Mobile robot

Abstract

The utility model belongs to the technical field of walking equipment, and particularly provides a mobile robot which comprises a machine body and a side face sensing assembly, the machine body can move on a working face, and the side face sensing assembly is arranged on the side portion of the machine body. The side face sensing assembly is used for detecting environment information of the side of the machine body. The side sensing assembly is arranged at the side part of the machine main body, so that the environment information of the side of the machine main body can be directly acquired, and the environment information of the side does not need to be indirectly calculated by analyzing and disassembling images of other sensors at the front or the top; therefore, the identification and following difficulty of the lateral operation boundary of the machine main body can be reduced, the overall calculation amount of the mobile robot in the moving process is effectively reduced, the reaction efficiency of the mobile robot is improved, and the moving reliability is improved.

Description

Technical Field

[0001] The present application belongs to the technical field of walking equipment, and more specifically, to a mobile robot. Background Art

[0002] With the development of science and technology, robotics has been widely used in various fields, including agriculture, industry, and housekeeping. Especially in the agricultural field, in order to improve production efficiency and reduce labor costs, various automated and intelligent agricultural equipment have gradually emerged. Among them, mobile robots, as an important equipment for automated lawn maintenance, have received extensive attention and research.

[0003] Mobile robots usually need to have functions such as autonomous navigation, environmental perception, and path planning to achieve efficient and accurate lawn mowing without human intervention. Among them, environmental perception technology is one of the key technologies for mobile robots to achieve autonomous navigation and path planning. By sensing information about the surrounding environment, mobile robots can obtain key information such as the boundaries of the lawn and the location of obstacles, so as to perform accurate path planning and obstacle avoidance operations.

[0004] In the prior art, mobile robots usually use laser radar, ultrasonic sensors, infrared sensors and other devices for environmental perception. These sensors are usually installed on the top or front of the robot to obtain environmental information by scanning the surrounding environment. However, when the mobile robot approaches the edge of the lawn or encounters a low obstacle, due to the limitations of the sensor's detection angle and detection distance, it cannot accurately perceive the environmental information, resulting in the robot's misjudgment or missed judgment, affecting the mowing effect and the robot's safety. Utility Model Content

[0005] The purpose of the present application is to provide a mobile robot to solve the technical problems existing in the prior art of the difficulty in identifying and following the boundary of close-range lateral operations and the large amount of controller calculation.

[0006] To achieve the above purpose, the technical solution adopted in this application is:

[0007] A mobile robot is provided, the mobile robot comprising:

[0008] a machine body, the machine body being movable on a work surface;

[0009] A side sensor assembly is arranged on the side of the machine body, and is used to detect environmental information on the side of the machine body.

[0010] As an embodiment, the detection space of the side sensor assembly has at least a first intersection line with the working surface, and the distance between the first intersection line and the outer edge surface of the side of the machine body is between -20 mm and 20 mm.

[0011] As an implementation manner, the number of the side sensor assemblies is two, and the two side sensor assemblies are arranged on both sides of the machine body.

[0012] As an embodiment, the two side sensor assemblies are symmetrically arranged on both sides of the machine body.

[0013] As an embodiment, the side sensor assembly is arranged on the machine body at an angle downward, and the detection direction of the side sensor assembly is inclined downward.

[0014] As an implementation manner, a detection direction of the side sensor assembly has a first angle with the working surface, and the first angle is 25 degrees to 30 degrees.

[0015] As an implementation manner, the installation height of the side sensor assembly is between 120 mm and 200 mm.

[0016] As an embodiment, the distance between the side sensing assembly and the outer edge surface is between -10 mm and 15 mm.

[0017] As an embodiment, the vertical field of view angle of the side sensor assembly is greater than the horizontal field of view angle.

[0018] As an implementation manner, the machine body includes a main frame and an upper shell, the upper shell is floatingly connected to the main frame, and the side sensor assembly is installed on the upper shell.

[0019] As an implementation manner, a mounting hole is provided on the upper shell, and the side sensor assembly is installed in the mounting hole.

[0020] As an embodiment, the side sensing assembly includes a side sensing shell and a side sensor, the side sensing shell is disposed on the machine body, a first installation cavity is disposed inside the side sensing shell, and the side sensor is disposed in the first installation cavity.

[0021] As an embodiment, the side sensing assembly also includes a side cleaning mechanism, and an optical window is provided at one end of the side sensing shell facing the side of the machine body, and the side sensor detects environmental information through the optical window, and the side cleaning mechanism abuts against the optical window and can clean the optical window.

