Mobile robot and robot system

Abstract

The utility model discloses a mobile robot and a robot system, and belongs to the technical field of robots. The mobile robot comprises an obstacle avoidance detection assembly, a mobile main body and an extension part arranged on the mobile main body, the extension part can protrude out of the top of the moving body in the working state, and the detection area of the obstacle avoidance detection assembly and the operation area of the extension part are at least partially overlapped. The detection area of the obstacle avoidance detection assembly and the operation area of the extension part are at least partially overlapped, so that the obstacle avoidance detection assembly can detect the movement range of the extension part in real time in the operation process of the extension part, and the situation that obstacles appear in the operation area of the extension part and the extension part is damaged can be avoided as much as possible; and personnel injury caused by the fact that the extension part touches the personnel can be avoided as much as possible.

Description

Technical Field

[0001] The present application belongs to the field of robotics technology, and in particular relates to a mobile robot and a robot system. Background Art

[0002] With the development of intelligent hardware technology, including but not limited to a series of intelligent vision products with autonomous navigation and pathfinding, such as food delivery robots, sweeping robots, and cargo delivery robots, there is a need to avoid obstacles and prevent people from being injured by robot collisions. For robots with external extensions such as robotic arms and manipulators, the obstacle avoidance function is even more important. In related technologies, the obstacle avoidance function of robots with external extensions such as robotic arms and manipulators is relatively weak, resulting in mobile devices touching obstacles or people during operation. Utility Model Content

[0003] The present application aims to at least to some extent solve the technical problem of poor obstacle avoidance function. To this end, the present application provides a mobile robot and a robot system.

[0004] In a first aspect, an embodiment of the present application provides a mobile robot, comprising:

[0005] A moving body and an extension portion provided on the moving body, wherein the extension portion is capable of protruding from the top of the moving body in a working state;

[0006] An obstacle avoidance detection component, wherein a detection area of ​​the obstacle avoidance detection component at least partially overlaps with an operating area of ​​the extension portion.

[0007] The detection area of ​​the obstacle avoidance detection component at least partially overlaps with the operating area of ​​the extension part, so that during the operation of the extension part, the obstacle avoidance detection component can perform real-time detection of the activity range of the extension part, and can avoid obstacles in the operating area of ​​the extension part as much as possible, causing damage to the extension part, and can also avoid the extension part touching people as much as possible, causing personal injury.

[0008] In an optional embodiment of the present application, the obstacle avoidance detection component includes a first obstacle avoidance detector, which is installed on the mobile body.

[0009] In an optional embodiment of the present application, the distance between the first obstacle avoidance detector and the extension portion is greater than the radius of the mobile body.

[0010] In an optional embodiment of the present application, the first obstacle avoidance detector is arranged at the diameter of the mobile body along the forward direction.

[0011] In an optional embodiment of the present application, the obstacle avoidance detection component further includes a second obstacle avoidance detector, and the first obstacle avoidance detector and the second obstacle avoidance detector are respectively arranged on different sides of the extension portion.

[0012] In an optional embodiment of the present application, along the operating direction of the extension portion, the first obstacle avoidance detector is located behind the extension portion, and the second obstacle avoidance detector is located in front of the extension portion.

[0013] In an optional embodiment of the present application, the field of view angle of the first obstacle avoidance detector is greater than the field of view angle of the second obstacle avoidance detector.

[0014] In an optional embodiment of the present application, the detection area of ​​the second obstacle avoidance detector is a second detection area, and along the operating direction of the extension part, the projection of the second detection area in the first setting plane covers the projection of the operating area of ​​the extension part in the first setting plane, wherein the first setting plane is perpendicular to the operating direction and the extension part is located between the second obstacle avoidance detector and the first setting plane.

[0015] In an optional embodiment of the present application, there are multiple second obstacle avoidance detectors, and the multiple second obstacle avoidance detectors are staggered.

[0016] In an optional embodiment of the present application, a plurality of the second obstacle avoidance detectors are installed on the mobile body.

[0017] In an optional embodiment of the present application, in a direction forming an angle with the operating direction of the extension portion, a plurality of the second obstacle avoidance detectors are respectively located on different sides of the extension portion.

[0018] In an optional embodiment of the present application, the optical axis of the second obstacle avoidance detector is a second optical axis, and along the operating direction of the extension portion, the second optical axis is tilted toward the extension portion.

[0019] In an optional embodiment of the present application, the inclination angle of the optical axis of the second obstacle avoidance detector toward the extension portion is 0 degrees to 45 degrees.

[0020] In an optional embodiment of the present application, the optical axis of the second obstacle avoidance detector is a second optical axis, and the second optical axis is oriented toward the operating direction of the extension portion.

[0021] In an optional embodiment of the present application, the optical axis of the second obstacle avoidance detector is a second optical axis, and the second optical axis is perpendicular to the forward direction of the mobile body.

[0022] In an optional embodiment of the present application, the detection areas of at least two of the second obstacle avoidance detectors at least partially overlap.

[0023] In an optional embodiment of the present application, when there are two second obstacle avoidance detectors, one of the second obstacle avoidance detectors is installed on the mobile body, and the other second obstacle avoidance detector is installed on the extension portion.

[0024] In an optional embodiment of the present application, the extension portion includes an installation section, a connecting section and an operating section, the connecting section respectively connects the installation section and the operating section, the installation section is installed on the mobile body, along the operating direction of the extension portion, the operating section is located in front of the installation section, and the second obstacle avoidance detector is installed on the installation section.

[0025] In an optional embodiment of the present application, the optical axis of the second obstacle avoidance detector installed on the mobile body is set to be inclined upward, and the optical axis of the second obstacle avoidance detector installed on the installation section is set to be horizontal.

[0026] In an optional embodiment of the present application, the extension portion includes an installation section, a connecting section and an operating section, the connecting section respectively connects the installation section and the operating section, the installation section is installed on the mobile body, along the operating direction of the extension portion, the operating section is located in front of the installation section, and the second obstacle avoidance detector is installed on the operating section.

[0027] In an optional embodiment of the present application, the optical axis of the second obstacle avoidance detector installed on the mobile body is set to be tilted upward, and the optical axis of the second obstacle avoidance detector installed on the operating section is set to be tilted downward.

[0028] In an optional embodiment of the present application, along the operating direction of the extension portion, the first obstacle avoidance detector is located in front of or behind the extension portion.

[0029] In an optional embodiment of the present application, the optical axis of the first obstacle avoidance detector is arranged toward the operating direction of the extension portion.

[0030] In an optional embodiment of the present application, along the operating direction of the extension part, the projection of the detection area of ​​the first obstacle avoidance detector in the second setting plane covers the projection of the operating area of ​​the extension part in the second setting plane, wherein the second setting plane is perpendicular to the operating direction and the extension part is located between the first obstacle avoidance detector and the second setting plane.

[0031] In an optional embodiment of the present application, the optical axis of the first obstacle avoidance detector is a first optical axis, and the first optical axis is perpendicular to the forward direction of the moving body.

[0032] In an optional embodiment of the present application, along the first optical axis direction, a projection of a detection area of ​​the first obstacle avoidance detector on the mobile body at least partially overlaps with a projection of an operating area of ​​the extension portion on the mobile body.

[0033] In an optional embodiment of the present application, the field of view angle of the first obstacle avoidance detector includes a first lateral angle and a first vertical angle, the first lateral angle is 80 degrees to 120 degrees, and the first vertical angle is 20 degrees to 60 degrees.

[0034] In an optional embodiment of the present application, the angle between the optical axis of the first obstacle avoidance detector and the horizontal direction is 30 degrees to 60 degrees.

[0035] In an optional embodiment of the present application, the field of view angle of the second obstacle avoidance detector includes a second lateral angle and a second vertical angle, the first lateral angle is 30 degrees to 60 degrees, and the first vertical angle is 20 degrees to 60 degrees.

[0036] In an optional embodiment of the present application, the angle between the second optical axis and the horizontal direction is 60 degrees to 90 degrees.

[0037] In an optional embodiment of the present application, the field of view of the first obstacle avoidance detector has a first edge and a second edge in the vertical direction, the first edge is located below the second edge, and the angle between the first edge and the horizontal direction is greater than or equal to 0 degrees.

[0038] In an optional embodiment of the present application, the angle between the first edge and the horizontal direction is 15 degrees to 30 degrees.

[0039] In an optional embodiment of the present application, the field of view of the first obstacle avoidance detector has a first edge and a second edge in the vertical direction, the first edge is located below the second edge, and the angle between the second edge and the horizontal direction is less than or equal to 90 degrees.

[0040] In an optional embodiment of the present application, the angle between the second edge and the horizontal direction is 60 degrees to 75 degrees. In an optional embodiment of the present application, the field of view of the second obstacle avoidance detector has a third edge and a fourth edge in the vertical direction, the third edge is located below the fourth edge, and the angle between the third edge and the horizontal direction is greater than or equal to 0 degrees.

[0041] In an optional embodiment of the present application, the angle between the third edge and the horizontal direction is 50 degrees to 70 degrees.

[0042] In an optional embodiment of the present application, the field of view of the second obstacle avoidance detector has a third edge and a fourth edge in the vertical direction, the third edge is located below the fourth edge, and the angle between the fourth edge and the horizontal direction is less than or equal to 180 degrees.

[0043] In optional embodiments of the present application, the extension part is at least one of a mechanical arm, a mechanical hand, a clamping device, and a detecting device.

