Autonomous mobile device

Abstract

The present disclosure provides an autonomous mobile device. The laser radar of the autonomous mobile device comprises a shell and an emitter arranged in the shell. At least three supported parts which are separated from one another are formed on the shell, and a supported surface is formed at the bottom of each supported part. At least three supporting parts which are separated from one another are formed on the support, the supporting parts and the supported parts are correspondingly arranged in position, supporting surfaces which are the same as supported surfaces of the corresponding supported parts in extension direction are formed at the tops of the supporting parts, and the supporting surfaces and the corresponding supported parts abut against one another in a surface contact mode. Therefore, it can be ensured that the laser radar is installed on the support in the expected inclined posture, a preset included angle is accurately formed between the propagation direction of the laser emitted by the emitter and the horizontal advancing face, the assembling process can be simplified, and the adverse effect of a threaded connecting piece on the precision of the preset posture of the laser radar can be eliminated.

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 find the way in the autonomous movement process accordingly. In the existing autonomous mobile devices, the sensing component usually uses a laser radar to realize the above function. The laser radar is constructed so that the emitted laser of its transmitter propagates obliquely upward at a predetermined angle with the horizontal plane, that is, the laser radar is constructed to have a desired tilt posture, thereby enabling the laser radar to obtain a better detection field of view and reduce blind spots. In the existing autonomous mobile devices, the laser radar is installed on the host of the autonomous mobile device through a threaded connector, and adjusted so that the laser radar achieves the desired tilt posture. However, in actual situations, it is usually difficult to ensure that the laser radar has an accurate tilt posture only through a threaded connector, that is, it is difficult to ensure that the laser radar has an accurate predetermined angle with the horizontal plane. 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 enable the laser radar to have a desired tilt posture after being installed in place, thereby ensuring that the predetermined angle between the emitted laser of the laser radar and the horizontal plane is accurately achieved.

[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 laser radar, comprising a housing and a transmitter disposed in the housing, wherein the housing is formed with at least three supported portions spaced apart from each other, and a supported surface is formed at the bottom of each supported portion; and

[0008] A bracket is formed with at least three support parts spaced apart from each other, the support parts correspond to the supported parts, and the top of each support part is formed with a support surface extending in the same direction as the corresponding supported surface, so that the support parts and the corresponding supported parts abut against each other in a surface contact manner,

[0009] In the state of abutting against each other, the laser radar is fixedly mounted on the bracket in an inclined posture, so that when the traveling surface is a horizontal surface, the propagation direction of the laser emitted by the transmitter forms a predetermined angle relative to the traveling surface.

[0010] In an optional solution, a plurality of the supported parts are included.

[0011] The supported surfaces of all the supported parts are parallel to each other; or

[0012] The supported surfaces of all the supported parts are coplanar.

[0013] In another optional solution, the number of the supported parts is the same as the number of the supporting parts.

[0014] In another optional solution, the shell has a receiving portion, a flange portion and a lug portion fixed to each other, the shell surrounds and forms an installation space located in the receiving portion, and the transmitter is located in the installation space.

[0015] The storage portion protrudes from the flange portion toward the front side of the autonomous mobile device, the two lug portions are spaced apart from each other and protrude from the flange portion toward the rear side of the autonomous mobile device, and the bottom surface of the storage portion and the bottom surfaces of the two lug portions both serve as the supported surface.

[0016] In another optional solution, each of the lug portions is formed with a limiting hole, and the bracket is formed with a limiting column corresponding to the limiting hole, and the limiting column is inserted into the limiting hole.

[0017] In another optional solution, the limiting column extends linearly along the up-down direction of the autonomous mobile device.

[0018] In another optional solution, the housing has a housing mounting portion, and the housing mounting portion is formed with a housing mounting hole.

[0019] The bracket has a bracket mounting portion, the bracket mounting portion is formed with a bracket mounting hole, and the bracket mounting hole is formed with an internal thread.

[0020] The autonomous mobile device further comprises a connecting piece formed with an external thread matching the internal thread, and the connecting piece inserted into the paired mounting holes of the housing and the mounting holes of the bracket fixes the housing and the bracket to each other.

[0021] In another optional solution, the bracket has a plurality of first supporting parts and a plurality of second supporting parts, wherein the plurality of first supporting parts are located in front of the plurality of second supporting parts in the front-rear direction of the autonomous mobile device.