[0022] As an embodiment, the sweeping angle of the side cleaning mechanism is less than 90 degrees.

[0023] As an embodiment, the mobile robot further includes a front sensor component, which is disposed on the front side of the machine body and is used to detect environmental information in front of the machine body.

[0024] As an implementation manner, the detection space of the front sensor assembly and the detection space of the side sensor assembly intersect.

[0025] As an implementation manner, a detection direction of the side sensor assembly has a first angle with the working surface, a detection direction of the front sensor assembly has a second angle with the working surface, and the second angle is smaller than the first angle.

[0026] As an implementation manner, the installation height of the front sensor assembly is greater than the installation height of the side sensor assembly.

[0027] The beneficial effects of the mobile robot provided by the present application are:

[0028] Firstly, by setting the side sensor assembly on the side of the machine body, the environmental information on the side of the machine body can be directly obtained without indirectly calculating the environmental information on the side by analyzing and disassembling the images of other sensors in the front or top. This can reduce the difficulty of identifying and following the side operating boundary of the machine body, and effectively reduce the overall computational complexity of the mobile robot during the movement process, which helps to improve the response efficiency of the mobile robot and improve the mobility reliability.

[0029] Secondly, by designing the first intersection line between the detection space of the side sensor component and the working surface to be less than 20 mm away from the outer edge surface of the side of the machine body, the side sensor component can directly detect the area close to the outer edge surface of the side of the machine body, thereby effectively reducing the blind spot on the side of the machine body during operation, so that the side sensor component can be better used to detect the working boundary of the machine body on the working surface, reducing the difficulty of the machine body following the working boundary, and improving the efficiency and accuracy of the machine body following the working boundary. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0031] Figure 1 A three-dimensional diagram of a mobile robot provided in an embodiment of the present application Figure 1 ;

[0032] Figure 2 A side view of a mobile robot provided in an embodiment of the present application;

[0033] Figure 3 A front view of a mobile robot provided in an embodiment of the present application;

[0034] Figure 4 A top view of a mobile robot provided in an embodiment of the present application;

[0035] Figure 5 A three-dimensional diagram of a mobile robot provided in an embodiment of the present application Figure 2 ;

[0036] Figure 6 A three-dimensional schematic diagram of a side sensor assembly provided in an embodiment of the present application;

[0037] Figure 7 A schematic diagram of installation parameters of a side sensor assembly provided in an embodiment of the present application;

[0038] Figure 8 A three-dimensional schematic diagram of a side sensor assembly and a front sensor assembly provided in an embodiment of the present application;

[0039] Fig. 9 An overall side view of the side sensor assembly and the front sensor assembly provided in the embodiment of the present application;

[0040] Fig.10 for Fig. 9 A cross-sectional view along the AA direction is shown.

[0041] Among them, the reference numerals in the figure are:

[0042] 1. Machine body; 11. Main frame; 12. Upper shell; 13. Moving mechanism; 131. Front wheel; 132. Rear wheel;

[0043] 2. Side sensor assembly; 21. Side sensor housing; 211. Accommodating housing; 212. Wiring housing; 213. Optical window; 214. First mounting cavity; 22. Side sensor; 23. Side cleaning mechanism; 231. Swinging member; 232. Scraping member;

[0044] 3. Front sensor assembly; 31. Front sensor housing; 311. Upper mounting housing; 312. Lower mounting housing; 313. Second mounting cavity; 32. Front sensor;

[0045] 4. Cutting mechanism;

[0046] 5. Working surface;

[0047] 6. Outer edge surface;

[0048] 7. Intersection. DETAILED DESCRIPTION

[0049] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0050] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0051] It should be understood that the orientation or position relationship indicated by terms such as "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0052] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0053] The present application embodiment provides a mobile robot, such as Figure 1 and Figure 2 As shown, the mobile robot includes a machine body 1 and a side sensor assembly 2. The machine body 1 can move on a working surface 5. The side sensor assembly 2 is arranged on the side of the machine body 1. The side sensor assembly 2 is used to detect environmental information on the side of the machine body 1.

