting cover body (31) is provided with a positioning post (112), and the other of the assembly part (11) and the light-transmitting cover body (31) is provided with a positioning hole (318), and the positioning post (112) is inserted into the positioning hole (318).

14. The self-propelled robot according to claim 1, characterized in that The radar device (3) further includes a third optical component (35), and the elevation angle between the light beam emitted by the third optical component (35) and the rotation axis is 30° to 90°.

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