Mobile robot and robot system

Abstract

The invention discloses a mobile robot and a robot system, and belongs to the technical field of robots. The mobile robot comprises a mobile main body, an extension part arranged on the mobile main body and an obstacle avoidance detection assembly, wherein the obstacle avoidance detection assembly is movably installed on the mobile main body, and the detection area of the obstacle avoidance detection assembly can be adjusted. The obstacle avoidance detection assembly is movably installed on the moving main body, so that the position of the obstacle avoidance detection assembly relative to the moving main body can be adjusted, namely the position between the obstacle avoidance detection assembly and the extension part can be adjusted, and the detection area of the obstacle avoidance detection assembly can move relative to the extension part. Therefore, the detection area of the obstacle avoidance detection assembly is a movable area, the detection range of the obstacle avoidance detection interval can be increased, the detection range of the obstacle avoidance detection assembly can cover the periphery of the extension part as much as possible, the obstacle avoidance detection precision is improved, and the risk that the extension part touches an obstacle in the working process is reduced.

Description

Technical Field

[0001] This application belongs to the technical field of robots, and particularly relates to a mobile robot and a robot system. Background Art

[0002] With the development of intelligent hardware technology, a series of intelligent vision products with autonomous navigation and pathfinding, including but not limited to food delivery robots, floor cleaning robots, and goods transportation robots, have a need to avoid obstacles and prevent people from being injured by robot collisions. For the design of external extension components such as robotic arms and manipulators attached to robots, the obstacle avoidance function is even more important. In the related art, the obstacle avoidance function for the design of robots with external extension components such as robotic arms and manipulators is relatively weak, resulting in the mobile device touching obstacles or people during operation. Summary of the Invention

[0003] This application aims to at least solve the technical problem of relatively weak obstacle avoidance function to a certain extent. For this purpose, this application provides a mobile robot and a robot system.

[0004] In a first aspect, a mobile robot provided by an embodiment of this application includes:

[0005] A mobile body and an extension part provided on the mobile body;

[0006] An obstacle avoidance detection component, which is movably installed on the mobile body and can adjust the detection area of the obstacle avoidance detection component.

[0007] In the embodiment of this application, the obstacle avoidance detection component is movably installed on the mobile body, so that the obstacle avoidance detection component can adjust its position relative to the mobile body, that is, the position between the obstacle avoidance detection component and the extension part can be adjusted, so that the detection area of the obstacle avoidance detection component can move relative to the extension part, making the detection area of the obstacle avoidance detection component an active area, thereby increasing the detection range of the obstacle avoidance detection interval, making the detection range of the obstacle avoidance detection component cover the periphery of the extension part as much as possible, improving the accuracy of obstacle avoidance detection, and reducing the risk of the extension part touching obstacles during operation.

[0008] In an optional embodiment of this application, the mobile body has an installation groove, and the obstacle avoidance detection component can be installed in the installation groove.

[0009] In an optional embodiment of this application, when the obstacle avoidance detection component is outside the installation groove, the obstacle avoidance detection component can detect the surrounding environment of the extension part.

[0010] In an optional embodiment of the present application, when the obstacle avoidance detection component is located outside the installation groove, at least part of the detection area of the obstacle avoidance detection component coincides with at least part of the extension portion.

[0011] In an optional embodiment of the present application, when the obstacle avoidance detection component is located outside the installation groove, the obstacle avoidance detection component can detect the peripheral environment of the moving body.

[0012] In an optional embodiment of the present application, the obstacle avoidance detection component includes a lifting member, a bracket, and an obstacle avoidance detector installed on the bracket. The lifting member is connected to the bracket and can drive the bracket to be accommodated in the installation groove or extend outside the installation groove.

[0013] In an optional embodiment of the present application, the obstacle avoidance detection component includes a flipping member, a bracket, and an obstacle avoidance detector installed on the bracket. The flipping member is in transmission connection with the bracket and can drive the bracket to rotate relative to the moving body.

[0014] In an optional embodiment of the present application, the flipping member can drive the obstacle avoidance detector to rotate in a non-horizontal plane through the bracket.

[0015] In an optional embodiment of the present application, the bracket can drive the obstacle avoidance detector to rotate between a first position and a second position.

[0016] In an optional embodiment of the present application, the obstacle avoidance detector can hover at the first position, the second position, or any position between the first position and the second position.

[0017] In an optional embodiment of the present application, the obstacle avoidance detection component includes a bracket, a lifting member, a flipping member, and an obstacle avoidance detector installed on the bracket. The lifting member is connected to the bracket and can drive the bracket to be accommodated in the installation groove or extend outside the installation groove. The flipping member is in transmission connection with the bracket and can drive the bracket to rotate relative to the moving body.

[0018] In an optional embodiment of the present application, the distance between the obstacle avoidance detection component and the extension portion is greater than the radius of the moving body.

[0019] In an optional embodiment of the present application, the obstacle avoidance detector includes a first obstacle avoidance detector and a second obstacle avoidance detector. Along the operation direction of the extension portion, the first obstacle avoidance detector is arranged behind the extension portion, and the second obstacle avoidance detector is arranged in front of the extension portion.

[0020] In an alternative embodiment of the present application, the field of view angle of the obstacle avoidance detector includes a first horizontal angle and a first vertical angle, the first horizontal angle is 30 degrees to 60 degrees, and the first vertical angle is 20 degrees to 60 degrees.

[0021] In an alternative embodiment of the present application, the angle between the optical axis of the first obstacle avoidance detector and the horizontal direction is 30 degrees to 60 degrees.

[0022] In an alternative embodiment of the present application, the field of view angle of the obstacle avoidance detector has a first edge and a second edge in the vertical direction, the first edge is located below the second edge, and the angle between the first edge and the horizontal direction is greater than or equal to 0 degrees.

[0023] In an alternative embodiment of the present application, the angle between the first edge and the horizontal direction is 15 degrees to 30 degrees.

[0024] In an alternative embodiment of the present application, the field of view angle of the first obstacle avoidance detector has a first edge and a second edge in the vertical direction, the first edge is located below the second edge, and the angle between the second edge and the horizontal direction is less than or equal to 90 degrees.

[0025] In an alternative embodiment of the present application, the angle between the second edge and the horizontal direction is 60 degrees to 75 degrees.

[0026] In an alternative embodiment of the present application, the field of view angle of the second obstacle avoidance detector includes a second horizontal angle and a second vertical angle, the second horizontal angle is 30 degrees to 60 degrees, and the second vertical angle is 20 degrees to 60 degrees.

[0027] In an alternative embodiment of the present application, the angle between the second optical axis and the horizontal direction is 60 degrees to 90 degrees.

[0028] In an alternative embodiment of the present application, the field of view angle of the second obstacle avoidance detector has a third edge and a fourth edge in the vertical direction, the third edge is located below the fourth edge, and the angle between the third edge and the horizontal direction is greater than or equal to 0 degrees.

[0029] In an alternative embodiment of the present application, the angle between the third edge and the horizontal direction is 50 degrees to 70 degrees.

[0030] In an alternative embodiment of the present application, the field of view angle of the second obstacle avoidance detector has a third edge and a fourth edge in the vertical direction, the third edge is located below the fourth edge, and the angle between the fourth edge and the horizontal direction is less than or equal to 180 degrees.

[0031] In an alternative embodiment of the present application, the angle between the fourth edge and the horizontal direction is 90 degrees to 110 degrees.

[0032] In an optional embodiment of the present application, the extension part is at least one of a robotic arm, a robot hand, a clamping device, and a detection device.

[0033] In a second aspect, an embodiment of the present application provides a robot system, including a base station and the above-mentioned mobile robot.

[0034] The beneficial effects of the robot system provided in the second aspect are the same as those of the mobile robot provided in the first aspect, and will not be elaborated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the drawings in the following description are some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0036] Figure 1 A schematic structural diagram showing the obstacle avoidance detection component of the mobile robot provided in the embodiment of the present application located at the first position.

[0037] Figure 2 A schematic structural diagram showing the obstacle avoidance detection component of the mobile robot provided in the embodiment of the present application located at the second position.

[0038] Figure 3 A schematic diagram showing the activity range of the obstacle avoidance detection component of the mobile robot provided in the embodiment of the present application.

[0039] Figure 4 A schematic structural diagram showing an embodiment in which the first obstacle avoidance detector of the mobile robot provided in the embodiment of the present application is arranged behind the extension part.

[0040] Figure 5 Shows Figure 4 The top view of

[0041] Figure 6 A schematic structural diagram showing another embodiment in which the first obstacle avoidance detector of the mobile robot provided in the embodiment of the present application is arranged behind the extension part.

[0042] Figure 7 A schematic structural diagram showing an embodiment in which the first obstacle avoidance detector of the mobile robot provided in the embodiment of the present application is arranged in front of the extension part.

[0043] Figure 8 A top view showing an embodiment of the mobile robot provided in the embodiment of the present application.

[0044] Figure 9 Shows Figure 8 The side view of

[0045] Figure 10 shows Figure 8 front view of

[0046] Figure 11 shows a schematic structural view in which the forward sensor has a detection direction opposite to that of the first obstacle avoidance detector and the second obstacle avoidance detector

[0047] Figure 12 shows Figure 11 side view of

[0048] Figure 13 shows a schematic structural view in which the epitaxial portion is located on the right side

[0049] Figure 14 shows a schematic structural view in which the epitaxial portion is located on the left side

[0050] Figure 15 shows a top view of the mobile robot provided by the embodiment of the present application, in which the second obstacle avoidance detector is located directly in front

[0051] Figure 16 shows Figure 15 side view of

[0052] Figure 17 shows Figure 15 front view of

[0053] Figure 18 shows a schematic structural view of an implementation manner in which the first obstacle avoidance detector of the mobile robot provided by the embodiment of the present application is arranged on the side of the epitaxial portion

[0054] Figure 19 shows a top view of the mobile robot provided by the embodiment of the present application, in which the second obstacle avoidance detector is arranged obliquely

[0055] Figure 20 shows Figure 19 side view of

[0056] Figure 21 shows Figure 19 front view of

[0057] Figure 22 shows a top view of the mobile robot provided by the embodiment of the present application, in which the second obstacle avoidance detector is arranged vertically upward

[0058] Figure 23 shows Figure 22 side view of

[0059] Figure 24 shows Figure 22 front view of

[0060] Figure 25 The top view shows the second obstacle avoidance detector of the mobile robot provided in the embodiment of the present application located on the installation section.

[0061] Figure 26 Shows Figure 25 The side view of

[0062] Figure 27 Shows Figure 25 The front view of

[0063] Figure 28 The top view shows the second obstacle avoidance detector of the mobile robot provided in the embodiment of the present application located on the operation section.

[0064] Figure 29 Shows Figure 28 The side view of

[0065] Figure 30 Shows Figure 28 The front view of

[0066] Reference numerals: 100 - mobile robot, 110 - mobile body, 120 - extension part, 121 - installation section, 123 - connection section, 124 - operation section, 130 - first obstacle avoidance detector, 131 - first detection area, 131a - long side, 131b - short side, a1 - first horizontal angle, b1 - first vertical angle, 131c - first edge, 131d - second edge, 132 - first optical axis, 140 - second obstacle avoidance detector, 141 - second detection area, a2 - second horizontal angle, b2 - second vertical angle, 141c - third edge, 141d - fourth edge, 142 - second optical axis, 150 - forward sensor, 160 - obstacle avoidance detection component, 162 - bracket, 164 - obstacle avoidance detector, 164 - detection area of the obstacle avoidance detector, 21 - detection area at the first position, 22 - detection area at the middle position, 23 - detection area at the second position. Detailed implementation manners

[0067] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without making creative efforts shall fall within the protection scope of the present invention.

[0068] It should be noted that all the directional indications in the embodiments of the present invention are only used to explain the relative position relationship and movement conditions between components in a certain specific posture. If this specific posture changes, then the directional indications will also change accordingly.

[0069] In the present invention, unless otherwise clearly specified or limited, terms such as "connection" and "fixation" shall be understood in a broad sense. For example, "fixation" can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and can be the communication inside two components or the interaction relationship between two components, unless otherwise clearly limited. 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.

[0070] In addition, in the present invention, descriptions such as "first" and "second" are only for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" can explicitly or implicitly include at least one such feature. In addition, the technical solutions between various embodiments can be combined with each other, but it must be based on the fact that those of ordinary skill in the art can implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the protection scope required by the present invention.

[0071] With the development of intelligent hardware technology, there is a need to avoid obstacles and prevent people from being injured by the collision of robots for a series of intelligent vision products with autonomous navigation and path finding, including but not limited to food delivery robots, floor cleaning robots, cargo robots, etc. For the design of external extension parts such as robotic arms and robotic hands attached to robots, the obstacle avoidance function is more important. In the related art, the obstacle avoidance function for the design of external extension parts such as robotic arms and robotic hands on robots is relatively weak, resulting in the mobile device touching obstacles or people during the working process. The mobile robot provided by the embodiments of the present application can improve the obstacle avoidance function, reduce the situation that the external extension part of the mobile device touches obstacles during the working process, and as much as possible avoid the situation that the whole mobile robot touches obstacles.

[0072] The present application will be described below with reference to the accompanying drawings and specific embodiments:

[0073] The embodiments of the present application provide a mobile robot 100. The mobile robot 100 provided by the embodiments of the present application can increase the detection range of the obstacle avoidance detection area, and as much as possible make the detection range of the obstacle avoidance detection component 160 cover the four weeks of the external extension part 120, improve the accuracy of obstacle avoidance detection, and reduce the risk that the external extension part 120 touches obstacles during the working process.

[0074] Please refer to Figure 1 and Figure 2, the mobile robot 100 includes: a mobile body 110, an extension part 120 provided on the outer extension of the mobile body 110, and an obstacle avoidance detection component 160. The obstacle avoidance detection component 160 is movably installed on the mobile body 110 and can adjust the detection area of the obstacle avoidance detection component 160.

[0075] Among them, the extension part 120 is provided on the mobile body 110. In the working state, the extension part 120 can protrude from the mobile body 110. Protruding from the mobile body 110 means that the extension part 120 is provided outside the mobile body 110. It can be that the extension part 120 protrudes from the top of the mobile body 110. That is, the extension part 120 is provided outside the mobile body 110, and there is a certain distance between the end of the extension part 120 far from the mobile body 110 and the outer surface of the mobile body 110, so that the extension part 120 can operate in other spaces outside the mobile body 110, thereby improving the working range of the entire mobile robot 100.

