Autonomous mobile device

Abstract

The present disclosure provides an autonomous mobile device. The autonomous mobile device is capable of autonomously moving on a surface of travel and includes a host and a sensing assembly assembled together. The host has a top surface and a bottom surface. In the vertical direction of the autonomous mobile device, the height between the top surface and the bottom surface of the host is H. The sensing assembly is used for sensing obstacles on the advancing face and installed at the preset position of the main machine. Specifically, in the vertical direction, the distance between the lowest end of the sensing assembly and the bottom face of the host is H1, and H1gt is met; h / 2. Therefore, since the sensing assembly including the point laser radar and the like is arranged at the position which is high enough away from the advancing surface, the probability of mistakenly recognizing some obstacles with lower heights as obstacles with higher heights can be reduced or even eliminated, the modeling precision of the autonomous mobile equipment on the surrounding scene can be improved, and the modeling accuracy of the autonomous mobile equipment on the surrounding scene can be improved. Therefore, the path-finding accuracy of the autonomous mobile device is improved.

Description

Technical Field

[0001] The present disclosure relates to the construction of autonomous mobile devices. Background Art

[0002] Autonomous mobile devices refer to intelligent mobile devices that can autonomously perform preset tasks. At present, autonomous mobile devices generally include but are not limited to cleaning robots (such as intelligent sweepers, intelligent floor scrubbers, and window cleaning robots), companion mobile robots (such as intelligent electronic pets and nanny robots), service mobile robots (such as reception robots in hotels, inns, and meeting places), industrial inspection intelligent devices (such as power inspection robots, intelligent forklifts, etc.), and security robots (such as household or commercial intelligent guard robots).

[0003] The autonomous mobile device can move autonomously on the traveling surface, and is provided with a sensing component for sensing whether there are obstacles on the traveling surface and the size parameters of the obstacles, so that the autonomous mobile device can model the surrounding scene according to the data sensed by the sensing component, and perform accurate pathfinding during the autonomous movement. However, in the existing autonomous mobile devices, the sensing components, such as point laser radars, are set at a low position, so that the sensing components may identify obstacles with low heights, such as thresholds, as obstacles with high heights, such as walls, which in turn leads to the problem of inaccurate modeling and low pathfinding accuracy of the autonomous mobile device. Utility Model Content

[0004] Based on the above-mentioned problems of the prior art, the purpose of the present disclosure is to provide an autonomous mobile device, which can significantly reduce or even eliminate the probability of misidentifying a lower obstacle as a higher obstacle, thereby improving the accuracy of the autonomous mobile device in modeling the surrounding scene, and further improving the accuracy of the autonomous mobile device in pathfinding.

[0005] In order to achieve the above objectives, the present disclosure adopts the following technical solutions.

[0006] The present disclosure provides an autonomous mobile device capable of autonomous movement on a traveling surface, the autonomous mobile device comprising:

[0007] A host having a top surface and a bottom surface, wherein a height between the top surface and the bottom surface of the host in a vertical direction of the autonomous mobile device is H; and

[0008] A sensing component is used to sense obstacles on the traveling surface. The sensing component is installed on the host. The distance between the lowermost end of the sensing component and the bottom surface in the up and down direction is H1, satisfying H1>H / 2.

[0009] In an optional solution, H1>3H / 5 is satisfied.

[0010] In another optional solution, the uppermost end of the sensing component does not exceed the top surface in the up-down direction.

[0011] In another optional solution, the sensing component is integrally mounted on the front of the host.

[0012] In another optional solution, the sensing component is located on the side of the host, and the sensing component does not exceed the outer contour of the host in a top view of the autonomous mobile device.

[0013] In another optional solution, it also includes a signal bracket, a circuit board and a recharge receiver, the sensing component and the recharge receiver are installed on the circuit board to form a circuit board assembly, the circuit board assembly is fixed to the signal bracket to form a signal component module, and the signal bracket is installed on the host so that the signal component module is fixed to the host via the signal bracket.

[0014] In another optional solution, the signal bracket includes an upper bracket and a lower bracket, the upper bracket and the lower bracket are stacked and assembled together in the up and down directions, and a portion of the circuit board assembly is sandwiched between the upper bracket and the lower bracket.