[0044] In optional embodiments of the present application, the first obstacle avoidance detector is an iTOF sensor, and the second obstacle avoidance detector is a dTOF sensor.

[0045] In a second aspect, embodiments of the present application provide a robot system, comprising a base station and the mobile robot described above.

[0046] The robot system provided in the second aspect has the same beneficial effects as the mobile robot provided in the first aspect, which will not be repeated here. BRIEF DESCRIPTION OF DRAWINGS

[0047] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced as follows. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative effort on the basis of these drawings.

[0048] Figure 1 A structural schematic diagram of an embodiment in which the first obstacle avoidance detector of the mobile robot provided by the present application is arranged behind the extension part is shown.

[0049] Figure 2 A top view of Figure 1 is shown.

[0050] Figure 3 A structural schematic diagram of another embodiment in which the first obstacle avoidance detector of the mobile robot provided by the present application is arranged behind the extension part is shown.

[0051] Figure 4 A structural schematic diagram of an embodiment in which the first obstacle avoidance detector of the mobile robot provided by the present application is arranged in front of the extension part is shown.

[0052] Figure 5 A top view of an embodiment of the mobile robot provided by the present application is shown.

[0053] Figure 6 A side view of Figure 5 is shown.

[0054] Figure 7 A front view of Figure 5 is shown.

[0055] Figure 8A schematic diagram showing the structure of the forward sensor and the first obstacle avoidance detector and the second obstacle avoidance detector with opposite detection directions

[0056] Figure 9 Shown Figure 8 side view.

[0057] Figure 10 A schematic structural diagram is shown in which the extension portion is located on the right.

[0058] Figure 11 A schematic structural diagram is shown in which the extension portion is located on the left.

[0059] Figure 12 A top view of the mobile robot provided by an embodiment of the present application with the second obstacle avoidance detector located directly in front is shown.

[0060] Figure 13 Shown Figure 12 side view.

[0061] Figure 14 Shown Figure 12 Front view of.

[0062] Figure 15 A structural schematic diagram shows an implementation scheme in which the first obstacle avoidance detector of the mobile robot provided in an embodiment of the present application is arranged on the side of the extension part.

[0063] Figure 16 A top view of the tilted second obstacle avoidance detector of the mobile robot provided in an embodiment of the present application is shown.

[0064] Figure 17 Shown Figure 16 side view.

[0065] Figure 18 Shown Figure 16 Front view of.

[0066] Figure 19 A top view of a second obstacle avoidance detector of a mobile robot provided by an embodiment of the present application is shown, which is arranged vertically upward.

[0067] Figure 20 Shown Figure 19 side view.

[0068] Figure 21 Shown Figure 19 Front view of.

[0069] Figure 22 A top view of the second obstacle avoidance detector of the mobile robot provided by an embodiment of the present application is shown, located at the installation section.

[0070] Figure 23 Shown Figure 22 side view.

[0071] Figure 24 Shown Figure 22 Front view of.

[0072] Figure 25 A top view of the second obstacle avoidance detector of the mobile robot provided by an embodiment of the present application is shown, in which the second obstacle avoidance detector is located in the operating section.

[0073] Figure 26 Shown Figure 25 side view.

[0074] Figure 27 Shown Figure 25 Front view of.

[0075] Figure 28 A structural schematic diagram of a mobile robot obstacle avoidance detection component provided in an embodiment of the present application is shown in a first position.

[0076] Figure 29 A structural schematic diagram of the mobile robot obstacle avoidance detection component provided in an embodiment of the present application is shown in the second position.

[0077] Figure 30 The figure shows the range of movement of the obstacle avoidance detection component of the mobile robot provided in the embodiment of the present application.

[0078] Figure markings: 100-mobile robot, 110-mobile body, 120-extension part, 121-installation section, 123-connecting section, 124-operating section, 130-first obstacle avoidance detector, 131-first detection area, 131a-long side, 131b-short side, a1-first lateral angle, b1-first vertical angle, 131c-first edge, 131d-second edge, 132-first optical axis, 140-second obstacle avoidance detector, 141-second detection area, a2-second lateral angle, b2-second vertical angle, 141c-third edge, 141d-fourth edge, 142-second optical axis, 150-forward sensor, 160-obstacle avoidance detection component, 162-bracket, 164-obstacle avoidance detector, 164-detection area of ​​obstacle avoidance detector, 21-detection area of ​​first position, 22-detection area of ​​middle position, 23-detection area of ​​second position. DETAILED DESCRIPTION

[0079] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0080] It should be noted that all directional indications in the embodiments of the present invention are only used to explain the relative position relationship, movement status, etc. between the various components in a certain specific posture. If the specific posture changes, the directional indication will also change accordingly.

[0081] In this utility model, unless otherwise specified or limited, the terms "connection" and "fixation" should be understood in a broad sense. For example, "fixation" can mean fixed connection, detachable connection, or integration; mechanical connection or electrical connection; direct connection or indirect connection through an intermediate medium; internal communication between two elements or interaction between two elements, unless otherwise specified. For those skilled in the art, the specific meanings of the above terms in this utility model can be understood according to specific circumstances.

[0082] In addition, in this utility model, the descriptions of "first" and "second" are for descriptive purposes only and should not be understood as indicating or implying their relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features specified as "first" and "second" may explicitly or implicitly include at least one of such features. In addition, the technical solutions between the various embodiments can be combined with each other, but this must be based on the fact that they can be implemented by ordinary technicians in this field. When the combination of technical solutions is mutually contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by this utility model.

[0083] With the development of intelligent hardware technology, including but not limited to a series of intelligent visual products with autonomous navigation and pathfinding, such as food delivery robots, sweeping robots, and cargo delivery robots, there is a need to avoid obstacles and prevent people from being injured by collisions with robots. For the design of robots with external extension components such as robotic arms and manipulators, the obstacle avoidance function is even more important. In the related art, the obstacle avoidance function of the design of robots with external extension components such as robotic arms and manipulators is relatively weak, resulting in mobile devices touching obstacles or people during operation. The mobile robot provided in the embodiment of the present application can improve the obstacle avoidance function, reduce the situation where the external extension of the mobile device touches obstacles during operation, and avoid the situation where the mobile robot as a whole touches obstacles as much as possible.

[0084] The present application is described below with reference to specific embodiments and with reference to the accompanying drawings:

[0085] See also Figure 1 and Figure 2 The embodiment of the present application provides a mobile robot 100. The mobile robot 100 provided by the embodiment of the present application can reduce the situation where the extension part 120 touches obstacles during operation, and avoid the situation where the entire mobile robot 100 touches obstacles as much as possible.

[0086] In an embodiment of the present application, the mobile robot 100 includes: an obstacle avoidance detection component 160, a mobile body 110 and an extension portion 120 arranged on the mobile body 110, and the detection area of ​​the obstacle avoidance detection component 160 at least partially overlaps with the operating area of ​​the extension portion 120.

[0087] Among them, the extension part 120 is arranged on the mobile body 110, and in the working state, the extension part 120 can protrude from the mobile body 110. The protruding arrangement on the mobile body 110 means that the extension part 120 is arranged outside the mobile body 110, and the extension part 120 can protrude from the top of the mobile body 110, that is, the extension part 120 is arranged outside the mobile body 110, and the end of the extension part 120 away from the mobile body 110 has a certain distance from the outer surface of the mobile body 110, so that the extension part 120 can operate in other spaces outside the mobile body 110, thereby improving the working range of the entire mobile robot 100.

[0088] Specifically, the extension portion 120 can be fixed to the outside of the mobile body 110, or it can be set outside the mobile body 110 in a telescopic manner. Telescopic means that the extension portion 120 can change its own volume and shape through mechanical structure changes, which can achieve an action process with a larger range of motion / or a smaller occupied volume. That is, in the working state, the extension portion 110 can extend outside the mobile body 110, or it can adjust its own structure in the working state to obtain a larger operating area. In the non-working state, the extension portion 110 can be retracted to a smaller volume or retracted into the mobile body 110 to facilitate the storage of the extension portion 120.

[0089] As for the specific form of the extension portion 120, the extension portion 120 can be a single-joint or multi-joint mechanical claw, a mechanical clamp, a mechanical arm, a mechanical hand, etc., or it can be a clamping device, a detection device, etc.

[0090] For example: when the mobile robot 100 is a cleaning device, the mobile body 110 can be the robot body, and the extension 120 can be a cleaning robotic arm. The robot body can clean the ground, and the cleaning robotic arm can clean the walls, the ground in other areas, or other surfaces to be cleaned that are higher than the ground while the robot body is cleaning the ground, thereby increasing the cleaning range of the entire mobile robot 100 at the same time and improving the overall work efficiency.

[0091] The operating area of ​​the extension 120 refers to the range of motion of the extension 120 during operation. The operating area can be fixed or variable. In the case where the extension 120 is a robotic arm, the robotic arm may have only one degree of freedom. In this case, the range of motion (operating area) of the robotic arm can be considered fixed. Alternatively, the robotic arm can have multiple degrees of freedom. Since the robotic arm can move during operation, the range of motion (operating area) of the mechanical arm can be a variable area.

