Detection module, mobile robot and control method of mobile robot

Abstract

The invention discloses a detection module, a mobile robot and a control method of the mobile robot, and belongs to the technical field of electrical equipment. The detection module comprises a transmitter and a receiver, the transmitter is used for transmitting a detection signal, and the detection signal is provided with a detection area; the receiver is used for receiving the detection signal reflected by the obstacle, and the receiver is provided with a receiving area; wherein the emitter and the receiver are arranged at an interval, and an included angle is formed between the central axis of the detection area and the central axis of the receiving area, so that the precision of obstacle measurement can be improved, and the obstacle avoidance capability of the mobile robot can be further improved.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of electrical equipment, and particularly relates to a detection module, a mobile robot and a control method of the mobile robot. BACKGROUND

[0002] In recent years, intelligent mobile robot technology is increasingly mature, and has been widely applied to commercial, household and industrial fields. Taking meal delivery robots, sweeping robots and delivery robots as examples, they realize automatic operation in a preset environment through autonomous navigation and obstacle avoidance technology. These types of robots involve the functional requirements of map construction, navigation and active obstacle avoidance, so that the robot can accurately travel according to the set path in the environment and avoid obstacles such as shoes, chairs, pets and walls in the complex environment.

[0003] The mapping and obstacle avoidance functions of the mobile robot in the related art need to be further improved. SUMMARY

[0004] The present application aims to at least solve the technical problem of poor mapping and obstacle avoidance capability to some extent. To this end, the present application provides a detection module, a mobile robot and a control method of the mobile robot.

[0005] In a first aspect, the present application provides a detection module, comprising: a transmitter configured to emit a detection signal, the detection signal having a detection area; a receiver configured to receive the detection signal reflected by an obstacle, the receiver having a receiving area; wherein the transmitter and the receiver are arranged at intervals, and a central axis of the detection area and a central axis of the receiving area are arranged at an angle.

[0006] The central axis of the detection area and the central axis of the receiving area are arranged at an angle, so that after the detection signal emitted by the transmitter is reflected by the obstacle and received by the receiver, a certain offset will occur at the position of the receiver. After obtaining the offset, the distance between the detection module and the obstacle (first measured distance) is calculated using the principle of triangulation. The distance between the obstacle and the transmitter (second measured distance) is calculated according to the flight time of the detection signal. One of the first measured distance and the second measured distance can be taken as the actual distance between the transmitter and the obstacle according to the distance between the transmitter and the obstacle, and thus a more accurate distance between the mobile robot and the obstacle can be obtained, thereby improving the accuracy of obstacle measurement and the accuracy of mapping of the mobile robot and the obstacle avoidance capability of the mobile robot.

[0007] In an optional embodiment of the present application, the transmitter is a laser sensor, and the receiver comprises a time-of-flight sensor.

[0008] In optional embodiments of the present application, the detection module is configured to determine a first measured distance between the transmitter and the obstacle based on the position information of the receiver. The detection module is configured to determine a second measured distance between the transmitter and the obstacle based on the time of flight of the detection signal. The detection module is configured to determine an actual distance between the mobile robot and the obstacle based on the first measured distance and the second measured distance.

[0009] In optional embodiments of the present application, along the central axis of the detection area, the detection area forms a projection area in the plane where the emitting surface of the transmitter is located, and the central axis of the receiving area is arranged apart from the projection area.

[0010] In optional embodiments of the present application, the distance between the central axis of the receiving area and the projection area is a baseline distance, and the baseline distance is 5mm-50mm.

[0011] In optional embodiments of the present application, the transmitter is a point laser, a line laser, or a surface laser.

[0012] In optional embodiments of the present application, the receiver includes a time-of-flight sensor.

[0013] In optional embodiments of the present application, the transmitter includes a plurality of transmitters, and the detection area of any two transmitters is different, and the central axis of each detection area is arranged at an angle with the central axis of the receiving area.

[0014] In optional embodiments of the present application, the detection module further includes a base, and the transmitter and the receiver are mounted on the base.

[0015] In optional embodiments of the present application, along the direction of the central axis of the detection area, the detection area forms a second projection on the base, and the receiver is arranged apart from the second projection.

[0016] In a second aspect, embodiments of the present application provide a mobile robot, which includes a device body and the detection module of the first aspect, and the detection module is mounted on the device body.

[0017] The mobile robot provided in the second aspect has the same beneficial effects as the detection module provided in the first aspect, which will not be repeated here.

[0018] In optional embodiments of the present application, the device body has a top surface, a bottom surface, and an outer peripheral surface located between the top surface and the bottom surface, and the detection module is arranged on the outer peripheral surface.

[0019] In an optional embodiment of the present application, the transmitter comprises a first transmitter, a second transmitter and a third transmitter, the first transmitter is configured to transmit a first probe signal, the second transmitter is configured to transmit a second probe signal, and the third transmitter is configured to transmit a third probe signal, the first probe signal is above the second probe signal, and the second probe signal is above the third probe signal.

[0020] In a third aspect, the embodiments of the present application further provide a robot system, comprising a base station and the mobile robot of the second aspect, and the mobile robot is capable of docking with the base station.

[0021] The mobile robot provided in the third aspect has the same beneficial effects as the probe module provided in the first aspect and the mobile robot provided in the second aspect, and thus repeated description is omitted here.

[0022] In a fourth aspect, the embodiments of the present application provide a control method of a mobile robot, applied to the mobile robot of the second aspect, and the method comprises the following steps. determining a first measured distance between the mobile robot and the obstacle based on the time of flight of the probe signal; determining a second measured distance between the mobile robot and the obstacle based on the position information of the probe signal at the receiver; determining an actual distance between the mobile robot and the obstacle based on the first measured distance and the second measured distance.

[0023] In an optional embodiment of the present application, determining the actual distance between the mobile robot and the obstacle based on the first measured distance and the second measured distance comprises the following steps. if the first measured distance is less than or equal to a set distance, determining the second measured distance as the actual distance.

[0024] if the first measured distance is greater than the set distance, determining the first measured distance as the actual distance.

[0025] In a fifth aspect, the embodiments of the present application provide a control device of a mobile robot, applied to the mobile robot of the second aspect, and the device comprises the following components. a first determiner configured to determine a first measured distance between the transmitter and the obstacle based on the position information of the probe signal at the receiver; a second determiner configured to determine a second measured distance between the transmitter and the obstacle based on the time of flight of the probe signal; a third determiner configured to determine an actual distance between the mobile robot and the obstacle based on the first measured distance and the second measured distance.

[0026] The control device of the mobile robot provided in the fifth aspect has the same beneficial effects as the control method of the mobile robot provided in the fourth aspect, and thus repeated description is omitted here.

[0027] In an optional embodiment of the present application, the third determiner is configured to determine the actual distance between the mobile robot and the obstacle based on the first measured distance and the second measured distance, and specifically configured to: If the second measured distance is less than or equal to a set distance, the first measured distance is determined as the actual distance.

[0028] If the second measured distance is greater than a set distance, the second measured distance is determined as the actual distance.

[0029] In the sixth aspect, the embodiments of the present application provide a computer storage medium, the computer readable storage medium stores program codes, the program codes are loaded and executed by a processor to implement the method of the first aspect.

[0030] The computer storage medium provided in the sixth aspect has the same beneficial effects as the control method of the mobile robot provided in the fourth aspect, and thus repeated description is omitted here.

[0031] In the seventh aspect, the embodiments of the present application provide a computer program product, the computer program product includes computer instructions stored in a computer readable storage medium and adapted to be read and executed by a processor to enable a computer device having the processor to execute the method of the fourth aspect.

[0032] The computer program product provided in the seventh aspect has the same beneficial effects as the control method of the mobile robot provided in the fourth aspect, and thus repeated description is omitted here.

[0033] In the eighth aspect, the embodiments of the present application provide an electronic device, including: a memory configured to store a computer program; a processor configured to execute the computer program stored in the memory to implement the method of the third aspect.

[0034] The electronic device provided in the eighth aspect has the same beneficial effects as the control method of the mobile robot provided in the fourth aspect, and thus repeated description is omitted here. BRIEF DESCRIPTION OF DRAWINGS

[0035] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments will be briefly introduced. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can be obtained by those skilled in the art without any creative effort.

[0036] Figure 1 A structural schematic diagram of a first perspective of a mobile robot provided by an embodiment of the present application is shown; Figure 2 A structural schematic diagram of a second perspective of a mobile robot provided by an embodiment of the present application is shown; Figure 3 A structural schematic diagram of a third perspective of a mobile robot provided by an embodiment of the present application is shown; Figure 4 A structural schematic diagram of a detection module is shown; Figure 5 A structural schematic diagram of a detection module provided by some embodiments is shown; Figure 6 A structural schematic diagram of a detection module provided by some other embodiments is shown; Figure 7 A structural schematic diagram of a detection module provided by some other embodiments is shown; Figure 8 A schematic diagram of a first detection projection is shown; Figure 9 An angle between a first detection area and a plane where a top surface is located is shown; Figure 10 A schematic diagram of a first detection area provided by some other embodiments is shown; Figure 11 A schematic diagram of a second detection projection is shown; Figure 12 An angle between a second detection area and a plane where a top surface is located is shown; Figure 13 A schematic diagram of a second detection area provided by some other embodiments is shown; Figure 14 A schematic diagram of a third detection projection is shown; Figure 15 An angle between a third detection area and a plane where a top surface is located is shown; Figure 16 A schematic diagram of a third detection area provided by some other embodiments is shown; Figure 17 A structural schematic diagram of a receiving area, a first detection area, a second detection area and a third detection area of a receiver is shown; Figure 18 A schematic diagram of a detection area and a receiving area is shown; Figure 19A schematic diagram showing the flight path of the probe signal; Figure 20 A schematic diagram showing the planar projection region and the optical axis of the receiving region; Figure 21 A schematic diagram showing the structure of the robot system provided by the embodiments of the present application; Figure 22 A flowchart showing the control method of the mobile robot; Figure 23 A flowchart showing the sub-steps of step S110; Figure 24 A flowchart showing the sub-steps of step S130; Figure 25 A flowchart showing the sub-steps of step S132; Figure 26 A block diagram showing the composition of the control device of the mobile robot; Figure 27 A block diagram showing the composition of the electronic device.

[0037] Reference signs: 100 - mobile robot, 110 - device body, 112 - top surface, 114 - bottom surface, 116 - outer peripheral surface; 120 - probe module, 122 - probe region, 1221 - central axis of the probe region, 122a - first probe region, 1222a - first probe projection, 1224a - first edge, 1226a - second edge, 1228a - first upper edge, 1229a - first lower edge, 122b - second probe region, 1222b - second probe projection, 1224b - third edge, 1226b - fourth edge, 1228b - second upper edge, 1229b - second lower edge, 122c - third probe region, 1222c - third probe projection, 1224c - fifth edge, 1226c - sixth edge, 1228c - third upper edge, 1229c - third lower edge, 1225 - emission surface, 1223 - planar projection region; 124 - emitter, 124a - first emitter, 124b - second emitter, 124c - third emitter, 128 - receiver; 129 - receiving region, 1291 - central axis of the receiving region, 1292 - receiving height projection, 1294 - receiving upper edge, 1296 - receiving lower edge; 140 - walking wheel assembly, 150 - guide wheel, 160 - support wheel; 200 - base station, 10 - robot system; 300 - control device of the mobile robot, 360 - first determiner, 370 - second determiner, 380 - third determiner; 800 - electronic device, 810 - processor, 820 - memory, 821 - random access memory, 822 - cache memory, 832 - read only memory, 824 - programs / utilities, 825 - program modules, 830 - bus, 840 - display unit, 850 - interface, 860 - network adapter; X - movement direction, Y - horizontal direction, Z - height direction. DETAILED DESCRIPTION

[0038] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0039] It should be noted that all directional indications in the embodiments of the present application are only used to explain the relative positional relationship, movement condition, etc. between components in a certain posture, and if the certain posture changes, the directional indications also change accordingly.