[0015] In another optional solution, in the up-down direction, the recharging receiver is located below the sensing component; or

[0016] In the left-right direction of the autonomous mobile device, the recharging receiver is located on the side of the sensing component.

[0017] In another optional scheme, the sensing component includes a point laser radar and / or an image sensor. When the sensing component includes a point laser radar and the traveling surface is a horizontal plane, the point laser radar is configured so that the laser it emits propagates obliquely upward at an angle greater than or equal to 0.75 degrees and less than or equal to 3 degrees with the horizontal plane.

[0018] In another optional solution, a protective cover is further included, which is installed on the front end of the sensing component. The protective cover is formed into an annular shape surrounding the front end and is formed into a shape that gradually expands away from the front end.

[0019] By adopting the above technical solution, the present disclosure provides an autonomous mobile device. The autonomous mobile device can move autonomously on a traveling surface and includes a host and a sensing component assembled together. The host has a top surface and a bottom surface. In the up-down direction of the autonomous mobile device, the height between the top surface and the bottom surface of the host is H. The sensing component is used to sense obstacles on the traveling surface, and the sensing component is installed at a predetermined position of the host. Specifically, in the up-down direction of the autonomous mobile device, the distance between the lowest end of the sensing component and the bottom surface of the host is H1, satisfying H1>H / 2.

[0020] In this way, since the sensing components, such as point lidar, are set at a position high enough from the traveling surface, the probability of misidentifying some lower obstacles as higher obstacles can be reduced or even eliminated, thereby improving the accuracy of the autonomous mobile device's modeling of the surrounding scene, thereby improving the accuracy of the autonomous mobile device's pathfinding. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1A is a perspective schematic diagram showing an autonomous mobile device according to an embodiment of the present disclosure, wherein a sensing component is shown in a perspective manner.

[0022] Figure 1B It shows Figure 1A Schematic diagram of an autonomous mobile device from above.

[0023] Figure 1C It shows Figure 1A Schematic diagram of a front view of an autonomous mobile device in which the protective case is omitted.

[0024] Figure 2A It shows Figure 1A A three-dimensional schematic diagram of the signal component module of the autonomous mobile device.

[0025] Figure 2B It shows Figure 2A An enlarged schematic diagram of the local structure of the signal component module.

[0026] Figure 2C It shows Figure 2A A schematic top view of the assembly of the signal component module and the protective cover.

[0027] Figure 2D It shows Figure 2C An enlarged schematic diagram of the local structure of the assembly.

[0028] Description of Reference Numerals

[0029] 1—host; 1s1—top surface; 1s2—bottom surface; 1f—front; 11—cover; 12—base; SL—center line;

[0030] 2—Sensing component;

[0031] 3—signal bracket; 31—upper bracket; 32—lower bracket;

[0032] 4—Circuit board;

[0033] 5—Recharge receiver;

[0034] 6—Protective cover;

[0035] D1—up and down direction; D2—front and back direction; D3—left and right direction. DETAILED DESCRIPTION

[0036] The following describes the embodiments of the present disclosure with reference to the accompanying drawings. For ease of understanding, the elements shown in the drawings may include elements whose sizes and scales are different from the actual sizes and scales.

[0037] In the present disclosure, unless otherwise specified, "front (front side)", "rear (rear side)", "left (left side)", "right (right side)", "upper (upper side)", and "lower (lower side)" are all relative to the normal operating state of the autonomous mobile device according to the present disclosure. Specifically, the autonomous mobile device has a positive movement direction (i.e., positive direction) when it is in a normal operating state on the traveling surface (e.g., the surface to be cleaned). The so-called "normal operating state" refers to the moving state of the autonomous mobile device when performing a task, which is different from the non-normal operating state such as retreat and swing of the autonomous mobile device in the escape mode. "Front (front side)" and "rear (rear side)" refer to the front side and rear side of the autonomous mobile device in the positive forward direction when the autonomous mobile device according to the present disclosure is in a normal operating state, "left (left side)" and "right (right side)" refer to the left side and right side when the autonomous mobile device according to the present disclosure is in a normal operating state, when viewed toward the front side of the positive forward direction, and "upper (upper side)" and "lower (lower side)" refer to the upper side and lower side in the height direction perpendicular to the traveling surface when the autonomous mobile device according to the present disclosure is in a normal operating state.