[0076] Specifically, the extension part 120 can be fixed outside the mobile body 110 or can be provided outside the mobile body 110 in a telescopic manner. Telescoping means that the extension part 120 can change its own volume and shape through mechanical structure changes, and can achieve an action process with a larger activity range / or a smaller occupied volume. That is, in the working state, the extension part 110 can extend outside the mobile body 110, or can adjust its own structure in a telescopic manner in the working state to obtain a larger operation area. In the non-working state, the extension part 110 can be retracted to a smaller volume or retracted into the mobile body 110 for easy storage of the extension part 120.

[0077] As for the specific form of the extension part 120, the extension part 120 can be a single-joint or multi-joint robotic claw, mechanical clamp, robotic arm, robotic hand, etc., or can also be a structure such as a clamping device, detection device, etc.

[0078] For example: when the mobile robot 100 is a cleaning device, the mobile body 110 can be a robot body, and the extension part 120 can be a cleaning robotic arm. The robot body can clean the ground, and the cleaning robotic arm can clean the wall, the ground in other areas, or other surfaces to be cleaned above the ground while the robot body is cleaning the ground, thereby improving the cleaning range of the entire mobile robot 100 and the overall working efficiency within the same time.

[0079] The operating area of the extension 120 refers to the range of motion of the extension 120 during operation. The operating area can be fixed or variable. In the case where the extension 120 is a robotic arm, the robotic arm may have only one degree of freedom. In this case, the range of motion (operating area) of the robotic arm can be considered fixed. Alternatively, the robotic arm can have multiple degrees of freedom. Since the robotic arm can move during operation, the range of motion (operating area) of the mechanical arm can be a variable area.

[0080] The detection area of the obstacle avoidance detection component 160 refers to the area that the obstacle avoidance detection component 160 can detect. If an obstacle appears within the detection area of the obstacle avoidance detection component 160, the obstacle avoidance detection component 160 will provide feedback to the controller, which can adjust the position or posture of the extension portion 120 in advance to avoid collision with the obstacle.

[0081] The detection area of the obstacle avoidance detection component 160 at least partially overlaps with the operating area of the extension portion 120. Alternatively, the detection area of the obstacle avoidance detection component 160 may completely overlap with the operating area of the extension portion 120, meaning that the obstacle avoidance detection component 160 can detect the entire operating area of the extension portion 120. Alternatively, the detection area of the obstacle avoidance detection component 160 may partially overlap with the operating area of the extension portion 120, meaning that the detection area of the obstacle avoidance detection component 160 can detect only a portion of the operating area of the extension portion 120.

[0082] The detection area of the obstacle avoidance detection component 160 at least partially overlaps with the operating area of the extension part 120, so that during the operation of the extension part 120, the obstacle avoidance detection component 160 can perform real-time detection of the activity range of the extension part 120, and can avoid obstacles in the operating area of the extension part 120 as much as possible, which may cause damage to the extension part 120, and can also avoid the extension part 120 touching people as much as possible, causing personal injury.

[0083] In addition, the obstacle avoidance detection component 160 can perform real-time detection on the range of movement of the extension portion 120 , and can protect the operating area of the extension portion 120 without installing any external equipment.

[0084] Among them, the obstacle avoidance detection component 160 is movably connected to the mobile body 110, and the obstacle avoidance detection component 160 can rotate relative to the mobile body 110, or the obstacle avoidance detection component 160 can move relative to the mobile body 110, or the obstacle avoidance detection component 160 can both rotate relative to the mobile body 110 and move relative to the mobile body 110.

[0085] The obstacle avoidance detection component 160 is mainly used to detect whether there are obstacles around the extension part 120. Since in the working state, the extension part 120 is arranged outside the moving body 110, it is possible that the extension part 120 may touch obstacles on all sides. However, the detection area of the obstacle avoidance detection component 160 is limited, resulting in a limited detection area for the fixed obstacle avoidance detection component 160. In the embodiment of the present application, the obstacle avoidance detection component 160 is movably installed on the moving body 110, so that the obstacle avoidance detection component 160 can adjust its position relative to the moving body 110, that is, the position between the obstacle avoidance detection component 160 and the extension part 120 can be adjusted, making the detection area of the obstacle avoidance detection component 160 movable relative to the extension part 120, so that the detection area of the obstacle avoidance detection component 160 is an active area, thereby increasing the detection range of the obstacle avoidance detection interval, and making the detection range of the obstacle avoidance detection component 160 cover the four sides of the extension part 120 as much as possible, improving the accuracy of obstacle avoidance detection, and reducing the risk that the extension part 120 touches obstacles during the working process.

[0086] In some embodiments, the moving body 110 has an installation groove, and the obstacle avoidance detection component 160 can be installed in the installation groove. The obstacle avoidance detection component 160 is arranged in the installation groove, so that the obstacle avoidance detection component 160 can be accommodated in the installation groove, that is, it can be considered that the obstacle avoidance detection component 160 can be accommodated inside the moving body 110, and the installation groove can play a certain protective role for the obstacle avoidance detection component 160. In addition, the obstacle avoidance detection component 160 can be accommodated in the installation groove, and when the mobile robot 100 returns to the base station, it can prevent the obstacle avoidance detection component 160 from interfering with the base station.

[0087] In addition, the obstacle avoidance detection component 160 is installed in the installation groove. In the working state, the obstacle avoidance detection component 160 can be located in the installation groove or extend out of the installation groove. The ability of the obstacle avoidance detection component 160 to move relative to the moving body 110 can mean that the obstacle avoidance detection component 160 moves relative to the moving body 110 in the installation groove, or moves relative to the moving body 110 outside the installation groove.

[0088] In some embodiments, when the obstacle avoidance detection component 160 is located outside the installation groove, the obstacle avoidance detection component 160 can detect the peripheral environment of the extension part 120.

[0089] When the obstacle avoidance detection component 160 is located outside the installation groove, the obstacle avoidance detection component 160 can rotate relative to the moving body 110 or not rotate. Since the position of the extension part 120 on the moving body 110 is fixed, the obstacle avoidance detection component 160 can detect the peripheral environment of the extension part 120, avoiding the extension part 120 encountering obstacles during the working process.

[0090] When the obstacle avoidance detection component 160 is located outside the installation groove, the obstacle avoidance detection component 160 can stay at a fixed position and can move within a certain range. That is, the detection area of the obstacle avoidance detection component 160 may be fixed or movable. The obstacle avoidance detection component 160 can detect the peripheral environment of the extension portion 120. It can be that the obstacle avoidance detection component 160 can detect the area above the extension portion 120, or the areas on the left, right, and rear sides. It can stay at a fixed position to detect the peripheral environment of the extension portion 120, or can rotate to detect the peripheral environment of the extension portion 120.

[0091] Please refer to Figure 1 , in some embodiments, when the obstacle avoidance detection component 160 is located outside the installation groove, at least part of the detection area of the obstacle avoidance detection component 160 coincides with at least part of the extension portion 120.

[0092] That at least part of the detection area of the obstacle avoidance detection component 160 coincides with at least part of the extension portion 120 can be that part of the detection area coincides with part of the extension portion 120, or that part of the detection area coincides with the whole of the extension portion 120, or that the whole of the detection area coincides with part of the extension portion 120, or that the whole of the detection area coincides with the whole of the extension portion 120.

[0093] That at least part of the detection area of the obstacle avoidance detection component 160 coincides with at least part of the extension portion 120 enables the obstacle avoidance detection component 160 to detect the area around the extension portion 120, thereby avoiding the extension portion 120 encountering obstacles during operation.

[0094] Please refer to Figure 2 , in some embodiments, when the obstacle avoidance detection component 160 is located inside the installation groove, the obstacle avoidance detection component 160 can detect the peripheral environment of the moving body 110.

[0095] When the obstacle avoidance detection component 160 is located inside the installation groove, the obstacle avoidance detection component 160 may be generally in the same plane as the moving body 110, and thus can detect the peripheral environment of the moving body 110. If the obstacle avoidance detection component 160 is arranged in front of the moving body 110 along the forward direction, the obstacle avoidance detection component 160 can detect the area in front of the moving body 110. If the obstacle avoidance detection component 160 is arranged on the left side of the moving body 110 along the forward direction, the obstacle avoidance detection component 160 can detect the area on the left side of the moving body 110. If the obstacle avoidance detection component 160 is arranged on the right side of the moving body 110 along the forward direction, the obstacle avoidance detection component 160 can detect the area on the right side of the moving body 110.

[0096] When the obstacle avoidance detection component 160 is located in the installation groove, it means that the obstacle avoidance component is not needed to detect the peripheral environment of the extension part 120. The obstacle avoidance detection component 160 can detect the surrounding environment of the mobile body 110 and can cooperate with the mobile body 110's own sensor to detect the environment around the mobile body 110, thereby improving the utilization rate of the obstacle avoidance detection component 160.

[0097] Please refer to Figure 1 and Figure 2 In some embodiments, the obstacle avoidance detection assembly 160 includes a lifting member, a bracket 162 and an obstacle avoidance detector 164 installed on the bracket 162. The lifting member is connected to the bracket 162 and can drive the bracket 162 to be accommodated in the installation groove or extend out of the installation groove.

[0098] The lifting member can be a worm gear structure, and the lifting function is achieved through the cooperation of the drive motor and the worm gear. Specifically, the worm gear is connected to the bracket 162, and the drive motor and the worm gear cooperate to achieve the lifting of the bracket 162, so that the obstacle avoidance detector 164 can be extended out of the installation slot or can be stored in the installation slot. It can also be a gear rack mechanism, where the gear is connected to the drive motor and the rack is connected to the bracket 162, and the drive motor drives the gear rack mechanism to achieve the lifting of the bracket 162. It can also be achieved through a drive motor and a ball screw structure, where the screw is connected to the bracket 162 and the drive motor is connected to the ball screw.

[0099] In addition, the lifting member may also be a folding suspension structure, through which the bracket 162 and the obstacle avoidance detector 164 can be lifted and lowered.

[0100] The lifting member's ability to raise or lower the bracket 162 and obstacle avoidance detector 164 refers to raising or lowering them vertically. Therefore, in addition to moving the obstacle avoidance detector 164 out of the mounting slot, the lifting member can also adjust the vertical position of the obstacle avoidance detector 164, thereby adjusting the vertical detection area of the obstacle avoidance detector 164. The height of the obstacle avoidance detector 164 can be adjusted based on the height of the extension 120, allowing the obstacle avoidance detector 164 to detect the area surrounding the extension 120.

[0101] In some embodiments, the obstacle avoidance detection assembly 160 includes a flip member, a bracket 162, and an obstacle avoidance detector 164 mounted on the bracket 162. The bracket 162 is rotatable relative to the mobile body 110. The flip member is in transmission connection with the bracket 162, and can drive the bracket 162 to rotate relative to the mobile body 110.

[0102] The flipping member is mainly used to drive the bracket 162 to rotate. As for the rotation method of the bracket 162, the flipping member can directly drive the bracket 162 to rotate from the installation slot to the outside of the installation slot, or the lifting member can first drive the bracket 162 to move outside the installation slot, and then the flipping member drives the bracket 162 to rotate.

[0103] As for the specific structure of the flipping member, the flipping member may include a driving motor and a rotating shaft, the rotating shaft is connected to the bracket 162, and the driving motor drives the rotating shaft to rotate to realize the rotation of the bracket, thereby realizing the flipping of the obstacle avoidance detector 164.

[0104] That is, in some embodiments, the obstacle avoidance detection assembly 160 may include a lifting member, a flip member, a bracket 162, and an obstacle avoidance detector 164 mounted on the bracket 162. The lifting member first drives the bracket 162 to move outside the mounting slot, and the flip member then drives the bracket 162 to rotate. In other embodiments, the obstacle avoidance detection assembly 160 may include a flip member, a bracket 162, and an obstacle avoidance detector 164 mounted on the bracket 162, without a lifting member. The flip member directly drives the bracket 162 to rotate the bracket 162 from inside the mounting slot to outside the mounting slot.

[0105] Since the position of a local part of the extension part 120 may change during operation, the flip part can drive the bracket 162 to rotate relative to the mobile body 110, thereby adjusting the angle of the bracket 162 relative to the mobile body 110, and then adjusting the angle of the obstacle avoidance detector 164 relative to the extension part 120, so that the obstacle avoidance detector 164 can always detect the area around the extension part 120.

[0106] In addition, compared to the case where the obstacle avoidance detector 164 is fixed, the obstacle avoidance detector 164 can rotate relative to the mobile body 110 , which can increase the detection range of the obstacle avoidance detector 164 and improve the utilization rate of the obstacle avoidance detector 164 .

[0107] In some embodiments, the flip member can drive the obstacle avoidance detector 164 to rotate in a non-horizontal plane through the bracket 162. The non-horizontal plane refers to a vertical plane or an inclined plane between the vertical plane and the horizontal plane. The flip member can drive the obstacle avoidance detector 164 to rotate in a vertical plane or an inclined plane between the vertical plane and the horizontal plane through the bracket 162. The angle of the obstacle avoidance detector 164 in space can be adjusted, so that the angle of the optical axis of the obstacle avoidance detector 164 in space can be adjusted, so that the optical axis of the obstacle avoidance detector 164 can be located in different inclined planes, and then the detection area of the obstacle avoidance detector 164 above the extension 120 can be adjusted, and the area above and in front of the extension 120 can be used as much as possible to detect obstacles above and in front of the extension 120, thereby reducing the situation where there are obstacles above and in front of the extension 120.

[0108] See also Figure 3 ,Figure 3 The detection areas 21, 23 of the obstacle avoidance detector 164 at the first position and the detection area 22 at the intermediate position are shown. In some embodiments, the bracket 162 can drive the obstacle avoidance detector 164 to rotate between the first position and the second position. The obstacle avoidance detector 164 can hover at the first position, the second position or any position between the first position and the second position.

[0109] Here, the first position and the second position are the two extreme positions where the bracket 162 can be flipped. The bracket 162 can swing between the first position and the second position all the time, so that the obstacle avoidance detector 164 detects back and forth between the first position and the second position. Alternatively, the obstacle avoidance detector 164 can hover at the first position, the second position or any position (intermediate position) between the first position and the second position. The obstacle avoidance detector 164 is fixed at a certain position to detect the corresponding area at a certain position.