[0022] The plurality of first support portions are arranged to be spaced apart in the left-right direction of the autonomous mobile device,

[0023] The plurality of second support portions are arranged to be spaced apart in the left-right direction of the autonomous mobile device,

[0024] The top surface of each of the first supporting parts and the top surface of each of the second supporting parts serve as the supporting surface.

[0025] In another optional solution, the bracket has a plurality of guide parts, each of which is formed into a flat plate shape extending along the up-down direction and the left-right direction of the autonomous mobile device, and the guide parts are used to guide the laser radar to be installed on the bracket.

[0026] In another optional solution, the laser radar is a point laser radar.

[0027] When the traveling surface is a horizontal surface, the propagation direction of the laser emitted by the transmitter is inclined upward relative to the traveling surface, and the predetermined angle is greater than or equal to 0.75 degrees and less than or equal to 3 degrees.

[0028] 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 laser radar and a bracket assembled together. The laser radar includes a shell and a transmitter arranged in the shell. The shell is formed with at least three supported parts spaced apart from each other, and a supported surface is formed at the bottom of each supported part. The bracket is formed with at least three supporting parts spaced apart from each other, and the supporting parts and the supported parts are arranged in corresponding positions. The top of the supporting part is formed with a supporting surface having the same extension direction as the supported surface of the corresponding supported part, and the supporting surface and the corresponding supported part are abutted against each other in a surface contact manner. In a state where the supporting surface and the supported surface are abutted against each other, the laser radar is fixedly mounted on the bracket in an inclined posture, so that when the traveling surface is a horizontal plane, the propagation direction of the laser emitted by the transmitter forms an angle with a predetermined angle relative to the traveling surface.

[0029] In this way, when the laser radar is fixedly installed on the bracket, the supported surfaces of at least three supported parts of the shell of the laser radar and the supporting surfaces of at least three supporting parts of the bracket are abutted against each other, so that the laser radar can be installed on the bracket in a desired tilted posture, so that the propagation direction of the laser emitted by the transmitter and the horizontal travel surface can accurately achieve a predetermined angle. In fact, in the prior art, it is difficult to ensure that the laser radar has a precise tilted posture only by threaded connectors, especially after the threaded connectors are tightened, it may have an adverse effect on the accuracy of the tilted posture of the laser radar, and even fine-tuning is required after the laser radar is installed. In contrast, the matching scheme of the supported part of the laser radar and the supporting part of the bracket disclosed in the present invention can ensure that the laser radar has a precise tilted posture, thereby saving the above-mentioned fine-tuning operation, thereby ensuring that the laser radar is accurately installed in place while simplifying the assembly process, and can also eliminate the adverse effects of the threaded connector on the accuracy of the predetermined posture of the laser radar. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1A is a perspective schematic diagram showing an autonomous mobile device according to an embodiment of the present disclosure.

[0031] Figure 1B It shows Figure 1A Schematic diagram of an autonomous mobile device from above.

[0032] Figure 2A It shows Figure 1A A three-dimensional schematic diagram of a bracket for an autonomous mobile device.

[0033] Figure 2B It shows Figure 2A An enlarged schematic diagram of the local structure of the stent.

[0034] Figure 2C It shows Figure 2A Schematic top view of the local structure of the bracket.

[0035] Figure 3A It shows Figure 1A A three-dimensional schematic diagram of the lidar of an autonomous mobile device.

[0036] Figure 3B It shows Figure 3A Another stereoscopic schematic diagram of the lidar in FIG.

[0037] Figure 3C It shows Figure 3A Schematic diagram of the lidar from above.

[0038] Figure 4A It shows Figure 2A The bracket and Figure 3AA three-dimensional schematic diagram of the assembly of the two laser radars.

[0039] Figure 4B It shows Figure 4A Schematic diagram of a cross-sectional enlarged view of a local structure of an assembly in which the section lines are omitted.

[0040] Description of Reference Numerals

[0041] MB—host;

[0042] 1—housing; 11—cover; 12—base;

[0043] 2—bracket; 21—first supporting portion; 21s—first supporting surface; 22—second supporting portion; 22s—second supporting surface; 23—bracket mounting portion; 23h—bracket mounting hole; 24—limiting column; 25—guiding portion;

[0044] SA—sensing assembly;

[0045] 3—laser radar; 31—housing; 311—storage portion; 311s—first supported surface; 312—flange portion; 313—ear portion; 313s—second supported surface; 313h—limiting hole; 314—housing mounting portion; 314h—housing mounting hole;

[0046] 4—Protective cover;

[0047] CP—connector;

[0048] D1—up and down direction; D2—front and back direction; D3—left and right direction. DETAILED DESCRIPTION

[0049] 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.