[0038] In the present disclosure, unless otherwise specified, the "top" and "bottom" of the host refer to the top and bottom, respectively, when the autonomous mobile device according to the present disclosure is in a normal operating state. That is, the top refers to the portion that is away from the traveling surface and located on the upper side in the up-down direction when the autonomous mobile device is in a normal operating state, and the top surface refers to the uppermost surface of the top; and the bottom refers to the portion that is close to the traveling surface and located on the lower side in the up-down direction when the autonomous mobile device is in a normal operating state, and the bottom surface refers to the lowermost surface of the bottom.

[0039] In the present disclosure, the autonomous mobile device according to the present disclosure can move autonomously according to the control scheme preset in its processing unit, and the travel surface where the autonomous mobile device moves autonomously can be a plane or a curved surface with a large radius of curvature, typically, for example, the floor of each room in a building. The processing unit in the present disclosure is a general term, and the type, quantity and form of the processing unit are not limited. Specifically, the processing unit can be one or more of MCU, DSP, FPGA, GPU, or other types of hardware chips, processors or software algorithms with data processing and computing capabilities. Further, the processing unit can be a unified and unique processor of the autonomous mobile device, or a collection of multiple processing units, and the connection mode, function and computing power distribution of multiple processing units can be adjusted as needed. For example, in an optional solution, a first processing unit and a second processing unit can be included. In this case, the first processing unit and the second processing unit as a whole realize various functions of the above-mentioned processing units. In addition, the processing unit of the autonomous mobile device according to the present disclosure can receive parameters from the sensing component, and can perform relevant control on the autonomous mobile device through a preset program stored in the storage unit. In the present disclosure, the data, information, and programs required by the processing unit during the processing process can be stored in the storage unit and obtained from the storage unit as needed. The processing unit can store the processed data, information, etc. in the storage unit again. The storage unit can be a RAM, ROM, etc., or a device and / or equipment with storage function such as a cloud / server / mobile terminal connected via a wired / wireless network.

[0040] The autonomous mobile device according to the embodiments of the present disclosure is described below in conjunction with the accompanying drawings.

[0041] like Figures 1A to 2D As shown, the autonomous mobile device according to an embodiment of the present disclosure includes a host 1, a sensing component 2, a signal bracket 3, a circuit board 4, a recharging receiver 5 and a protective cover 6 assembled together.

[0042] In this embodiment, if Figure 1BAs shown, in the top view, the host 1 has a circular shape as a whole. In other variations, the host 1 as a whole can have various shapes such as D-shape, oval, square, etc. When the autonomous mobile device is in normal operation, the bottom surface 1s2 of the host 1 is opposite to the traveling surface (such as the surface to be cleaned), and the bottom surface 1s2 of the host 1 is usually parallel to the traveling surface. Here, "parallel" not only includes that the bottom surface 1s2 of the host 1 and the traveling surface have a geometric parallel relationship, but also includes the situation where the two are roughly parallel. The above "roughly" means that within the reasonable error range recognized by those skilled in the art, it can be determined that the parallel relationship between the two is established. In addition, in order to support and protect other components, other components of the autonomous mobile device are usually installed inside the host 1, or have a connection relationship with the host 1. Furthermore, the autonomous mobile device can be provided with a processing unit in the host 1, and the processing unit can obtain obstacle data through the sensing component 2, and the processing unit can control the entire autonomous mobile device to move autonomously on the traveling surface based on the obtained data. Further, as Figures 1A to 1C As shown, the host 1 includes a cover 11 and a base 12, which are stacked in the up-down direction D1 and fixedly assembled together via the signal bracket 3. The cover 11 mainly constitutes the top of the host 1, and the top surface of the cover 11 serves as the top surface 1s1 of the host 1. The base 12 mainly constitutes the bottom of the host 1, and the bottom surface of the base 12 serves as the bottom surface 1s2 of the host 1.