[0110] Here, the first position is outside the installation groove, and the second position is inside the installation groove. When the obstacle avoidance detector 164 is outside the installation groove (the second position), it can be considered that the obstacle avoidance detector 164 is in a working state and can detect the working area of the extension part 120. That is, in some embodiments, the obstacle avoidance detector 164 can be fixed at the second position in the working state. That is, in the working state, the detection area of the obstacle avoidance detector 164 is a fixed area, not a changing area.

[0111] The above introduced how the obstacle avoidance detector 164 moves relative to the moving bracket 162 and how to adjust the angle between the obstacle avoidance detector 164 and the extension part 120. Next, the installation position of the entire obstacle avoidance detection component 160 on the moving body 110 and the parameters of the obstacle avoidance detector 164 will be introduced.

[0112] In some embodiments, there can be multiple obstacle avoidance detectors 164, which can include a first obstacle avoidance detector 130 and a second obstacle avoidance detector 140. When the number of obstacle avoidance detectors 164 is two or more, each obstacle avoidance detector 164 sensor can be movable relative to the moving body 110. It is also possible that only the second obstacle avoidance detector 140 is movable relative to the moving body 110, or only the first obstacle avoidance detection is movable relative to the body. No matter which obstacle avoidance detector 164 is movable relative to the moving body 110, the moving manner of the first obstacle avoidance detector 130 and / or the second obstacle avoidance detector 140 is the same as that of the aforementioned obstacle avoidance detector 164. It can be achieved through structures such as the bracket 162, the flipping member, the lifting member, etc. For the specific rotation manner, refer to the rotation manner of the aforementioned obstacle avoidance detector 164, which will not be elaborated here.

[0113] Please refer to Figure 4 and Figure 5, in some embodiments, the obstacle avoidance detection component 160 may include a first obstacle avoidance detector 130, and the first obstacle avoidance detector 130 is installed on the moving body 110.

[0114] The first obstacle avoidance detector 130 being installed on the moving body 110 may be fixedly installed on the moving body 110 or movably installed on the moving body 110, and the specific manner may not be limited.

[0115] Among them, the first obstacle avoidance detector 130 may be a TOF sensor (Time of Flight), specifically, it may be an iToF sensor (Indirect Time of Flight). The detection direction of the first obstacle avoidance detector 130 refers to the direction of the optical axis of the iToF sensor, and the first detection area 131 refers to the detection area of the iToF sensor.

[0116] For the convenience of description, the detection area 131 of the first obstacle avoidance detector 130 is defined as the first detection area 131. Since the first obstacle avoidance detector 130 basically needs to detect all areas around the extension part 120, that is, the area that the first obstacle avoidance detector 130 needs to detect is relatively large, the iToF sensor can achieve a relatively large field of view angle and can realize a relatively large detection area.

[0117] The first detection area 131 is arranged facing the extension part 120, so that the detection area of the first obstacle avoidance detector 130 can at least partially overlap with the operation area of the extension part 120. The first detection area 131 includes a field of view angle and a detection distance (as shown by h1 in Figure 5 each figure, h1 in each figure represents the detection distance of the first detection area 131), so that the first detection area 131 is generally conical or pyramidal. The first obstacle avoidance detector 130 also has an optical axis. For the convenience of description, the optical axis of the first obstacle avoidance detector 130 is defined as the first optical axis 132, and the first optical axis 132 is generally the center of the first detection area 131.

[0118] Since in the working state, the extension part 120 protrudes outside the moving body 110, and the first obstacle avoidance detector 130 is arranged on the moving body 110, there is a certain height difference between the first obstacle avoidance detector 130 and the extension part 120. In order to enable the first detection area 131 to cover the operation area of the extension part 120, the first optical axis 132 may be inclined upward or set vertically upward.

[0119] Specifically, the optical axis of the first obstacle avoidance detector 130 can be set in the operation direction of the extension part 120. This setting does not mean that the first optical axis 132 is parallel to the operation direction of the extension part 120, but means that the projection of the first optical axis 132 in the horizontal direction can be the same as the projection of the operation direction of the extension part 120 (the direction indicated by the arrow Y in each figure) in the horizontal direction, that is, the first optical axis 132 can be inclined forward.

[0120] It should be noted that the operation direction and operation area of the extension part 120 are not the same concept. The operation area refers to the activity range of the extension part 120, while the operation direction refers to the action direction of the extension part 120 during the working process. For example: when the extension part 120 is a robotic arm, the operation area refers to the activity range of the robotic arm in space, and the operation direction can be considered as the extension direction of the robotic arm.

[0121] Along the forward direction of the moving body 110, the first obstacle avoidance detector 130 can be set in front of the extension part 120, or can be set behind the extension part 110, or can also be set on the side of the extension part 120.

[0122] Similarly, multiple first obstacle avoidance detectors 130 can also be set. The multiple first obstacle avoidance detectors 130 can be respectively set on different sides of the extension part 120, and the optical axis setting methods of the first obstacle avoidance detectors 130 at different positions can be the same or different.

[0123] The different positions, distances of the first obstacle avoidance detector 130 relative to the extension part 120, and the different numbers of the first obstacle avoidance detectors 130 will cause the optical axes of the first obstacle avoidance detectors 130 to be set in different directions. The following will specifically introduce several setting methods of the first obstacle avoidance detector 130.

[0124] As Figure 4 and Figure 5 shown, in some embodiments, only one first obstacle avoidance detector 130 can be set. Along the operation direction of the extension part 120, the first obstacle avoidance detector 130 is set behind the extension part 120, and the first obstacle avoidance detector 130 can be set at a relatively far distance from the extension part 120.

[0125] If the moving body 110 is substantially cylindrical, the extension part 120 is substantially arranged in front of the moving body 110, and the first obstacle avoidance detector 130 is substantially arranged behind the moving body 110. The relatively large distance between the first obstacle avoidance detector 130 and the extension part 120 means that the distance between the first obstacle avoidance detector 130 and the extension part 120 is greater than the radius of the moving body 110. Since the first detection area 131 is substantially conical, the farther the distance, the larger the detection range of the first obstacle avoidance detector 130 around the extension part 120, thereby improving the obstacle avoidance area of the extension part 120 and enhancing the obstacle avoidance ability of the extension part 120.

[0126] Wherein, the optical axis of the first obstacle avoidance detector 130 (the first optical axis 132) is arranged to incline upward, which means that the optical axis of the first obstacle avoidance detector 130 (the first optical axis 132) has a certain angle with the horizontal plane, so that the first detection area 131 is substantially arranged to incline upward, and thus the area above the extension part 120 can be detected.

[0127] During the forward movement of the moving body 110, it is mainly in front of or above the mobile robot 100 that obstacles are easily touched. The optical axis of the first obstacle avoidance detector 130 (the first optical axis 132) being arranged to incline upward enables the first obstacle avoidance detector 130 to detect the areas in front of and above the extension part 120, thereby enabling the mobile robot 100 to avoid obstacles and reduce the risk of touching.

[0128] In some embodiments, along the operation direction of the extension part 120, the projection of the first detection area 131 in the second set plane covers the projection of the operation area of the extension part 120 in the second set plane. Wherein, the second set plane is perpendicular to the operation direction and the extension part 120 is located between the first obstacle avoidance detector and the second set plane.

[0129] Wherein, the second set plane is a virtual plane, not the physical plane of the entire mobile robot 100. The second set plane is located on the side of the extension part 120 away from the first obstacle avoidance sensor 130. The projection of the first detection area 131 in the second set plane covering the projection of the operation area of the extension part 120 in the second set plane means that the first obstacle avoidance sensor 130 can cover all areas behind the extension part 120 (directly behind, side-rear and upper-rear). The detection area 131 of the first obstacle avoidance detector 131 can completely cover the extension part 120, so that there is no detection blind area in front of the extension part 120, reducing the risk of the extension part 120 touching an obstacle.

[0130] Wherein, if there are multiple first obstacle avoidance detectors 130, the projection of the detection area 131 of the first obstacle avoidance detector 1300 on the second set plane covering the projection of the operation area of the extension part 120 on the second set plane means that the sum of the projections of multiple first detection areas 131 on the second set plane covers the projection of the operation area of the extension part 120 on the second set plane.

[0131] Please refer to Figure 6 and Figure 7 , in some other embodiments, the first obstacle avoidance detector 130 can be set to be relatively close to the extension part 120 and is arranged close to the extension part 120. Specifically, if the extension part 120 is a robotic arm or a robotic claw, the robotic arm or the robotic claw can be arranged near the geometric center of the moving body 110, and the first obstacle avoidance detector 130 is also arranged near the geometric center of the moving body 110, so that the distance between the first obstacle avoidance detector 130 and the extension part 120 is relatively close.

[0132] Since the first obstacle avoidance detector 130 is installed on the moving body 110, and the extension part 120 protrudes from the moving body 110 in the working state, and during the entire operation of the mobile robot 100, the moving body 110 generally moves on the ground, making the overall height of the extension part 120 relatively low. Since the probability of an obstacle appearing at the top of the extension part 120 is relatively high, thus, the optical axis of the first obstacle avoidance detector 130 can be perpendicular to the advancing direction of the moving body 110 (i.e., is arranged approximately vertically), and has an overlapping relationship with the extension part 120 in space, so that the first detection area 131 can detect the area above the extension part 120.

[0133] Specifically, in the advancing direction of the moving body 110, the first obstacle avoidance detector 130 can be arranged in front of the moving body 110 (such as Figure 7 ) or can also be arranged behind the moving body 110 (such as Figure 6 ). Whether the first obstacle avoidance detector 130 is arranged in front of the moving body 110 or behind the moving body 110. The first detection area 131 is generally conical, so that the cross-section of the first detection area 131 in the plane perpendicular to the first optical axis 132 (the cross-section of the horizontal plane) is generally rectangular, and the short side 131b of the rectangle is along the operation direction of the extension part 120 and is parallel to the operation direction of the extension part 120. The long side 131a is perpendicular to the operation direction of the extension part 120.

[0134] Whether the first obstacle avoidance detector 130 is arranged in front of or behind the extension part 120, the long side 131a being perpendicular to the operation direction of the extension part 120 enables the first obstacle avoidance detector 130 to have a relatively large detection area on the left and right sides of the extension part 120, and can improve the obstacle avoidance ability of the extension part 120 on the left and right.

[0135] The above describes the case where the obstacle avoidance detection component 160 only includes the first obstacle avoidance detector 130. The following describes the case where the obstacle avoidance detection component 160 includes multiple obstacle avoidance detectors. Figure 8 , Figure 8 The arrow X in the middle represents the forward direction of the mobile body 110, and the arrow Y represents the operating direction of the extension portion 120. In other embodiments, the obstacle avoidance detection component 160 may further include a second obstacle avoidance detector 140, and the first obstacle avoidance detector 130 and the second obstacle avoidance detector 140 are respectively disposed on different sides of the extension portion 120.

[0136] The first obstacle avoidance detector 130 and the second obstacle avoidance detector 140 are used to detect the surrounding area of the extension part 120. During the operation of the extension part 120, they can detect whether there are obstacles around the extension part 120, and can avoid the risk of the extension part 120 touching obstacles during operation as much as possible.

[0137] Since the extension portion 120 may extend into other areas during operation, the thickness or length of the extension portion 120 may be relatively large. If only one sensor is used to detect the area around the extension portion 120, the extension portion 120 has a certain volume, so the extension portion 120 will block part of the area on the side of the extension portion 120 away from the sensor, so that the detection of a single sensor will have a certain blind spot, resulting in the inability to fully detect all areas around the extension portion 120.

[0138] In an embodiment of the present application, a first obstacle avoidance detector 130 and a second obstacle avoidance detector 140 are respectively arranged on both sides of the extension portion 120 so that both sides of the extension portion 120 can be detected. With the joint cooperation of the first obstacle avoidance detector 130 and the first obstacle avoidance detector 140, the area around the extension portion 120 can be detected, and the existence of blind spots around the extension portion 120 can be avoided as much as possible, thereby improving the accuracy of obstacle avoidance detection and reducing the risk of the extension portion 120 touching obstacles during operation.

[0139] Since during the entire working process of the mobile robot 100, the mobile robot 100 will work while moving forward, or move to a certain position before working. In either case, the mobile robot 100 mainly detects whether there are obstacles in the area in front, where the front includes areas such as the front, the upper front, and the side front.

[0140] See also Figure 9 and Figure 10 , Figure 9The arrow X indicates the forward direction of the moving body 110, and the arrow Y indicates the operation direction of the extension part 120. In some embodiments, along the operation direction of the extension part 120, the first obstacle avoidance detector 130 is located behind the extension part 120, and the second obstacle avoidance detector 140 is located in front of the extension part 120.

[0141] Among them, the second obstacle avoidance detector 140 can be a TOF sensor (Time of Flight), specifically, it can be a dToF sensor (Direct Time of Flight). The detection direction of the second obstacle avoidance detector 140 refers to the direction of the optical axis of the dToF sensor, and the detection area refers to the detection area of the dToF sensor. For the convenience of description, the optical axis of the second obstacle avoidance detector 140 is defined as the second optical axis 142, and the detection area of the second obstacle avoidance detector 140 is defined as the second detection area 141. The second detection area 141 also includes the field of view angle and the detection distance (h2 represents the detection distance of the second detection area 141 in each figure).

[0142] The second obstacle avoidance detector 140 is arranged in front of the extension part 120, mainly detecting the areas directly in front of, on the side in front of, and above the extension part 120. The second obstacle avoidance detector 140 will detect whether there are obstacles earlier than the first obstacle avoidance detector 130. Since it is uncertain whether there are obstacles in front of the extension part 120, it may be necessary to detect a relatively long distance. The detection accuracy of the dToF sensor basically does not decrease due to the increase in the detection distance, which can improve the detection accuracy so that the second obstacle avoidance detector 140 can detect a relatively long distance and provide more obstacle avoidance time for the extension part 120.