[0050] 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.

[0051] 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.

[0052] In the present disclosure, the autonomous mobile device can move autonomously according to the control scheme preset in its processing unit. The traveling surface where the autonomous mobile device moves autonomously can be a plane or a curved surface with a large radius of curvature, typically 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.

[0053] The autonomous mobile device according to the embodiments of the present disclosure is described below in conjunction with the accompanying drawings.

[0054] like Figure 1A and Figure 1B As shown, the autonomous mobile device according to the embodiment of the present disclosure includes a host MB, a sensing component SA and a connector CP assembled together, and the sensing component SA is fixedly mounted on the host MB through the connector CP. The autonomous mobile device may be provided with a processing unit in the host MB, and the processing unit can obtain obstacle data through the sensing component SA, and the processing unit can control the entire autonomous mobile device to move autonomously on the travel surface based on the obtained data.

[0055] In this embodiment, if Figure 1BAs shown, the host MB has a circular shape as a whole in the top view. In other variations, the host MB 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 of the host MB is opposite to the traveling surface (such as the surface to be cleaned), and the bottom surface of the host MB is usually parallel to the traveling surface. Here, "parallel" not only includes the situation where the bottom surface of the host MB 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 MB, or have a connection relationship with the host MB.

[0056] like Figures 1A to 2C As shown, the host MB includes a housing 1 and a bracket 2 assembled together. The housing 1 includes a cover 11 and a base 12, which are stacked in the up and down direction D1 and can be fixedly assembled together via the bracket 2 or directly fixedly assembled together. The cover 11 mainly constitutes the top of the host MB, and the top surface of the cover 11 serves as the top surface of the host MB. The base 12 mainly constitutes the bottom of the host MB, and the bottom surface of the base 12 serves as the bottom surface of the host MB. The bracket 2 is assembled and fixed together with the housing 1 and is located between the cover 11 and the base 12 of the host MB. Specifically, the bracket 2 can be formed as an integral structure, or it can include an upper bracket and a lower bracket assembled and fixed together. The bracket 2 has an arc-shaped structure as a whole. The bracket 2 is provided with an installation space for installing the sensing component SA (including the laser radar 3), and the laser radar 3 of the sensing component SA is fixed to the bracket 2 by forming a threaded connector CP.

[0057] like FIG. 2A to FIG. 2C As shown, the bracket 2 is formed with a plurality of supporting parts (including two first supporting parts 21 and two second supporting parts 22). The supporting parts of the bracket 2 are arranged correspondingly to the supported parts (the storage part 311 and the lug part 313 described below) formed by the shell 31 of the laser radar 3. The top of the supporting part is formed with a supporting surface extending in the same direction as the supported surface of the corresponding supported part (in this embodiment, the supporting surfaces of all the supporting parts are configured to be coplanar), so that the supporting part and the corresponding supported part are abutted against each other in a surface contact manner, thereby ensuring that the laser radar 3 is installed on the bracket 2 in a desired tilted posture by using the supporting part and the supported part.

[0058] Specifically, the two first support parts 21 are formed as support ribs extending linearly mainly along the front-rear direction D2, the top surface of each first support part 21 serves as a first support surface 21s, and the first support surface 21s of the first support part 21 forms a plane of a narrow and long shape. The two first support parts 21 are arranged at intervals in the left-right direction D3 of the autonomous mobile device. The two second support parts 22 are support blocks having a rectangular parallelepiped shape, the top surface of each second support part 22 serves as a second support surface 22s, and the second support surface 22s of the second support part 22 is formed as a rectangular plane. The two second support parts 22 are arranged at intervals in the left-right direction D3, and the interval between the two second support parts 22 in the left-right direction D3 is greater than the interval between the two first support parts 21 in the left-right direction D3, so that the second support parts 22 and the first support parts 21 are staggered in the left-right direction D3. Further, the two first support parts 21 are located in front of the two second support parts 22 in the front-to-back direction D2, that is, the first support part 21 and the second support part 22 are staggered in the front-to-back direction D2. Thus, by using the first support part 21 and the second support part 22 that are spaced apart in both the front-to-back direction D2 and the left-to-right direction D3, it is possible to ensure that the laser radar 3 is installed on the bracket 2 in a desired tilted posture. Moreover, as mentioned above, in the prior art, it is difficult to ensure that the laser radar has an accurate tilted posture only by means of threaded connectors, especially after the threaded connectors are tightened, the accuracy of the tilted posture of the laser radar may be adversely affected, and fine-tuning is required after the laser radar is installed. In contrast, in this embodiment, the solution of using the supporting surface of the supporting part of the above-mentioned bracket 2 to cooperate with the supported surface of the supported part of the following shell 31 of the laser radar 3 can ensure that the laser radar has an accurate tilted posture, thereby saving the above-mentioned fine-tuning operation, thereby ensuring that the laser radar is accurately installed in place while simplifying the assembly process, and it can also overcome the adverse effects of the threaded connector on the accuracy of the predetermined posture of the laser radar 3.