[0043] In this embodiment, the sensing component 2 includes a point laser radar, which is used to sense whether there is an obstacle on the traveling surface and the size parameters such as the distance between the obstacle and the autonomous mobile device. To this end, the point laser radar may include a transmitter for emitting laser, a receiver for receiving reflected light of the emitted laser, and a signal processing module.

[0044] Furthermore, if Figures 1A to 2D As shown, the point laser radar of the sensing component 2 is set at the following predetermined position of the host 1. Specifically, Figure 1C As shown, in the vertical direction D1, the height between the top surface 1s1 and the bottom surface 1s2 of the host 1 is H, and the distance H1 between the lowest end of the point laser radar of the sensing component 2 and the bottom surface 1s2 of the host 1 in the vertical direction D1 satisfies H1>H / 2. In this way, the height of the sensing component 2 from the traveling surface can be made high enough to avoid misidentifying some low-height obstacles as high-height walls, and can improve the accuracy of the autonomous mobile device in modeling the surrounding scene, thereby improving the accuracy of path finding. Further, as Figure 1BAs shown, in the front-to-back direction D2, the length of the host 1 from its front side end to the rear side end is L, and the part of the host 1 that is L / 4 from its front side end along the front-to-back direction D2 toward the rear side is the front part 1f of the host 1. The point laser radar of the sensing component 2 is installed as a whole on the front part 1f of the host 1, so that the point laser radar can sense obstacles of the autonomous mobile device in its main direction of travel. Further, the uppermost end of the point laser radar of the sensing component 2 does not exceed the top surface 1s1 of the host 1 in the up-down direction D1, which can avoid the height of the host 1 being increased due to the setting of the sensing component 2, thereby facilitating the autonomous mobile device to pass through a relatively low space, and will not reduce the range of activities of the autonomous mobile device due to the setting of the sensing component 2 at a higher level. Moreover, the point laser radar of the sensing component 2 is arranged on the side of the host 1, and in the top view of the autonomous mobile device, the point laser radar of the sensing component 2 does not exceed the outer contour of the host 1. In this way, the sensing component 2 will not expand the overall size of the autonomous mobile device, and can reduce the probability of the sensing component 2 being damaged by accidental collision.

[0045] Furthermore, in order to improve the ability of the point laser radar of the sensing component 2 to sense obstacles in the main travel direction of the autonomous mobile device, when the travel surface is a horizontal plane, the point laser radar is configured so that the emitted laser of its initiator propagates obliquely upward in a manner that the angle with the horizontal plane is greater than or equal to 0.75 degrees and less than or equal to 3 degrees, thereby enabling the point laser radar to obtain a better detection field of view and reduce blind spots. In addition, if Figure 1B As shown, in the top view, the overall structure of the host 1 is basically mirror-symmetrical with respect to the center line SL extending along the front-to-back direction D2, and the structure of the point laser radar of the sensing component 2 is also constructed to be mirror-symmetrical with respect to the center line SL, so that the point laser radar is located exactly at the front end of the host 1.

[0046] In this embodiment, if Figures 1A to 2DAs shown, the signal bracket 3 is assembled and fixed with the host 1 and is located between the cover 11 and the base 12 of the host 1. Specifically, the signal bracket 3 includes an upper bracket 31 and a lower bracket 32 ​​assembled and fixed together. The upper bracket 31 and the lower bracket 32 ​​both have an arc-shaped structure, and the upper bracket 31 and the lower bracket 32 ​​can have a clamping structure that cooperates with each other, so that the upper bracket 31 and the lower bracket 32 ​​are stacked and assembled together in the up and down direction D1. They are fixedly connected to each other through the clamping structure. Further, the recharge receiver 5 can be used to receive infrared signals such as charging piles, so as to cooperate with the point laser radar to guide the autonomous mobile device to dock correctly at the charging pile to achieve charging. The signal bracket 3 is provided with an installation space for the sensor component 2 and the recharge receiver 5 to be installed, so that the sensor component 2 and the recharge receiver 5 are installed on the circuit board 4 to form a circuit board assembly, wherein the circuit board 4 is sandwiched between the upper bracket 31 and the lower bracket 32 ​​of the signal bracket 3 and the point laser radar of the sensing component 2 and the recharge receiver 5 can be fixed to the signal bracket 3 by, for example, a threaded connector. Thus, the circuit board assembly is fixed to the signal bracket 3 to form a signal assembly module, so that the signal assembly module is fixed to the host 1 via the signal bracket 3. In this way, integrating the sensing component 2 with the circuit board 4, the recharging receiver 5 and the signal bracket 3 to form a signal assembly module is beneficial to the overall structural layout of the autonomous mobile device and simplifies the assembly process. Moreover, the upper bracket 31 and the lower bracket 32 ​​of the signal bracket 3 are used to clamp and fix the circuit board assembly, which is beneficial to the circuit board assembly being firmly supported, thereby improving the working stability of the circuit board assembly. Furthermore, in the present embodiment, in the up-down direction D1, the recharging receiver 5 is located below the sensing component 2, which is beneficial to setting the sensing component 2 at a higher position and will not hinder the normal operation of the recharging receiver 5, thereby being able to guide the autonomous mobile device to dock correctly on the charging pile.