[0143] During the operation of the extension part 120, it is mainly easy to touch obstacles in front of or above the extension part 120. The first obstacle avoidance detector 130 is arranged behind the extension part 120 and mainly detects all areas of the extension part 120, including the areas behind, on the side, directly in front of, on the side in front of, and above the extension part 120. The second obstacle avoidance detector 140 is arranged in front of the extension part 120 and is mainly used to detect the areas directly in front of and above the extension part 120, mainly to detect the blind area of the first obstacle avoidance detector 130, so that there is basically no blind area around the extension part 120, and then the operation area of the extension part 120 can be detected omnidirectionally, improving the accuracy of obstacle detection.

[0144] Among them, the operation direction of the extension part 120 can be the same as the forward direction of the moving body 110 (such as Figure 9 and Figure 10The first obstacle avoidance detector 130 is located behind the extension 120 and the second obstacle avoidance detector 140 is located in front of the extension 120 in the forward direction of the mobile body 110. In this case, the detection direction of the first obstacle avoidance detector 130 (the direction of the first optical axis 132) is set toward the forward direction of the mobile body 110. Similarly, the detection direction of the second obstacle avoidance detector 140 (the direction of the second optical axis 142) is set toward the forward direction of the mobile body 110 or is set vertically. That is, in this case, the angle between the detection direction of the first obstacle avoidance detector 130 (the direction of the first optical axis 132) and the forward direction of the mobile body 110 is not greater than 90 degrees. The angle between the detection direction of the second obstacle avoidance detector 140 (the direction of the second optical axis 142) and the forward direction of the mobile body 110 is not greater than 90 degrees.

[0145] In some other embodiments, the operating direction of the extension portion 120 may not be the same as the forward direction of the mobile body 110, as follows:

[0146] See also Figure 11 and Figure 12 The forward sensor 150 is arranged in front of the mobile body 110 in the forward direction, and is mainly used to detect whether there are obstacles in front of the mobile body 110. The obstacle avoidance detection component 160 (at least one of the first obstacle avoidance detector 130 and the second obstacle avoidance detector 140) is mainly used to detect the area around the extension 120. Of course, the obstacle avoidance detection component 160 can also detect a partial area around the mobile body 110, which may be the side area of the mobile body 110 or the rear area of the mobile body 110. The detection direction of the obstacle avoidance detection component 160 is arranged at an angle to the detection direction of the forward sensor 150, which means that the detection direction of the obstacle avoidance detection component 160 is different from the detection direction of the forward sensor 150. The different detection directions of the two can avoid the accumulation of sensors or structural components in a certain direction as much as possible, and thus can avoid interference and performance sacrifice between the obstacle avoidance detection component 160 and the forward sensor 150 as much as possible.

[0147] The detection direction of the obstacle avoidance detection component 160 (the first obstacle avoidance detector 130 and the second obstacle avoidance detector 140 ) is different from the detection direction of the forward sensor 150 , which means that the optical axis direction of the obstacle avoidance detection component 160 is different from the optical axis direction of the forward sensor 150 .

[0148] Specifically, the optical axis of the obstacle avoidance detection component 160 is a ray, so the optical axis direction is a vector. The optical axis of the forward sensor 150 is a ray, so the optical axis direction is a vector. The included angle between the optical axis of the obstacle avoidance detection component 160 (the first obstacle avoidance detector 130 or the second obstacle avoidance detector 140) and the optical axis of the forward sensor 150 is 180 degrees, which also indicates that the optical axis direction of the obstacle avoidance detection component 160 (the first obstacle avoidance detector 130 or the second obstacle avoidance detector 140) is different from the optical axis direction of the forward sensor 150. For example, the optical axis of the forward sensor 150 is horizontally forward, and the optical axis direction of the obstacle avoidance detection component 160 (the first obstacle avoidance detector 130 or the second obstacle avoidance detector 140) is horizontally backward. The optical axis directions of the two are also different, that is, the detection direction of the obstacle avoidance detection component 160 (the first obstacle avoidance detector 130 or the second obstacle avoidance detector 140) is also different from the detection direction of the forward sensor 150, and they are also arranged at an included angle.

[0149] The following takes the optical axis direction of the first obstacle avoidance detector 130 and the optical axis direction of the forward sensor 150 as an example to illustrate whether the directions are the same. The judgment method of the second obstacle avoidance detector 140 is the same, and so on, and will not be elaborated here.

[0150] The optical axis of the forward sensor 150 is horizontally forward, and the optical axis direction of the first obstacle avoidance detector 130 is inclined forward. The included angle between the two is less than 90 degrees, indicating that the optical axis direction of the first obstacle avoidance detector 130 is different from the optical axis direction of the forward sensor 150.

[0151] The optical axis of the forward sensor 150 is horizontally forward, and the optical axis direction of the first obstacle avoidance detector 130 is inclined backward. The included angle between the two is greater than 90 degrees, indicating that the optical axis direction of the first obstacle avoidance detector 130 is different from the optical axis direction of the forward sensor 150.

[0152] The optical axis of the forward sensor 150 is horizontally forward, and the optical axis direction of the first obstacle avoidance detector 130 is also horizontally forward (the two are parallel), then it indicates that the optical axis direction of the forward sensor 150 is the same as the optical axis direction of the first obstacle avoidance detector 130.

[0153] Since the operation direction of the extension part 120 is arranged at an included angle with the advancing direction of the moving body 110 (the two directions are different), the first obstacle avoidance detector 130 and the second obstacle avoidance detector 140 mainly detect the operation area of the extension part 120, making the detection directions of the first obstacle avoidance detector 130 and the second obstacle avoidance detector 140 roughly the same as the operation direction of the extension part 120. That is, the detection direction of the first obstacle avoidance detector 130 is also arranged at an included angle with the detection direction of the forward sensor 150, and the detection direction of the second obstacle avoidance detector 140 is also arranged at an included angle with the detection direction of the forward sensor 150.

[0154] The first obstacle avoidance detector 130 and the second obstacle avoidance detector 140 are respectively located on different sides of the extension part 120, so that the first obstacle avoidance detector 130 and the second obstacle avoidance detector 140 can respectively detect different areas around the extension part 120, so that there is no detection blind area around the extension part 120 as much as possible under the cooperation of the first obstacle avoidance detector 130 and the second obstacle avoidance detector 140, improving the detection effect on the extension part 120, and further reducing the situation that the extension part 120 touches an obstacle during operation.

[0155] The detection direction of the first obstacle avoidance detector 130 is set at an angle with the detection direction of the forward sensor 150, which means that the detection directions of the first obstacle avoidance detector 130 and the forward sensor are different. The different detection directions can avoid the accumulation of sensors or structural components in a certain direction as much as possible, and further avoid the interference and performance sacrifice between the first obstacle avoidance detector 130 and the forward sensor.

[0156] The detection direction of the second obstacle avoidance detector 140 is set at an angle with the detection direction of the forward sensor 150, which means that the detection directions of the second obstacle avoidance detector 140 and the forward sensor 150 are different. The different detection directions can avoid the accumulation of sensors or structural components in a certain direction as much as possible, and further avoid the interference and performance sacrifice between the second obstacle avoidance detector 140 and the forward sensor.

[0157] In some embodiments, the angle between the detection direction of the first obstacle avoidance detector 130 and the detection direction of the forward sensor 150 is greater than or equal to 90 degrees.

[0158] Among them, since the detection direction of the forward sensor 150 faces the forward direction of the moving body 110. Specifically, the forward sensor 150 can be horizontally forward, or can be inclined upward, or can be inclined downward. No matter which of the above methods, it can be considered that the detection direction of the forward sensor 150 is forward. If the angle between the detection direction of the first obstacle avoidance detector 130 and the detection direction of the forward sensor 150 is greater than or equal to 90 degrees, it means that the detection direction of the first obstacle avoidance detector 130 does not follow the forward direction of the moving body 110 or there is no component along the forward direction of the moving body 110. Since the detection directions of the two are different, the accumulation of sensors or structural components in a certain direction can be avoided as much as possible, and further the interference and performance sacrifice between the obstacle avoidance detection component 160 and the forward sensor can be avoided.

[0159] The first obstacle avoidance detector 130 can rotate relative to the extension portion 120 driven by the bracket 162. The angle between the detection direction of the first obstacle avoidance detector 130 and the detection direction of the forward sensor 150 being greater than or equal to 90 degrees can mean that when the first obstacle avoidance detector 130 is in the second position, the angle between the detection direction of the first obstacle avoidance detector 130 and the detection direction of the forward sensor 150 is greater than or equal to 90 degrees. Alternatively, the angle between the detection direction of the first obstacle avoidance detector 130 and the detection direction of the forward sensor 150 can be greater than or equal to 90 degrees in the first position, the second position, or any position between the first and second positions.

[0160] In some embodiments, the angle between the detection direction of the second obstacle avoidance detector 140 and the detection direction of the forward sensor 150 is greater than or equal to 90 degrees.

[0161] Since the detection direction of the forward sensor 150 is along the forward direction of the mobile body 110, it can be considered that the detection direction of the forward sensor 150 is forward. If the angle between the detection direction of the second obstacle avoidance detector 140 and the detection direction of the forward sensor 150 is greater than or equal to 90 degrees, it means that the detection direction of the second obstacle avoidance detector 140 is not along the forward direction of the mobile body 110 or has no component along the forward direction of the mobile body 110. Since the two detection directions are different, the accumulation of sensors or structural components in a certain direction can be minimized, thereby minimizing interference and performance loss between the obstacle avoidance detection assembly 160 and the forward sensor.

[0162] Similarly, since in some embodiments, the second obstacle avoidance detector 140 can also rotate relative to the extension portion 120 driven by the bracket 162, the angle between the detection direction of the second obstacle avoidance detector 140 and the detection direction of the forward sensor 150 being greater than or equal to 90 degrees can mean that the angle between the detection direction of the second obstacle avoidance detector 130 and the detection direction of the forward sensor 150 when in the second position is greater than or equal to 90 degrees. Alternatively, the angle between the detection direction of the second obstacle avoidance detector 140 and the detection direction of the forward sensor 150 can be greater than or equal to 90 degrees in the first position, the second position, or any position between the first and second positions.

[0163] It should be noted that the first position of the first obstacle avoidance detector 130 is not the same as the first position of the second obstacle avoidance detector 140 , and the second position of the first obstacle avoidance detector 130 is not the same as the second position of the second obstacle avoidance detector 140 .

[0164] like Figure 11 and Figure 12As shown, in some embodiments, the extension part 120 includes a mounting section 121 and a connecting section 123. The mounting section 121 is connected to the moving body 110 and the connecting section 123 respectively. The first obstacle avoidance detector 130 is located on the side of the mounting section 121 away from the connecting section 123, and the second obstacle avoidance detector 140 is on the same side of the mounting section 121 as the connecting section 123. In some embodiments, the extension part 120 only includes the mounting section 121 and the connecting section 123. For these two structures, the connecting section 123 is the outermost structure of the entire extension part 120. The connecting section 123 can be the working part of the entire extension part 120. It can be that the entire connecting section 123 is the working position (it can be that a cleaning part is arranged throughout), or it can be that only a section of the connecting section 123 away from the mounting section 121 is the working position (it can be that a mechanical claw is arranged).

[0165] In addition, in some other embodiments, the extension part 120 can include a mounting section 121, a connecting section 123 and an operating section 124 (as Figures 8 - 10 shown). The connecting section 123 is connected to the mounting section 121 and the operating section 124 respectively. The mounting section 121 is mounted on the moving body 110. Along the operating direction of the extension part 120, the operating section 124 is located in front of the mounting section 121, and the second obstacle avoidance detector 140 is mounted on the mounting section 121.

[0166] When the extension part 120 can include a mounting section 121, a connecting section 123 and an operating section 124, in the case of these three sections, the operating section 124 is the outermost structure of the entire extension part 120. Then the operating section 124 can be the working part of the entire extension part. It can be that the entire operating section 124 is the working position (it can be that a cleaning part is arranged throughout), or it can be that only a section of the operating section 124 away from the connecting section 123 is the working position (it can be that a mechanical claw is arranged).

[0167] The extension part 120 can be a robotic arm. The robotic arm can include multiple segments. As described above, it can include two segments (the mounting section 121 and the connecting section 123), or it can include three segments (the mounting section 121, the connecting section 123 and the operating section 124), or it can also include four segments, five segments, etc. No matter how many segments the extension part 120 includes, the outermost structure of the extension part 120 can be the working part of the entire extension part 120 (in the case of two segments, the connecting section 123 is the outermost structure, then the connecting section 123 is the working part. In the case of three segments, the operating section 124 is the outermost structure, then the operating section 124 is the working part).

[0168] For the convenience of description, in the case where the extension part 120 includes the mounting section 121 and the connecting section 123 (as Figure 4 and Figure 5) is illustrated as follows: In some embodiments, the connecting segment 123 can be the working part of the entire extension part 120. Since the connecting segment 123 is the working part of the entire extension part 120, one side of the connecting segment 123 is defined as the front of the entire extension part 120, and the other side of the connecting segment 123 is defined as the rear of the extension part 120. That is, the first obstacle avoidance detector 130 is located at the rear of the entire extension part 120, and the second obstacle avoidance detector 140 is located at the front of the entire extension part 120.

[0169] During the operation of the extension part 120, it is mainly easy to touch obstacles in front of or above the extension part 120. The first obstacle avoidance detector 130 is arranged at the rear of the extension part 120 to mainly detect the areas at the rear, side, directly in front, side in front, and above in front of the extension part 120. The second obstacle avoidance detector 140 is arranged at the front of the extension part 120 and is mainly used to detect the areas directly in front and above in front of the extension part 120, mainly to detect the blind area of the first obstacle avoidance detector 130, so that there is basically no blind area around the extension part 120, and thus the areas around the extension part 120 can be detected omnidirectionally, improving the accuracy of obstacle detection.

[0170] In some embodiments, the extending direction of the connecting segment 123 is set at an angle with the advancing direction of the moving body 110.

[0171] Among them, the extending direction of the connecting segment 123 is the operating direction of the entire extension part 120. The operating direction of the extension part 120 is set at an angle with the advancing direction of the moving body 110, which can make the advancing direction of the moving body 110 and the operating direction of the extension part 120 separate, making their operations independent of each other. Furthermore, it can reduce the limitation of the operating space of the extension part 120 caused by the limitation of the moving direction, and improve the working range of the extension part 120.