[0059] like FIG. 2A to FIG. 2CAs shown, the bracket 2 is formed with two guide parts 25. Each guide part 25 is formed as a flat plate-shaped guide piece extending in the front-to-back direction D2 and the up-down direction D1. Each guide part 25 corresponds to a second support part 22, and each guide part 25 is arranged on the inner edge of the corresponding second guide part 25 in the left-right direction D3. In this way, the guide part 25 can be used to guide the laser radar 3 to be installed on the bracket 2, which is conducive to the smooth installation of the laser radar 3 and simplifies the installation process. In addition, the bracket 2 is also provided with a limiting column 24 corresponding to the limiting hole 313h of the shell 31 of the laser radar 3 on the second supporting surface 22s of each second support part 22. The limiting column 24 extends linearly along the up-down direction D1 and has a cross-shaped cross section. The limiting column 24 is used to limit the laser radar 3 in the front-to-back direction D2 and the left-right direction D3. Moreover, since the limiting column 24 extends linearly along the up-down direction D1, it is convenient to manufacture the mold of the bracket 2 and demould it when the bracket 2 is molded.

[0060] In this embodiment, the sensing assembly SA includes a laser radar 3 and a protective cover 4 assembled together. The laser radar 3 may be 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 height of the obstacle. To this end, the point laser radar may include a transmitter for emitting laser, a receiver for receiving the reflected light of the emitted laser, and a signal processing module.

[0061] like FIG. 3A to FIG. 3C As shown, the laser radar 3 includes a housing 31, and the above-mentioned transmitter, receiver and signal processing module can be installed in the housing 31. The housing 31 is formed with a supported portion (the storage portion 311 and the lug portion 313 described below), and the bottom of the supported portion is formed with a supported surface. In a state where the supported surface and the supporting surface of the supporting portion are against each other, the laser radar 3 is fixedly installed on the bracket 2 in an inclined posture, so that the propagation direction of the laser emitted by the transmitter forms a predetermined angle relative to the traveling surface when the traveling surface is a horizontal surface. Specifically, the housing 31 has a storage portion 311, a flange portion 312 and a lug portion 313 fixed to each other. The storage portion 311 is formed into a cylindrical shape with an oblong cross section, and the housing 31 surrounds and forms an installation space located in the storage portion 311, and the transmitter and receiver can be located in the installation space. The flange portion 312 extends from the rear side end edge of the storage portion 311 toward the outside, that is, the storage portion 311 protrudes from the flange portion 312 toward the front side. The two lugs 313 are spaced apart from each other and protrude from the flange 312 toward the rear side. In this embodiment, the receiving portion 311 and the two lugs are used as supported portions, the bottom surface of the receiving portion 311 is used as the first supported surface 311s, and the bottom surfaces of the two lugs 313 are used as the second supported surfaces 313s. Figure 4A and Figure 4BAs shown, the first supported surface 311s of the storage portion 311 corresponds to the first supporting surface 21s of the first supporting portion 21 so as to abut against each other, and the second supported surfaces 313s of the two lug portions 313 correspond to the second supporting surface 22s of the second supporting portion 22 so as to abut against each other. In this embodiment, the supported surfaces of all supported portions are coplanar, and when the supported surfaces and the supporting surfaces abut against each other, it can be considered that all supported surfaces and the supporting surfaces are coplanar. In this way, not only can the laser radar 3 of the sensing component SA be installed and fixed to the bracket 2 in a predetermined tilted posture, but also when the supported surfaces of the supported portions and the supporting surfaces of the supporting portions are coplanar, it is helpful to detect whether all surfaces meet the design requirements.