[0047] In this embodiment, if Figure 1A , Figure 1B , Figure 2C and Figure 2D As shown, the protective cover 6 is installed at the front end of the point laser radar of the sensing component 2. The protective cover 6 is formed in an annular shape surrounding the front end, and is formed in a shape that gradually expands as it extends away from the front end. The protective cover 6 can fully protect the point laser radar of the sensing component 2 from dust, water, and collision, and can also shield part of the internal structure of the autonomous mobile device, thereby improving the appearance of the autonomous mobile device. Furthermore, the protective cover 6 can be formed with an avoidance gap so as not to hinder the recharge receiver 5 located below the point laser radar from receiving the signal of the charging pile.

[0048] It should be understood that the above embodiments are merely exemplary and are not intended to limit the present disclosure. Those skilled in the art may make various modifications and changes to the above embodiments under the guidance of the present disclosure without departing from the scope of the present disclosure. The following supplementary explanation is provided for the technical solution of the present disclosure.

[0049] i. It can be understood that in addition to the examples of the self-moving cleaning device described in the above specific embodiments, the technical concept of the present disclosure can also be applied to other fields.

[0050] ii. In the above specific embodiments, the sensing component 2 includes a point laser radar, but the present disclosure is not limited to this.

[0051] For example, in an optional solution, the sensing component 2 may include a plurality of point laser radars. The distance between the bottom end of each point laser radar and the bottom surface 1s2 of the host 1 in the vertical direction D1 is H1, satisfying H1>H / 2. In this way, while being able to achieve the improvement of the accuracy of the autonomous mobile device modeling of the surrounding scene as described in the above specific embodiment, thereby improving the accuracy of path finding, it is also possible to improve the sensing component 2's ability to sense obstacles on the traveling surface.

[0052] In another optional solution, the sensing component 2 may include one or more point laser radars, and the distance between the bottom end of each point laser radar and the bottom surface 1s2 of the host 1 in the vertical direction D1 is H1, satisfying H1>3H / 5. In this way, the accuracy of the autonomous mobile device in modeling the surrounding scene and the accuracy of path finding can be further improved.

[0053] In other optional solutions, the sensing component 2 includes an image sensor such as a camera or an infrared sensor in addition to the point laser radar, or the sensing component 2 does not include the point laser radar but only includes the image sensor, or the sensing component 2 does not include the point laser radar but includes the image sensor and the infrared sensor. In these solutions, the distance between the bottom end of all sensors and the bottom surface 1s2 of the host 1 in the vertical direction D1 is H1, and H1>H / 2 is also satisfied. In this way, it is also possible to achieve the improvement of the accuracy of the autonomous mobile device modeling of the surrounding scene as described in the above specific embodiment, thereby improving the accuracy of the path finding effect.

[0054] iii. In the above specific embodiments, the recharging receiver 5 is disposed below the point laser radar of the sensing component 2, but the present disclosure is not limited thereto. For example, in an optional solution, in the left-right direction D3 of the autonomous mobile device, the recharging receiver 5 is located on the side of the sensing component 2.