[0092] The detection area of ​​the obstacle avoidance detection component 160 refers to the area that the obstacle avoidance detection component 160 can detect. If an obstacle appears within the detection area of ​​the obstacle avoidance detection component 160, the obstacle avoidance detection component 160 will provide feedback to the controller, which can adjust the position or posture of the extension portion 120 in advance to avoid collision with the obstacle.

[0093] The detection area of ​​the obstacle avoidance detection component 160 at least partially overlaps with the operating area of ​​the extension portion 120. Alternatively, the detection area of ​​the obstacle avoidance detection component 160 may completely overlap with the operating area of ​​the extension portion 120, meaning that the obstacle avoidance detection component 160 can detect the entire operating area of ​​the extension portion 120. Alternatively, the detection area of ​​the obstacle avoidance detection component 160 may partially overlap with the operating area of ​​the extension portion 120, meaning that the detection area of ​​the obstacle avoidance detection component 160 can detect only a portion of the operating area of ​​the extension portion 120.

[0094] The detection area of ​​the obstacle avoidance detection component 160 at least partially overlaps with the operating area of ​​the extension part 120, so that during the operation of the extension part 120, the obstacle avoidance detection component 160 can perform real-time detection of the activity range of the extension part 120, and can avoid obstacles in the operating area of ​​the extension part 120 as much as possible, which may cause damage to the extension part 120, and can also avoid the extension part 120 touching people as much as possible, causing personal injury.

[0095] In addition, the obstacle avoidance detection component 160 can perform real-time detection on the range of movement of the extension portion 120 , and can protect the operating area of ​​the extension portion 120 without installing any external equipment.

[0096] In some embodiments, the obstacle avoidance detection component 160 may include a first obstacle avoidance detector 130 , which is mounted on the mobile body 110 .

[0097] The first obstacle avoidance detector 130 may be installed on the mobile body 110 in a fixed manner or in a movable manner, and the specific manner is not limited.

[0098] Among them, the first obstacle avoidance detector 130 can be a TOF sensor (Time of Flight), specifically, it can be an iToF sensor (Indirect Time of Flight). The detection direction of the first obstacle avoidance detector 130 refers to the direction of the optical axis of the iToF sensor, and the first detection area 131 refers to the detection area of ​​the iToF sensor.

[0099] For the convenience of description, the detection area 131 of the first obstacle avoidance detector 130 is defined as the first detection area 131. Since the first obstacle avoidance detector 130 basically needs to detect all areas around the extension part 120, that is, the area that the first obstacle avoidance detector 130 needs to detect is larger, the iToF sensor can achieve a larger field of view angle and can realize a larger detection area.

[0100] The first detection area 131 is arranged toward the extension portion 120 so that the detection area of ​​the first obstacle avoidance detector 130 can at least partially overlap with the operation area of ​​the extension portion 120. The first detection area 131 includes a field of view angle and a detection distance (such as Figure 2 As shown in h1 in each figure, h1 represents the detection range of the first detection area 131, so that the first detection area 131 is generally conical or pyramidal. The first obstacle avoidance detector 130 also has an optical axis. For convenience of description, the optical axis of the first obstacle avoidance detector 130 is defined as a first optical axis 132. The first optical axis 132 is generally the center of the first detection area 131.

[0101] Since in the working state, the extension part 120 protrudes outside the mobile body 110, and the first obstacle avoidance detector 130 is set on the mobile body 110, there is a certain height difference between the first obstacle avoidance detector 130 and the extension part 120. In order to enable the first detection area 131 to cover the operating area of ​​the extension part 120, the first optical axis 132 can be set tilted upward or vertically upward.

[0102] Specifically, the optical axis of the first obstacle avoidance detector 130 can be set toward the operating direction of the extension part 120. This setting does not mean that the first optical axis 132 is set parallel to the operating direction of the extension part 120, but means that the projection of the first optical axis 132 in the horizontal direction can be the same as the projection of the operating direction of the extension part 120 (as shown by the arrow Y in each figure) in the horizontal direction, that is, the first optical axis 132 can be tilted forward.

[0103] It should be noted that the operating direction and operating area of ​​the extension 120 are not the same concept. The operating area refers to the range of motion of the extension 120, while the operating direction refers to the direction of movement of the extension 120 during operation. For example, if the extension 120 is a robotic arm, the operating area refers to the range of motion of the robotic arm within a space, while the operating direction can be considered the direction in which the robotic arm extends.

[0104] Along the forward direction of the mobile body 110 , the first obstacle avoidance detector 130 may be disposed in front of the extension portion 120 , or behind the extension portion 110 , or on the side of the extension portion 120 .

[0105] Similarly, multiple first obstacle avoidance detectors 130 may be provided, and the multiple first obstacle avoidance detectors 130 may be respectively provided on different sides of the extension portion 120 , and the optical axis settings of the first obstacle avoidance detectors 130 at different positions may be the same or different.

[0106] Different positions and distances of the first obstacle avoidance detector 130 relative to the extension portion 120 and different numbers of the first obstacle avoidance detectors 130 will cause the optical axes of the first obstacle avoidance detectors 130 to be set in different directions. Several settings of the first obstacle avoidance detectors 130 will be specifically introduced below.

[0107] In some embodiments, only one first obstacle avoidance detector 130 may be provided. Along the operating direction of the extension portion 120 , the first obstacle avoidance detector 130 is provided behind the extension portion 120 and may be provided farther from the extension portion 120 .

[0108] If the mobile body 110 is roughly cylindrical, the extension part 120 is roughly arranged in front of the mobile body 110, and the first obstacle avoidance detector 130 is roughly arranged behind the mobile body 110, the distance between the first obstacle avoidance detector 130 and the extension part 120 is relatively far, which means that the distance between the first obstacle avoidance detector 130 and the extension part 120 is greater than the radius of the mobile body 110. Since the first detection area 131 is roughly conical, the longer the distance, the larger the detection range of the first obstacle avoidance detector 130 around the extension part 120, which can increase the obstacle avoidance area of ​​the extension part 120, thereby improving the obstacle avoidance ability of the extension part 120.

[0109] Among them, the optical axis (first optical axis 132) of the first obstacle avoidance detector 130 is set tilted upward, which means that the optical axis (first optical axis 132) of the first obstacle avoidance detector 130 has a certain angle with the horizontal plane, so that the first detection area 131 is roughly tilted upward, so that the area above the extension 120 can be detected.

[0110] During the forward movement of the mobile body 110, it is easy to touch obstacles mainly in front of or above the mobile robot 100. The optical axis (first optical axis 132) of the first obstacle avoidance detector 130 is tilted upward so that the first obstacle avoidance detector 130 can detect the area in front of and above the extension part 120, thereby enabling the mobile robot 100 to avoid obstacles and reduce the risk of touch.

[0111] In some embodiments, along the operating direction of the extension 120, the projection of the first detection area 131 within the second setting plane overlaps the projection of the operating area of ​​the extension 120 within the second setting plane. The second setting plane is perpendicular to the operating direction and the extension 120 is located between the first obstacle avoidance detector and the second setting plane.

[0112] Among them, the second setting plane is a virtual plane, not the physical plane of the entire mobile robot 100. The second setting plane is located on the side of the extension part 120 away from the first obstacle avoidance detector 130. The projection of the first detection area 131 in the second setting plane covers the operating area of ​​the extension part 120. The projection in the second setting plane means that the first obstacle avoidance detector 130 can cover all areas behind the extension part 120 (directly behind, behind the side and above the rear). The detection area 131 of the first obstacle avoidance detector 131 can completely cover the extension part 120, so that there will be no detection blind spot in front of the extension part 120, reducing the risk of the extension part 120 touching an obstacle.

[0113] Among them, if there are multiple first obstacle avoidance detectors 130, the projection of the detection area 131 of the first obstacle avoidance detector 1300 in the second setting plane covers the projection of the operating area of ​​the extension part 120 in the second setting plane, which means that the sum of the projections of multiple first detection areas 131 in the second setting plane covers the projection of the operating area of ​​the extension part 120 in the second setting plane.

[0114] See also Figure 3 and Figure 4In some other embodiments, the first obstacle avoidance detector 130 may be disposed relatively close to the extension portion 120. Specifically, if the extension portion 120 is a robotic arm or a robotic claw, the robotic arm or the robotic claw may be disposed near the geometric center of the mobile body 110, and the first obstacle avoidance detector 130 may also be disposed near the geometric center of the mobile body 110, such that the first obstacle avoidance detector 130 is relatively close to the extension portion 120.

[0115] Because the first obstacle avoidance detector 130 is mounted on the mobile body 110, and the extension 120 protrudes from the mobile body 110 when in operation, and because the mobile body 110 generally moves on the ground during the entire operation of the mobile robot 100, the overall height of the extension 120 is relatively low. Because obstacles are more likely to appear at the top of the extension 120, the optical axis of the first obstacle avoidance detector 130 can be perpendicular to the forward direction of the mobile body 110 (i.e., it is arranged substantially vertically), and it overlaps with the extension 120 in space, allowing the first detection area 131 to detect the area above the extension 120.

[0116] Specifically, in the forward direction of the mobile body 110, the first obstacle avoidance detector 130 can be set in front of the mobile body 110 (such as Figure 4 ) can also be set behind the mobile body 110 (such as Figure 3 The first obstacle avoidance detector 130 can be arranged in front of or behind the mobile body 110. The first detection area 131 is generally conical, so that the cross section of the first detection area 131 in a plane perpendicular to the first optical axis 132 (a cross section in a horizontal plane) is generally rectangular, and the short side 131b of the rectangle is parallel to the operating direction of the extension portion 120. The long side 131a is perpendicular to the operating direction of the extension portion 120.