[0062] like FIG. 3A to FIG. 3C As shown, each lug portion 313 is formed with a limiting hole 313h extending along the up-down direction D1. As described above, the bracket 2 is formed with a limiting column 24 corresponding to the limiting hole 313h. Figure 4A and Figure 4B As shown, after the laser radar 3 is installed in place, the limiting column 24 can be inserted into the corresponding limiting hole 313h in a clearance fit manner. In this way, the laser radar 3 can be more effectively limited relative to the bracket 2, which is conducive to the laser radar 3 being smoothly installed in place and relatively fixed relative to the bracket 2.

[0063] In order to firmly fix the laser radar 3 on the bracket 2, as shown in FIG. FIG. 3A to FIG. 3C As shown, the housing 31 of the laser radar 3 also has two housing mounting portions 314, which protrude from the flange portion 312 toward the front side and are located on both sides of the storage portion 311 in the left-right direction D3. Furthermore, each housing mounting portion 314 is formed with a housing mounting hole 314h that passes through along the up-down direction D1. FIG. 2A to FIG. 2C As shown, the bracket 2 has a bracket mounting portion 23 that cooperates with the housing mounting portion 314, and the bracket mounting portion 23 is formed with a bracket mounting hole 23h as a blind hole. Further, the bracket mounting hole 23h is formed with an internal thread, and the connecting piece CP is formed with an external thread that matches the internal thread, such as Figure 4A and Figure 4B As shown, the connector CP inserted into the paired housing mounting holes 314h and the bracket mounting holes 23h fixes the housing 31 of the laser radar 3 and the bracket 2 to each other. In this way, the laser radar 3 can be firmly mounted on the bracket 2 using a relatively simple connection structure.

[0064] By adopting the above scheme, Figure 4A and Figure 4BAs shown, when the laser radar 3 is fixedly mounted on the bracket 2, the supported surface of the supported part of the shell 31 of the laser radar 3 and the supporting surface of the supporting part of the bracket 2 are abutted against each other, so that the laser radar 3 can be installed on the bracket 2 in a desired tilted posture, so that the propagation direction of the laser emitted by the transmitter forms a precise predetermined angle relative to the horizontal traveling surface, and the adverse effect of the fixed structure of the prior art on the accuracy of the predetermined angle is avoided. Furthermore, in order to improve the ability of the point laser radar in this embodiment to sense obstacles in the main traveling direction of the autonomous mobile device, when the traveling surface is a horizontal plane, the point laser radar can be constructed 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 (in this embodiment, it can be 2.25 degrees), thereby enabling the point laser radar to obtain a better detection field of view and reduce blind spots. In addition, as Figure 1B As shown, the overall structure of the host MB is basically mirror-symmetrical with respect to the center line extending along the front-to-back direction D2 in the top view, and the structure of the point laser radar of the sensing component SA can also be constructed to be mirror-symmetrical with respect to the center line, so that the point laser radar is located exactly at the front end of the host MB.

[0065] In this embodiment, if Figure 1A and Figure 1B As shown, the protective cover 4 is installed at the front end of the point laser radar of the sensing assembly SA. The protective cover 4 is formed in a ring shape surrounding the front end, and is formed in a shape that gradually expands away from the front end. The protective cover 4 can fully protect the point laser radar of the sensing assembly SA from dust, water, collision, etc., and can also cover part of the internal structure of the autonomous mobile device, thereby improving the appearance of the autonomous mobile device.

[0066] 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.

[0067] i. In the above specific embodiments, three supported portions and four supporting portions are included, but the number of supporting portions and supported portions disclosed in the present invention is not limited thereto. For example, in addition to the above embodiments, in other optional schemes, at least three supported portions spaced apart from each other may be included. By utilizing at least three supported portions spaced apart from each other, it is also possible to ensure that the laser radar 3 is mounted on the bracket 2 in a desired tilted posture while the bracket 2 stably supports the laser radar 3. In addition, in other optional schemes, the number of supported portions and the number of supporting portions may be the same, and they may be arranged in pairs. In fact, when the areas of both the supported surface of the supported portion and the supporting surface of the supporting portion are large enough, only one pair of supported portions and supporting portions may be provided.

[0068] ii. In the above specific embodiments, the supporting surfaces of all the supporting parts and the supported surfaces of the supported parts are arranged in the same plane, but the present disclosure is not limited thereto. For example, in an optional solution, the supporting surfaces of all the supporting parts and the supported surfaces of the supported parts are parallel to each other, but not necessarily in the same plane.

[0069] iii. In the above specific embodiments, the sensing assembly SA includes a point laser radar, but the present disclosure is not limited thereto. For example, in an optional solution, the sensing assembly SA may include multiple point laser radars, each of which is mounted on the bracket 2 in a desired tilted posture using a corresponding structure.