[0040] In the present application, unless otherwise explicitly specified and limited, the terms "connection", "fixation", etc. should be understood in a broad sense, for example, "fixation" can be fixed connection, or detachable connection, or integral; can be mechanical connection, or electrical connection; can be direct connection, or indirect connection through an intermediate medium; can be internal connection of two elements or interaction relationship between two elements, unless otherwise explicitly limited. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0041] In addition, the description such as "first", "second", etc. in the present application is only for the purpose of description, and cannot be understood as indicating or implying the relative importance of the indicated technical features or implicitly indicating the number of the indicated technical features. Therefore, the features limited by "first", "second" can explicitly or implicitly include at least one of the features. In addition, the technical solutions of each embodiment can be combined with each other, but it must be based on the fact that a person skilled in the art can realize it, when the combination of technical solutions appears contradictory or unachievable, it should be considered that the combination of technical solutions does not exist, nor within the scope of protection claimed by the present application.

[0042] In recent years, intelligent mobile robot technology is becoming mature, and has been widely used in commercial, household and industrial fields. For example, take the food delivery robot, the sweeping robot and the delivery robot, they realize the automatic operation in the preset environment through the autonomous navigation and obstacle avoidance technology. These types of robots involve the functional requirements of map building, navigation and active obstacle avoidance, so that the robot can accurately travel according to the set path in the environment and avoid obstacles such as shoes, chairs, pets and walls in the complex environment.

[0043] In the related art, a mobile robot needs a large number of sensors to obtain spatial environment data, and then to meet the needs of spatial map establishment and obstacle avoidance, so as to cause the poor obstacle avoidance ability and the poor accuracy of mapping of the mobile robot. The mobile robot, the robot system and the control method of the mobile robot provided in the embodiments of the present application can improve the above problems. The mobile robot and the robot system provided in the embodiments of the present application can improve the obstacle avoidance ability and the accuracy of mapping of the mobile robot.

[0044] The present application will be described below in conjunction with the drawings and specific embodiments: Figure 1 A structural schematic diagram of a first perspective of a mobile robot 100 provided in an embodiment of the present application is shown, Figure 2 A structural schematic diagram of a second perspective of the mobile robot 100 provided in the embodiment of the present application is shown, as Figure 1 And Figure 2 As shown in the drawings, the present application provides a mobile robot 100, the present application provides a mobile robot 100, and the mobile robot 100 provided in the embodiments of the present application can improve the obstacle avoidance ability and the accuracy of mapping (establishing the spatial map information around the device body 110) of the mobile robot 100.

[0045] Figure 3 A structural schematic diagram of a third perspective of the mobile robot 100 provided in the embodiment of the present application is shown, Figure 4 A structural schematic diagram of a detection module 120 is shown, as Figures 1-4 As shown in the drawings, the mobile robot 100 includes a device body 110 and a detection module 120. The device body 110 has a top surface 112, a bottom surface 114 and an outer peripheral surface 116 connecting the top surface 112 and the bottom surface 114. The detection module 120 is installed on the outer peripheral surface 116. The detection module 120 includes a receiver 128 and a plurality of transmitters 124. The receiver 128 is used to receive the detection signals sent by the plurality of transmitters 124. In the height direction Z of the device body 110, the directions of the detection signals emitted by any two transmitters 124 are different.

[0046] The mobile robot 100 further comprises a walking wheel assembly 140, which can be arranged on the bottom surface 114 of the device body 110 to guide the device body 110 to move on an operation surface. The walking wheel assembly 140 can be arranged in a central region of the device body 110. The mobile robot 100 can further comprise a guide wheel 150 and a support wheel 160, which are arranged in sequence along the moving direction X of the device body 110. The walking wheel assembly 140 is arranged between the guide wheel 150 and the support wheel 160. The guide wheel 150 can be a universal wheel.

[0047] In some embodiments, the device body 110 of the mobile robot 100 is substantially a columnar body, which has a height direction Z, a moving direction X and a horizontal direction Y. When the mobile robot 100 is in a working state, the height direction Z is a vertical direction, the moving direction X is a direction in which the device body 110 moves forward or backward, and the horizontal direction Y is perpendicular to the height direction Z and the moving direction X. For the convenience of description, the two ends of the height direction Z are defined as upper and lower, respectively. The top surface 112 and the bottom surface 114 are arranged at intervals along the height direction Z of the device body 110. The side on which the top surface 112 is arranged is defined as upper, and the side on which the top surface 112 is arranged is defined as lower, i.e., the top surface 112 is arranged above the bottom surface 114. The two ends of the moving direction X are defined as front and rear, respectively. The side on which the guide wheel 150 of the device body 110 is arranged is defined as front, and the side on which the support wheel 160 is arranged is defined as rear. The two ends of the horizontal direction Y are defined as left and right, respectively. Specifically, the left side in the direction from rear to front is defined as left, and the right side in the direction from rear to front is defined as right.

[0048] Along the height direction Z of the device body 110, the top surface 112 is arranged above the bottom surface 114. In the case where the walking wheel assembly 140 guides the device body 110 to move on an operation surface, the moving direction X is substantially parallel to the operation surface. In the case where the operation surface is parallel to a horizontal plane, the moving direction X is substantially a horizontal direction.

[0049] In some embodiments, the transmitter 124 is configured to send a probe signal, which is received by the receiver 128 after being reflected by an obstacle. The distance between the device body 110 and the obstacle can be calculated based on the time of flight of the probe signal. The probe signal has a certain detection region 122, which is the region covered by the probe signal, so that the probe signal can detect the obstacle in the detection region 122. The direction of the probe signal refers to the direction of the central axis of the probe signal. In the case where the transmitter 124 is a TOF sensor (Time of Flight), the central axis of the probe signal is the optical axis of the probe signal. In the case where the transmitter 124 is a laser sensor such as a line laser sensor or a plane laser sensor, the central axis of the probe signal is the center of symmetry of the line laser.

[0050] In some embodiments, the transmitter 124 includes a plurality of transmitters 124, and the directions of the detection signals emitted by the plurality of transmitters 124 are different, so that the detection module 120 can have a plurality of different detection areas 122 in the height direction Z of the device body 110, so that the detection signals emitted by the plurality of transmitters 124 can detect spatial information at different heights in the height direction Z of the device body 110, thereby improving the obstacle avoidance capability and the mapping accuracy of the mobile robot 100.

[0051] The detection module 120 further includes a receiver 128, which is configured to receive the detection signals emitted by the plurality of transmitters 124. The same receiver 128 can receive the detection signals emitted by different transmitters 124, so that the same receiver 128 can receive the detection signals of a plurality of different receivers 128, thereby reducing the number of receivers 128 and the cost of the detection module 120.

[0052] The detection module 120 includes the receiver 128 and the plurality of transmitters 124, so that the same detection module 120 can detect spatial information at different heights of the device body 110, has high integration, and can also reduce the occupied space on the device body 110, so that the entire mobile robot 100 can be arranged compactly.

[0053] In some embodiments, the detection module 120 is arranged on the front side of the device body 110 in the moving direction X of the device body 110. The detection module 120 can detect spatial information at different heights in front of the device body 110, i.e., the detection module 120 can detect spatial information at different heights such as the upper front, the directly above, and the lower front, thereby improving the obstacle avoidance capability and the mapping accuracy of the mobile robot 100 and reducing the risk of the mobile robot 100 colliding with obstacles during operation.

[0054] In some embodiments, the detection module 110 can be arranged on the outer circumferential surface 116, so that the detection module can detect spatial information above, in front of, and below the device body 110, thereby improving the obstacle avoidance capability and the mapping accuracy of the mobile robot 100. Figure 3 and Figure 4 As shown in FIGS. 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98, 99, and 100, in some embodiments, the plurality of transmitters 124 includes a first transmitter 124a, a second transmitter 124b, and a third transmitter 124c, the first transmitter 124a is configured to emit a first detection signal, the second transmitter 124b is configured to emit a second detection signal, and the third transmitter 124c is configured to emit a third detection signal, the first detection signal is located above the second detection signal, and the second detection signal is located above the third detection signal.

[0055] The multiple transmitters 124 can include three, namely a first transmitter 124a, a second transmitter 124b, and a third transmitter 124c. The first detection signal covers a first detection area 122a, the second detection signal covers a second detection area 122b, and the third detection signal covers a third detection area 122c. The first detection signal is above the second detection signal, and the first detection area 122a is above the second detection area 122b. The second detection signal is above the third detection signal, and the second detection area 122b is above the third detection area 122c.

[0056] The first detection signal is above the second detection signal, and the second detection signal is above the third detection signal. The three different detection areas 122 enable the detection module 120 to cover multiple different areas in the height direction Z of the device body 110, so that the detection signals emitted by the multiple transmitters 124 can detect spatial information at different heights in the height direction Z of the device body 110, thereby improving the obstacle avoidance capability and mapping accuracy of the mobile robot 100.

[0057] Figure 5 The structure of the detection module is shown in some embodiments, as shown in Figure 5 As for the arrangement of the multiple transmitters 124, in some embodiments, the second transmitter 124b and the third transmitter 124c are integrated on the same chip, and the first transmitter 124a is a point laser. That is, the first transmitter 124a can be a separate module, and the second transmitter 124b and the third transmitter 124c can be integrated on the same chip, which means that the second transmitter 124b and the third transmitter 124c are integrated, i.e., the second transmitter 124b and the third transmitter 124c are integrated in the same module. This arrangement can miniaturize the detection module 100 and reduce the occupied space of the detection module 120 on the device body 110.

[0058] Figure 6 The structure of the detection module is shown in some embodiments, as shown in Figure 6 Of course, in some other embodiments, the multiple transmitters 124 are integrated on the same chip, i.e., the first transmitter 124a, the second transmitter 124b, and the third transmitter 124c can be integrated on the same chip. Integrating the three transmitters 124 on the same chip enables the entire detection module 100 to be more concentrated, thereby miniaturizing the detection module 100 and reducing the occupied space of the detection module 120 on the device body 110.

[0059] In some other embodiments, the first emitter 124a, the second emitter 124b and the third emitter 124c can be three independent modules, i.e. the first emitter 124a, the second emitter 124b and the third emitter 124c can be arranged in intervals. The first emitter 124a, the second emitter 124b and the third emitter 124c as three independent modules can facilitate the maintenance and installation of the first emitter 124a, the second emitter 124b and the third emitter 124c.

[0060] As shown in Figure 6 regarding the interval arrangement, the first emitter 124a, the second emitter 124b and the third emitter 124c can be arranged in intervals along the horizontal direction Y of the device body 110. Specifically, the first emitter 124a, the second emitter 124b and the third emitter 124c can be arranged in sequence from left to right, i.e. the first emitter 124a is arranged at the leftmost side, the second emitter 124b is arranged at the middle, and the third emitter 124c is arranged at the rightmost side. Alternatively, the first emitter 124a can be arranged at the rightmost side, the second emitter 124b can be arranged at the middle, and the third emitter 124c can be arranged at the leftmost side. Of course, there are other arrangement manners, and the arrangement manner along the horizontal direction Y of the device body 110 can not be limited.