[0117] Regardless of whether the first obstacle avoidance detector 130 is arranged in front of or behind the extension part 120, the long side 131a is perpendicular to the operating direction of the extension part 120, so that the first obstacle avoidance detector 130 can have a larger detection area on the left and right sides of the extension part 120, which can improve the obstacle avoidance ability of the extension part 120 on the left and right.

[0118] The above describes the case where the obstacle avoidance detection component 160 only includes the first obstacle avoidance detector 130. The following describes the case where the obstacle avoidance detection component 160 includes multiple obstacle avoidance detectors. Figure 5 , Figure 5The arrow X indicates the forward direction of the mobile body 110, and the arrow Y indicates the operating direction of the extension portion 120. In other embodiments, the obstacle avoidance detection component 160 may further include a second obstacle avoidance detector 140, and the first obstacle avoidance detector 130 and the second obstacle avoidance detector 140 are respectively disposed on different sides of the extension portion 120.

[0119] The first obstacle avoidance detector 130 and the second obstacle avoidance detector 140 are used to detect the surrounding area of ​​the extension part 120. During the operation of the extension part 120, they can detect whether there are obstacles around the extension part 120, and can avoid the risk of the extension part 120 touching obstacles during operation as much as possible.

[0120] Because the extension portion 120 may extend into other areas during operation, the thickness or length of the extension portion 120 may be relatively large. If only one sensor is used to detect the area around the extension portion 120, the extension portion 120 has a certain volume and thus blocks part of the area on the side of the extension portion 120 away from the sensor, resulting in a certain blind spot in the detection of the single sensor. This makes it impossible to fully detect the entire area around the extension portion 120.

[0121] In an embodiment of the present application, a first obstacle avoidance detector 130 and a second obstacle avoidance detector 140 are respectively arranged on both sides of the extension portion 120 so that both sides of the extension portion 120 can be detected. With the joint cooperation of the first obstacle avoidance detector 130 and the first obstacle avoidance detector 140, the area around the extension portion 120 can be detected, and the existence of blind spots around the extension portion 120 can be avoided as much as possible, thereby improving the accuracy of obstacle avoidance detection and reducing the risk of the extension portion 120 touching obstacles during operation.

[0122] Since during the entire working process of the mobile robot 100, the mobile robot 100 will work while moving forward, or move to a certain position before working. In either case, the mobile robot 100 mainly detects whether there are obstacles in the area in front, where the front includes areas such as the front, the upper front, and the side front.

[0123] See also Figure 6 and Figure 7 , Figure 6 The middle arrow X indicates the forward direction of the mobile body 110 , and the arrow Y indicates the operating direction of the extension portion 120 . In some embodiments, along the operating direction of the extension portion 120 , the first obstacle avoidance detector 130 is located behind the extension portion 120 , and the second obstacle avoidance detector 140 is located in front of the extension portion 120 .

[0124] Among them, the second obstacle avoidance detector 140 can be a TOF sensor (Time of Flight), specifically, a dToF sensor (Direct Time of Flight). The detection direction of the second obstacle avoidance detector 140 refers to the direction of the optical axis of the dToF sensor, and the detection area refers to the detection area of ​​the dToF sensor. For the sake of convenience, the optical axis of the second obstacle avoidance detector 140 is defined as the second optical axis 142, and the detection area of ​​the second obstacle avoidance detector 140 is defined as the second detection area 141. The second detection area 141 also includes a field of view angle and a detection distance (h2 in each figure represents the detection distance of the second detection area 141).

[0125] The second obstacle avoidance detector 140 is arranged in front of the extension part 120, and mainly detects the areas directly in front, in front of the side and in front of the extension part 120. Compared with the first obstacle avoidance detector 130, the second obstacle avoidance detector 140 will detect whether there is an obstacle earlier. Since it is uncertain whether there is an obstacle in front of the extension part 120, it may be necessary to detect a longer distance. The detection accuracy of the dToF sensor will basically not decrease with the increase of the detection distance. The detection accuracy can be improved so that the second obstacle avoidance detector 140 can detect a longer distance, which can provide more obstacle avoidance time for the extension part 120.

[0126] During operation of the extension portion 120, obstacles are most likely to be encountered in front of or above the extension portion 120. The first obstacle avoidance detector 130, located behind the extension portion 120, primarily detects all areas of the extension portion 120, including the rear, sides, front, side front, and upper front of the extension portion 120. The second obstacle avoidance detector 140, located in front of the extension portion 120, primarily detects the areas directly in front of and upper front of the extension portion 120. It is primarily used to detect the blind spots of the first obstacle avoidance detector 130, ensuring that there are essentially no blind spots around the extension portion 120. This allows for comprehensive detection of the operating area of ​​the extension portion 120, improving the accuracy of obstacle detection.

[0127] The operation direction of the extension portion 120 can be aligned with the forward direction of the mobile body 110 (eg Figure 6 and Figure 7The first obstacle avoidance detector 130 is located behind the extension 120 and the second obstacle avoidance detector 140 is located in front of the extension 120 in the forward direction of the mobile body 110. In this case, the detection direction of the first obstacle avoidance detector 130 (the direction of the first optical axis 132) is set toward the forward direction of the mobile body 110. Similarly, the detection direction of the second obstacle avoidance detector 140 (the direction of the second optical axis 142) is set toward the forward direction of the mobile body 110 or is set vertically. That is, in this case, the angle between the detection direction of the first obstacle avoidance detector 130 (the direction of the first optical axis 132) and the forward direction of the mobile body 110 is not greater than 90 degrees. The angle between the detection direction of the second obstacle avoidance detector 140 (the direction of the second optical axis 142) and the forward direction of the mobile body 110 is not greater than 90 degrees.

[0128] In some other embodiments, the operating direction of the extension portion 120 may not be the same as the forward direction of the mobile body 110, as follows:

[0129] See also Figure 8 and Figure 9 The forward sensor 150 is arranged in front of the mobile body 110 in the forward direction, and is mainly used to detect whether there are obstacles in front of the mobile body 110. The obstacle avoidance detection component 160 (at least one of the first obstacle avoidance detector 130 and the second obstacle avoidance detector 140) is mainly used to detect the area around the extension 120. Of course, the obstacle avoidance detection component 160 can also detect a partial area around the mobile body 110, which may be the side area of ​​the mobile body 110 or the rear area of ​​the mobile body 110. The detection direction of the obstacle avoidance detection component 160 is arranged at an angle to the detection direction of the forward sensor 150, which means that the detection direction of the obstacle avoidance detection component 160 is different from the detection direction of the forward sensor 150. The different detection directions of the two can avoid the accumulation of sensors or structural components in a certain direction as much as possible, and thus can avoid interference and performance sacrifice between the obstacle avoidance detection component 160 and the forward sensor 150 as much as possible.

[0130] Because the operating direction of the extension 120 is set at an angle to the forward direction of the mobile body 110 (the two directions are different), the first obstacle avoidance detector 130 and the second obstacle avoidance detector 140 primarily detect the operating area of ​​the extension 120, so that the detection directions of the first obstacle avoidance detector 130 and the second obstacle avoidance detector 140 are approximately the same as the operating direction of the extension 120. In other words, the detection direction of the first obstacle avoidance detector 130 is also set at an angle to the detection direction of the forward sensor 150, and the detection direction of the second obstacle avoidance detector 140 is also set at an angle to the detection direction of the forward sensor 150.

[0131] The first obstacle avoidance detector 130 and the second obstacle avoidance detector 140 are respectively located on different sides of the extension part 120, so that the first obstacle avoidance detector 130 and the second obstacle avoidance detector 140 can respectively detect different areas around the extension part 120, so that with the cooperation of the first obstacle avoidance detector 130 and the second obstacle avoidance detector 140, there is no detection blind spot around the extension part 120 as much as possible, thereby improving the detection effect of the extension part 120, and thereby reducing the situation where the extension part 120 touches obstacles during operation.

[0132] The detection direction of the first obstacle avoidance detector 130 is set at an angle to the detection direction of the forward sensor 150, which means that the detection direction of the first obstacle avoidance detector 130 is different from the detection direction of the forward sensor. The different detection directions of the two can avoid the accumulation of sensors or structural components in a certain direction as much as possible, and thus can avoid interference and performance sacrifice between the first obstacle avoidance detector 130 and the forward sensor as much as possible.

[0133] Specifically, if the optical axis of the first obstacle avoidance detector 130 is a ray, then the direction of the optical axis is a vector. If the optical axis of the forward sensor 150 is a ray, then the direction of the optical axis is a vector. The angle between the optical axis of the first obstacle avoidance detector 130 and the optical axis of the forward sensor 150 is 180 degrees, indicating that the direction of the optical axis of the first obstacle avoidance detector 130 is different from the direction of the optical axis of the forward sensor 150. For example, if the optical axis of the forward sensor 150 is horizontally forward, and the optical axis of the first obstacle avoidance detector 130 is horizontally backward, then the directions of the optical axes of the two are different, meaning that the detection direction of the first obstacle avoidance detector 130 is different from the detection direction of the forward sensor 150, and they are also arranged at an angle.