[0054] Specifically, by setting the side sensor assembly 2 on the side of the machine body 1, the environmental information on the side of the machine body 1 can be directly obtained, without the need to analyze and disassemble the images of other sensors in the front or top to indirectly calculate the environmental information on the side, thereby reducing the difficulty of identifying and following the side working boundary of the machine body 1, and effectively reducing the overall amount of calculation of the mobile robot during the movement process, which helps to improve the reaction efficiency of the mobile robot and improve the mobility reliability. In the specific implementation process, the mobile robot can be a lawn mowing robot, and the side sensor assembly 2 is configured as a visual sensing structure, which can detect the boundary information on the side of the machine body 1. Furthermore, the side sensor assembly 2 includes at least one of a laser radar, a monocular camera, and a fisheye camera.

[0055] In one embodiment, the mobile robot further includes a controller, which is electrically connected to the side sensing assembly 2 .

[0056] In one embodiment, if Figure 3 As shown, the detection space of the side sensor assembly 2 and the working surface 5 have at least a first intersection line, and the distance X between the first intersection line and the outer edge surface 6 of the side of the machine body 1 is between -20 mm and 20 mm.

[0057] Specifically, by designing the first intersection line between the detection space of the side sensor component 2 and the working surface 5 to be less than 20 mm away from the outer edge surface 6 of the side of the machine body 1, the side sensor component 2 can directly detect the area closer to the outer edge surface 6 of the side of the machine body 1, thereby effectively reducing the blind spot on the side of the machine body 1 during operation, so that the side sensor component 2 can be better used to detect the working boundary of the machine body 1 on the working surface 5, reducing the difficulty of the machine body 1 following the working boundary, and improving the efficiency and accuracy of the machine body 1 following the working boundary.

[0058] In one embodiment, if Figure 3 As shown, the machine body 1 includes a moving mechanism 13, and the plane where at least three fulcrums of the bottom of the moving mechanism 13 are located forms a working surface 5. In a specific implementation process, the moving mechanism 13 includes a rear wheel 132 and a front wheel 131, and the plane where the fulcrums of the rear wheel 132 and the front wheel 131 are located forms the working surface 5.

[0059] In one embodiment, if Figure 3 As shown, the outer edge surface 6 of the side portion refers to the plane where the outermost point of the side portion in the width direction of the machine body 1 is located, and the plane is perpendicular to the width direction of the machine body 1. In the specific implementation process, the plane is also perpendicular to the working surface 5. Specifically, the moving mechanism 13 includes a front wheel 131 and two rear wheels 132, and the plane where the outer end surface of the rear wheel 132 is located is formed as the outer edge surface 6.

[0060] In one embodiment, if Figure 3 and Figure 5 As shown, the mobile robot further includes a cutting mechanism 4, which is arranged in the central area of ​​the bottom of the machine body 1. When the distance between the first intersection line and the outer edge surface 6 of the side of the machine body 1 is a negative value, it means that the first intersection line is located between the outer edge surface 6 and the cutting mechanism 4. This design makes the distance between the first intersection line and the cutting mechanism 4 smaller, which is conducive to the cutting mechanism 4 being as close to the working boundary as possible, thereby improving the mowing coverage rate of the mobile robot.

[0061] In the specific implementation process, the distance between the edge of the cutting mechanism 4 and the outer edge surface 6 on the side of the mowing robot is not less than 20 mm. Under this design premise, in order to make the cutting mechanism 4 as close to the working boundary as possible, the side sensor component 2 needs to be able to detect the boundary information inside the outer edge surface 6 of the side of the machine body 1, that is, the distance between the first intersection line and the outer edge surface 6 on the side of the machine body 1 needs to be a negative value. In the case where the distance between the first intersection line and the outer edge surface 6 on the side of the machine body 1 is a negative value, the mobile robot can go beyond the boundary and use the cutting mechanism 4 to cut the grass on the boundary, and the closer the distance between the first intersection line and the outer edge surface 6 on the side of the machine body 1 is to -20 mm, the closer the cutting mechanism 4 can be to the working boundary. When the distance between the edge of the cutting mechanism 4 and the outer edge surface 6 of the side of the mowing robot is 20 mm, and the distance between the first intersection line and the outer edge surface 6 of the side of the machine body 1 is -20 mm, the cutting edge of the cutting mechanism 4 can overlap with the working boundary, thereby achieving complete cutting of the grass within the working boundary, so that the mowing coverage rate reaches 100%. When the distance between the edge of the cutting mechanism 4 and the outer edge surface 6 of the side of the mowing robot is 20 mm, and the distance between the first intersection line and the outer edge surface 6 of the side of the machine body 1 is less than -20 mm (for example, the distance is -30 mm), the cutting edge of the cutting mechanism 4 will exceed the working boundary, and this design is unnecessary.