[0172] Specifically, there are the following several positions between the extending direction of the connecting segment 123 and the advancing direction of the moving body 110. It can be that the extending direction of the connecting segment 123 is opposite to the advancing direction of the moving body 110 (as Figure 11 and Figure 12 shown). That is, the operating direction of the connecting segment 123 is located at the rear of the entire moving body 110, so that the extension part 120 can clean the area behind the moving body 110.

[0173] It can also be that along the advancing direction of the moving body 110, the connecting segment 123 is located on the left side of the mounting segment 121 (as Figure 13 shown). That is, during the process of the moving body 110 working against the wall, if the wall is on the left side of the moving body 110, the connecting segment 123 can clean the wall side. It can also be that the connecting segment 123 is located on the right side of the mounting segment 121 (as Figure 14As shown. That is, during the process of the moving body 110 working against the wall, if the wall is on the right side of the moving body 110, the connecting section 123 can clean the other side of the wall side.

[0174] Here, it should be noted that the position between the connecting section 123 and the moving body 110 can be fixed. That is, when the connecting section 123 protrudes outside the moving body 110, it can mean that the connecting section 123 is fixed behind, or on the left or right side of the moving body 110. In addition, the position between the connecting section 123 and the moving body 110 can also be movable, and the relative position between the connecting section 123 and the moving body 110 can be adjusted according to the position to be cleaned.

[0175] That is to say, the above lists different connection methods between the extension part 120 and the moving body 110. It can be fixed or movable. If the position of the connecting section 123 on the moving body 110 is fixed, then after the extension part 120 extends outside the moving body 110, the position of the connecting section 123 relative to the moving body 110 will not change.

[0176] Specifically, if after the extension part 120 extends to the moving body 110, the connecting section 123 is behind the installation section 121, during the entire working process, the connecting section 123 will always be behind the installation section 121, and the position of the connecting section 123 relative to the moving body 110 will not change. If after the extension part 120 extends to the moving body 110, the connecting section 123 is on the left side of the installation section 121, during the entire working process, the connecting section 123 will always be on the left side of the moving body 110, and the position of the connecting section 123 relative to the moving body 110 will not change. If after the extension part 120 extends to the moving body 110, the connecting section 123 is on the right side of the installation section 121, during the entire working process, the connecting section 123 will always be on the right side of the moving body 110, and the position of the connecting section 123 relative to the moving body 110 will not change.

[0177] If the entire outer extension part 120 can move relative to the moving body 110 such that the connecting segment 123 can be in different directions with respect to the mounting segment 121, that is, during the entire operation process, the position of the connecting segment 123 relative to the moving body 110 can be adjusted. The position of the connecting segment 123 can be adjusted according to different cleaning positions. Specifically, if it is necessary to clean the area on the left side of the moving body 110, the connecting segment 123 can be located on the left side of the operating segment 121. If it is necessary to clean the area on the right side of the moving body 110, the connecting segment 123 can be located on the right side of the operating segment 121. Among them, when the position of the connecting segment 123 relative to the moving body 110 changes, it can be that the mounting segment 121 and the moving body 110 are fixed relative to each other, and the connecting segment 123 rotates relative to the mounting segment 121, or it can be that the mounting segment 121 rotates relative to the moving body 110, causing the connecting segment 121 to rotate relative to the moving body 110.

[0178] Regardless of whether the operation direction of the outer extension part 120 is the same as the forward direction of the moving body 110, the relevant positions and parameters of the first obstacle avoidance detector 130 and the second obstacle avoidance detector 140 must meet the following requirements, specifically as follows:

[0179] It should be noted that since the first obstacle avoidance detector 130 can rotate relative to the outer extension part 120 under the drive of the bracket 162, the following positions and parameters of the first obstacle avoidance detector 130 can be the positions and parameters of the first obstacle avoidance detector 130 in the second position, or can also be the parameters at any position between the first position, the second position, the first position and the second position.

[0180] Similarly, if the second obstacle avoidance detector 140 can also rotate relative to the outer extension part 120 under the drive of the bracket 162, the following positions and parameters of the second obstacle avoidance detector 140 can be the positions and parameters of the second obstacle avoidance detector 140 in the second position, or can also be the parameters at any position between the first position, the second position, the first position and the second position.

[0181] Please refer to Figure 15 、 Figure 16 and Figure 17 , in some embodiments, the field of view angle of the first obstacle avoidance detector 130 is greater than the field of view angle of the second obstacle avoidance detector 140.

[0182] Among them, the detection area includes the field of view angle and the detection distance. Among them, the field of view angle can be considered as the opening angle of the first obstacle avoidance detector 130 or the second detection area, or can also be considered as the width of the first obstacle avoidance detector 130 or the second obstacle avoidance detector 140, and the detection distance can be considered as the length of the first obstacle avoidance detector 130 or the second obstacle avoidance detector 140.

[0183] When the detection distance of the first obstacle avoidance detector 130 remains unchanged, the larger the viewing angle of the first obstacle avoidance detector 130, the greater the width of the first detection area 131, that is, the larger the detection area 131; the smaller the viewing angle, the smaller the width of the detection area of the first obstacle avoidance detector, that is, the smaller the detection area 131. Similarly, when the detection distance of the second obstacle avoidance detector 140 remains unchanged, the larger the viewing angle of the second obstacle avoidance detector 140, the greater the width of the second detection area 141, that is, the larger the second detection area 141; the smaller the viewing angle of the second obstacle avoidance detector 140, the smaller the second detection area 141.

[0184] The viewing angle of the first obstacle avoidance detector 130 is larger than that of the second obstacle avoidance detector 140, which means that under the same detection distance, the first detection area 131 is larger than the detection area 141 of the second obstacle avoidance detector. Since the first obstacle avoidance detector 130 is arranged behind the extension part 120 and the second obstacle avoidance detector 140 is arranged in front of the extension part 120, the first detection area 131 is larger and can detect most areas behind, side in front, directly in front and above in front of the entire extension part 120. Enabling most areas to be detected by one sensor can reduce the number of sensors. Since the second obstacle avoidance detector 140 is located in front of the extension part 120 and is mainly used to detect the areas directly in front and above in front of the extension part 120, as well as the blind area of the first obstacle avoidance detector 130, the detection area is relatively small, and a sensor with a smaller viewing angle can be selected.

[0185] For obstacle avoidance sensors, the size of the viewing angle is positively correlated with the cost, that is, the larger the viewing angle, the higher the cost, and the smaller the viewing angle, the lower the cost. The viewing angle of the first obstacle avoidance detector 130 is larger, and the viewing angle of the second obstacle avoidance detector 140 is smaller. Through the cooperation of two sensors with different viewing angles, the overall cost can be reduced while ensuring that there is no blind area around the extension part 120.

[0186] Among them, since the first detection area 131 is conical or conical, the viewing angle of the first obstacle avoidance detector 130 is not an angle in a certain direction, but a three-dimensional angle. Taking the first detection area 131 as an example of a cone, the viewing angle of the first obstacle avoidance detector 130 includes a first horizontal angle a1 and a first vertical angle b1. Similarly, taking the second detection area 141 as an example of a cone, the viewing angle of the second obstacle avoidance detector 140 includes a second horizontal angle a2 and a second vertical angle b2.

[0187] The first horizontal angle a1 can be regarded as the detection range of the first obstacle avoidance detector 130 in the horizontal direction, and the first vertical angle b1 can be regarded as the detection range of the first obstacle avoidance detector 130 in the vertical direction. The second horizontal angle a2 can be regarded as the detection range of the second obstacle avoidance detector 140 in the horizontal direction, and the second vertical angle b2 can be regarded as the detection range of the second obstacle avoidance detector 140 in the vertical direction.

[0188] The field of view angle of the first obstacle avoidance detector 130 is greater than that of the second obstacle avoidance detector 140, at least the first horizontal angle a1 is greater than the second horizontal angle a2, that is, it can be that the first horizontal angle a1 is greater than the second horizontal angle a2, or it can be that the first horizontal angle a1 is greater than the second horizontal angle a2 and the first longitudinal angle b1 is greater than the second longitudinal angle b2.

[0189] Since the first obstacle avoidance detector 130 is arranged behind the extension part 120 and the second obstacle avoidance detector 140 is arranged in front of the extension part 140, the first horizontal angle a1 being greater than the second horizontal angle a2 can enable the first obstacle avoidance detector 130 to have a larger detection range in the horizontal direction, and can detect areas such as the rear, side, and upper part of the extension part 120, thereby improving the obstacle avoidance ability of the extension part 120.

[0190] In some embodiments, the field of view angle of the first obstacle avoidance detector 130 includes the first horizontal angle a1 and the first vertical angle b1. The first horizontal angle a1 is 80 degrees to 120 degrees, and the first vertical angle b1 is 20 degrees to 60 degrees.

[0191] Among them, the first horizontal angle a1 can be regarded as the detection range of the first obstacle avoidance detector 130 in the horizontal direction, and the first vertical angle b1 can be regarded as the detection range of the first obstacle avoidance detector 130 in the vertical direction, making the field of view angle of the first obstacle avoidance detector 130 approximately conical. The first horizontal angle a1 being 80 degrees to 120 degrees enables the first obstacle avoidance detector 130 to have a larger detection angle in the horizontal direction, and basically can cover the rear, side front, and front areas of the extension part 120, without the need to set or install additional sensors for detecting the side front area, thereby being able to reduce the number of sensors and lower the cost.

[0192] Specifically, the first horizontal angle a1 can be 80 degrees, 90 degrees, 100 degrees, 110 degrees, 118 degrees, etc.

[0193] The first vertical angle b1 of the first obstacle avoidance detector 130 is 20 degrees to 60 degrees, so that the first obstacle avoidance detector 130 has a certain detection range in the vertical plane. Since the mobile robot 100 mostly moves on the ground and the overall height is relatively low, the first obstacle avoidance detector 130 has a certain detection range in the vertical direction, so that the first obstacle avoidance detector 130 can detect the area above the extension part 120, thereby reducing the collision between the extension part 120 and the obstacles above during operation, thereby improving the accuracy of obstacle avoidance.

[0194] Specifically, the first vertical angle b1 can be 25 degrees, 30 degrees, 35 degrees, 40 degrees, 45 degrees, 50 degrees, 55 degrees, etc.

[0195] In addition, during the operation, the spatial position of the extension part 120 itself may change, causing the vertical position of part of the extension part 120 to change. The first obstacle avoidance detector 130 has a certain detection area in the vertical direction, which can detect whether there are obstacles in the area above the extension part 120, thereby avoiding the extension part 120 from touching obstacles during operation as much as possible.

[0196] It should be noted that, in some embodiments, since the first obstacle avoidance detector 130 can rotate relative to the extension portion 120, the first lateral angle a1 can be the angle of the first obstacle avoidance detector 130 at a certain position, or the angle between the left and right edges of the horizontal detection range of the first obstacle avoidance detector 130 within the active area. The first vertical angle b1 can be the angle of the first obstacle avoidance detector 130 at a certain position, or the angle between the left and right edges of the vertical detection range of the first obstacle avoidance detector 130 within the active area.

[0197] In some embodiments, the optical axis of the first obstacle avoidance detector 130 is arranged toward the operating direction of the extension portion 120 .

[0198] Among them, the optical axis of the first obstacle avoidance detector 130 can be considered as the center of the entire field of view angle of the first obstacle avoidance detector 130. Since the first obstacle avoidance detector 130 is arranged behind the extension part 120, the optical axis of the first obstacle avoidance detector 130 can be set along the front direction of the mobile body 110, that is, in the forward direction, the first obstacle avoidance detector 130 can be located on the diameter that coincides with the operating direction of the extension part 120, so that the first obstacle avoidance detector 130 can be located in the middle position 22 of the mobile body 110, and thus the left and right detection areas of the first obstacle avoidance detector 130 in the extension part 120 are roughly the same, which can reduce the situation where the left or right side cannot be detected.

[0199] In some embodiments, the first obstacle avoidance detector 130 can rotate relative to the extension portion 120 under the drive of the bracket 162. The optical axis of the first obstacle avoidance detector 130 being set in the operation direction of the extension portion 120 may mean that the optical axis of the first obstacle avoidance detector 130 is set in the operation direction of the extension portion 130 when it is in the second position. It may also mean that at the first position, the second position, or any position between the first position and the second position, the optical axis of the first obstacle avoidance detector 130 is set in the operation direction of the extension portion 120.

[0200] It is easy to understand that the optical axis (the first optical axis 132) of the first obstacle avoidance detector 130 being set in the operation direction of the extension portion 120 does not mean that the optical axis of the first obstacle avoidance detector 130 is parallel to the operation direction of the extension portion 120. It means that the projection of this optical axis in the horizontal direction can be the same as the extension direction of the moving body 110, that is, the optical axis (the first optical axis 132) of the first obstacle avoidance detector 130 can be inclined forward.

[0201] Since the first optical axis 132 is generally the center of the entire first detection area 131, the direction of the first optical axis 132 can reflect the orientation of the entire first detection area 131, and reflects the relative position relationship between the first detection area 131 and the operation area of the extension portion 120.

[0202] Since the extension portion 120 protrudes from the moving body 110 in the working state, and the first obstacle avoidance detector 130 is installed on the moving body 110, there is a certain height difference and a certain distance between the first obstacle avoidance detector 130 and the extension portion 120. When the distance between the first obstacle avoidance detector 130 and the extension portion 120 remains unchanged, in order to be able to detect the area above and in front of the extension portion 120, the higher the extension portion 120, the larger the angle between the first obstacle avoidance detector 130 and the horizontal direction. The lower the extension portion 120, the smaller the angle between the first obstacle avoidance detector 130 and the horizontal direction.

[0203] Similarly, when the height of the extension portion 120 remains unchanged, in order to be able to detect the area above and in front of the extension portion 120, the smaller the distance between the first obstacle avoidance detector 130 and the extension portion 120, the larger the angle between the first obstacle avoidance detector 130 and the horizontal direction. The larger the distance between the first obstacle avoidance detector 130 and the extension portion 120, the smaller the angle between the first obstacle avoidance detector 130 and the horizontal direction.

[0204] It can be seen that the angle between the first optical axis 132 and the horizontal direction is related to both the height of the extension part 120 and the distance between the first obstacle avoidance detector 130 and the extension part 120. The angle (the angle with the horizontal direction) of the first optical axis 132 can be set by comprehensively considering the height of the extension part 120 and the distance between the first obstacle avoidance detector 130 and the extension part 120.