[0070] 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 MB and protrude relative to the bottom surface of the host MB, and is used to drive the entire autonomous mobile device to travel on the travel surface under the control of the processing unit. By rotating the wheels (driving wheels) of the two wheel assemblies 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 rotating the driving wheels of the two wheel assemblies 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 provided on the host MB, 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. In the case where the autonomous mobile device according to the present disclosure is a self-moving cleaning device, the autonomous mobile device may also include a dry cleaning assembly and a wet cleaning assembly. The dry cleaning assembly is provided on the host MB and may include a main brush, a side brush (side brush), a suction device, and the like. The wet cleaning component is provided on the host MB and may include a rag and a water tank, etc. Thus, when the autonomous mobile device is traveling 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, etc.

Claims

1. An autonomous mobile device capable of autonomous movement on a traveling surface, characterized in that: The autonomous mobile device comprises: A laser radar, comprising a housing and a transmitter disposed in the housing, wherein the housing is formed with at least three supported portions spaced apart from each other, and a supported surface is formed at the bottom of each supported portion; and A bracket is formed with at least three support parts spaced apart from each other, the support parts correspond to the supported parts, and the top of each support part is formed with a support surface extending in the same direction as the corresponding supported surface, so that the support parts and the corresponding supported parts abut against each other in a surface contact manner, In the state of abutting against each other, the laser radar is fixedly mounted on the bracket in an inclined posture, so that when the traveling surface is a horizontal surface, the propagation direction of the laser emitted by the transmitter forms a predetermined angle relative to the traveling surface.

2. The autonomous mobile device according to claim 1, characterized in that comprising a plurality of the supported parts, The supported surfaces of all the supported parts are parallel to each other; or The supported surfaces of all the supported parts are coplanar.

3. The autonomous mobile device according to claim 2, characterized in that The number of the supported portions is the same as the number of the supporting portions.

4. The autonomous mobile device according to claim 1, characterized in that: The housing has a receiving portion, a flange portion and a lug portion fixed to each other, the housing surrounds and forms an installation space located in the receiving portion, and the transmitter is located in the installation space. The storage portion protrudes from the flange portion toward the front side of the autonomous mobile device, the two lug portions are spaced apart from each other and protrude from the flange portion toward the rear side of the autonomous mobile device, and the bottom surface of the storage portion and the bottom surfaces of the two lug portions both serve as the supported surface.

5. The autonomous mobile device according to claim 4, characterized in that: Each of the lugs is formed with a limiting hole, and the bracket is formed with a limiting column corresponding to the limiting hole, and the limiting column is inserted into the limiting hole.

6. The autonomous mobile device according to claim 5, characterized in that: The limiting column extends linearly along the up-down direction of the autonomous mobile device.

7. The autonomous mobile device according to any one of claims 1 to 6, characterized in that: The housing has a housing mounting portion, and the housing mounting portion is formed with a housing mounting hole. The bracket has a bracket mounting portion, the bracket mounting portion is formed with a bracket mounting hole, and the bracket mounting hole is formed with an internal thread. The autonomous mobile device further comprises a connecting piece formed with an external thread matching the internal thread, and the connecting piece inserted into the paired mounting holes of the housing and the mounting holes of the bracket fixes the housing and the bracket to each other.

8. The autonomous mobile device according to any one of claims 1 to 6, characterized in that: The bracket has a plurality of first supporting parts and a plurality of second supporting parts, wherein the plurality of first supporting parts are located in front of the plurality of second supporting parts in the front-rear direction of the autonomous mobile device, The plurality of first support portions are arranged to be spaced apart in the left-right direction of the autonomous mobile device, The plurality of second support portions are arranged to be spaced apart in the left-right direction of the autonomous mobile device, The top surface of each of the first supporting parts and the top surface of each of the second supporting parts serve as the supporting surface.

9. The autonomous mobile device according to any one of claims 1 to 6, characterized in that: The bracket has a plurality of guide parts, each of which is formed in a flat plate shape extending along the up-down direction and the left-right direction of the autonomous mobile device, and the guide parts are used to guide the laser radar to be installed on the bracket.

10. The autonomous mobile device according to any one of claims 1 to 6, characterized in that: The laser radar is a point laser radar, When the traveling surface is a horizontal surface, the propagation direction of the laser emitted by the transmitter is inclined upward relative to the traveling surface, and the predetermined angle is greater than or equal to 0.75 degrees and less than or equal to 3 degrees.

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