[0061] Figure 7 As shown in Figure 7 regarding the interval arrangement, the first emitter 124a, the second emitter 124b and the third emitter 124c can be arranged in intervals along the horizontal direction Y of the device body 110. Specifically, the first emitter 124a, the second emitter 124b and the third emitter 124c can be arranged in sequence from left to right, i.e. the first emitter 124a is arranged at the leftmost side, the second emitter 124b is arranged at the middle, and the third emitter 124c is arranged at the rightmost side. Alternatively, the first emitter 124a can be arranged at the rightmost side, the second emitter 124b can be arranged at the middle, and the third emitter 124c can be arranged at the leftmost side. Of course, there are other arrangement manners, and the arrangement manner along the horizontal direction Y of the device body 110 can not be limited. Figures 8-16 The detailed receiving is the specific coverage range of the three different detection signals (detection areas 122).

[0062] Figure 8 As shown in Figure 8 regarding the interval arrangement, the first emitter 124a, the second emitter 124b and the third emitter 124c can be arranged in intervals along the horizontal direction Y of the device body 110. Specifically, the first emitter 124a, the second emitter 124b and the third emitter 124c can be arranged in sequence from left to right, i.e. the first emitter 124a is arranged at the leftmost side, the second emitter 124b is arranged at the middle, and the third emitter 124c is arranged at the rightmost side. Alternatively, the first emitter 124a can be arranged at the rightmost side, the second emitter 124b can be arranged at the middle, and the third emitter 124c can be arranged at the leftmost side. Of course, there are other arrangement manners, and the arrangement manner along the horizontal direction Y of the device body 110 can not be limited.

[0063] The first detection signal (the first detection area 122a) is arranged towards the plane 112a where the top surface 112 is located, and the top surface 112 is located above the device body 110. The first detection signal (the first detection area 122a) is arranged towards the plane 112a where the top surface 112 is located, i.e. the first detection area 122a is arranged upwards, and the first detection area 122a is mainly used for detecting the area above and in front of the device body 110.

[0064] In some embodiments, the first probe signal has a first probe region 122a, along the height direction Z of the device body 110, the first probe region 122a forms a first projection region in the plane 112a where the top surface 112 is located; along the lateral direction Y of the device body 110, the first projection region has a first edge 1224a and a second edge 1226a, the included angle (as shown in Figure 8 β1) between the first edge 1224a and the second edge 1226a is 1°~150°.

[0065] In the case where the operation surface is parallel to the horizontal plane, the plane 112a where the top surface 112 is located is also approximately parallel to the horizontal plane, along the height direction Z of the device body 110, the projection of the first probe region 122a in the plane 112a where the top surface 112 is located can be considered as the projection of the first probe region 122a in the horizontal plane, the projection of the first probe projection 1222a in the plane 112a where the top surface 112 is located can be a triangle or an arc, the first edge 1224a and the second edge 1226a are two boundaries of the first probe projection 1222a in the lateral direction Y, and the included angle (as shown in Figure 8 β1) between the first edge 1224a and the second edge 1226a represents the area that the first probe region 122a can cover in the lateral direction Y.

[0066] Specifically, the included angle (as shown in Figure 8 β1) between the first edge 1224a and the second edge 1226a is 1°~150°, for the convenience of description, the included angle between the first edge 1224a and the second edge 1226a is defined as the first lateral included angle (as shown in Figure 8 β1), that is, the first lateral included angle is 1°~150°, and the first lateral included angle can be any angle in 1°~150°, that is, the first lateral included angle can be 1°, 20°, 35°, 50°, 80°, 100°, 120°, 150°, etc. In the case where the first emitter 124a is a point laser, the first lateral included angle can be 1° or other smaller angles. In the case where the first emitter 124a is a line laser or a TOF sensor, the first lateral included angle can be any angle in 1°~150°.

[0067] In some embodiments, the first lateral included angle (as shown in Figure 8The first horizontal angle (as shown by β1) can be a fixed angle, i.e., the first detection projection 1222a is a fixed projection, and the position of the first edge 1224a and the second edge 1226a relative to the device body 110 does not change. Of course, in other embodiments, the first horizontal angle can also be a variable angle, i.e., the first detection projection 1222a can be a variable area, and the first detection projection 1222a can rotate relative to the device body 110, and in this process, the first edge 1224a is the leftmost boundary of the first detection projection 1222a, and the second edge 1226a is the rightmost boundary of the first detection projection 1222a. During the rotation process, the first horizontal angle refers to the maximum angle between the first edge 1224a and the second edge 1226a.

[0068] The first horizontal angle (as shown by β1) can be a fixed angle, i.e., the first detection projection 1222a is a fixed projection, and the position of the first edge 1224a and the second edge 1226a relative to the device body 110 does not change. Of course, in other embodiments, the first horizontal angle can also be a variable angle, i.e., the first detection projection 1222a can be a variable area, and the first detection projection 1222a can rotate relative to the device body 110, and in this process, the first edge 1224a is the leftmost boundary of the first detection projection 1222a, and the second edge 1226a is the rightmost boundary of the first detection projection 1222a. During the rotation process, the first horizontal angle refers to the maximum angle between the first edge 1224a and the second edge 1226a. Figure 8 The first horizontal angle (as shown by β1) can be a fixed angle, i.e., the first detection projection 1222a is a fixed projection, and the position of the first edge 1224a and the second edge 1226a relative to the device body 110 does not change. Of course, in other embodiments, the first horizontal angle can also be a variable angle, i.e., the first detection projection 1222a can be a variable area, and the first detection projection 1222a can rotate relative to the device body 110, and in this process, the first edge 1224a is the leftmost boundary of the first detection projection 1222a, and the second edge 1226a is the rightmost boundary of the first detection projection 1222a. During the rotation process, the first horizontal angle refers to the maximum angle between the first edge 1224a and the second edge 1226a.

[0069] Figure 9 The first detection region 122a and the plane 112a of the top surface 112 form an angle, as shown by γ1, which is 10°-90°. Figure 9 The first detection region 122a and the plane 112a of the top surface 112 form an angle, as shown by γ1, which is 10°-90°. Figure 9 The first detection region 122a and the plane 112a of the top surface 112 form an angle, as shown by γ1, which is 10°-90°.

[0070] In the case of a horizontal operating surface, the first detection region 122a is upward or arranged along the moving direction X (horizontally arranged), and the angle between the first detection region 122a and the plane 112a of the top surface 112 is also referred to as the angle between the first detection region 122a and the plane 112a of the top surface 112 above the top surface 112.

[0071] The first detection region 122a can be a linear laser or a planar laser, and the first detection region 122a is substantially a plane, and the angle between the first detection region 122a and the plane 112a of the top surface 112 is substantially the angle between the two planes. The angle between the first detection region 122a and the plane 112a of the top surface 112 (as shown by γ1) is 10°-90°. Figure 9(As shown in γ1) The angle of 10° to 90° means that the first detection area 122a can be any angle between the plane 112a containing the top surface 112 and the plane 112a containing the top surface 112, ranging from 10° to 90°. This angle can be a fixed angle, such as 10°, 20°, 30°, 50°, 60°, 80°, or 90°. Of course, in some other embodiments, the angle between the first detection area 122a and the plane 112a containing the top surface 112 can be a dynamic angle, meaning that the first detection area 122a is a dynamic area that can change within the range of 10° to 90°. This setting can increase the detection area 122a of the first detection area 122a and also improve the obstacle avoidance capability of the mobile robot 100.

[0072] Figure 10 Schematic diagrams of other provided first detection areas 122a are shown, such as... Figure 10 As shown, in some other embodiments, the first detection area 122a can be approximately cone-shaped, that is, along the height direction Z of the device body 110. The first detection area 122a also has a certain coverage area, that is, along the horizontal direction Y of the device body 110. The projection of the first detection area 122a in the plane containing the movement direction X and the height direction Z is a triangle or arc. For ease of description, this projection is defined as the first height projection. Along the height direction Z of the device body 110, the first height projection has a first upper edge 1228a and a first lower edge 1229a. The first upper edge 1228a is the uppermost boundary of the first height projection, and the first lower edge 1229a is the lowermost boundary of the first height projection. The angle between the first detection area 122a and the plane it is located in is 10°~90°, which can be the angle between the first upper edge 1228a and the plane 112a containing the top surface 112 (e.g., Figure 10 The angle between the first lower edge 1229a and the plane 112a containing the top surface 112 (as shown in γ11) is 90°, and the angle between the first lower edge 1229a and the plane 112a containing the top surface 112 is 90°. Figure 10 (As shown in γ12) is 10°. In this case, the first detection area 122a can have a certain coverage area in the height direction Z of the device body 110, so that the space above and in front of the device body 110 can be detected, and the obstacle avoidance ability of the mobile robot 100 can be improved to a certain extent.

[0073] The first detection area 122a is arranged at an angle of 10°-90° with the plane 112a on which the top surface 112 is located, which means that the first detection area 122a is arranged at a relatively large angle with the plane 112a on which the top surface 112 is located, that is, the first detection area 122a is arranged upward with a certain area, that is, in the height direction Z of the device body 110, the first detection area 122a has a certain separation, especially when the angle between the first detection area 122a and the plane 112a on which the top surface 112 is located is in the interval of 45°-90°, the component of the first detection area 122a in the height direction Z of the device body 110 is greater than that in the moving direction X, so that the detection area 122 (the first detection area 122a) of the first detection signal can detect higher space information, and then the first detection signal is mainly used to detect the space information above the front of the device body 110, which can also be considered as detecting the space information obliquely above, especially when the mobile robot 100 enters a low space, whether the mobile robot 100 can pass through can be determined according to the space information fed back by the first detection area 122a.

[0074] As shown in Figure 3 In some embodiments, the second detection signal is arranged along the moving direction X of the device body 110 or is arranged toward the direction of the plane 112a on which the top surface 112 is located.

[0075] The detection module 120 is arranged on the outer circumferential surface 116, that is, the detection module 120 is arranged between the top surface 112 and the bottom surface 114, and the first detection area 122a is arranged along the moving direction X, that is, the first detection area 122a is substantially parallel to the operation surface, and when the operation surface is parallel to the horizontal plane, the first detection area 122a is arranged substantially horizontally. In some other embodiments, the first detection area 122a is arranged toward the direction of the plane 112a on which the top surface 112 is located, and the top surface 112 is located above the device body 110, and the first detection area 122a is arranged toward the direction of the plane 112a on which the top surface 112 is located, that is, the first detection area 122a is arranged upward, that is, the first detection area 122a can be arranged along the moving direction X of the device body 110, or can be arranged upward.

[0076] The second detection signal is arranged below the first detection signal, that is, the second detection area 122b is arranged below the first detection area 122a, and the first detection area 122a is used to detect the space information above the front of the device body 110, and the second detection area 122b is mainly used to detect the space information in front of the device body 110, so that the space map information around the device body 110 can be established according to the space information detected by the second detection area 122b.