[0134] The optical axis of the forward sensor 150 is horizontally forward, and the optical axis of the first obstacle avoidance detector 130 is tilted forward. The angle between the two is less than 90 degrees, indicating that the optical axis direction of the first obstacle avoidance detector 130 is different from that of the forward sensor 150.

[0135] The optical axis of the forward sensor 150 is horizontally forward, and the optical axis of the first obstacle avoidance detector 130 is tilted backward. The angle between the two is greater than 90 degrees, indicating that the optical axis direction of the first obstacle avoidance detector 130 is different from that of the forward sensor 150.

[0136] The optical axis of the forward sensor 150 is horizontally forward, and the optical axis direction of the first obstacle avoidance detector 130 is also horizontally forward (the two are parallel), which means that the optical axis direction of the forward sensor 150 is the same as the optical axis direction of the first obstacle avoidance detector 130.

[0137] The detection direction of the second obstacle avoidance detector 140 is set at an angle to the detection direction of the forward sensor 150, which means that the detection direction of the second obstacle avoidance detector 140 is different from the detection direction of the forward sensor 150. The different detection directions of the two can avoid the accumulation of sensors or structural components in a certain direction as much as possible, and thus can avoid interference and performance sacrifice between the second obstacle avoidance detector 140 and the forward sensor as much as possible.

[0138] Specifically, if the optical axis of the second obstacle avoidance detector 140 is a ray, then the direction of the optical axis is a vector. If the optical axis of the forward sensor 150 is a ray, then the direction of the optical axis is a vector. The angle between the optical axis of the second obstacle avoidance detector 140 and the optical axis of the forward sensor 150 is 180 degrees, indicating that the direction of the optical axis of the second obstacle avoidance detector 140 is different from that of the forward sensor 150. For example, if the optical axis of the forward sensor 150 is horizontally forward, while the optical axis of the second obstacle avoidance detector 140 is horizontally backward, then the directions of the optical axes of the two are different, meaning that the detection direction of the second obstacle avoidance detector 140 is different from that of the forward sensor 150, and they are also arranged at an angle.

[0139] The optical axis of the forward sensor 150 is horizontally forward, and the optical axis of the second obstacle avoidance detector 140 is tilted forward. The angle between the two is less than 90 degrees, indicating that the optical axis direction of the second obstacle avoidance detector 140 is different from that of the forward sensor 150.

[0140] The optical axis of the forward sensor 150 is horizontally forward, and the optical axis of the second obstacle avoidance detector 140 is tilted backward. The angle between the two is greater than 90 degrees, indicating that the optical axis direction of the second obstacle avoidance detector 140 is different from that of the forward sensor 150.

[0141] The optical axis of the forward sensor 150 is horizontally forward, and the optical axis direction of the second obstacle avoidance detector 140 is also horizontally forward (the two are parallel), which means that the optical axis direction of the forward sensor 150 is the same as the optical axis direction of the second obstacle avoidance detector 140.

[0142] In some embodiments, the angle between the detection direction of the first obstacle avoidance detector 130 and the detection direction of the forward sensor 150 is greater than or equal to 90 degrees.

[0143] Since the detection direction of the forward sensor 150 is oriented toward the forward direction of the mobile body 110, specifically, the forward sensor 150 can be oriented horizontally, tilted upward, or tilted downward. In either case, the detection direction of the forward sensor 150 can be considered forward. If the angle between the detection direction of the first obstacle avoidance detector 130 and the detection direction of the forward sensor 150 is greater than or equal to 90 degrees, then the detection direction of the first obstacle avoidance detector 130 is not along the forward direction of the mobile body 110 or has no component along the forward direction of the mobile body 110. Due to the different detection directions, the accumulation of sensors or structural components in a certain direction can be minimized, thereby minimizing interference and performance loss between the obstacle avoidance detection assembly 160 and the forward sensor.

[0144] In some embodiments, the angle between the detection direction of the second obstacle avoidance detector 140 and the detection direction of the forward sensor 150 is greater than or equal to 90 degrees.

[0145] Since the detection direction of the forward sensor 150 is along the forward direction of the mobile body 110, it can be considered that the detection direction of the forward sensor 150 is forward. If the angle between the detection direction of the second obstacle avoidance detector 140 and the detection direction of the forward sensor 150 is greater than or equal to 90 degrees, it means that the detection direction of the second obstacle avoidance detector 140 is not along the forward direction of the mobile body 110 or has no component along the forward direction of the mobile body 110. Since the two detection directions are different, the accumulation of sensors or structural components in a certain direction can be minimized, thereby minimizing interference and performance loss between the obstacle avoidance detection assembly 160 and the forward sensor.

[0146] like Figure 8 and Figure 9 As shown, in some embodiments, the extension portion 120 includes a mounting section 121 and a connecting section 123, the mounting section 121 is respectively connected to the mobile body 110 and the connecting section 123, the first obstacle avoidance detector 130 is located on the side of the mounting section 121 away from the connecting section 123, and the second obstacle avoidance detector 140 and the connecting section 123 are located on the same side of the mounting section 121.

[0147] In some embodiments, the extension portion 120 only includes an installation section 121 and a connecting section 123. Of these two structures, the connecting section 123 is the outermost structure of the entire extension portion 120. The entire connecting section 123 may be in a working position (the entire cleaning section may be provided), or only a section of the connecting section 123 away from the installation section 121 may be in a working position (a mechanical claw may be provided).

[0148] In addition, in some other embodiments, the extension portion 120 may include a mounting section 121, a connecting section 123 and an operating section 124 (eg, Figure 5-Figure 7As shown), the connecting section 123 connects the mounting section 121 and the operating section 124 respectively. The mounting section 121 is installed on the mobile body 110. Along the operating direction of the extension 120, the operating section 124 is located in front of the mounting section 121, and the second obstacle avoidance detector 140 is installed on the mounting section 121.

[0149] The extension portion 120 may include an installation section 121, a connecting section 123 and an operating section 124. In the case of these three sections, the operating section 124 is located in the outermost structure of the entire extension portion 120. Then, the operating section 124 can serve as the working part of the entire extension portion. The entire operating section 124 may be a working position (the entire cleaning section may be set up), or only a section of the operating section 124 away from the connecting section 123 may be a working position (a mechanical claw may be set up).

[0150] The extension portion 120 may be a robotic arm, which may include multiple sections. As described above, it may include two sections (installation section 121 and connection section 123), three sections (installation section 121, connection section 123, and operating section 124), four sections, five sections, etc. Regardless of the number of sections the extension portion 120 includes, the outermost structure of the extension portion 120 may serve as the working portion of the entire extension portion 120 (in the case of two sections, the connection section 123 is the outermost structure, and the connection section 123 serves as the working portion. In the case of three sections, the operating section 124 is the outermost structure, and the operating section 124 serves as the working portion).

[0151] For the convenience of description, the extension portion 120 includes a mounting section 121 and a connecting section 123 (eg Figure 4 and Figure 5 ) is taken as an example for the following explanation: Since the connecting section 123 is the working part of the entire extension part 120, one side of the connecting section 123 is defined as the front of the entire extension part 120, and the other side of the connecting section 123 is defined as the back of the extension part 120, that is, the first obstacle avoidance detector 130 is located behind the entire extension part 120, and the second obstacle avoidance detector 140 is located in front of the entire extension part 120.

[0152] During operation of the extension portion 120, obstacles are most likely to be encountered in front of or above the extension portion 120. The first obstacle avoidance detector 130, located behind the extension portion 120, primarily detects the areas behind, to the sides, directly in front of, in front of, and above the extension portion 120. The second obstacle avoidance detector 140, located in front of the extension portion 120, primarily detects the areas directly in front of and in front of the extension portion 120. This is primarily used to detect the blind spots of the first obstacle avoidance detector 130, ensuring that there are essentially no blind spots around the extension portion 120. This allows for comprehensive detection of the area around the extension portion 120, improving the accuracy of obstacle detection.

[0153] In some embodiments, the extending direction of the connecting section 123 is arranged at an angle to the moving direction of the moving body 110 .

[0154] Among them, the extension direction of the connecting section 123 is the operating direction of the entire extension part 120. The operating direction of the extension part 120 is set at an angle to the forward direction of the mobile body 110, which can separate the forward direction of the mobile body 110 and the operating direction of the extension part 120, so that the work between the two is independent of each other, thereby reducing the limitation of the operating space of the extension part 120 caused by the limitation of the moving direction, and improving the working range of the extension part 120.

[0155] Specifically, the extending direction of the connecting section 123 and the forward direction of the mobile body 110 have the following positions. For example, the extending direction of the connecting section 123 is opposite to the forward direction of the mobile body 110 (e.g. Figure 8 and Figure 9 That is, the operating direction of the connecting section 123 is located behind the entire mobile body 110, so that the extension portion 120 can clean the area behind the mobile body 110.

[0156] Alternatively, along the forward direction of the mobile body 110, the connecting section 123 is located on the left side of the installation section 121 (e.g. Figure 10 That is, when the mobile body 110 is working against the wall, if the wall is on the left side of the mobile body 110, the connecting section 123 can clean the wall side. Alternatively, the connecting section 123 is located on the right side of the installation section 121 (as shown). Figure 11 That is, when the mobile body 110 is working against a wall, if the wall is on the right side of the mobile body 110, the connecting section 123 can clean the other side of the wall.