[0205] Specifically, in some embodiments, along the forward direction of the moving body 110 (the direction indicated by the arrow X in each figure), the angle between the first optical axis 132 and the horizontal direction can be 30 degrees to 60 degrees. The first obstacle avoidance detector 130 is arranged behind the extension part 120 and the distance between them is relatively far, so the angle between the first optical axis 132 and the horizontal direction can be set relatively small.

[0206] Under the condition that other conditions (the height of the extension part 120, the distance between the first obstacle avoidance detector 130 and the extension part 120) remain unchanged, the angle between the first optical axis 132 and the horizontal direction determines the sizes of the upper region and the front and rear regions of the extension part 120 detected by the first detection region 131.

[0207] Within the range of 0 to 45 degrees, the smaller the angle between the first optical axis 132 and the horizontal direction, the more the component of the first detection region 131 in the horizontal direction and the less the component in the vertical direction. In this case, since the component of the first detection region 131 in the horizontal direction is more, it means that there are more detection regions along the horizontal direction (the detection regions in the front and rear directions of the extension part 120 are larger), and there are fewer detection regions above the extension part 120.

[0208] Within the range of 45 to 90 degrees, the larger the angle between the first optical axis 132 and the horizontal direction, the less the component of the first detection region 131 in the horizontal direction and the more the component in the vertical direction. In this case, since the component of the first detection region 131 in the horizontal direction is less, it means that there are fewer detection regions along the horizontal direction (less detection in the front and rear directions of the extension part 120), and there are more detection regions above the extension part 120.

[0209] The included angle between the first optical axis 132 and the horizontal direction can be 30 degrees to 60 degrees. Although the horizontal and vertical components of the first detection area 131 are slightly different (in the range of 30 degrees to 45 degrees, the horizontal component of the first detection area 131 is greater than the vertical component; in the range of 45 degrees to 60 degrees, the horizontal component of the first detection area 131 is less than the vertical component), the difference is not significant. That is, in the range of 30 degrees to 60 degrees, it can be considered that the horizontal and vertical components of the first detection area 131 are basically the same, making the areas in the front-back direction (horizontal direction) of the extension part 120 of the first detection area 131 or the upper area (vertical direction) of the extension part 120 approximately the same. Furthermore, the first obstacle avoidance detector 130 can simultaneously consider the front-back direction and the upper area of the extension part 120, improving the obstacle avoidance ability of the extension part 120.

[0210] Specifically, the included angle between the first optical axis 132 and the horizontal direction can be 35 degrees, 40 degrees, 45 degrees, 50 degrees, 55 degrees, etc. When the included angle between the first optical axis 132 and the horizontal direction is 45 degrees, the areas in the front-back direction (horizontal direction) of the extension part 120 of the first detection area 131 or the upper area (vertical direction) of the extension part 120 are the same. Furthermore, the first obstacle avoidance detector 130 can simultaneously consider the front-back direction and the upper area of the extension part 120, improving the obstacle avoidance ability of the extension part 120.

[0211] In some embodiments, the viewing angle of the first obstacle avoidance detector 130 has a first edge 131c and a second edge 131d in the vertical direction. The first edge 131c is located below the second edge 131d, and the included angle between the first edge 131c and the horizontal direction is greater than or equal to 0 degrees.

[0212] Among them, the area between the first edge 131c and the second edge 131d is the detection range of the first obstacle avoidance detector 130 in the vertical direction, that is, the first vertical angle b1. The included angle between the first edge 131c located below and the horizontal direction being greater than or equal to 0 degrees means that the first edge 131c is horizontally arranged or inclined upward. If the first edge 131c is inclined downward, part of the area of the first vertical angle b1 will hit the moving body 110, resulting in waste of the detection area of part of the first vertical angle b1 and inability to detect the front area.

[0213] In some embodiments, the angle between the first edge 131c and the horizontal direction may be 15 degrees to 30 degrees. Since the first obstacle avoidance detector 130 is arranged behind the extension portion 120 and the distance from the extension portion 120 is relatively far, the angle between the first edge 131c and the horizontal direction can be set smaller, so that when the first detection area 131 is projected to the operation area of the extension portion 120, it can cover the space above, in front of and behind the extension portion 120, so that the first obstacle avoidance detector 130 can detect the areas above, in front of and behind the extension portion 120.

[0214] Specifically, the angle between the first edge 131c and the horizontal direction can be 18 degrees, 20 degrees, 22.5 degrees, 25 degrees, 27.5 degrees, 28 degrees, etc.

[0215] In some embodiments, the first obstacle avoidance detector 130 can rotate relative to the extension portion 120 under the drive of the bracket 162, and the angle relationship between the first edge 131c and the horizontal direction can refer to the angle between the first obstacle avoidance detector 130 and the horizontal direction at the second position. It can also be the angle between the first edge 131c and the horizontal direction at the first position, the second position or any position between the first position and the second position.

[0216] In some embodiments, the angle between the second edge 131d and the horizontal direction is less than or equal to 90 degrees.

[0217] The angle between the second edge 131d and the horizontal direction being less than or equal to 90 degrees means that the second edge 131d is vertically arranged or inclined upward, so that the first vertical angle b1 is all arranged forward. Since the first obstacle avoidance detector 130 is arranged behind the extension portion 120, the first vertical angle b1 is all arranged forward, so that the first obstacle avoidance detector 130 can be arranged as much as possible facing the extension portion 120, so that the first detection area 131 overlaps with the extension portion 120 as much as possible, and thus the utilization rate of the first obstacle avoidance detector 130 can be improved and the waste of the detection area 131 of the first obstacle avoidance detector 30 can be reduced.

[0218] The angle between the first edge 131c and the horizontal direction is greater than or equal to 0 degrees, and the angle between the second edge 131d and the horizontal direction is less than or equal to 90 degrees. The detection area of the first vertical angle b1 of the first obstacle avoidance sensor is arranged substantially horizontally or inclined, and can overlap with the areas directly in front of, above the front and side in front of the extension portion 120 as much as possible, so as to improve the utilization rate of the first detection area 131.

[0219] Specifically, the included angle between the second edge 131d and the horizontal direction can be 60 degrees to 75 degrees. The second edge 131d is the upper limit of the first detection area 131 in the vertical direction. If the second edge 131d is too high, most or all of the first detection area 131 will be used to detect the space above the epitaxial portion 120, resulting in a short detection distance in front of the epitaxial portion 120 for the first obstacle avoidance detector 130. The included angle between the second edge 131d and the horizontal direction can be 60 degrees to 75 degrees. This can ensure a detection distance above while also providing a certain detection distance in the operation direction of the epitaxial portion 120, providing more time for obstacle avoidance of the epitaxial portion 120.

[0220] Specifically, the included angle between the second edge 131d and the horizontal direction can be 62.5 degrees, 65 degrees, 67.5 degrees, 70 degrees, 72.5 degrees, etc.

[0221] In some embodiments, the first obstacle avoidance detector 130 can rotate relative to the epitaxial portion 120 under the drive of the bracket 162. Then, the included angle between the second edge 131d and the horizontal direction can refer to the included angle between the first obstacle avoidance detector 130 and the horizontal direction at the second position. It can also be the included angle between the second edge 131d and the horizontal direction at the first position, the second position, or any position between the first position and the second position. In some embodiments, the distance between the first obstacle avoidance detector 130 and the epitaxial portion 120 is greater than the radius of the moving body 110.

[0222] The moving body 110 is generally cylindrical. The epitaxial portion 120 is generally arranged in front of the moving body 110. The first obstacle avoidance detector 130 is generally arranged behind the moving body 110. The distance between the first obstacle avoidance detector 130 and the epitaxial portion 120 being greater than the radius of the moving body 110 can be considered that the distance between the first obstacle avoidance detector 130 and the epitaxial portion 120 is relatively far. Since the first detection area 131 is generally conical, the farther the distance, the larger the detection range of the first obstacle avoidance detector 130 around the epitaxial portion 120, thereby improving the obstacle avoidance area of the epitaxial portion 120 and enhancing the obstacle avoidance effect.

[0223] In some embodiments, the first obstacle avoidance detector 130 is arranged on the diameter of the moving body 110 along the forward direction.

[0224] Since the mobile body 110 is cylindrical, the diameter along the forward direction is the longest distance in the forward direction. The first obstacle avoidance detector 130 can be set at the end of the diameter, so that the first obstacle avoidance detector 130 is located at the rear of the mobile body 110. While detecting the area around the extension 120, it can also detect the areas on the left and right sides of the mobile body 110 (the area in front of the side), so that the first obstacle avoidance sensor can detect both the area around the extension 120 and the area around the mobile body 110, thereby improving the utilization rate of the first obstacle avoidance detector 130.

[0225] It should be noted that, in some embodiments, only one first obstacle avoidance detector 130 is provided, and the first obstacle avoidance detector 130 can be provided on the diameter along the forward direction of the mobile body 110. In addition, in some other embodiments, two, three, etc. first obstacle avoidance detectors 130 can be provided, and the number of first obstacle avoidance detectors 130 provided may not be limited.

[0226] like Figure 18 As shown, when two first obstacle avoidance detectors 130 are provided, the two first obstacle avoidance detectors 130 can be symmetrically arranged along the diameter of the moving body 110 in the forward direction. Since the first obstacle avoidance detectors 130 are not arranged on the diameter of the moving body 110 in the forward direction, the first obstacle avoidance detectors 130 are not arranged directly behind the extension portion 120. That is, along the forward direction of the moving body 110, the two first obstacle avoidance detectors 130 are staggered with respect to the extension portion 120.

[0227] The optical axis (first optical axis 132) of the first obstacle avoidance detector 130 can be tilted toward the extension portion 120. That is, the optical axes (first optical axes 132) of both first obstacle avoidance detectors 130 form a certain angle with the operating direction of the extension portion 120. This allows the first detection area 131 to be positioned toward the extension portion 120. This allows a larger area of the first detection area 131 to overlap with the operating area of the extension portion 120, thereby improving the utilization rate of the first obstacle avoidance detector 130.

[0228] Of course, in some other embodiments, when two first obstacle avoidance detectors 130 are provided, the optical axes of the first obstacle avoidance detectors 130 may also be arranged toward the operating direction of the extension portion 120 .

[0229] When three first obstacle avoidance detectors 130 are provided, one can be provided on a diameter of the mobile body 110 in the forward direction, and the other two can be symmetrically provided along the diameter of the mobile body 110 in the forward direction. When other numbers of first obstacle avoidance detectors 130 are provided, an even number can be provided in accordance with the arrangement when two are provided, and an odd number can be provided in accordance with the arrangement when three are provided.

[0230] See also Figures 15 - 17, The setting position and various parameters of the first obstacle avoidance detector 130 have been introduced above. Next, the setting position and various parameters of the second obstacle avoidance sensor will be introduced.

[0231] In some embodiments, the field of view angle of the second obstacle avoidance detector 140 includes a second horizontal angle a2 and a second vertical angle b2. The second horizontal angle a2 is 30 degrees to 60 degrees, and the second vertical angle b2 is 20 degrees to 60 degrees.

[0232] It should be noted that in some embodiments, since the second obstacle avoidance detector 140 can rotate relative to the extension portion 120, the second horizontal angle a2 can be the angle of the second obstacle avoidance detector 140 at a certain position, or can be the included angle between the left and right edges of the detection range of the second obstacle avoidance detector 140 in the horizontal direction within the active area. The second vertical angle b2 can be the angle of the second obstacle avoidance detector 140 at a certain position, or can be the included angle between the left and right edges of the detection range of the second obstacle avoidance detector 140 in the vertical direction within the active area.

[0233] Among them, the second horizontal angle a2 can be regarded as the detection range of the second obstacle avoidance detector 140 in the horizontal direction, and the second vertical angle b2 can be regarded as the detection range of the second obstacle avoidance detector 140 in the vertical direction, making the field of view angle of the second obstacle avoidance detector 140 approximately conical.

[0234] Since the second obstacle avoidance detector 140 is arranged in front of the extension portion 120, the second obstacle avoidance detector 140 mainly detects the front, upper part, and the detection blind area of the first obstacle avoidance detector 130 of the extension portion 120. That is, the field of view angle of the second obstacle avoidance detector 140 does not need to be too large. The second horizontal angle a2 being 30 degrees to 60 degrees enables the detection angle of the first obstacle avoidance detector 130 in the horizontal direction to basically cover the upper front and the front regions of the extension portion 120, and basically cover the detection blind area of the first obstacle avoidance detector 130. In the case of being able to fully cover the periphery of the extension portion 120, the cost is reduced (the larger the field of view angle, the higher the cost of the second obstacle avoidance detector 140).

[0235] The second vertical angle b2 of the second obstacle avoidance detector 140 is 20 degrees to 60 degrees, enabling the second obstacle avoidance detector 140 to have a certain detection range in the vertical plane. Since the mobile robot 100 mostly moves on the ground and has a relatively low overall height, the second obstacle avoidance detector 140 having a certain detection range in the vertical direction enables the second obstacle avoidance detector 140 to detect the area above the extension portion 120, thereby reducing the collision between the extension portion 120 and the upper obstacles during operation and improving the accuracy of obstacle avoidance.

[0236] In addition, during the operation, the spatial position of the extension part 120 itself may change, causing the vertical position of part of the extension part 120 to change. The second obstacle avoidance detector 140 has a certain detection area in the vertical direction, which can detect whether there are obstacles in the area above the extension part 120, thereby avoiding the extension part 120 from touching obstacles during operation as much as possible.

[0237] It should be noted that the field of view angle of the first obstacle avoidance detector 130 and the field of view angle of the second obstacle avoidance detector 140 have an overlapping area, and the overlapping area is roughly in front of and above the extension part 120. Since the mobile robot 100 as a whole is moving roughly forward, the first obstacle avoidance detector 130 and the second obstacle avoidance detector 140 have an overlapping area in the front, which enables the first obstacle avoidance detector 130 and the second obstacle avoidance detector 140 to detect obstacles during the forward movement of the mobile robot 100 as a whole. With the joint cooperation of the first obstacle avoidance detector 130 and the second obstacle avoidance detector 140, the detection accuracy can be improved.