[0077] Figure 11 A schematic view of the second detection area 122b is shown, as shown in Figure 11As shown, in some embodiments, the second detection signal has a second detection area 122b, along the height direction Z of the device body 110, the second detection area 122b forms a second projection area in the plane 112a where the top surface 112 is located; along the horizontal direction Y of the device body 110, the second projection area has a third edge 1224b and a fourth edge 1226b, and the included angle (as shown in β2 in the middle) between the third edge 1224b and the fourth edge 1226b is 20°-150°. Figure 11

[0078] In the case of the operation surface being parallel to the horizontal plane, the plane 112a where the top surface 112 is located is also approximately parallel to the horizontal plane, along the height direction Z of the device body 110, the projection of the second detection area 122b in the plane 112a where the top surface 112 is located can be considered as the projection of the second detection area 122b in the horizontal plane, the projection of the second detection projection 1222b in the plane 112a where the top surface 112 is located can be a triangle or an arc, the third edge 1224b and the fourth edge 1226b are two boundaries of the second detection projection 1222b in the horizontal direction Y, and the included angle (as shown in β2 in the middle) between the third edge 1224b and the fourth edge 1226b represents the area that the second detection area 122b can cover in the horizontal direction Y. Figure 11

[0079] Specifically, the included angle (as shown in β2 in the middle) between the third edge 1224b and the fourth edge 1226b is 20°-150°, and for the convenience of description, the included angle between the third edge 1224b and the fourth edge 1226b is defined as the second horizontal included angle (as shown in β2 in the middle), that is, the second horizontal included angle is 20°-150°, and the second horizontal included angle can be any one angle in 80°-150°, that is, the second horizontal included angle can be 20°, 40°, 60°, 80°, 100°, 120°, 140°, 150°, etc. Figure 11 Figure 11

[0080] In some embodiments, the second horizontal included angle (as shown in β2 in the middle) is 20°-150°, and the second horizontal included angle can be any one angle in 80°-150°, that is, the second horizontal included angle can be 20°, 40°, 60°, 80°, 100°, 120°, 140°, 150°, etc. Figure 11 ​​​​The second horizontal angle (as shown by β2) can be a fixed angle, i.e., the second detection projection 1222b is a fixed projection, and the positions of the third edge 1224b and the fourth edge 1226b relative to the device body 110 do not change. Of course, in other embodiments, the second horizontal angle can also be a variable angle, i.e., the second detection projection 1222b can be a variable area, and the second detection projection 1222b can rotate relative to the device body 110, and in this process, the third edge 1224b is the leftmost boundary of the first detection projection 1222a, and the fourth edge 1226b is the rightmost boundary of the first detection projection 1222a. During the rotation process, the angle between the third edge 1224b and the fourth edge 1226b refers to the maximum angle between the third edge 1224b and the fourth edge 1226b.

[0081] The second horizontal angle (as shown by β2) can be a fixed angle, i.e., the second detection projection 1222b is a fixed projection, and the positions of the third edge 1224b and the fourth edge 1226b relative to the device body 110 do not change. Of course, in other embodiments, the second horizontal angle can also be a variable angle, i.e., the second detection projection 1222b can be a variable area, and the second detection projection 1222b can rotate relative to the device body 110, and in this process, the third edge 1224b is the leftmost boundary of the first detection projection 1222a, and the fourth edge 1226b is the rightmost boundary of the first detection projection 1222a. During the rotation process, the angle between the third edge 1224b and the fourth edge 1226b refers to the maximum angle between the third edge 1224b and the fourth edge 1226b. Figure 11 The second horizontal angle (as shown by β2) is 20°-150°, which indicates that the second detection area 122b has a certain coverage area in the horizontal direction Y, and the angle between the third edge 1224b and the fourth edge 1226b is certain, so that the second detection area 122b can detect the spatial information of the device body 110 in the horizontal direction Y (left-right direction), and can improve the obstacle avoidance ability and the mapping accuracy of the mobile robot 100 to a certain extent.

[0082] Figure 12 The angle between the second detection area 122b and the plane 112a on which the top surface 112 is located is shown as γ2. Figure 12 In some embodiments, the second detection signal has a second detection area 122b, and the angle between the second detection area 122b and the plane 112a on which the top surface 112 is located (as shown by γ2) is 0°-10°. Figure 12

[0083] In the case where the operation surface is horizontal, the first detection area 122a is upward or arranged along the moving direction X (horizontally arranged), and the angle between the first detection area 122a and the plane 112a on which the top surface 112 is located also refers to the angle between the first detection area 122a and the plane 112a on which the top surface 112 is located above the top surface 112.

[0084] The second detection area 122b can be a line laser or a surface laser, and the second detection area 122b is substantially a plane, and the angle between the second detection area 122b and the plane 112a on which the top surface 112 is located is substantially the angle between the two planes. The angle between the second detection area 122b and the plane 112a on which the top surface 112 is located (as shown by γ2) is 0°-10°. Figure 12 ​(As shown in γ2) The angle of 0° to 10° means that the second detection area 122b can be any angle between 0° and 10° and the plane 112a containing the top surface 112. This angle can be a fixed angle, such as 0°, 1°, 4°, 6°, 8°, or 10°. Of course, in some other embodiments, the angle between the second detection area 122b and the plane 112a containing the top surface 112 can be a dynamic angle, that is, the second detection area 122b is a dynamic area that can change within the range of 0° to 10°. This setting can increase the detection range of the second detection area 122b and improve the obstacle avoidance capability of the mobile robot 100. In any case, if the angle between the second detection area 122b and the plane 112a containing the top surface 112 is 0°, it means that the second detection area 122b is set along the moving direction X of the device body 110.

[0085] Figure 13 A schematic diagram of the second detection region 122b in some other embodiments is shown, such as... Figure 13 As shown, in some other embodiments, the second detection area 122b can be approximately cone-shaped, i.e., along the height direction Z of the device body 110. The second detection area 122b also has a certain coverage area, i.e., along the horizontal direction Y of the device body 110. The projection of the second detection area 122b in the plane containing the movement direction X and the height direction Z is a triangle or arc. For ease of description, this projection is defined as the second height projection. Along the height direction Z of the device body 110, the second height projection has a second upper edge 1228b and a second lower edge 1229b. The second upper edge 1228b is the uppermost boundary of the second height projection, and the second lower edge 1229b is the lowermost boundary of the second height projection. The angle between the second detection area 122b and the plane it is located is 0°~10°, which can be the angle between the second upper edge 1228b and the plane 112a containing the top surface 112 (e.g., Figure 13 The angle between the second lower edge 1229b and the plane 112a containing the top surface 112 (as shown in γ21) is 10°, and the angle between the second lower edge 1229b and the plane 112a containing the top surface 112 is 10°. Figure 13 (As shown in γ22) is 0°. In this case, the second detection area 122b can have a certain coverage area in the height direction Z of the device body 110, so that the space above and in front of the device body 110 can be detected, and the obstacle avoidance ability and mapping accuracy of the mobile robot 100 can be improved to a certain extent.

[0086] The angle between the second detection area 122b and the plane 112a where the top surface 112 is located is 0°-10°, which means that the angle between the second detection area 122b and the plane 112a where the top surface 112 is located is not large, that is, the inclination angle of the upwardly arranged second detection area 122b is not large, so that the second detection area 122b has a large component in the moving direction X of the device body 110, and thus the second detection area 122b is mainly used to detect the area in front of the device body 110, and has a small component in the height direction Z, so that the second detection area 122b is used to detect the area above the device body 110, which can improve the utilization of the second detection area 122b to some extent, so that the second detection area 122b can detect the area in front of the device body 110 more, and thus the utilization of the second detection area 122b is improved, and the obstacle avoidance ability and the mapping accuracy of the entire mobile robot 100 are improved.

[0087] The angle between the second detection area 122b and the plane 112a where the top surface 112 is located is 0°-10°, which means that the angle between the second detection area 122b and the plane 112a where the top surface 112 is located is not large, that is, the inclination angle of the upwardly arranged second detection area 122b is not large, so that the second detection area 122b has a large component in the moving direction X of the device body 110, and thus the second detection area 122b is mainly used to detect the area in front of the device body 110, and has a small component in the height direction Z, so that the second detection area 122b is used to detect the area above the device body 110, which can improve the utilization of the second detection area 122b to some extent, so that the second detection area 122b can detect the area in front of the device body 110 more, and thus the utilization of the second detection area 122b is improved, and the obstacle avoidance ability and the mapping accuracy of the entire mobile robot 100 are improved.

[0088] Figure 14 A schematic view of the third detection area 122c is shown, as shown in Figure 14 In some embodiments, the third detection signal is arranged towards the plane where the bottom surface 114 is located.

[0089] The third detection area 122c is arranged towards the plane where the bottom surface 114 is located, and the bottom surface 114 is arranged below the device body 110, that is, the third detection area 122c is arranged downwardly.

[0090] In some embodiments, the third detection signal has a third detection area 122c, along the height direction Z of the device body 110, the third detection area 122c forms a third projection area in the plane 112a where the top surface 112 is located; along the horizontal direction Y of the device body 110, the third projection area has a fifth edge 1224c and a sixth edge 1226c, and the angle (as shown by β3 in Figure 14

[0091] ​In this case, when the operating surface is parallel to the horizontal plane, the plane 112a where the top surface 112 is located is also roughly parallel to the horizontal plane. Along the height direction Z of the main body 110, the projection of the third detection area 122c in the plane 112a where the top surface 112 is located can be considered as the projection of the third detection area 122c in the horizontal plane. The projection of the third detection projection 1222c in the plane 112a where the top surface 112 is located can be a triangle or an arc. The fifth edge 1224c and the sixth edge 1226c are the two boundaries of the third detection projection 1222c in the horizontal direction Y. The included angle between the fifth edge 1224c and the sixth edge 1226c represents the area that the third detection area 122c can cover in the horizontal direction Y.

[0092] Specifically, the angle between the fifth edge 1224c and the sixth edge 1226c (e.g.) Figure 14 (As shown in β3) is 80°~150°. For ease of description, the angle between the fifth edge 1224c and the sixth edge 1226c is defined as the third horizontal angle (as shown in β3). Figure 11 As shown in β3), the third horizontal angle is 80°~150°. The third horizontal angle can be any angle between 80° and 150°, that is, the third horizontal angle can be 80°, 90°, 100°, 110°, 120°, 130°, 140°, 150°, etc.

[0093] In some embodiments, the third horizontal angle (e.g.) Figure 14 As shown in β3, the third horizontal angle can be a fixed angle, meaning the third detection projection 1222c is a fixed projection, and the positions of the fifth edge 1224c and the sixth edge 1226c relative to the device body 110 do not change. Of course, in other embodiments, the third horizontal angle can also be a variable angle, meaning the third detection projection 1222c can be a changing region. The third detection projection 1222c can rotate relative to the device body 110. During this process, the fifth edge 1224c is the leftmost boundary of the third detection projection 1222c, and the sixth edge 1226c is the rightmost boundary of the third detection projection 1222c. During rotation, the angle between the fifth edge 1224c and the sixth edge 1226c refers to the maximum angle between the fifth edge 1224c and the sixth edge 1226c.

[0094] The third horizontal angle (such as) Figure 14When the angle between the third horizontal plane and the third edge 1224c (as shown in γ3) is 80°-150°, it indicates that the angle between the third horizontal plane and the fifth edge 1224c and the sixth edge 1226c is relatively large, the coverage area of the third detection area 122c in the horizontal plane Y is relatively large, and the mobile robot 100 can detect a relatively large area in the horizontal plane Y (left-right direction) of the equipment body 110 during operation, which can improve the obstacle avoidance ability of the mobile robot 100 to a certain extent.