[0062] In the specific implementation process, in order to prevent the side sensor assembly 2 from being blocked by tall grass, the side sensor assembly 2 cannot be set at the bottom of the machine body 1, but should be set at the side of the machine body 1 and at a certain distance from the working surface 5, so that the side sensor assembly 2 is located at a higher position. Furthermore, under the design requirement that the side detection blind area cannot be too large, it is necessary to make the distance between the first intersection line and the outer edge surface 6 of the side of the machine body 1 less than 20 mm.

[0063] In the specific implementation process, when the distance between the first intersection line and the outer edge surface 6 of the side of the machine body 1 is a negative value, a detection and clearance channel is provided on the machine body 1, and the detection signal of the side sensor component 2 passes through the clearance channel to reach the working surface 5. This design can effectively prevent the detection signal of the side sensor component 2 from being blocked by the machine body 1, thereby ensuring the working reliability of the side sensor component 2.

[0064] In one embodiment, if Figure 3 As shown, there are two side sensor assemblies 2, which are arranged on both sides of the machine body 1. Specifically, by arranging two side sensor assemblies 2 on both sides of the machine body 1, the environmental information on both sides of the machine body 1 can be effectively detected, the detection range of the environmental information can be improved, the detection blind areas on both sides of the machine body 1 can be reduced, and the mobility reliability of the mobile robot can be improved.

[0065] In one embodiment, if Figure 3 As shown, two side sensor components 2 are symmetrically arranged on both sides of the machine body 1. Specifically, the symmetrical arrangement of the two side sensor components 2 on both sides can reduce the calculation difficulty of the controller, thereby helping to improve the overall calculation efficiency and accuracy of the mobile robot.

[0066] In one embodiment, if Figure 3 As shown, the side sensor assembly 2 is arranged on the machine body 1 at an angle downward, and the detection direction of the side sensor assembly 2 is inclined downward.

[0067] Specifically, by tilting the side sensor assembly 2 downward, the detection space of the side sensor assembly 2 is tilted downward as a whole, which helps the side sensor assembly 2 detect an area closer to the side of the machine body 1 when the installation height of the side sensor assembly 2 remains unchanged, thereby helping to reduce the blind area on the side of the machine body 1 during operation. In the specific implementation process, the direction of the detection center line of the side sensor assembly 2 is the detection direction.

[0068] In one embodiment, there is a first angle between the detection direction of the side sensor assembly 2 and the working surface 5, and the first angle is 25 to 30 degrees. Specifically, the first angle is designed to be 25 to 30 degrees, which can not only reduce the blind area on the side of the machine body 1 during operation without changing the installation height of the side sensor assembly 2, but also reduce the probability of the side sensor assembly 2 being blocked by the machine body 1 below the position, which helps to reduce the overall design difficulty of the lawn mowing robot.

[0069] In the specific implementation process, the first angle between the detection direction of the side sensor assembly 2 and the working surface 5 is 27 degrees. Figure 7As shown, the overall parameters of the side sensor component 2 can be set as follows: the vertical field of view angle of the side sensor component 2 is set to 123 degrees, the installation height of the side sensor component 2 is 153 mm, the first intersection line between the detection space of the side sensor component 2 and the working surface 5 is 4 mm away from the outer edge surface 6 on the side of the machine body 1, and accordingly, at this time, the first angle between the detection direction of the side sensor component 2 and the working surface 5 is approximately 27 degrees.

[0070] In one embodiment, the installation height of the side sensor assembly 2 is between 120 mm and 200 mm.

[0071] Specifically, firstly, by installing the side sensor assembly 2 at a height above 120 mm, the risk of the side sensor assembly 2 being blocked by tall grass can be reduced, thereby improving the working reliability of the side sensor assembly 2. Secondly, by controlling the upper limit of the installation height of the side sensor assembly 2, on the one hand, it can be avoided that the installation height is too high, which makes it difficult to control the distance between the first intersection line and the side of the machine body 1, thereby helping to reduce the difficulty of controlling the distance between the first intersection line and the side of the machine body 1; on the other hand, it can be avoided that the distance between the side sensor assembly 2 and the working surface 5 is too large, thereby improving the clarity of the boundary image obtained by the side sensor assembly 2, which helps to improve the accuracy of the machine body 1 following the boundary.