[0238] Since the second optical axis 142 is approximately the center of the entire second detection area 141 , the direction of the second optical axis 142 can reflect the orientation of the entire second detection area 141 and the relative positional relationship between the second detection area 141 and the operating area of the extension 120 .

[0239] Because the extension 120 protrudes from the mobile body 110 in operation, and the second obstacle avoidance detector 140 is mounted on the mobile body 110, there is a certain height difference between the second obstacle avoidance detector 140 and the extension 120, and a certain distance between the second obstacle avoidance detector 140 and the extension 120. While maintaining a constant distance between the second obstacle avoidance detector 140 and the extension 120, to be able to detect the area above and in front of the extension 120, the taller the extension 120, the larger the angle between the second obstacle avoidance detector 140 and the horizontal direction. The shorter the extension 120, the smaller the angle between the second obstacle avoidance detector 140 and the horizontal direction.

[0240] Similarly, when the height of the extension portion 120 remains unchanged, in order to be able to detect the area above and in front of the extension portion 120, the smaller the distance between the second obstacle avoidance detector 140 and the extension portion 120, the larger the angle between the second obstacle avoidance detector 140 and the horizontal direction, and the larger the distance between the second obstacle avoidance detector 140 and the extension portion 120, the smaller the angle between the second obstacle avoidance detector 140 and the horizontal direction.

[0241] It can be seen that the angle between the second optical axis 142 and the horizontal direction is related to both the height of the extension portion 120 and the distance between the second obstacle avoidance detector 140 and the extension portion 120. The angle of the second optical axis 142 can be set by comprehensively considering the height of the extension portion 120 and the distance between the second obstacle avoidance detector 140 and the extension portion 120.

[0242] Specifically, in some embodiments, along the forward direction of the moving body 110 (the direction indicated by the arrow X in each figure), the angle between the second optical axis 142 and the horizontal direction can be 60 degrees to 90 degrees. The second obstacle avoidance detector 140 is disposed in front of the extension portion 120 and the distance between them is relatively close, then the angle between the second optical axis 142 and the horizontal direction can be set relatively large.

[0243] Under the condition that other conditions (the height of the extension portion 120, the distance between the second obstacle avoidance detector 140 and the extension portion 120) remain unchanged, the angle between the second optical axis 142 and the horizontal direction determines the size of the upper region or the front and rear regions of the extension portion 120 detected by the second detection region 141.

[0244] Within the range of 0 to 45 degrees, the smaller the angle between the second optical axis 142 and the horizontal direction, the more the component of the second detection region 141 in the horizontal direction and the less the component in the vertical direction. In this case, the more the component of the second detection region 141 in the horizontal direction, it means that there are more detection regions along the horizontal direction (the detection distance in front of the extension portion 120 is larger), and there are fewer detection regions above the extension portion 120.

[0245] Within the range of 45 to 90 degrees, the larger the angle between the second optical axis 142 and the horizontal direction, the less the component of the second detection region 141 in the horizontal direction and the more the component in the vertical direction. In this case, the less the component of the second detection region 141 in the horizontal direction, it means that there are fewer detection regions along the horizontal direction (less detection in front of the extension portion 120), and there are more detection regions above the extension portion 120.

[0246] Since the distance between the second obstacle avoidance detector 140 and the extension portion 120 is very close, in order to enable the second obstacle avoidance detector 140 to detect the region above the extension portion 120, the second optical axis 142 needs to be set as upward as possible, and the angle with the horizontal direction needs to approach 90 degrees, that is, the second optical axis 142 needs to approach the vertical direction. Such a setting can make the second detection region 141 be set as upward as possible, and thus can detect the region above the extension portion 120.

[0247] Furthermore, since the mobile robot 100 primarily travels on the ground, its entire height is relatively low, making obstacles more likely to appear in front of and above the extension 120. The second optical axis 142 forms a large angle with the horizontal, allowing the entire second detection area 141 to be positioned close to the vertical. This allows the second obstacle avoidance detector 140 to detect higher locations (rather than ground-level detection), thereby improving the extension 120's obstacle avoidance capabilities.

[0248] The angle between the second optical axis 142 and the horizontal direction can be 60 degrees to 90 degrees, so that the second detection area 142 can detect the area above the extension 120 while also taking into account the area in front of the second extension 120, thereby improving the obstacle avoidance capability of the extension 120. Specifically, the angle between the second optical axis 142 and the horizontal direction can be 65 degrees, 70 degrees, 75 degrees, 80 degrees, 85 degrees, etc.

[0249] In some embodiments, the field of view of the second obstacle avoidance detector 140 has a third edge 141c and a fourth edge 141d in the vertical direction, the third edge 141c is located below the fourth edge 141d, and the angle between the third edge 141c and the horizontal direction is greater than or equal to 0 degrees.

[0250] The area between the third edge 141c and the fourth edge 141d is the vertical detection range of the second obstacle avoidance detector 140, i.e., the second vertical angle b2. The angle between the third edge 141c located below and the horizontal direction is greater than or equal to 0 degrees, which means that the third edge 141c is set horizontally or tilted upward. If the third edge 141c is tilted downward, part of the second vertical angle b2 will hit the mobile body 110, which will cause part of the second vertical angle b2 to be unable to detect the area ahead, resulting in a waste of the detection area of the second vertical angle b2.

[0251] In some embodiments, the angle between the third edge 141c and the horizontal direction is 50 degrees to 70 degrees. The third edge 141c is the lower limit of the entire second detection area 141. Because the distance between the second obstacle avoidance detector 140 and the extension 120 is relatively close, and the second vertical angle b2 is relatively small, in order to detect the area above the extension 120, the angle between the third edge 141c and the horizontal direction cannot be too small. If the angle is too small, the second detection area 141 will not be able to detect the area above the extension 120. The angle between the third edge 141c and the horizontal direction is 50 degrees to 70 degrees. This allows the second obstacle avoidance detector 140 to detect the area above the extension 120 while detecting the area in front of the extension 120, thereby improving the obstacle avoidance capability of the extension 120.

[0252] Specifically, the included angle between the third edge 141c and the horizontal direction can be 53 degrees, 56 degrees, 60 degrees, 63 degrees, 68 degrees, etc. In some embodiments, the included angle between the fourth edge 141d and the horizontal direction is less than or equal to 180 degrees.

[0253] The fourth edge 141d is the upper limit of the second detection area 141. The included angle between the fourth edge 141d and the horizontal direction being less than or equal to 180 degrees means that the fourth edge 141d is vertically arranged, or is inclined upward or inclined backward. Since the second obstacle avoidance detector 140 is arranged in front of the extension part 120, the second detection area 141 can also detect the area behind the extension part 120 when the fourth edge 141d is inclined backward, enabling the second obstacle avoidance detector 140 to detect the areas in front of, above, and behind the extension part 120, thereby improving the utilization rate of the first obstacle avoidance detector 130 and reducing the waste of the detection area 131 of the first obstacle avoidance detector 30.

[0254] The included angle between the third edge 141c and the horizontal direction is greater than or equal to 0 degrees, and the included angle between the fourth edge 141d and the horizontal direction is less than or equal to 180 degrees. This makes the detection area of the second vertical angle b2 of the second obstacle avoidance sensor be set to be approximately horizontal or inclined, and it can detect the areas directly in front of, above the front, side in front of, and behind the extension part 120, thereby improving the utilization rate of the detection area 141 of the second obstacle avoidance detector.

[0255] In some embodiments, the included angle between the fourth edge 141d and the horizontal direction is 90 degrees to 110 degrees.

[0256] Since the fourth edge 141d is the upper limit of the second detection area 141, and obstacles are most likely to appear in front of and above the extension part 120, the included angle between the fourth edge 141d and the horizontal direction being 90 degrees to 110 degrees enables the second obstacle avoidance detector 140 to mainly detect the areas in front of and above the extension part 120, thereby improving the utilization rate of the first obstacle avoidance detector 130 and reducing the waste of the detection area 131 of the first obstacle avoidance detector 30.

[0257] Specifically, the included angle between the fourth edge 141d and the horizontal direction can be 95 degrees, 98 degrees, 100 degrees, 105 degrees, 108 degrees.

[0258] In some embodiments, the second obstacle avoidance detector 140 can rotate relative to the extension portion 120 under the drive of the bracket 162. The included angle relationship between the third edge 141c and the horizontal direction can refer to the included angle between the second obstacle avoidance detector 140 and the horizontal direction in the second position. It can also be the included angle between the third edge 141c and the horizontal direction in the first position, the second position, or any position between the first position and the second position. The included angle relationship between the fourth edge 141d and the horizontal direction can refer to the included angle between the second obstacle avoidance detector 140 and the horizontal direction in the second position. It can also be the included angle between the fourth edge 141d and the horizontal direction in the first position, the second position, or any position between the first position and the second position. In some embodiments, along the operation direction of the extension portion 120, the projection of the second detection area 141 in the first set plane covers the projection of the operation area of the extension portion 120 in the first set plane, where the first set plane is perpendicular to the operation direction and the extension portion 120 is located between the second obstacle avoidance sensor 140 and the first set plane.

[0259] It should be noted that the first set plane is a virtual plane, not the physical plane of the entire mobile robot 100. The first set plane is located on the side of the extension portion 120 away from the second obstacle avoidance sensor 140. The projection of the second detection area 141 in the first set plane covering the projection of the operation area of the extension portion 120 in the first set plane means that the second obstacle avoidance detector 140 can cover all areas in front of the extension portion 120 (directly in front, side in front, and above in front). The detection area 141 of the second obstacle avoidance detector can completely cover the extension portion 120, so that there is no detection blind area in front of the extension portion 120, reducing the risk of the extension portion 120 touching an obstacle.

[0260] Among them, if there are multiple second obstacle avoidance detectors 140, the projection of the second detection area 141 in the first set plane covering the projection of the operation area of the extension portion 120 in the first set plane means that the sum of the projections of the multiple second detection areas 141 in the first set plane covers the projection of the operation area of the extension portion 120 in the first set plane.

[0261] The foregoing introduced the installation positions and various parameters of the first obstacle avoidance detector 130 and the second obstacle avoidance detector 140. Different embodiments will be listed below in combination with the number, installation position, optical axis orientation, etc. of the second obstacle avoidance detector 140.

[0262] It should be noted that since at least one of the first obstacle avoidance detector 130 and the second obstacle avoidance detector 140 can rotate relative to the extension portion 120, the installation positions and optical axis orientations in the following multiple embodiments are those when fixed in the second position.

[0263] If both the first obstacle avoidance detector 130 and the second obstacle avoidance detector 140 can rotate relative to the extension part 120, the following embodiments refer to the embodiments when both the first obstacle avoidance detector 130 and the second obstacle avoidance detector 140 are in the second position. If only the first obstacle avoidance detector 130 or the second obstacle avoidance detector 140 can rotate relative to the extension part 120, the following listed embodiments all refer to different embodiments when the first obstacle avoidance detector 130 or the second obstacle avoidance detector 140 is in the second position.

[0264] In some embodiments, only one second obstacle avoidance detector 140 may be provided. When only one second obstacle avoidance detector 140 is provided, the second obstacle avoidance detector 140 may be provided directly in front of the extension part 120 (as Figure 15 , Figure 16 and Figure 17 shown), and the optical axis of the second obstacle avoidance detector 140 is arranged along the operation direction of the extension part 120. For the convenience of description, the optical axis of the second obstacle avoidance detector 140 is defined as the second optical axis 142.

[0265] Since there is only one second obstacle avoidance detector 140, arranging the second obstacle avoidance detector 140 directly in front of the extension part 120 can enable the second detection area 141 to cover as much as possible the surrounding areas on the left front and right front of the extension part 120, and can improve the obstacle avoidance ability of the extension part 120.

[0266] As Figure 19 , Figure 20 and Figure 21 shown, in some other embodiments, there are multiple second obstacle avoidance detectors 140, and the multiple second obstacle avoidance detectors 140 are arranged in a staggered manner.

[0267] Since the field of view angle of the second obstacle avoidance detector 140 is small, multiple second obstacle avoidance detectors 140 can be provided in front of the extension part 120. Arranging the multiple second obstacle avoidance detectors 140 in a staggered manner means that the multiple second obstacle avoidance detectors 140 are arranged at different positions, so that the detection areas 141 of the multiple second obstacle avoidance detectors at least partially do not overlap, thereby increasing the detection range in front of the extension part 120 and improving the detection accuracy.

[0268] Among them, the detection areas 141 of the multiple second obstacle avoidance detectors may overlap or may not overlap. That is, the multiple second optical axes 142 may be along the same direction or may be along different directions. No specific limitation is required.

[0269] In some embodiments, multiple second obstacle avoidance detectors 140 are all installed on the mobile body 110.

[0270] In the operating state, the extension 120 is disposed on the mobile body 110. In the non-operating state, the extension 120 can be retracted into the mobile body 110. Multiple second obstacle avoidance detectors 140 can be mounted on the mobile body 110. The second obstacle avoidance detectors 140 do not move with the extension 120, making the extension 120 and the second obstacle avoidance detectors 140 independent of each other. This can reduce the impact of the extension 120 on the second obstacle avoidance detectors 140 during operation.

[0271] In some embodiments, the plurality of second obstacle avoidance detectors 140 are respectively located on different sides of the extension portion 120 (eg, Figure 19 、 Figure 20 and Figure 21 shown).

[0272] Multiple second obstacle avoidance detectors 140 can be set on different sides of the extension part 120. For example, when the number of second obstacle avoidance detectors 140 is two, the second obstacle avoidance detectors 140 can be respectively set on the left and right sides of the extension part 120. When there are three second obstacle avoidance detectors 140, one can be located on the left side of the extension part 120, one can be located on the right side of the extension part 120, and the other can be located on the front side of the extension part 120.

[0273] Multiple second obstacle avoidance detectors 140 are respectively located on different sides of the extension part 120 so that the second obstacle avoidance detectors 140 can detect different areas in front of the extension part 120, and can cover all areas in front of the extension part 120 as much as possible, avoiding detection blind spots, and thereby improving the detection accuracy around the extension part 120.

[0274] In some embodiments, the second optical axis 142 is parallel to the operating direction of the extension 120 .