[0157] It should be noted that the position between the connecting section 123 and the mobile body 110 can be fixed. That is, when the connecting section 123 protrudes from the mobile body 110, it can be fixed to the rear, left, or right side of the mobile body 110. In addition, the position between the connecting section 123 and the mobile body 110 can also be flexible, and the relative position between the connecting section 123 and the mobile body 110 can be adjusted according to the location to be cleaned.

[0158] In other words, the above examples illustrate different ways of connecting the extension 120 to the mobile body 110. These can be fixed or movable. If the position of the connecting segment 123 on the mobile body 110 is fixed, the position of the connecting segment 123 relative to the mobile body 110 will not change after the extension 120 extends outside the mobile body 110.

[0159] Specifically, if the connecting section 123 is located behind the mounting section 121 after the extension 120 extends into the mobile body 110, it will remain behind the mounting section 121 throughout the entire operation process, and the position of the connecting section 123 relative to the mobile body 110 will not change. If the connecting section 123 is located to the left of the mounting section 121 after the extension 120 extends into the mobile body 110, it will remain to the left of the mobile body 110 throughout the operation process, and the position of the connecting section 123 relative to the mobile body 110 will not change. If the connecting section 123 is located to the right of the mounting section 121 after the extension 120 extends into the mobile body 110, it will remain to the right of the mobile body 110 throughout the operation process, and the position of the connecting section 123 relative to the mobile body 110 will not change.

[0160] If the entire extension 120 can move relative to the mobile body 110, the connecting section 123 can be located in different directions of the mounting section 121, that is, during the entire working process, the position of the connecting section 123 relative to the mobile body 110 can be adjusted. The position of the connecting section 123 can be adjusted according to different cleaning positions. Specifically, if it is necessary to clean the area on the left side of the mobile body 110, the connecting section 123 can be located on the left side of the mounting section 121. If it is necessary to clean the area on the right side of the mobile body 110, the connecting section 123 can be located on the right side of the mounting section 121. Among them, the position of the connecting section 123 relative to the mobile body 110 changes, and the mounting section 121 and the mobile body 110 can be fixed relative to each other, and the connecting section 123 rotates relative to the mounting section 121, or the mounting section 121 rotates relative to the mobile body 110, driving the mounting section 121 to rotate relative to the mobile body 110.

[0161] Regardless of whether the operating direction of the extension 120 is the same as the forward direction of the mobile body 110, the positions and parameters of the first obstacle avoidance detector 130 and the second obstacle avoidance detector 140 must meet the following requirements, specifically:

[0162] See also Figure 12 、 Figure 13 and Figure 14 In some embodiments, the field of view of the first obstacle avoidance detector 130 is greater than the field of view of the second obstacle avoidance detector 140 .

[0163] Among them, the detection area includes the field of view angle and the detection distance, among which the field of view angle can be considered as the opening angle of the first obstacle avoidance detector 130 or the second detection area, and can also be considered as the width of the first obstacle avoidance detector 130 or the second detection area, and the detection distance can be considered as the length of the first obstacle avoidance detector 130 or the second detection area.

[0164] For the first detection area 131, if the detection range of the first obstacle avoidance detector 130 remains unchanged, a larger field of view of the first obstacle avoidance detector 130 indicates a larger width of the first detection area 131, i.e., a larger detection area 131 is; a smaller field of view indicates a smaller width of the detection area of ​​the first obstacle avoidance detector, i.e., a smaller detection area 131 is. Similarly, if the detection range of the second obstacle avoidance detector 140 remains unchanged, a larger field of view of the second obstacle avoidance detector 140 indicates a larger width of the second detection area 141, i.e., a larger second detection area 141 is; a smaller field of view of the second obstacle avoidance detector 140 indicates a smaller second detection area 141 is.

[0165] The field of view of the first obstacle avoidance detector 130 is greater than the field of view of the second obstacle avoidance detector 140, which means that when the detection distance is the same, the first detection area 131 is greater than the detection area 141 of the second obstacle avoidance detector. Since the first obstacle avoidance detector 130 is arranged behind the extension part 120 and the second obstacle avoidance detector 140 is arranged in front of the extension part 120, the first detection area 131 is larger and can detect most areas of the rear, side front, front and upper front of the entire extension part 120, so that most areas can be detected by one sensor, which can reduce the number of sensors. Since the second obstacle avoidance detector 140 is located in front of the extension part 120, it is mainly used to detect the areas directly in front of and upper front of the extension part 120, as well as the blind spot of the first obstacle avoidance detector 130. The detection area is relatively small, and a sensor with a smaller field of view can be selected.

[0166] For obstacle avoidance sensors, the field of view (FOV) is positively correlated with cost: a larger FOV indicates higher cost, while a smaller FOV indicates lower cost. The first obstacle avoidance sensor 130 has a larger FOV, while the second obstacle avoidance sensor 140 has a smaller FOV. By combining these two sensors with different FOVs, overall costs can be reduced while ensuring there are no blind spots around the extension 120.

[0167] Because the first detection area 131 is conical or conical, the field of view of the first obstacle avoidance detector 130 is not an angle in a specific direction, but a three-dimensional angle. Taking the first detection area 131 as an example, the field of view of the first obstacle avoidance detector 130 includes a first lateral angle a1 and a first vertical angle b1. Similarly, taking the second detection area 141 as an example, the field of view of the second obstacle avoidance detector 140 includes a second lateral angle a2 and a second vertical angle b2.

[0168] The first lateral angle a1 can be considered as the horizontal detection range of the first obstacle avoidance detector 130, and the first vertical angle b1 can be considered as the vertical detection range of the first obstacle avoidance detector 130. The second lateral angle a2 can be considered as the horizontal detection range of the second obstacle avoidance detector 140, and the second vertical angle b2 can be considered as the vertical detection range of the second obstacle avoidance detector 140.

[0169] The field of view angle of the first obstacle avoidance detector 130 is greater than the field of view angle of the second obstacle avoidance detector 140, and at least the first lateral angle a1 is greater than the second lateral angle a2, that is, the first lateral angle a1 can be greater than the second lateral angle a2, or the first lateral angle a1 can be greater than the second lateral angle a2 and the first longitudinal angle b1 can be greater than the second longitudinal angle b2.

[0170] Since the first obstacle avoidance detector 130 is arranged behind the extension part 120 and the second obstacle avoidance detector 140 is arranged in front of the extension part 140, the first lateral angle a1 is greater than the second lateral angle a2, so that the first obstacle avoidance detector 130 has a larger detection range in the horizontal direction, and can detect areas such as the rear, side, and top of the extension part 120, thereby improving the obstacle avoidance capability of the extension part 120.

[0171] In some embodiments, the field of view of the first obstacle avoidance detector 130 includes a first lateral angle a1 and a first vertical angle b1 , the first lateral angle a1 is 80 degrees to 120 degrees, and the first vertical angle b1 is 20 degrees to 60 degrees.

[0172] Among them, the first lateral angle a1 can be considered as the detection range of the first obstacle avoidance detector 130 in the horizontal direction, and the first vertical angle b1 can be considered as the detection range of the first obstacle avoidance detector 130 in the vertical direction, so that the field of view angle of the first obstacle avoidance detector 130 is roughly conical. The first lateral angle a1 is 80 degrees to 120 degrees, so that the detection angle of the first obstacle avoidance detector 130 in the horizontal direction is larger, which can basically cover the areas behind, in front of, and in front of the extension part 120. There is no need to set up or install additional sensors for detecting the area in front of the side, thereby reducing the number of sensors and reducing costs.

[0173] Specifically, the first lateral angle a1 may be 80 degrees, 90 degrees, 100 degrees, 110 degrees, 118 degrees, etc.

[0174] The first vertical angle b1 of the first obstacle avoidance detector 130 is 20 degrees to 60 degrees, so that the first obstacle avoidance detector 130 has a certain detection range in the vertical plane. Since the mobile robot 100 mostly moves on the ground and the overall height is relatively low, the first obstacle avoidance detector 130 has a certain detection range in the vertical direction, so that the first obstacle avoidance detector 130 can detect the area above the extension part 120, thereby reducing the collision between the extension part 120 and the obstacles above during operation, thereby improving the accuracy of obstacle avoidance.

[0175] Specifically, the first vertical angle b1 can be 25 degrees, 30 degrees, 35 degrees, 40 degrees, 45 degrees, 50 degrees, 55 degrees, etc.

[0176] In addition, during the operation, the spatial position of the extension part 120 itself may change, causing the vertical position of part of the extension part 120 to change. The first obstacle avoidance detector 130 has a certain detection area in the vertical direction, which can detect whether there are obstacles in the area above the extension part 120, thereby avoiding the extension part 120 from touching obstacles during operation as much as possible.

[0177] In some embodiments, the optical axis of the first obstacle avoidance detector 130 is arranged toward the operating direction of the extension portion 120 .

[0178] Among them, the optical axis of the first obstacle avoidance detector 130 can be considered as the center of the entire field of view angle of the first obstacle avoidance detector 130. Since the first obstacle avoidance detector 130 is arranged behind the extension part 120, the optical axis of the first obstacle avoidance detector 130 can be set along the front direction of the mobile body 110, that is, in the forward direction, the first obstacle avoidance detector 130 can be located on the diameter that coincides with the operating direction of the extension part 120, so that the first obstacle avoidance detector 130 can be located in the middle position 22 of the mobile body 110, and thus the left and right detection areas of the first obstacle avoidance detector 130 in the extension part 120 are roughly the same, which can reduce the situation where the left or right side cannot be detected.