[0072] The installation height refers to the distance between the side sensor assembly 2 and the working surface 5. In the specific implementation process, the installation height of the side sensor assembly 2 is 153 mm. Figure 7 As shown, the overall parameters of the side sensor component 2 can be set as follows: the vertical field angle of the side sensor component 2 is set to 123 degrees, the first angle between the detection direction of the side sensor component 2 and the working surface 5 is set to 27 degrees, and the first intersection line between the detection space of the side sensor component 2 and the working surface 5 is 4 mm away from the outer edge surface 6 on the side of the machine body 1. Accordingly, the installation height of the side sensor component 2 is approximately 153 mm at this time.

[0073] In one embodiment, if Figure 3As shown, the distance between the side sensor assembly 2 and the outer edge surface 6 is between -10mm and 15mm. Specifically, a positive value represents that the installation position of the side sensor assembly 2 is located outside the outer edge surface 6, and a negative value represents that the installation position of the side sensor assembly 2 is located inside the outer edge surface 6. By setting the side sensor assembly 2 at a distance of -10mm to 15mm from the outer edge surface 6, on the one hand, it can prevent the side sensor assembly 2 from being too far from the outer edge surface 6, thereby reducing the probability that the side sensor assembly 2 is blocked by the machine body 1 below the position; on the other hand, it helps to make the first intersection line between the detection range of the side sensor assembly 2 and the working surface 5 closer to the outer edge surface 6 of the machine body 1, which is conducive to reducing the blind area on the side of the machine body 1; on the other hand, it can prevent the side sensor assembly 2 from exceeding the outer edge surface 6 by too much, thereby effectively reducing the probability of the side sensor assembly 2 colliding with the external environment, thereby helping to improve the working safety of the side sensor assembly 2.

[0074] In one embodiment, the vertical field of view of the side sensor assembly 2 is greater than the horizontal field of view. By setting the vertical field of view angle to be greater than the horizontal field of view angle, the deformation amount of the image acquired by the side sensor assembly 2 can be reduced, and the image accuracy of the side sensor assembly 2 can be improved, so that the side sensor assembly 2 can more reliably identify the side boundary, and it is beneficial for the mobile robot to follow the boundary.

[0075] In one embodiment, the vertical field of view of the side sensor assembly 2 is 100 to 150 degrees. Specifically, the vertical field of view of the side sensor assembly 2 is set to 100 to 150 degrees. On the one hand, the detection range of the side sensor assembly 2 in the vertical direction is wider, thereby reducing the probability that the side sensor assembly 2 is blocked by tall grass and the like and cannot obtain environmental information, and enabling the side sensor assembly 2 to better detect areas closer to the side of the machine body 1, which helps to reduce the detection blind area on the side of the machine body 1, and helps to reduce the structural design difficulty of the installation layout of the side sensor assembly 2 on the machine body 1; on the other hand, it can prevent the image acquired by the side sensor assembly 2 from being excessively deformed due to the excessive field of view, thereby causing image distortion, thereby ensuring that the clarity of the image meets the calculation requirements of the controller and the reliability of detection.

[0076] In a specific implementation, the vertical field of view of the side sensor assembly 2 is 123 degrees. Figure 7 As shown, the overall parameters of the side sensor component 2 can be set as follows: the installation height of the side sensor component 2 is set to 153 mm, the first angle between the detection direction of the side sensor component 2 and the working surface 5 is set to 27 degrees, and the first intersection line between the detection space of the side sensor component 2 and the working surface 5 is 4 mm away from the outer edge surface 6 on the side of the machine body 1. Accordingly, the vertical field of view angle of the side sensor component 2 is approximately 123 degrees.

[0077] In one embodiment, the horizontal field of view of the side sensor assembly 2 is 70 to 100 degrees. Specifically, the horizontal field of view of the side sensor assembly 2 is set to 70 to 100 degrees. On the one hand, the detection range of the side sensor assembly 2 in the horizontal direction is wider, so that the side sensor assembly 2 can cover more areas on the side of the machine body 1, which helps to reduce the detection blind area on the side of the machine body 1; on the other hand, it can prevent the image acquired by the side sensor assembly 2 from being excessively deformed due to the excessive field of view, thereby causing image distortion, ensuring that the clarity of the image meets the calculation requirements of the controller and ensuring the reliability of detection.