[0095] Figure 15 The angle between the third detection area 122c and the plane 112a of the top surface 112 is shown. Figure 15 As shown in some embodiments, the third detection signal has a third detection area 122c, and the angle between the third detection area 122c and the plane 112a of the top surface 112 is (as shown in γ3) 5°-30°. Figure 15

[0096] The third detection area 122c is downward, and the angle between the third detection area 122c and the plane 112a of the top surface 112 is also referred to as the angle between the third detection area 122c and the plane 112a of the top surface 112 below the top surface 112. For example, the angle between the first detection area 122a, the second detection area 122b, the third detection area 122c and the plane 112a of the top surface 112 can be distinguished by positive and negative, and if the moving direction X of the equipment body 110 is 0°, the angle between the first detection area 122a and the plane 112a of the top surface 112 (as shown in γ1) is +10°-+90°, the angle between the second detection area 122b and the plane 112a of the top surface 112 (as shown in γ2) is 0°-+10°, and the angle between the third detection area 122c and the plane 112a of the top surface 112 (as shown in γ3) is -5°-30°. Figure 9 Figure 12 Figure 15

[0097] ​​​​The third detection area 122c can be formed by a line laser or a surface laser. The third detection area 122c is substantially a plane. The angle between the third detection area 122c and the plane 112a where the top surface 112 is located is substantially the angle between the two planes. The angle between the third detection area 122c and the plane 112a where the top surface 112 is located is 5°-30°, which means that the angle between the third detection area 122c and the plane 112a where the top surface 112 is located can be any angle within the range of 5°-30°. The angle can be a fixed angle, i.e., the angle can be 5°, 8°, 10°, 15°, 20°, 25°, 30°, etc. Of course, in some other embodiments, the angle between the third detection area 122c and the plane 112a where the top surface 112 is located can be a dynamic angle, i.e., the third detection area 122c is a dynamic area that can change within the range of 5°-30°. This arrangement can increase the detection range of the third detection area 122c and improve the obstacle avoidance capability of the mobile robot 100.

[0098] Figure 16 FIG. 6 shows a schematic view of the third detection area 122c according to some embodiments. Figure 16 As shown in FIG. 6, in some embodiments, the third detection area 122c can be substantially a cone. Along the height direction Z of the device body 110, the third detection area 122c also has a certain coverage range along the lateral direction Y of the device body 110. The projection of the third detection area 122c in the plane where the moving direction X and the height direction Z are located is a triangle or an arc. For convenience of description, the projection is defined as a third height projection. Along the height direction Z of the device body 110, the third height projection has a third upper edge 1228c and a third lower edge 1229c. The third upper edge 1228c is the uppermost boundary of the third height projection, and the third lower edge 1229c is the lowermost boundary of the third height projection. The angle between the third detection area 122c and the plane where the third detection area 122c is located is 5°-30°. In this case, the angle between the third upper edge 1228c and the plane 112a where the top surface 112 is located (as shown by γ31 in FIG. 6) is 5°, and the angle between the third lower edge 1229c and the plane 112a where the top surface 112 is located (as shown by γ32 in FIG. 6) is 30°. Figure 16 Figure 16 In this case, the second detection area 122b can have a certain coverage range in the height direction Z of the device body 110, so that the space in front of and below the device body 110 can be detected, and the obstacle avoidance capability of the mobile robot 100 can be improved to some extent.

[0099] ​The third detection area 122c is arranged upwardly at an angle of 5°-30° with the plane 112a of the top surface 112. That is, the third detection area 122c is arranged upwardly at a small angle with the plane 112a of the top surface 112. The third detection area 122c has a large component in the moving direction X of the equipment body 110, and thus most of the third detection area 122c is used to detect the area in front of the equipment body 110, and has a small component in the height direction Z, so that a small part of the third detection area 122c is used to detect the area above the equipment body 110. In this way, the utilization of the third detection area 122c is improved to some extent, and the third detection area 122c can detect more areas in front of the equipment body 110 while considering the space below the equipment body 110, thereby improving the utilization of the third detection area 122c and the obstacle avoidance capability of the entire mobile robot 100.

[0100] That is, the first detection area 122a is arranged upwardly at an angle of 10°-90° with the plane 112a of the top surface 112, and the second detection area 122b is arranged along the moving direction X or upwardly at an angle of 0°-10° with the plane 112a of the top surface 112. The third detection area 122c is arranged downwardly at an angle of 5°-30° with the plane 112a of the top surface 112. That is, the first detection area 122a is mainly used to detect the area above and in front of the equipment body 110, the second detection area 122b is mainly used to detect the area in front of the equipment body 110, and the third detection area 122c is mainly used to detect the area below and in front of the equipment body 110. Through the cooperation of the first detection area 122a, the second detection area 122b and the third detection area 122c, the detection module 120 can detect a larger space range in the height direction Z of the equipment body 110, and thus more complete space information in front of the equipment body 110 can be obtained, thereby improving the obstacle avoidance capability of the mobile robot 100.

[0101] The first transmitter 124a, the second transmitter 124b and the third transmitter 124c can be laser sensors. Through the three laser sensors, a larger space range in the height direction Z of the equipment body 110 can be detected, and thus more complete space information in front of the equipment body 110 can be obtained, and the cost of the mobile robot 100 can be reduced.

[0102] Figure 17 The structure of the receiving area 129 of the receiver 128, the first detection area 122a, the second detection area 122b and the third detection area 122c is shown in the structure diagram. Figure 14As shown, in some embodiments, the first transmitter 124a, the second transmitter 124b and the third transmitter 124c, the detection signals of the three transmitters 124 are all received by the receiver 128, as for the receiving range of the receiver 128, the receiver 128 can have a receiving area 129, along the height direction Z of the device body 110, the receiving area 129 covers all the detection areas 122 of the transmitters 124.

[0103] Wherein, the receiving area 129 refers to the area in which the receiver 128 can receive the detection signal, the receiving area 129 is also the receiving range of the receiver 128, and the receiving area 129 covering all the detection areas 122 of the transmitters 124 means that the receiver 128 can receive the detection signals emitted by the multiple transmitters 124 in the height direction Z of the device body 110.

[0104] Specifically, along the height direction Z of the device body 110, the receiving area 129 covering all the detection areas 122 of the transmitters 124 means that along the horizontal direction Y of the device body 110, the receiving area 129 has a receiving height projection 1292 in the plane formed by the height direction Z and the moving direction X, the receiving height projection 1292 has a receiving upper edge 1294 and a receiving lower edge 1296 in the height direction Z of the device body 110, the upper edge is located above all the detection areas 122 or is flush with the uppermost detection area 122, and the receiving lower edge 1296 is located below all the detection areas 122 or is flush with the lowermost detection area 122. Specifically, in the case where the multiple transmitters 124 include the first transmitter 124a, the second transmitter 124b and the third transmitter 124c, the receiving upper edge 1294 is located above the first detection area 122a or is flush with the first upper edge 1228a, and the receiving lower edge 1296 is located below the third detection area 122c or is flush with the third lower edge 1229c. This arrangement allows the receiver 128 to receive the detection signals emitted by all the transmitters 124, thereby improving the obstacle avoidance capability of the mobile robot 100.

[0105] It should be noted that the receiver 128 receiving the detection signals emitted by the transmitters 124 in the present application refers to the signals returned to the receiver 128 after the reflection of the detection signals emitted by the transmitters 124 on the obstacles, i.e. the detection signals received by the receiver 128 are the signals reflected by the obstacles.

[0106] In some embodiments, the receiver 128 has a receiving area 129, which has a receiving projection area in the plane 112a of the top surface 112 along the height direction Z of the device body 110, and the probe signal of the emitter 124 has a probe area 122, which forms a probe projection area in the plane 112a of the top surface 112.

[0107] In some embodiments, the receiver 128 has a receiving area 129, which has a receiving projection area in the plane 112a of the top surface 112 along the height direction Z of the device body 110, and the probe signal of the emitter 124 has a probe area 122, which forms a probe projection area in the plane 112a of the top surface 112.

[0108] Figure 18 The schematic diagram of the probe area 122 and the receiving area 129 is shown; as shown in some embodiments, the probe signal has a probe area 122, and the receiver 128 has a receiving area 129, and the central axis 1221 of the probe area and the central axis 1291 of the receiving area are arranged at an angle. Figure 15

[0109] ​The center axis 1221 of the detection area is the center of the entire detection area 122, the center axis 1291 of the receiving area is the center of the receiving area 129, and the center axis 1221 of the detection area is arranged at an angle with the center axis 1291 of the receiving area. It is explained that the center axis of the transmitter 124 and the center axis of the receiver 128 are not parallelly arranged, that is, the center axis of the transmitter 124 and the center axis of the receiver 128 have a certain angle, so that the detection signal emitted by the transmitter 124 will have a certain offset after being reflected by the obstacle and being received by the receiver 128. After obtaining the offset, the distance between the detection module 120 and the obstacle is calculated by using the principle of triangulation. In the case that the detection module 120 is installed on the equipment body 110 of the mobile robot 100, the position of the detection module 120 on the equipment body 110 is determined, and the distance between the mobile robot 100 and the obstacle can also be calculated by using the principle of triangulation.

[0110] Specifically, after the detection module 120 is produced and formed, the baseline distance between the transmitter 124 and the receiver 128 is determined, and the focal length of the receiver 128 is also determined. The distance between the transmitter 124 and the obstacle can be obtained according to the baseline distance, the focal length of the receiver 128, and the offset of the detection signal on the receiving chip of the receiver 128. The position of the transmitter 124 on the equipment body 110 is also determined, and the distance between the mobile robot 100 and the obstacle can be obtained according to the position of the transmitter 124 on the equipment body 110.

[0111] Figure 19 The schematic diagram of the flight path of the detection signal is shown; the distance between the transmitter 124 and the obstacle is determined by using the principle of triangulation as shown in Figure 19 Figure 19 The hollow arrow direction is the flight direction of the detection signal, wherein AB is the baseline distance (such as the distance L shown in Figure 19 ) between the transmitter and the receiver 128. The baseline distance (such as the distance L shown in Figure 19 ) is the distance between the center axis 1291 of the receiving area and the center axis 1221 of the detection area in the baseline plane. Specifically, the baseline plane is perpendicular to the center axis 1291 of the receiving area, and the intersection point of the center axis 1221 of the detection area and the emitting surface is located in the baseline plane. Alpha is the angle between the center axis 1221 of the detection area and the center axis 1291 of the receiving area, and BF is the focal length (such as the distance L shown in Figure 19 ​The distance shown in the middle H), D is the position of the reflected detection signal on the receiving chip of the receiver 128 when the distance transmitter of the obstacle is infinitely far away from the emitting surface (in the case of infinite obstacle, the angle between the central axis 1221 of the detection area and the central axis 1291 of the receiving area can be ignored, that is, the central axis 1221 of the detection area and the central axis 1291 of the receiving area are considered to be parallel), O represents the position of the obstacle, C is the vertical position of O point on AB, AO is the distance between the transmitter and the obstacle, E represents the position of the reflected detection signal from O point on the receiving chip of the receiver 128, wherein DE represents the offset of the detection signal (as shown in the middle F). Figure 19 The distance shown in the middle H). Wherein, AB (the distance shown in the middle L) and BF (the distance shown in the middle F) are determined values, after the light path from O point is determined, according to the geometric relationship in the light path diagram, it can be known that the triangle ABO and the triangle DEB are similar triangles, and the side length relationship is Figure 19 The distance shown in the middle H). Wherein, AB (the distance shown in the middle L) and BF (the distance shown in the middle F) are determined values, after the light path from O point is determined, according to the geometric relationship in the light path diagram, it can be known that the triangle ABO and the triangle DEB are similar triangles, and the side length relationship is Figure 19 The distance shown in the middle H). Wherein, AB (the distance shown in the middle L) and BF (the distance shown in the middle F) are determined values, after the light path from O point is determined, according to the geometric relationship in the light path diagram, it can be known that the triangle ABO and the triangle DEB are similar triangles, and the side length relationship is The distance shown in the middle H). Wherein, AB (the distance shown in the middle L) and BF (the distance shown in the middle F) are determined values, after the light path from O point is determined, according to the geometric relationship in the light path diagram, it can be known that the triangle ABO and the triangle DEB are similar triangles, and the side length relationship is The distance shown in the middle H). Wherein, AB (the distance shown in the middle L) and BF (the distance shown in the middle F) are determined values, after the light path from O point is determined, according to the geometric relationship in the light path diagram, it can be known that the triangle ABO and the triangle DEB are similar triangles, and the side length relationship is The distance shown in the middle H). Wherein, AB (the distance shown in the middle L) and BF (the distance shown in the middle F) are determined values, after the light path from O point is determined, according to the geometric relationship in the light path diagram, it can be known that the triangle ABO and the triangle DEB are similar triangles, and the side length relationship is