[0179] It is easy to understand that the setting of the optical axis of the first obstacle avoidance detector 130 (the first optical axis 132) toward the operating direction of the extension part 120 does not mean that the optical axis of the first obstacle avoidance detector 130 is parallel to the operating direction of the extension part 120, but means that the projection of the optical axis in the horizontal direction can be the same as the extension direction of the mobile body 110, that is, the optical axis of the first obstacle avoidance detector 130 (the first optical axis 132) can be tilted forward.

[0180] Since the first optical axis 132 is approximately the center of the entire first detection area 131 , the direction of the first optical axis 132 can reflect the orientation of the entire first detection area 131 and the relative positional relationship between the first detection area 131 and the operating area of ​​the extension portion 120 .

[0181] Because the extension 120 protrudes from the mobile body 110 in operation, and the first obstacle avoidance detector 130 is mounted on the mobile body 110, there is a certain height difference between the first obstacle avoidance detector 130 and the extension 120, and a certain distance between the first obstacle avoidance detector 130 and the extension 120. While maintaining a constant distance between the first obstacle avoidance detector 130 and the extension 120, to be able to detect the area above and in front of the extension 120, the taller the extension 120, the larger the angle between the first obstacle avoidance detector 130 and the horizontal direction. The shorter the extension 120, the smaller the angle between the first obstacle avoidance detector 130 and the horizontal direction.

[0182] Similarly, when the height of the extension portion 120 remains unchanged, in order to be able to detect the area above and in front of the extension portion 120, the smaller the distance between the first obstacle avoidance detector 130 and the extension portion 120, the larger the angle between the first obstacle avoidance detector 130 and the horizontal direction, and the larger the distance between the first obstacle avoidance detector 130 and the extension portion 120, the smaller the angle between the first obstacle avoidance detector 130 and the horizontal direction.

[0183] It can be seen that the angle between the first optical axis 132 and the horizontal direction is related to the height of the extension part 120 and the distance between the first obstacle avoidance detector 130 and the extension part 120. The angle of the first optical axis 132 (the angle with the horizontal direction) can be set based on the height of the extension part 120 and the distance between the first obstacle avoidance detector 130 and the extension part 120.

[0184] Specifically, in some embodiments, along the forward direction of the mobile body 110 (the direction indicated by arrow X in each figure), the angle between the first optical axis 132 and the horizontal direction may be 30 to 60 degrees. Since the first obstacle avoidance detector 130 is disposed behind the extension 120 and is relatively far away from the extension 120, the angle between the first optical axis 132 and the horizontal direction may be set relatively small.

[0185] When other conditions (the height of the extension part 120 and the distance between the first obstacle avoidance detector 130 and the extension part 120) remain unchanged, the angle between the first optical axis 132 and the horizontal direction determines the size of the upper area and the front and rear areas of the extension part 120 detected by the first detection area 131.

[0186] In the range of 0 to 45 degrees, the smaller the angle between the first optical axis 132 and the horizontal direction, the greater the horizontal component of the first detection area 131 and the smaller the vertical component. In this case, the greater horizontal component of the first detection area 131 indicates that there is more detection area along the horizontal direction (the detection area in the front-to-back direction of the extension 120 is larger), and less detection area above the extension 120.

[0187] In the range of 45 to 90 degrees, the larger the angle between the first optical axis 132 and the horizontal direction, the smaller the horizontal component of the first detection area 131 and the larger the vertical component. In this case, the smaller horizontal component of the first detection area 131 indicates that there is less detection area along the horizontal direction (less detection in the front-to-back direction of the extension 120) and more detection area above the extension 120.

[0188] The angle between the first optical axis 132 and the horizontal direction can be 30 degrees to 60 degrees. Although the components of the first detection area 131 in the horizontal direction and the vertical direction are slightly different (in the range of 30 degrees to 45 degrees, the horizontal component of the first detection area 131 is greater than the vertical component, and in the range of 45 degrees to 60 degrees, the horizontal component of the first detection area 131 is less than the vertical component), the difference is not large, that is, in the range of 30 degrees to 60 degrees, it can be considered that the horizontal component and the vertical component of the first detection area 131 are basically the same, so that the front and rear directions (horizontal direction) of the extension 120 or the upper area (vertical direction) of the extension 120 of the first detection area 131 are roughly the same, so that the first obstacle avoidance detector 130 can take into account the front and rear directions and the upper area of ​​the extension 120 at the same time, thereby improving the obstacle avoidance ability of the extension 120.

[0189] Specifically, the angle between the first optical axis 132 and the horizontal direction can be 35 degrees, 40 degrees, 45 degrees, 50 degrees, 55 degrees, etc. When the angle between the first optical axis 132 and the horizontal direction is 45 degrees, the first detection area 131 in the front-to-back direction (horizontal direction) of the extension portion 120 or the area above the extension portion 120 (vertical direction) is the same, thereby enabling the first obstacle avoidance detector 130 to simultaneously take into account the front-to-back direction and the area above the extension portion 120, thereby improving the obstacle avoidance capability of the extension portion 120.

[0190] In some embodiments, the field of view of the first obstacle avoidance detector 130 has a first edge 131c and a second edge 131d in the vertical direction, the first edge 131c is located below the second edge 131d, and the angle between the first edge 131c and the horizontal direction is greater than or equal to 0 degrees.

[0191] The area between the first edge 131c and the second edge 131d is the detection range of the first obstacle detector 130 in the vertical direction, that is, the first vertical angle b1. The angle between the first edge 131c located below and the horizontal direction is greater than or equal to 0 degrees, which means that the first edge 131c is horizontally arranged or is arranged to be inclined upward. If the first edge 131c is arranged to be inclined downward, part of the first vertical angle b1 will hit the moving body 110, and thus part of the first vertical angle b1 cannot detect the area in front, resulting in waste of the detection area of the first vertical angle b1.

[0192] In some embodiments, the angle between the first edge 131c and the horizontal direction can be 15 degrees to 30 degrees. Since the first obstacle detector 130 is arranged behind the extension part 120 and is far away from the extension part 120, the angle between the first edge 131c and the horizontal direction can be small, so that when the first detection area 131 is projected to the position of the operation area of the extension part 120, it can cover the space above and in front of the extension part 120, so that the first obstacle detector 130 can detect the area above and in front of the extension part 120.

[0193] Specifically, the angle between the first edge 131c and the horizontal direction can be 18 degrees, 20 degrees, 22.5 degrees, 25 degrees, 27.5 degrees, 28 degrees, etc.

[0194] In some embodiments, the angle between the second edge 131d and the horizontal direction is less than or equal to 90 degrees.

[0195] The angle between the second edge 131d and the horizontal direction is less than or equal to 90 degrees, which means that the second edge 131d is arranged vertically or is arranged to be inclined upward, so that the first vertical angle b1 is arranged entirely forward, and the first detection area 131 is arranged behind the extension part 120 due to the arrangement of the first obstacle detector 130. The first vertical angle b1 is arranged entirely forward, so that the first obstacle detector 130 can be arranged as much as possible to face the extension part 120, so that the first detection area 131 overlaps the extension part 120 as much as possible, thereby improving the utilization rate of the first obstacle detector 130 and reducing the waste of the detection area 131 of the first obstacle detector 30.

[0196] The angle between the first edge 131c and the horizontal direction is greater than or equal to 0 degrees, and the angle between the second edge 131d and the horizontal direction is less than or equal to 90 degrees. The detection area of the first vertical angle b1 of the first obstacle detector is arranged to be approximately horizontal or inclined, which can overlap the area in front, above and on the side of the extension part 120 as much as possible, thereby improving the utilization rate of the first detection area 131.

[0197] Specifically, the angle between the second edge 131d and the horizontal direction can be 60 degrees to 75 degrees. The second edge 131d is the upper limit of the first detection area 131 in the vertical direction. If the second edge 131d is too high, most or all of the first detection area 131 will be used to detect the space above the extension 120, resulting in a shorter detection distance of the first obstacle avoidance detector 130 in front of the extension 120. The angle between the second edge 131d and the horizontal direction can be 60 degrees to 75 degrees. While ensuring the detection distance above, it also allows a certain detection distance in the operating direction of the extension 120, which can provide more time for the extension 120 to avoid obstacles.

[0198] Specifically, the angle between the second edge 131d and the horizontal direction can be 62.5 degrees, 65 degrees, 67.5 degrees, 70 degrees, 72.5 degrees, etc.

[0199] In some embodiments, the distance between the first obstacle avoidance detector 130 and the extension portion 120 is greater than the radius of the mobile body 110 .

[0200] The mobile body 110 is roughly cylindrical, the extension part 120 is roughly arranged in front of the mobile body 110, and the first obstacle avoidance detector 130 is roughly arranged behind the mobile body 110. The distance between the first obstacle avoidance detector 130 and the extension part 120 is greater than the radius of the mobile body 110. It can be considered that the distance between the first obstacle avoidance detector 130 and the extension part 120 is relatively far. Since the first detection area 131 is roughly conical, the longer the distance, the larger the detection range of the first obstacle avoidance detector 130 around the extension part 120, which can increase the obstacle avoidance area of ​​the extension part 120, thereby improving the obstacle avoidance effect.

[0201] In some embodiments, the first obstacle avoidance detector 130 is disposed on a diameter of the mobile body 110 along the forward direction.