[0078] In one embodiment, if Figure 5 As shown, the machine body 1 includes a main frame 11 and an upper shell 12, the upper shell 12 is connected to the main frame 11 in a floating manner, and the side sensor assembly 2 is installed on the upper shell 12. Specifically, by providing the upper shell 12 connected to the main frame 11 in a floating manner, and arranging the side sensor assembly 2 on the upper shell 12, when the mobile robot collides, the upper shell 12 and the side sensor assembly 2 can move relative to the main frame 11, thereby achieving collision buffering, thereby avoiding damage to the side sensor assembly 2 due to excessive collision impact force, and helping to increase the service life of the side sensor assembly 2.

[0079] In one embodiment, the upper shell 12 is connected to the main frame 11 via a rubber block, and the rubber block can provide a buffer for the upper shell 12 and the main frame 11 .

[0080] In the specific implementation process, Figure 5 As shown, the machine body 1 further includes a cutting mechanism 4 and a moving mechanism 13 . The moving mechanism 13 is arranged at the bottom of the main frame 11 . The cutting mechanism 4 is arranged at the bottom of the main frame 11 and is offset from the moving mechanism 13 in a direction parallel to the working surface 5 .

[0081] In one embodiment, the upper shell 12 is provided with a mounting hole, and the side sensor assembly 2 is mounted in the mounting hole. Specifically, by embedding the side sensor assembly 2 in the mounting hole, the side sensor assembly 2 and the upper shell 12 can be integrated with a simple structure, and the side sensor assembly 2 can be exposed, so that the side sensor assembly 2 can effectively detect the environmental information on the side.

[0082] In one embodiment, if Figure 6 , Fig. 9 and Fig.10 As shown, the side sensing assembly 2 includes a side sensing housing 21 and a side sensor 22 . The side sensing housing 21 is disposed on the machine body 1 . A first mounting cavity 214 is disposed inside the side sensing housing 21 . The side sensor 22 is disposed in the first mounting cavity 214 .

[0083] Specifically, by disposing the side sensor 22 in the side sensor housing 21 , the side sensor 22 can be reliably protected to prevent the side sensor 22 from colliding with the external environment and being damaged, thereby helping to increase the service life of the side sensor 22 .

[0084] In one embodiment, if Figure 6 and Fig.10 As shown, the side sensor housing 21 includes a fixedly connected housing 211 and a wiring housing 212, a first mounting cavity 214 is disposed in the housing 211, the housing 211 is mounted on the machine body 1 through the wiring housing 212, a wiring channel is disposed inside the wiring housing 212, and the connecting wire of the side sensor 22 can pass through the wiring channel to connect to the controller in the machine body 1, so that the overall structure of the side sensor assembly 2 is both neat and beautiful, and safe and reliable. In the specific implementation process, the housing 211 and the wiring housing 212 are made of metal materials to improve the heat dissipation performance of the side sensor housing 21.

[0085] In one embodiment, if Figure 6 As shown, the side sensing assembly 2 also includes a side cleaning mechanism 23. An optical window 213 is provided at one end of the side sensing shell 21 facing the side of the machine body 1. The side sensor 22 detects environmental information through the optical window 213. The side cleaning mechanism 23 abuts against the optical window 213 and can clean the optical window 213.

[0086] Specifically, by providing a side cleaning mechanism 23 to clean the optical window 213 , the cleanliness of the optical window 213 in the detection direction of the side sensor 22 can be improved, and the influence of non-real environmental information factors on the detection results can be avoided, thereby helping to improve the detection reliability of the side sensor 22 .

[0087] In one embodiment, the sweeping angle of the side cleaning mechanism 23 is less than 90 degrees. Figure 6 As shown, the side cleaning mechanism 23 includes a swinging member 231 and a scraping member 232. The scraping member 232 is arranged on the swinging member 231. The scraping member 232 abuts against the optical window 213. The swinging member 231 can drive the scraping member 232 to swing and clean the optical window 213. Further, the scraping area of ​​the scraping member 232 is larger than the detection range of the side sensor 22 at the optical window 213. In the specific implementation process, the swinging member 231 is arranged at the edge of the optical window 213. When the optical window 213 is a quadrilateral structure, the swinging member 231 is arranged near one of the corners of the optical window 213. This design can not only prevent the swinging member 231 from occupying the installation space of the side sensor 22, but also reduce the swing angle of the scraping member 232, so as to improve the scraping efficiency of the scraping member 232.