[0112] From the above calculation process, it can be known that the distance between the transmitter 124 and the obstacle is calculated by using the principle of triangulation, which is determined according to the baseline distance between the transmitter 124 and the receiver 128, the focal length of the receiver 128, and the angle between the central axis of the transmitter 124 and the central axis of the receiver 128. In the case that the distance between the obstacle and the transmitter 124 (also the distance between the obstacle and the detection module 120) is small, the greater the offset of the detection signal reflected by the obstacle on the receiving chip of the receiver 128, the higher the accuracy of the distance between the obstacle and the transmitter 124 calculated by using the principle of triangulation (the first measured distance).

[0113] The focal length, baseline distance and other parameters of the receiver 128 in the triangulation will be described in detail below.

[0114] In some embodiments, the focal length of the receiver 128 (the distance shown in the middle H) is determined according to the focal length of the lens of the receiver 128 and the distance between the lens and the receiving chip of the receiver 128. Figure 19The distance (f in the figure) is 0.5mm-15mm. As described above, the focal length of the receiver 128 directly affects the first measurement distance. The focal length of the receiver 128 is 0.5mm-15mm, which can ensure the accuracy of the first measurement distance and make the structure of the receiver 128 compact, so that the structure of the entire detection module 120 can be compact and the occupied space of the detection module 120 can be reduced.

[0115] Figure 20 The schematic diagram of the planar projection area and the optical axis of the receiving area is shown as follows: Figure 20 As shown in the figure, in some embodiments, along the central axis 1221 of the detection area, the detection area 122 forms a planar projection area in the plane where the emitting surface of the emitter 124 is located, and the central axis 1291 of the receiving area is arranged at a distance from the planar projection area.

[0116] The emitting surface 1225 refers to the outer surface of the detection module 120 in the direction of emitting the detection signal. The direction of the central axis 1221 of the detection area is also the direction of the detection signal. The planar projection area obtained by projecting along the central axis 1221 of the detection area to the plane where the emitting surface 1225 of the emitter 124 is located can be a point, a line or a plane. In the case of a point laser for the emitter 124, the planar projection area is a point. In the case of a line laser for the emitter 124, the planar projection area 1223 is a line. In the case of a plane laser for the emitter 124, the planar projection area 1223 is a plane.

[0117] The central axis 1291 of the receiving area is arranged at a distance from the planar projection area 1223, which means that the central axis 1291 of the receiver 128 is at a certain distance from the emitter 124, so that the baseline distance is relatively large, which can improve the accuracy of the first distance obtained by triangulation.

[0118] The baseline distance of the emitter 124 and the receiver 128 is 5mm-50mm. The baseline distance is the distance between the central axis 1291 of the receiving area and the central axis 1221 of the detection area in the baseline plane. Specifically, the baseline plane is perpendicular to the central axis 1291 of the receiving area and the intersection of the central axis 1221 of the detection area and the emitting surface is located in the baseline plane.

[0119] The center axis 1291 of the receiving area and the center axis 1221 of the detection area are arranged at an angle, so that the emitting surface of the transmitter 124 and the receiving surface of the receiver 128 also have a certain angle. If the distance between the center axis 1291 of the receiving area and the center axis 1221 of the detection area is used as the baseline distance, or the distance between the emitting surface and the receiving surface, there will be a certain error in the baseline distance. The distance between the center axis 1291 of the receiving area and the center axis 1221 of the detection area in the baseline plane can more accurately reflect the baseline distance between the transmitter 124 and the receiver 128.

[0120] The larger the baseline distance, the more accurate the first measurement distance obtained by triangulation. However, if the baseline distance is too large, the distance between the transmitter 124 and the receiver 128 will be too large, which will result in a large detection module 120. In some embodiments, the baseline distance can be 10mm to 30mm when the baseline distance is 5mm to 50mm. This can not only ensure the accuracy of the first measurement distance, but also make the detection module 120 as compact as possible, so that the detection module 120 can be miniaturized.

[0121] Specifically, the baseline distance can be 5mm, 10mm, 15mm, 20mm, 25mm, 30mm, 35mm, 40mm, 45mm, 50mm, etc. The baseline distance can not be specifically limited.

[0122] In some embodiments, the transmitter 124 includes a plurality of transmitters 124, and the detection signals of any two transmitters 124 are different in direction. The center axis 1221 of each detection area is arranged at an angle with the center axis 1291 of the receiving area.

[0123] In the case of multiple transmitters 124, the center axis 1221 of each detection area is arranged at an angle with the center axis 1291 of the receiving area, so that the receiver 128 can receive the triangulation information of multiple transmitters 124, so that the detection signal emitted by each transmitter 124 can obtain the first measurement distance by triangulation, and the detection accuracy can be improved to some extent, thereby improving the obstacle avoidance ability of the mobile robot 100.

[0124] In some embodiments, the baseline distance of the plurality of transmitters 124 and the receiver 128 is the same.

[0125] The detection signals from multiple transmitters 124 have different directions, resulting in multiple detection areas 122 that are also different. Since the baseline distance between the multiple transmitters 124 and the receiver 128 is the same, the receiver 128 can calculate the first measurement distance using the same baseline distance even when receiving different detection signals, thus reducing computational burden to some extent. Of course, in other embodiments, at least two transmitters 124 have different baseline distances from the receiver 128. This allows different transmitters 124 to detect obstacles at different distances, thereby improving the obstacle avoidance capability of the mobile robot 100.

[0126] In some embodiments, receiver 128 is a time-of-flight sensor. Specifically, the receiving chip of receiver 128 can be a time-of-flight chip, enabling receiver 128 to obtain the second measurement distance by acquiring the flight time of the detection signal. The time-of-flight sensor can also output grayscale information, thereby obtaining the offset of the detection signal on the receiving chip of receiver 128. The first measurement distance can then be calculated using triangulation. By using a single receiver 128 to obtain data from two ranging methods, the number of receiving sensors can be reduced, making the structure of detection module 120 more compact and reducing its cost. As for transmitter 124, transmitter 124 is a laser sensor, specifically a point laser sensor, a line laser sensor, or a sensor surface laser sensor. The type of transmitter 124 is not limited.

[0127] In other words, the distance between the obstacle and the transmitter 124 can also be calculated based on the flight time of the detection signal. Specifically, the transmitter 124 is mainly used to transmit the detection signal, and the flight path of the detection signal is as follows: Figure 16 The path indicated by the hollow arrow shows that receiver 128 is mainly used to receive the detection signal reflected back by the obstacle. The distance between transmitter 124 and receiver 128 can be calculated based on the flight time and speed of the detection signal between them: Flight distance = Flight time * Flight speed. Since the detection signal reciprocates, the distance between transmitter 124 and the obstacle is half the flight distance. For ease of description, the distance between transmitter 124 and the obstacle calculated using the flight time of the detection signal is defined as the second measurement distance.

[0128] In some embodiments, the detection signal can be an optical signal, and in this case, the flight speed is the speed of light. Of course, the detection signal can also be an acoustic signal, and in this case, the flight speed is the speed of sound.

[0129] Since the central axis of the transmitter 124 and the central axis of the receiver 128 have a certain angle, the distance between the transmitter 124 and the obstacle calculated by the flight time of the probe signal will have a certain error, especially when the distance between the obstacle and the transmitter 124 is close. When the distance between the obstacle and the transmitter 124 is far, the angle between the central axis of the transmitter 124 and the central axis of the receiver 128 is less affected by the flight time calculation method. Especially when the distance between the obstacle and the transmitter 124 is infinite, it can be considered that the central axis of the transmitter 124 and the central axis of the receiver 128 are parallel, that is, the distance between the transmitter 124 and the obstacle can be half of the flight distance of the probe signal (the second measured distance). That is, the farther the distance of the obstacle, the higher the accuracy of the distance between the transmitter 124 and the obstacle calculated by the flight time of the probe signal (the second measured distance).

[0130] As can be seen from the above, both the triangular ranging and the flight time ranging can measure the distance between the transmitter 124 and the obstacle. When the distance between the transmitter 124 and the obstacle is less than or equal to the set distance, the first measured distance calculated by the triangular ranging can be taken as the actual distance between the transmitter 124 and the obstacle, and then based on the position of the transmitter 124 on the device body 110, the actual distance between the mobile robot 100 and the obstacle can be determined.

[0131] When the distance between the transmitter 124 and the obstacle is greater than the set distance, the second measured distance calculated by the flight time ranging can be taken as the actual distance between the transmitter 124 and the obstacle, and then based on the position of the transmitter 124 on the device body 110, the actual distance between the mobile robot 100 and the obstacle can be determined.

[0132] One of the first measured distance and the second measured distance can be taken as the actual distance between the transmitter 124 and the obstacle according to the distance between the transmitter 124 and the obstacle, and then a more accurate distance between the mobile robot 100 and the obstacle can be obtained, thereby improving the accuracy of obstacle measurement and the obstacle avoidance ability of the mobile robot 100.

[0133] In some embodiments, the set distance can be any value in 150mm-300mm, and the set distance can be 150mm, 180mm, 200mm, 220mm, 250mm, 280mm, etc.

[0134] Wherein, during the operation of the mobile robot 100, the distance between the mobile robot 100 and the obstacle is uncertain, and the probability that the distance between the mobile robot 100 and the obstacle is greater than the set distance can be a case where the distance between the mobile robot 100 and the obstacle is less than or equal to the set distance, that is, the accuracy of the second measured distance obtained by the flight time of the probe signal is relatively high in long distance ranging, and the second measured distance can be used as the basis for comparison with the set distance to make up for the error of the second measured distance obtained by the flight time of the probe signal in short distance ranging.

[0135] That is, in the case where the second measured distance is less than or equal to the set distance, the first measured distance is used as the actual distance between the transmitter 124 and the obstacle to determine the actual distance between the mobile robot 100 and the obstacle, and in the case where the second measured distance is greater than the set distance, the second measured distance is used as the actual distance between the transmitter 124 and the obstacle to determine the actual distance between the mobile robot 100 and the obstacle.