[0275] When the second obstacle avoidance detector 140 is one (eg Figure 15 、 Figure 16 and Figure 17 As shown), the second obstacle avoidance detector 140 can be located directly in front of the extension part 120, and the second optical axis 142 can be set toward the operating direction of the extension part 120, so that the detection areas of the second obstacle avoidance detector 140 on the left and right sides of the extension part 120 are roughly the same, and the second detection area 141 can take into account the surrounding areas of the left front and right front of the extension part 120 as much as possible, thereby improving the obstacle avoidance capability of the extension part 120.

[0276] Of course, in addition to this, in the case where there are multiple second obstacle avoidance detectors 140 (such as Figure 11 、 Figure 12 and Figure 13) Multiple second optical axes 142 can all be arranged in the operating direction of the epitaxial portion 120, such that the second obstacle avoidance detector 140 can detect the area in front of the epitaxial portion 120. The multiple second optical axes 142 are parallel, but the detection areas 141 of two adjacent second detection areas 141 can partially overlap or not overlap.

[0277] The partial overlapping arrangement of the detection areas 141 of two adjacent second detection areas 141 enables two second obstacle avoidance detectors 140 to simultaneously detect a partial area in front of the epitaxial portion 120. Through the combined cooperation of the two second obstacle avoidance detectors 140, the obstacle avoidance ability of the area in front of the epitaxial portion 120 can be improved.

[0278] For example: When there are two second obstacle avoidance detectors 140 (such as Figure 11 、 Figure 12 and Figure 13 ), the two second obstacle avoidance detectors 140 are symmetrically arranged along the operating direction of the epitaxial portion 120. Since the viewing angles of the two second obstacle avoidance detectors 140 are the same, the overlapping area of the two second detection areas 141 is directly in front of the epitaxial portion 120. During the process of the epitaxial portion 120 moving forward following the moving body 110, the front is the most likely to touch an obstacle. The area directly in front is detected by the two second obstacle avoidance detectors 140 simultaneously, which can also improve the obstacle avoidance ability of the epitaxial portion 120.

[0279] Please refer to Figure 19 、 Figure 20 and Figure 21 . In some embodiments, the second optical axis 142 is arranged to be inclined towards the epitaxial portion 120.

[0280] When there are multiple second obstacle avoidance detectors 140, the multiple second optical axes 142 are all arranged to be inclined towards the epitaxial portion 120. That is, if the second obstacle avoidance detector 140 is arranged on the left side of the epitaxial portion 120, the optical axis is arranged to be inclined to the right. If the second obstacle avoidance detector 140 is arranged on the right side of the epitaxial portion 120, the optical axis is arranged to be inclined to the left.

[0281] The second obstacle avoidance detectors 140 are respectively arranged on the sides of the epitaxial portion 120, and the second optical axes 142 are arranged to be inclined towards the epitaxial portion 120, enabling the second optical axes 142 to be arranged towards the epitaxial portion 120 and detect the area in front of the epitaxial portion 120. The multiple second optical axes 142 are all arranged to be inclined towards the epitaxial portion 120, enabling the detection areas 164 of the multiple obstacle avoidance detectors to overlap in front of the epitaxial portion 120. Furthermore, all the multiple second obstacle avoidance detectors 140 can detect the area directly in front of the epitaxial portion 120. In the case where one of the second obstacle avoidance detectors 140 fails, the other second obstacle avoidance detectors 140 can still operate, improving the overall obstacle avoidance effect.

[0282] In addition, because the second optical axis 142 is tilted relative to the extension portion 120, the detection area 141 of the second obstacle avoidance detector can pass through both sides of the extension portion 120. For example, if the second obstacle avoidance detector 140 is set on the left side of the extension portion 120, the detection area 141 of the second obstacle avoidance detector can extend from the left side of the second obstacle avoidance detector 140 to the right side of the extension portion 120 due to the tilted optical axis. Similarly, if the second obstacle avoidance detector 140 is set on the right side of the extension portion 120, the detection area 141 of the second obstacle avoidance detector can extend from the right side of the second obstacle avoidance detector 140 to the left side of the extension portion 120 due to the tilted optical axis.

[0283] With this arrangement, with the cooperation of multiple second obstacle avoidance detectors 140, the area in front of the side of the extension part 120 (the left front and the right front) can be detected, and the multiple second detection areas 141 can be increased, thereby increasing the detection range of the multiple second obstacle avoidance detectors 140 on the extension part 120, thereby improving the obstacle avoidance capability of the extension part 120 during operation.

[0284] In some embodiments, the inclination angle C of the second optical axis 142 toward the extension portion 120 is in a range of 0 degrees to 45 degrees.

[0285] The tilt angle C refers to the tilt angle of the optical axis relative to the forward direction of the mobile body 110. Since the second obstacle avoidance detector's detection area 141 is fixed, the second optical axis 142 is tilted toward the extension 120, resulting in the second obstacle avoidance detector's detection area 141 having components both in the forward direction and in a direction perpendicular to the forward direction. A smaller tilt angle of the second optical axis 142 toward the extension 120 indicates a longer detection range of the second obstacle avoidance detector 140 in the direction of operation of the extension 120. A larger tilt angle of the second optical axis 142 toward the extension 120 indicates a shorter detection range of the second obstacle avoidance detector 140 in the direction of operation of the extension 120.

[0286] If the detection distance of the second obstacle avoidance detector 140 in the operating direction of the extension part 120 is shorter, the obstacle avoidance time of the extension part 120 will be shorter, and it is easy to have no time to avoid obstacles. The inclination angle of the second obstacle avoidance detector 140 is between 0 degrees and 45 degrees, so that the detection length in the forward direction can be longer, so that the main detection area of the second obstacle avoidance detector 140 is in front of the extension part 120, which can ensure the detection distance of the second obstacle avoidance detector 140 in front of the extension part 120, and thus increase the obstacle avoidance time of the extension part 120, and avoid touching obstacles as much as possible.

[0287] In some other embodiments, the second optical axis 142 is perpendicular to the operating direction of the extension portion 120, such as Figure 22 、 Figure 23 andFigure 24 as shown

[0288] The operation direction can be set along the horizontal direction. In this case, the second optical axis 142 can be set vertically, so that the second obstacle avoidance detector 140 mainly detects the space above the extension part 120. The number of the second obstacle avoidance detectors 140 can be set to be multiple, and the multiple second obstacle avoidance detectors 140 are respectively arranged at different positions of the extension part 120, and can detect different areas of the extension part 120.

[0289] During the forward movement of the moving body 110, it is mainly easy to touch obstacles in front of or above the mobile robot 100. The upward setting of the second obstacle avoidance detector 140 enables the second obstacle avoidance detector 140 to detect the areas in front of and above the extension part 120, so that the extension part 129 can avoid obstacles and reduce the risk of touching.

[0290] Please refer to Figures 25 - 30 , in some embodiments, when there are two second obstacle avoidance detectors 140, one of the second obstacle avoidance detectors 140 is installed on the moving body 110, and the other second obstacle avoidance detector 140 is installed on the extension part 120.

[0291] Since the second obstacle avoidance detectors 140 are all arranged in front of the extension part 120, the second obstacle avoidance detectors 140 can be arranged on the moving body 110 or on the extension part 120, and both can detect the front area of the extension part 120. When the second obstacle avoidance detectors 140 are arranged on the extension part 120, the second obstacle avoidance detectors 140 can be arranged at different positions of the extension part 120. Specifically, the setting method of the optical axis when the second obstacle avoidance detectors 140 are located at different positions of the extension part 120 will be introduced below.

[0292] Please refer to Figure 25 , Figure 26 and Figure 27 , in some embodiments, the extension part 120 includes an installation section 121, a connection section 123 and an operation section 124. The connection section 123 connects the installation section 121 and the operation section 124 respectively. The installation section 121 is installed on the moving body 110. Along the operation direction of the extension part 120, the operation section 124 is located in front of the installation section 121, and the second obstacle avoidance detector 140 is installed on the installation section 121. The second optical axis 142 installed on the moving body 110 is inclined upward, and the second optical axis 142 installed on the installation section 121 is horizontal.

[0293] The operating direction refers to the extending direction of the connecting section 123, that is, the operating direction can be considered to be the direction from the mounting section 121 toward the operating section 124. Since the mounting section 121, the connecting section 123, and the operating section 124 can be fixedly connected or movably connected, and since the operating direction can be fixed or not fixed, the operating direction can be horizontal, inclined at a certain angle to the horizontal plane, or any other direction.

[0294] In some embodiments, the extension 120 can be stored inside the mobile body 110, and the second obstacle avoidance detector 140 is installed on the installation section 121. It can also detect whether the extension 120 encounters an obstacle during the process of being taken out of the warehouse or stored. No additional sensors are required to detect the process of the extension 120 being stored or taken out of the warehouse.

[0295] The operating section 124 is connected to the top of the connecting section 123, so that the area below the installation section 121 is not blocked by the operating section 124. The second obstacle avoidance detector 140 can be set below the installation section 121, which can prevent the detection area 141 of the second obstacle avoidance detector from being blocked by the operating section 124.

[0296] The second optical axis 142 mounted on the mobile body 110 is tilted upward so that the second obstacle avoidance detector 140 can primarily detect the area in front of the extension 120. The second optical axis 142 mounted on the mounting section 121 is horizontally positioned so that the second obstacle avoidance detector 140 can detect the area directly in front of the extension 120. This can minimize the occurrence of blind spots in front of the extension 120.

[0297] For example, the extension 120 is a robotic arm. The operating section 124 is located at the outermost portion of the entire extension 120. The operating section 124 is the working position of the entire robotic arm. The entire operating section 124 can be the working position (the entire cleaning section can be provided), or only the section of the operating section 124 away from the connecting section 123 can be the working position (the robotic claw can be provided). The mounting section 121 and the connecting section 123 are the connecting arms of the robotic arm, respectively. There can be a certain degree of freedom between the mounting section 121 and the connecting section 123. The second obstacle avoidance detector 140 can be provided below the mounting section 121 to prevent the detection area 141 of the second obstacle avoidance detector from being blocked by the working position of the operating section 124, thereby maximizing the utilization of the second detection area 141.

[0298] See also Figure 28 、 Figure 29 and Figure 30, in some other embodiments, the extension part 120 includes a mounting section 121, a connecting section 123, and an operating section 124. The connecting section 123 connects the mounting section 121 and the operating section 124 respectively. The mounting section 121 is mounted on the moving body 110. Along the operating direction of the extension part 120, the operating section 124 is located in front of the mounting section 121, and the second obstacle avoidance detector 140 is mounted on the operating section 124. The second optical axis 142 mounted on the moving body 110 is inclined upward, and the second optical axis 142 mounted on the operating section 124 is inclined downward.

[0299] Since the operating section 124 is arranged in front of the mounting section 121, mounting the second obstacle avoidance detector 140 on the operating section 124 can reduce the situation where the detection area 141 of the second obstacle avoidance detector is blocked by the operating section 124. Since the operating section 124 is located above the mounting section 121, the second obstacle avoidance detector 140 can be inclined downward to detect the area directly in front of the operating section 124.

[0300] Taking the extension part 120 as a robotic arm as an example: Among them, the operating section 124 is the working position of the entire robotic arm. It can be that the entire operating section 124 is the working position (it can be that the entire cleaning part is arranged), or it can be only a section of the operating section 124 away from the connecting section 123 that is the working position (it can be that a robotic claw is arranged). The mounting section 121 and the connecting section 123 are respectively the connecting arms of the robotic arm. There can be a certain degree of freedom between the mounting section 121 and the connecting section 123. The second obstacle avoidance detector 140 can be inclined downward to detect the area directly in front of the operating section 124.

[0301] During the forward movement of the moving body 110, it is mainly in front of or above the mobile robot 100 that it is easy to touch an obstacle. The upward setting of the second obstacle avoidance detector 140 enables the second obstacle avoidance detector 140 to detect the area in front of and above the extension part 120, so that the extension part 129 can avoid obstacles and reduce the risk of touch.

[0302] Based on the same inventive concept, the embodiment of the present application also provides a robot system. The robot system provided by the embodiment of the present application includes a base station and the above-mentioned mobile robot 100.

[0303] In the description of this specification, the descriptions referring to terms such as "one embodiment", "some embodiments", "examples", "specific examples", or "some examples", etc. mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of this application. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples. In addition, those skilled in the art can combine and combine the different embodiments or examples described in this specification.

[0304] In addition, the technical solutions between various embodiments can be combined with each other, but it must be based on the ability of those of ordinary skill in the art to implement. When the combination of technical solutions appears to be contradictory or unable to be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0305] Although the embodiments of this application have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principle and spirit of this application. The scope of this application is defined by the claims and their equivalents.

Claims

1. A mobile robot, characterized in that: include: A mobile body and an extension portion provided on the mobile body; An obstacle avoidance detection component is movably mounted on the mobile body and is capable of adjusting a detection area of the obstacle avoidance detection component.

2. The mobile robot according to claim 1, characterized in that The mobile body has a mounting slot, and the obstacle avoidance detection component can be mounted in the mounting slot.

3. The mobile robot according to claim 2, characterized in that: When the obstacle avoidance detection component is located outside the installation groove, the obstacle avoidance detection component can detect the peripheral environment of the extension portion.

4. The mobile robot according to claim 3, characterized in that: When the obstacle avoidance detection component is located outside the mounting groove, the detection area of the obstacle avoidance detection component at least partially overlaps with at least partially the extension portion.

5. The mobile robot according to claim 2, characterized in that: When the obstacle avoidance detection component is located outside the installation slot, the obstacle avoidance detection component can detect the peripheral environment of the mobile body.

6. The mobile robot according to claim 2, characterized in that: The obstacle avoidance detection assembly includes a lifting member, a bracket and an obstacle avoidance detector installed on the bracket. The lifting member is connected to the bracket and can drive the bracket to be accommodated in the installation slot or extend out of the installation slot.

7. The mobile robot according to claim 1, characterized in that: The obstacle avoidance detection assembly includes a flip member, a bracket, and an obstacle avoidance detector installed on the bracket. The flip member is transmission-connected to the bracket and can drive the bracket to rotate relative to the mobile body.

8. The mobile robot according to claim 7, characterized in that: The flip member can drive the obstacle avoidance detector to rotate in a non-horizontal plane through the bracket.

9. The mobile robot according to claim 7, characterized in that: The bracket can drive the obstacle avoidance detector to rotate between a first position and a second position.

10. A robot system, characterized in that: It comprises a base station and the mobile robot according to any one of claims 1 to 9.

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