[0088] During the specific implementation process, the optical window 213 is arranged on the side of the accommodating shell 211 facing the side, one end of the swinging member 231 is located in the first installation cavity 214 and is fixed to the accommodating shell 211, the other end of the swinging member 231 passes through the accommodating shell 211 and extends out of the accommodating shell 211, and the scraping member 232 is installed at the end of the swinging member 231 located outside the accommodating shell 211.

[0089] In one embodiment, if Figure 2 and Figure 4 As shown, the mobile robot further includes a front sensor component 3 , which is disposed on the front side of the machine body 1 , and is used to detect environmental information in front of the machine body 1 .

[0090] Specifically, by providing a front sensing component 3 for detecting environmental information in front of the machine body 1, environmental information in front of the machine body 1 can be effectively acquired so as to realize positioning and navigation of the mobile robot.

[0091] In one embodiment, if Figures 8 to 10 As shown, the front sensor assembly 3 includes a front sensor housing 31 and a front sensor 32. The front sensor housing 31 is disposed in the machine body 1. A second mounting cavity 313 is disposed inside the front sensor housing 31. The front sensor 32 is disposed in the second mounting cavity 313. In a specific implementation, the front sensor housing 31 includes an upper mounting shell 311 and a lower mounting shell 312 that are snap-fitted together. The upper mounting shell 311 and the lower mounting shell 312 enclose the second mounting cavity 313.

[0092] In one embodiment, if Figure 6 and Figure 8 As shown, the two side sensing housings 21 are respectively arranged at the two ends of the bottom of the lower mounting housing 312, the wiring housing 212 of the side sensing housing 21 is fixedly connected with the lower mounting housing 312 by bolts, and the side sensing housing 21 is installed on the machine body 1 through the front sensing housing 31. In the specific implementation process, the wiring housing 212 is tiltedly arranged on the lower mounting housing 312, and the angle between the wiring housing 212 and the lower mounting housing 312 is not greater than 45 degrees.

[0093] In a specific implementation process, the accommodating shell 211 passes through the mounting hole on the upper shell 12 and extends out of the upper shell 12 .

[0094] In one embodiment, if Figure 4As shown, the detection space of the front sensor component 3 and the detection space of the side sensor component 2 have an intersection 7. Specifically, by making the detection space of the front sensor component 3 and the detection space of the side sensor component 2 have an intersection 7, the front and side of the machine body 1 can be detected uninterruptedly. On the one hand, it avoids the occurrence of a blind spot in the intersection area of ​​the front and side of the machine body 1, thereby improving the detection reliability of the environmental information in front of and on the side of the machine body 1; on the other hand, it enables the environmental information in front of the machine body 1 and the environmental information on the side to be spliced, and then the machine body 1 can be positioned using the spliced ​​image, thereby realizing the position recognition of the machine body 1.

[0095] In one embodiment, the detection direction of the side sensor assembly 2 and the working surface 5 have a first angle, the detection direction of the front sensor assembly 3 and the working surface 5 have a second angle, and the second angle is smaller than the first angle.

[0096] Specifically, by setting the second angle to be smaller than the first angle, this design enables the front sensor component 3 to obtain more environmental information in front of the machine body 1, thereby facilitating the improvement of the reliability of the positioning and navigation of the mobile robot, and enables the side sensor component 2 to more accurately identify the side boundary of the machine body 1, thereby facilitating the improvement of the reliability of the following boundary of the mobile robot. In the specific implementation process, the first angle is 25 to 30 degrees, and the second angle is 10 to 30 degrees.

[0097] In one embodiment, if Figure 2 As shown, the installation height of the front sensor assembly 3 is greater than the installation height of the side sensor assembly 2. Specifically, on the one hand, the installation height of the front sensor assembly 3 is relatively higher, so that the front sensor assembly 3 can detect the environmental information of the area farther in front of the machine body 1, thereby providing more ample time for the calculation of the controller and the obstacle avoidance of the mobile robot; on the other hand, the installation height of the side sensor assembly 2 is relatively low, so that the side sensor assembly 2 can detect the environmental information of the area closer to the side, thereby improving the detection accuracy of the side.

[0098] In one embodiment, the distance between the side sensor assembly 2 and the front end of the machine body 1 is greater than the distance between the front sensor assembly 3 and the front end of the machine body 1. Since the front sensor assembly 3 is closer to the front end of the machine body 1, it can reduce obstruction, so that it can more directly and sensitively capture and sense various environmental information in front of the machine body 1. The side sensor assembly 2 is farther away from the front end of the machine body 1, which can avoid excessive overlap or interference with the sensing range of the front sensor assembly 3, and when the front end of the machine body 1 is hit, it can effectively reduce the direct impact force on the side sensor assembly 2, reducing the risk of damage or performance degradation caused by the collision.