[0136] Of course, in some other embodiments, in the case where the second measured distance is greater than the set distance, the second measured distance is used as the actual distance between the transmitter 124 and the obstacle, and in this case, the first measured distance can not be calculated to reduce the operation pressure of the mobile robot 100.

[0137] Figure 21 The structural schematic diagram of the robot system 10 provided by the embodiments of the present application is shown in FIG. 1. Figure 21 As shown, based on the same inventive concept, the embodiments of the present application provide a robot system 10, which comprises a base station 200 and the above-mentioned mobile robot 100, and the mobile robot 100 can be docked with the base station 200. The base station 200 is used to place and accommodate the mobile robot 100, and charge the mobile robot 100. In the case where the mobile robot 100 is a sweeping robot, the base station 200 can also clean the cleaning components of the sweeping robot.

[0138] Based on the same inventive concept, the embodiments of the present application provide a control method of the mobile robot 100. The control method of the mobile robot 100 provided by the embodiments of the present application can improve the obstacle avoidance capability of the mobile robot 100, and the specific steps are as follows: Figure 22 The flowchart of the control method of the mobile robot 100 is shown in FIG. 2. Figure 22 As shown in FIG. 2, in step S110, the first measured distance between the transmitter 124 and the obstacle is determined based on the position information of the probe signal at the receiver 128.

[0139] The position information of the detection signal at the receiver 128 represents the position of the detection signal reflected by the obstacle to the receiver 128. In the case where the center axis 1221 of the detection area and the center axis 1291 of the receiving area are arranged at an angle, the distance between the obstacle and the mobile robot 100 is different, which causes the position of the detection signal reflected by the obstacle on the receiver 128 to be different. The first measured distance between the transmitter 124 and the obstacle can be determined according to the position information of the detection signal on the receiver 128.

[0140] Figure 23 A flowchart of the sub-steps of step S110 is shown as Figure 23 wherein step S110 can include step S112 and step S114.

[0141] Step S112, determining the offset of the detection signal at the receiver 128 based on the position information of the detection signal.

[0142] The offset is the distance between the position of the detection signal and the reference position. The reference position is the position of the detection signal reflected by the obstacle at an infinite distance from the emitting surface of the transmitter 124 on the receiving chip of the receiver 128 (in the case where the obstacle is at an infinite distance, the angle between the center axis 1221 of the detection area and the center axis 1291 of the receiving area can be ignored, i.e. it can be considered that the center axis 1221 of the detection area and the center axis 1291 of the receiving area are parallel).

[0143] Step S114, determining the first measured distance based on the offset.

[0144] The distance between the transmitter and the obstacle is determined by the principle of triangulation as shown in Figure 19 , Figure 19 The hollow arrowhead direction is the flight direction of the detection signal. AB is the baseline distance (the distance L shown in Figure 19 ) between the transmitter and the receiver 128. The baseline distance (the distance L shown in Figure 19 ) is the distance between the center axis 1291 of the receiving area and the center axis 1221 of the detection area in the baseline plane. Specifically, the baseline plane is perpendicular to the center axis 1291 of the receiving area and the intersection point of the center axis 1221 of the detection area and the emitting surface is located in the baseline plane. α is the angle between the center axis 1221 of the detection area and the center axis 1291 of the receiving area, and BF is the focal length (the distance L shown in Figure 19In the diagram, distance f is shown. D represents the position of the reflected detection signal on the receiver chip of receiver 128 when the obstacle is at infinity from the transmitter's transmitting surface (when the obstacle is at infinity, the angle between the central axis 1221 of the detection area and the central axis 1291 of the receiving area can be ignored, i.e., the central axis 1221 of the detection area and the central axis 1291 of the receiving area can be considered parallel), O represents the position of the obstacle, C is the vertical position of point O on AB, AO is the distance between the transmitter and the obstacle, E represents the position of the detection signal reflected from point O received by receiver 128 on the receiver chip of receiver 128, and DE represents the offset of the detection signal (e.g., ...). Figure 16 The distance shown in H). Where AB ( Figure 19 The distance shown by L in the figure), BF ( Figure 19 The distances (f, as shown in the diagram) are all fixed values. After the reflected light path from point O is determined, the geometric relationship in the light path diagram shows that triangles ABO and DEB are similar triangles. Therefore, the relationship between their side lengths is... ,and Therefore, we can obtain Therefore, the distance between the transmitter and the obstacle can be calculated as follows: the baseline distance between the transmitter and the receiver 128 multiplied by the focal length of the receiver 128 and then divided by the product of the offset and sina. Thus, the distance between the transmitter and the obstacle can be calculated. For ease of description, the distance between the transmitter and the obstacle calculated using the triangulation principle is referred to as the first measurement distance.

[0145] like Figure 22 As shown, in step S120, the second measured distance between the transmitter 124 and the obstacle is determined based on the flight time of the detection signal.

[0146] Transmitter 124 is mainly used to transmit detection signals, and the flight path of the detection signals is as follows: Figure X The path indicated by the hollow arrow shows that receiver 128 is mainly used to receive the detection signal reflected back by the obstacle. The distance between transmitter 124 and receiver 128 can be calculated based on the flight time and speed of the detection signal between them: Flight distance = Flight time * Flight speed. Since the detection signal is in reciprocating motion, the distance between transmitter 124 and the obstacle (the second measured distance) is half of the flight distance.

[0147] Step S130: Determine the actual distance between the mobile robot 100 and the obstacle based on the first and second measured distances.

[0148] Wherein, in the case that the distance between the obstacle and the transmitter 124 (also the distance from the detection module 120) is small, the greater the offset of the detection signal reflected by the obstacle on the receiving chip of the receiver 128, the higher the accuracy of the distance between the obstacle and the transmitter 124 (the first measured distance) calculated by using the principle of triangulation.

[0149] In the case that the distance between the obstacle is far, the greater the accuracy of the distance between the transmitter 124 and the obstacle (the second measured distance) calculated by using the flight time of the detection signal.

[0150] According to the distance between the transmitter 124 and the obstacle, one of the first measured distance and the second measured distance is taken as the actual distance between the transmitter 124 and the obstacle, and then a more accurate distance between the mobile robot 100 and the obstacle can be obtained, thereby improving the accuracy of obstacle measurement and the obstacle avoidance ability of the mobile robot 100.

[0151] Figure 24 A flowchart of the sub-steps of step S130 is shown as follows, Figure 24 Wherein, step S130 can include step S132 and step S134.

[0152] Step S132, determining the actual distance between the transmitter 124 and the obstacle based on the first measured distance and the second measured distance.

[0153] The actual distance between the transmitter 124 and the obstacle can be determined based on the first measured distance and the second measured distance, and specifically, steps S1322-S1326 are provided.

[0154] Figure 25 A flowchart of the sub-steps of step S132 is shown as follows, Figure 25 Wherein, step S132 can include step S1322, step S1324 and step S1326.

[0155] Step S1322, determining whether the second measured distance is less than or equal to the set distance.

[0156] In the working process of the mobile robot 100, the distance between the mobile robot 100 and the obstacle is uncertain, and the probability that the distance between the mobile robot 100 and the obstacle is greater than the set distance may be more than the case that the distance between the mobile robot 100 and the obstacle is less than or equal to the set distance, that is, the accuracy of the second measured distance obtained by using the flight time of the detection signal is relatively high when the distance is far, and the second measured distance can be taken as the basis for comparison with the set distance to compensate for the error of the second measured distance obtained by using the flight time of the detection signal when the distance is short.

[0157] In some embodiments, the set distance can be any value in the range of 150mm~300mm, and can be 150mm, 180mm, 200mm, 220mm, 250mm, 280mm, etc.

[0158] Step S1324, if the second measured distance is less than or equal to the set distance, the first measured distance is determined as the actual distance between the transmitter 124 and the obstacle.

[0159] In the case that the distance between the obstacle and the transmitter 124 (also the distance between the obstacle and the detection module 120) is small, the larger the offset of the detection signal reflected by the obstacle on the receiving chip of the receiver 128, the higher the accuracy of the distance between the transmitter 124 and the obstacle (the first measured distance) calculated by the triangulation principle. In the case that the distance between the transmitter 124 and the obstacle is less than or equal to the set distance, the first measured distance calculated by the triangulation can be taken as the actual distance between the transmitter 124 and the obstacle. Step S1326, if the second measured distance is greater than the set distance, the second measured distance is determined as the actual distance between the transmitter 124 and the obstacle.

[0160] In the case that the distance between the obstacle and the transmitter 124 is far, the higher the accuracy of the distance between the transmitter 124 and the obstacle (the second measured distance) calculated by the flight time of the detection signal. In the case that the distance between the transmitter 124 and the obstacle is greater than the set distance, the second measured distance calculated by the flight time can be taken as the actual distance between the transmitter 124 and the obstacle.

[0161] Step S134, the actual distance between the mobile robot 100 and the obstacle is determined based on the actual distance between the transmitter 124 and the obstacle.

[0162] After the detection module 120 is installed on the equipment body 110, the position of the transmitter 124 on the equipment body 110 is determined, and after the actual distance between the transmitter 124 and the obstacle is determined, the actual distance between the mobile robot 100 and the obstacle can be determined according to the actual distance between the obstacle and the transmitter 124.

[0163] Of course, in other embodiments, the first distance between the mobile robot 100 and the obstacle can be determined according to the first measured distance, the second distance between the mobile robot 100 and the obstacle can be determined according to the second measured distance, and the actual distance between the mobile robot 100 and the obstacle can be determined according to the first distance and the second distance. The specific method is the same as the way of steps S1322-S1326, and the difference is that the set distance is different.

[0164] Figure 26 Based on the same inventive concept, the embodiments of the present application also provide a control device of a mobile robot, as shown in Figure 26 The control device 300 of the mobile robot comprises: a first determiner 360 configured to determine a first measured distance between the transmitter and the obstacle based on the position information of the receiver 128 of the probe signal; a second determiner 370 configured to determine a second measured distance between the transmitter and the obstacle based on the time of flight of the probe signal; a third determiner 380 configured to determine an actual distance between the mobile robot 100 and the obstacle based on the first measured distance and the second measured distance.

[0165] The control device 300 of the mobile robot provided in the fifth aspect has the same beneficial effects as the control method of the mobile robot 100 provided in the fourth aspect, and thus repeated details are not provided herein.

[0166] In the optional embodiments of the present application, in the case where the third determiner 380 is configured to determine the actual distance between the mobile robot 100 and the obstacle based on the first measured distance and the second measured distance, the third determiner 380 is specifically configured to: if the second measured distance is less than or equal to the set distance, determine the first measured distance as the actual distance.

[0167] In the optional embodiments of the present application, in the case where the third determiner 380 is configured to determine the actual distance between the mobile robot 100 and the obstacle based on the first measured distance and the second measured distance, the third determiner 380 is specifically configured to include: if the second measured distance is greater than the set distance, determine the second measured distance as the actual distance.

[0168] In the optional embodiments of the present application, in the case where the first determiner 360 is configured to determine the first measured distance between the transmitter and the obstacle based on the position information of the receiver 128 of the probe signal, the first determiner 360 is specifically configured to: determine the offset of the probe signal at the receiver 128 based on the position information of the probe signal; determine the first measured distance based on the offset.

[0169] Those skilled in the art can understand that each aspect of the present application can be implemented as a system, a method or a program product. Therefore, each aspect of the present application can be specifically implemented as follows: a complete hardware implementation, a complete software implementation (including firmware, microcode, etc.), or a combination of hardware and software aspects, which can be collectively referred to as "circuitry", "module" or "system" herein.