[0055] iv. It can be understood that the autonomous mobile device according to the present disclosure may also include a wheel assembly. The wheel assembly may be mounted on the host 1 and protrude relative to the bottom surface of the host 1, and is used to drive the entire autonomous mobile device to move on the travel surface under the control of the processing unit. By making the wheels (driving wheels) of the two wheel assemblies rotate at the same speed and in the same direction (for example, rotating clockwise or counterclockwise at the same time), the autonomous mobile device can be driven to move linearly along the positive forward direction; by making the driving wheels of the two wheel assemblies rotate at different speeds and / or different directions (for example, one driving wheel rotates clockwise and the other driving wheel rotates counterclockwise), the autonomous mobile device can be driven to turn in a direction different from the positive forward direction. The autonomous mobile device may also include a universal wheel arranged on the host 1, so that no matter how the driving wheel rolls on the surface to be cleaned, the universal wheel can support the entire autonomous mobile device.

[0056] In the case where the autonomous mobile device according to the present disclosure is a self-mobile cleaning device, the autonomous mobile device may also include a dry cleaning component and a wet cleaning component. The dry cleaning component is arranged on the main unit 1 and may include a main brush, a side brush (side brush) and a suction device, etc. The wet cleaning component is arranged on the main unit 1 and may include a rag and a water tank, etc. Thus, when the autonomous mobile device is moving on the traveling surface, the traveling surface may be cleaned by the dry cleaning component and / or the wet cleaning component. In different working modes, the cleaning operations performed by the autonomous mobile device include but are not limited to one or more of sweeping, mopping, vacuuming and the like.

Claims

1. An autonomous mobile device capable of autonomous movement on a traveling surface, characterized in that: The autonomous mobile device comprises: A host having a top surface and a bottom surface, wherein a height between the top surface and the bottom surface of the host in a vertical direction of the autonomous mobile device is H; and A sensing component is used to sense obstacles on the traveling surface. The sensing component is installed on the host. The distance between the lowermost end of the sensing component and the bottom surface in the up and down direction is H1, satisfying H1>H / 2.

2. The autonomous mobile device according to claim 1, characterized in that H1>3H / 5 is satisfied.

3. The autonomous mobile device according to claim 1, characterized in that: The uppermost end of the sensing component does not exceed the top surface in the up-down direction.

4. The autonomous mobile device according to any one of claims 1 to 3, characterized in that: The sensing component is integrally mounted on the front of the host.

5. The autonomous mobile device according to any one of claims 1 to 3, characterized in that: The sensing component is located on the side of the host, and the sensing component does not exceed the outer contour of the host in a top view of the autonomous mobile device.

6. The autonomous mobile device according to any one of claims 1 to 3, characterized in that: It also includes a signal bracket, a circuit board and a recharge receiver, the sensing component and the recharge receiver are installed on the circuit board to form a circuit board assembly, the circuit board assembly is fixed to the signal bracket to form a signal component module, and the signal bracket is installed on the host so that the signal component module is fixed to the host via the signal bracket.

7. The autonomous mobile device according to claim 6, characterized in that: The signal bracket includes an upper bracket and a lower bracket, the upper bracket and the lower bracket are stacked and assembled together in the up-down direction, and a part of the circuit board assembly is sandwiched between the upper bracket and the lower bracket.

8. The autonomous mobile device according to claim 6, characterized in that: In the up-down direction, the recharging receiver is located below the sensing component; or In the left-right direction of the autonomous mobile device, the recharging receiver is located on the side of the sensing component.

9. The autonomous mobile device according to any one of claims 1 to 3, characterized in that: The sensing component includes a point laser radar and / or an image sensor, When the sensing component includes a point laser radar and the traveling surface is a horizontal plane, the point laser radar is configured so that the laser it emits propagates obliquely upward at an angle greater than or equal to 0.75 degrees and less than or equal to 3 degrees with the horizontal plane.

10. The autonomous mobile device according to any one of claims 1 to 3, characterized in that: It also includes a protective cover installed on the front end of the sensing component. The protective cover is formed in an annular shape surrounding the front end and is formed in a shape that gradually expands away from the front end.

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