[0099] In one embodiment, the distance between the side sensor assembly 2 and the front end of the machine body 1 is greater than 130 mm and less than 150 mm. Specifically, by setting the side sensor assembly 2 at a position greater than 130 mm and less than 150 mm from the front end of the machine body 1, it is possible to avoid the side sensor assembly 2 being too far or too close to the front end of the machine body 1. On the one hand, the detection space of the side sensor assembly 2 can be made to intersect with the detection space of the front sensor assembly 3. On the other hand, it is possible to avoid the intersection of the detection space of the side sensor assembly 2 and the detection space of the front sensor assembly 3 being too large, thereby ensuring that the overall detection space of the side sensor assembly 2 and the front sensor assembly 3 is as wide as possible, and ensuring that the detection space of the side sensor assembly 2 and the detection space of the front sensor assembly 3 can be spliced, thereby realizing the positioning of the machine body 1. In the specific implementation process, the distance between the side sensor assembly and the front end of the machine body is 141 mm.

[0100] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. A mobile robot, characterized in that: include: a machine body, the machine body being movable on a work surface; A side sensor assembly is arranged on the side of the machine body, and is used to detect environmental information on the side of the machine body.

2. The mobile robot according to claim 1, characterized in that: The detection space of the side sensor assembly and the working surface have at least a first intersection line, and the distance between the first intersection line and the outer edge surface of the side of the machine body is between -20 mm and 20 mm.

3. The mobile robot according to claim 1, characterized in that: The number of the side sensor assemblies is two, and the two side sensor assemblies are arranged on both sides of the machine body.

4. The mobile robot according to claim 3, characterized in that: The two side sensor assemblies are symmetrically arranged on both sides of the machine body.

5. The mobile robot according to claim 1, characterized in that: The side sensor assembly is arranged on the machine body in a downwardly inclined manner, and the detection direction of the side sensor assembly is inclined downwardly.

6. The mobile robot according to claim 5, characterized in that: There is a first angle between the detection direction of the side sensor assembly and the working surface, and the first angle is 25 degrees to 30 degrees.

7. The mobile robot according to claim 1, characterized in that: The installation height of the side sensor assembly is between 120 mm and 200 mm.

8. The mobile robot according to claim 2, characterized in that: The distance between the side sensing component and the outer edge surface is between -10 mm and 15 mm.

9. The mobile robot according to claim 1, characterized in that: The vertical field of view angle of the side sensor assembly is greater than the horizontal field of view angle.

10. The mobile robot according to claim 1, characterized in that: The machine body comprises a main frame and an upper shell, the upper shell is floatingly connected to the main frame, and the side sensor assembly is mounted on the upper shell.

11. The mobile robot according to claim 10, characterized in that: The upper shell is provided with a mounting hole, and the side sensor assembly is mounted in the mounting hole.

12. The mobile robot according to claim 1, characterized in that: The side sensing assembly includes a side sensing housing and a side sensor. The side sensing housing is arranged on the machine body. A first installation cavity is arranged inside the side sensing housing. The side sensor is arranged in the first installation cavity.

13. The mobile robot according to claim 12, characterized in that: The side sensing assembly also includes a side cleaning mechanism. An optical window is provided at one end of the side sensing shell facing the side of the machine body. The side sensor detects environmental information through the optical window. The side cleaning mechanism abuts against the optical window and can clean the optical window.

14. The mobile robot according to claim 13, characterized in that: The sweeping angle of the side cleaning mechanism is less than 90 degrees.

15. The mobile robot according to any one of claims 1 to 14, characterized in that: The mobile robot further comprises a front sensor component, which is arranged on the front side of the machine body and is used to detect environmental information in front of the machine body.

16. The mobile robot according to claim 15, characterized in that: The detection space of the front sensor assembly and the detection space of the side sensor assembly intersect.

17. The mobile robot according to claim 15, characterized in that: The detection direction of the side sensor assembly has a first angle with the working surface, the detection direction of the front sensor assembly has a second angle with the working surface, and the second angle is smaller than the first angle.

18. The mobile robot according to claim 15, characterized in that: The installation height of the front sensor assembly is greater than the installation height of the side sensor assembly.

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