[0170] The following refers to Figure 27This describes an electronic device 800 according to an exemplary embodiment of the present disclosure. The electronic device 800 can be applied to the detection module 120, the mobile robot 100, or the robot system 10 described above. That is, the detection module 120 controls the electronic device 800, or the mobile robot 100 includes the electronic device 800, or the robot system includes the electronic device 800. Figure 27 The electronic device 800 shown is merely an example and should not impose any limitation on the functionality and scope of use of the embodiments disclosed herein.

[0171] like Figure 27 As shown, the electronic device 800 is presented in the form of a general-purpose computing device. The components of the electronic device 800 may include, but are not limited to: at least one processor 810, at least one memory 820, a bus 830 connecting different system components (including memory 820 and processor 810), and a display unit 840.

[0172] The memory stores program code that can be executed by the processor 810, causing the processor 810 to perform the steps described in the "Exemplary Methods" section of this specification according to various exemplary embodiments of this disclosure. For example, the processor 810 can perform... Figures 22-25 The steps shown.

[0173] The memory 820 may include a readable medium in the form of volatile memory, such as random access memory (RAM) 821 and / or cache memory 822, and may further include read-only memory (ROM) 823.

[0174] The memory 820 may also include a program / utility 824 having a set (at least one) of program modules 825, including but not limited to: an operating system, one or more application programs, other program modules, and program data, each or some combination of these examples may include an implementation of a network environment.

[0175] Bus 830 can represent one or more of several types of bus structures, including a memory bus or memory controller, peripheral bus, graphics acceleration port, processor, or a local bus using any of the various bus structures.

[0176] The electronic device 800 can also communicate with one or more external devices 900 such as a keyboard or pointing devices, a Bluetooth device, or a disk drive. These and other peripherals can be connected to the electronic device 800 by one or more peripheral interfaces 850, such as a USB port. The electronic device 800 can also include one or more antennas or other wireless transmission devices for communicating with one or more wireless devices, such as a wireless personal digital assistant (PDA) or other wireless devices, or for communicating with one or more computing devices over a network, such as the Internet or telephone network. In some embodiments, the electronic device 800 can include a display, a display controller, and a display interface, as well as one or more input devices, such as a keyboard, a mouse or a pen, or a CD-ROM drive (not shown in FIG. 8). The display interface, in some embodiments, can comprise an on-board interface that interfaces the display controller to the display, or an external interface, such as an HDMI port, that interfaces the display controller to the display through a peripheral interface 850. The display interface in some embodiments can include other circuitry used for the communication between the display controller and other

[0177] Those skilled in the art will readily understand that the example embodiments described herein can be implemented by software and / or by hardware coupled with software, as described above. As such, the technical solutions according to the embodiments of the present disclosure can be embodied in the form of a software product. The software product can be stored in a non-volatile storage medium (e.g., a CD-ROM, a USB flash drive, a mobile hard disk, or the like) or on a network, and includes a number of instructions for causing a computing device (e.g., a personal computer, a server, a terminal device, or a network device, etc.) to execute the methods according to the embodiments of the present disclosure.

[0178] In the example embodiments of the present disclosure, a computer-readable storage medium having stored thereon a program product capable of implementing the above-described methods of the present disclosure is also provided. In some possible embodiments, various aspects of the present disclosure can also be implemented in the form of a program product, which includes program codes for causing an end device to perform the steps described in the above “Example Method” section according to various example embodiments of the present disclosure when the program product is run on the end device.

[0179] The program product for implementing the above-described methods according to the embodiments of the present disclosure can take the form of a portable compact disc read-only memory (CD-ROM) and include program codes, and can be run on an end device, such as a personal computer. However, the program product of the present disclosure is not limited to this, and in the present document, a readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, device, or apparatus.

[0180] The program product can employ any combination of one or more computer-readable media. The computer-readable media can be a computer-readable storage medium or a computer-readable signal medium. Computer-readable storage media can be, for example, but not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of computer-readable storage media include the following: an electrical connection having one or more wires, a portable disc, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0181] A computer-readable signal medium can include a propagated data signal with computer-readable program code embodied therein. The propagated data signal can take any of a variety of forms, including but not limited to electro-magnetic, optical, or any suitable combination thereof. A computer-readable signal medium can be any computer-readable medium that is not a computer-readable storage medium and that can communicate, propagate, or transport program code for use by or in connection with an instruction execution system, apparatus, or device.

[0182] Program code embodied on a computer-readable medium can be transmitted using any appropriate medium, including but not limited to wireless, wired, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

[0183] Program code for carrying out operations of the present disclosure can be written in any combination of one or more programming languages, including an object oriented programming language such as Java, C++, or the like, and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code can execute entirely on the user's computing device, partly on the user's computing device, as a stand-alone software package, partly on the user's computing device and partly on a remote computing device or entirely on the remote computing device or server. In the latter scenario, the remote computing device can be connected to the user's computing device through any type of network, including a local area network (LAN) or a wide area network (WAN), or the connection can be made to an external computing device, such as through the Internet using an Internet Service Provider. The computing device on which the program code executes can be any programmable computer system including multiple processors or a single processor, and can be used to implement applications for mobile devices, hand-held devices, or other devices.

[0184] In the description of the specification, the description of the terms "one embodiment", "some embodiments", "an example", "a specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the specification, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any appropriate manner in one or more embodiments or examples. In addition, those skilled in the art can combine and integrate different embodiments or examples described in the specification.

[0185] In addition, the technical solutions among various embodiments can be combined with each other, but it must be based on the fact that a person skilled in the art can realize it, and when the combination of technical solutions appears contradictory or cannot be realized, it should be considered that the combination of technical solutions does not exist and is not within the protection scope required by the present application.

[0186] Although the embodiments of the present application have been shown and described, those skilled in the art can understand that various changes, modifications, replacements and variations can be made to the embodiments without departing from the principles and purposes of the present application, and the scope of the present application is defined by the claims and their equivalents.

Claims

1. A probe module, characterized by Comprising: a transmitter (124) for transmitting a probe signal, the probe signal having a probe region (122); a receiver (128) for receiving the probe signal reflected back by an obstacle, the receiver (128) having a receiving region (129); wherein the transmitter (124) and the receiver (128) are arranged at intervals, and a central axis (1221) of the probe region and a central axis (1291) of the receiving region are arranged at an angle.

2. The probe module of claim 1, wherein, The transmitter (124) is a laser sensor, and the receiver (128) comprises a time-of-flight sensor.

3. The probe module of claim 2, wherein, The detection module (120) is configured to determine a first measured distance between the transmitter (124) and an obstacle based on position information of the probe signal at the receiver (128); The detection module (120) is configured to determine a second measured distance between the transmitter (124) and an obstacle based on a time of flight of the probe signal; The detection module (120) is configured to determine an actual distance between the mobile robot (100) and the obstacle based on the first measured distance and the second measured distance.

4. The probe module of claim 1, wherein, Along the central axis (1221) of the probe region, the probe region (122) forms a planar projection region in a plane where a transmission surface of the transmitter (124) is located, and the central axis (1291) of the receiving region is arranged at intervals with the planar projection region.

5. The probe module of claim 1, wherein, The baseline distance of the transmitter (124) and the receiver (128) is 5mm-50mm. The baseline distance is the distance between the central axis (1291) of the receiving region and the central axis (1221) of the probe region in a baseline plane, the baseline plane is perpendicular to the central axis (1291) of the receiving region, and the intersection point of the central axis (1221) of the probe region and the transmission surface of the transmitter (124) is located in the baseline plane.

6. The probe module of any one of claims 1-5, wherein, The transmitter (124) comprises a plurality of transmitters (124), the directions of the probe signals of any two transmitters (124) are different, and the central axis (1221) of each probe region is arranged at an angle with the central axis (1291) of the receiving region.

7. The probe module of claim 6, wherein, The baseline distances of the plurality of transmitters (124) and the receiver (128) are the same.

8. The probe module of claim 6, wherein, The baseline distances of at least two transmitters (124) and the receiver (128) are different.

9. The probe module of any one of claims 1-5, wherein, The focal length of the receiver (128) is 0.5mm-15mm.

10. A mobile robot comprising a device body (110) and a detection module (120) according to any one of claims 1-8, the detection module (120) being mounted to the device body (110).

11. The mobile robot of claim 10, wherein, The device body (110) has a top surface (112), a bottom surface (114), and an outer peripheral surface (116) between the top surface (112) and the bottom surface (114), and the detection module (120) is arranged on the outer peripheral surface (116).

12. The mobile robot of claim 10, wherein, The transmitter (124) comprises a first transmitter (124a) for transmitting a first probe signal, a second transmitter (124b) for transmitting a second probe signal, and a third transmitter (124c) for transmitting a third probe signal, the first probe signal being above the second probe signal, and the second probe signal being above the third probe signal.

13. A robot system, characterized by The base station (200) is configured to interface with the mobile robot (100) as claimed in any one of claims 10-12.

14. A control method of a mobile robot characterized by comprising: The method as claimed in any one of claims 10-12, the method comprising: determining a first measured distance between the transmitter (124) and the obstacle based on the position information of the probe signal at the receiver (128); determining a second measured distance between the transmitter (124) and the obstacle based on the time of flight of the probe signal; determining an actual distance between the mobile robot (100) and the obstacle based on the first measured distance and the second measured distance.

15. The control method of the mobile robot according to claim 14, wherein determining an actual distance between the mobile robot (100) and the obstacle based on the first measured distance and the second measured distance, comprises: determining an actual distance between the transmitter (124) and the obstacle based on the first measured distance and the second measured distance; determining an actual distance between the mobile robot (100) and the obstacle based on the actual distance between the transmitter (124) and the obstacle.

16. The control method of the mobile robot according to claim 15, wherein determining an actual distance between the transmitter (124) and the obstacle based on the first measured distance and the second measured distance, comprises: if the second measured distance is less than or equal to a set distance, determining the first measured distance as the actual distance between the transmitter (124) and the obstacle. if the second measured distance is greater than a set distance, determining the second measured distance as the actual distance between the transmitter (124) and the obstacle.

17. A control device for a mobile robot as claimed in any one of claims 10-12, the device comprising: a first determiner (360) configured to determine a first measured distance between the transmitter (124) and the obstacle based on the position information of the probe signal at the receiver (128); a second determiner (370) configured to determine a second measured distance between the transmitter (124) and the obstacle based on the time of flight of the probe signal; a third determiner (380) configured to determine an actual distance between the mobile robot (100) and the obstacle based on the first measured distance and the second measured distance. 18.The control device of the mobile robot according to claim 17, wherein the third determiner (380) is configured to determine an actual distance between the mobile robot (100) and the obstacle based on the first measured distance and the second measured distance, and is specifically configured to: If the second measured distance is less than or equal to a set distance, the first measured distance is determined to be the actual distance. If the second measured distance is greater than a set distance, the second measured distance is determined to be the actual distance.

19. A computer storage medium, comprising, The computer readable storage medium stores program codes, which are loaded and executed by the processor (810) to implement the method of any one of claims 14-16.

20. A computer program product, characterised in that, The computer program product comprises computer instructions stored in a computer readable storage medium and adapted to be read and executed by the processor (810) to cause the computer device with the processor (810) to perform the method of any one of claims 14-16.

21. An electronic device, comprising: Comprising: a memory (820) for storing computer programs; a processor (810) for executing the computer programs stored in the memory (820) to implement the method of any one of claims 14-16.

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