[0202] Since the mobile body 110 is cylindrical, the diameter along the forward direction is the longest distance in the forward direction. The first obstacle avoidance detector 130 can be set at the end of the diameter, so that the first obstacle avoidance detector 130 is located at the rear of the mobile body 110. While detecting the area around the extension 120, it can also detect the areas on the left and right sides of the mobile body 110 (the area in front of the side), so that the first obstacle avoidance detector can detect both the area around the extension 120 and the area around the mobile body 110, thereby improving the utilization rate of the first obstacle avoidance detector 130.

[0203] It should be noted that, in some embodiments, only one first obstacle avoidance detector 130 is provided, and the first obstacle avoidance detector 130 can be provided on the diameter along the forward direction of the mobile body 110. In addition, in some other embodiments, two, three, etc. first obstacle avoidance detectors 130 can be provided, and the number of first obstacle avoidance detectors 130 provided may not be limited.

[0204] like Figure 15 As shown, when two first obstacle avoidance detectors 130 are provided, the two first obstacle avoidance detectors 130 can be symmetrically arranged along the diameter of the moving body 110 in the forward direction. Since the first obstacle avoidance detectors 130 are not arranged on the diameter of the moving body 110 in the forward direction, the first obstacle avoidance detectors 130 are not arranged directly behind the extension portion 120. That is, along the forward direction of the moving body 110, the two first obstacle avoidance detectors 130 are staggered with respect to the extension portion 120.

[0205] The optical axis (first optical axis 132) of the first obstacle avoidance detector 130 can be tilted toward the extension portion 120. That is, the optical axes (first optical axes 132) of both first obstacle avoidance detectors 130 form a certain angle with the operating direction of the extension portion 120. This allows the first detection area 131 to be positioned toward the extension portion 120. This allows a larger area of ​​the first detection area 131 to overlap with the operating area of ​​the extension portion 120, thereby improving the utilization rate of the first obstacle avoidance detector 130.

[0206] Of course, in some other embodiments, when two first obstacle avoidance detectors 130 are provided, the optical axes of the first obstacle avoidance detectors 130 may also be arranged toward the operating direction of the extension portion 120 .

[0207] When three first obstacle avoidance detectors 130 are provided, one can be provided on a diameter of the mobile body 110 in the forward direction, and the other two can be symmetrically provided along the diameter of the mobile body 110 in the forward direction. When other numbers of first obstacle avoidance detectors 130 are provided, an even number can be provided in accordance with the arrangement when two are provided, and an odd number can be provided in accordance with the arrangement when three are provided.

[0208] See also Figure 12-14 The above describes the setting position and various parameters of the first obstacle avoidance detector 130. Now, the setting position and various parameters of the second obstacle avoidance detector will be described.

[0209] In some embodiments, the field of view of the second obstacle avoidance detector 140 includes a second lateral angle a2 and a second vertical angle b2, the second lateral angle a2 is 30 degrees to 60 degrees, and the second vertical angle b2 is 20 degrees to 60 degrees.

[0210] Among them, the second lateral angle a2 can be considered as the detection range of the second obstacle avoidance detector 140 in the horizontal direction, and the second vertical angle b2 can be considered as the detection range of the second obstacle avoidance detector 140 in the vertical direction, so that the field of view angle of the second obstacle avoidance detector 140 is roughly conical.

[0211] Since the second obstacle avoidance detector 140 is arranged in front of the extension part 120, the second obstacle avoidance detector 140 mainly detects the front and top of the extension part 120 and the detection blind spot of the first obstacle avoidance detector 130, that is, the field of view angle of the second obstacle avoidance detector 140 does not need to be too large, and the second lateral angle a2 is 30 degrees to 60 degrees, so that the detection angle of the first obstacle avoidance detector 130 in the horizontal direction can basically cover the area in front of and directly in front of the extension part 120, and basically cover the detection blind spot of the first obstacle avoidance detector 130. While being able to fully cover the surrounding area of ​​the extension part 120, the cost is reduced (the larger the field of view angle, the higher the cost of the second obstacle avoidance detector 140).

[0212] The second vertical angle b2 of the second obstacle avoidance detector 140 is 20 degrees to 60 degrees, so that the second obstacle avoidance detector 140 has a certain detection range in the vertical plane. Since the mobile robot 100 mostly moves on the ground and the overall height is relatively low, the second obstacle avoidance detector 140 has a certain detection range in the vertical direction, so that the second obstacle avoidance detector 140 can detect the area above the extension part 120, thereby reducing the collision between the extension part 120 and the obstacles above during operation, thereby improving the accuracy of obstacle avoidance.

[0213] In addition, during the operation, the spatial position of the extension part 120 itself may change, causing the vertical position of part of the extension part 120 to change. The second obstacle avoidance detector 140 has a certain detection area in the vertical direction, which can detect whether there are obstacles in the area above the extension part 120, thereby avoiding the extension part 120 from touching obstacles during operation as much as possible.

[0214] It should be noted that the field of view angle of the first obstacle avoidance detector 130 and the field of view angle of the second obstacle avoidance detector 140 have an overlapping area, and the overlapping area is roughly in front of and above the extension part 120. Since the mobile robot 100 as a whole is moving roughly forward, the first obstacle avoidance detector 130 and the second obstacle avoidance detector 140 have an overlapping area in the front, which enables the first obstacle avoidance detector 130 and the second obstacle avoidance detector 140 to detect obstacles during the forward movement of the mobile robot 100 as a whole. With the joint cooperation of the first obstacle avoidance detector 130 and the second obstacle avoidance detector 140, the detection accuracy can be improved.

[0215] Since the second optical axis 142 is approximately the center of the entire second detection area 141 , the direction of the second optical axis 142 can reflect the orientation of the entire second detection area 141 and the relative positional relationship between the second detection area 141 and the operating area of ​​the extension 120 .

[0216] Because the extension 120 protrudes from the mobile body 110 in operation, and the second obstacle avoidance detector 140 is mounted on the mobile body 110, there is a certain height difference between the second obstacle avoidance detector 140 and the extension 120, and a certain distance between the second obstacle avoidance detector 140 and the extension 120. While maintaining a constant distance between the second obstacle avoidance detector 140 and the extension 120, to be able to detect the area above and in front of the extension 120, the taller the extension 120, the larger the angle between the second obstacle avoidance detector 140 and the horizontal direction. The shorter the extension 120, the smaller the angle between the second obstacle avoidance detector 140 and the horizontal direction.

[0217] Similarly, when the height of the extension portion 120 remains unchanged, in order to be able to detect the area above and in front of the extension portion 120, the smaller the distance between the second obstacle avoidance detector 140 and the extension portion 120, the larger the angle between the second obstacle avoidance detector 140 and the horizontal direction, and the larger the distance between the second obstacle avoidance detector 140 and the extension portion 120, the smaller the angle between the second obstacle avoidance detector 140 and the horizontal direction.

[0218] It can be seen that the angle between the second optical axis 142 and the horizontal direction is related to the height of the extension part 120 and the distance between the second obstacle avoidance detector 140 and the extension part 120. The angle of the second optical axis 142 can be set based on the height of the extension part 120 and the distance between the second obstacle avoidance detector 140 and the extension part 120.

[0219] Specifically, in some embodiments, along the forward direction of the mobile body 110 (the direction indicated by arrow X in each figure), the angle between the second optical axis 142 and the horizontal direction may be 60 to 90 degrees. If the second obstacle avoidance detector 140 is disposed in front of the extension portion 120 and is relatively close to the extension portion 120, the angle between the second optical axis 142 and the horizontal direction may be set relatively large.

[0220] When other conditions (the height of the extension part 120 and the distance between the second obstacle avoidance detector 140 and the extension part 120) remain unchanged, the angle between the second optical axis 142 and the horizontal direction determines whether the second detection area 141 detects the upper area or the front and rear areas of the extension part 120.

[0221] In the range of 0 to 45 degrees, the smaller the angle between the second optical axis 142 and the horizontal direction, the greater the horizontal component of the second detection area 141 and the smaller the vertical component. In this case, the greater horizontal component of the second detection area 141 indicates that the detection area along the horizontal direction is larger (the detection distance in front of the extension 120 is larger), and the detection area above the extension 120 is smaller.

[0222] In the range of 45 to 90 degrees, the larger the angle between the second optical axis 142 and the horizontal direction, the smaller the horizontal component of the second detection area 141 and the larger the vertical component. In this case, the smaller horizontal component of the second detection area 141 indicates that there is less detection area along the horizontal direction (less detection in front of the extension 120) and more detection area above the extension 120.

[0223] Since the distance between the second obstacle avoidance detector 140 and the extension part 120 is very close, in order to enable the second obstacle avoidance detector 140 to detect the area above the extension part 120, the second optical axis 142 needs to be set upward as much as possible, and the angle with the horizontal direction needs to be close to 90 degrees, that is, the second optical axis 142 needs to be close to the vertical direction. This setting enables the second detection area 141 to be set upward as much as possible, and thus can detect the area above the extension part 120.

[0224] Furthermore, since the mobile robot 100 primarily travels on the ground, its entire height is relatively low, making obstacles more likely to appear in front of and above the extension 120. The second optical axis 142 forms a large angle with the horizontal, allowing the entire second detection area 141 to be positioned close to the vertical. This allows the second obstacle avoidance detector 140 to detect higher locations (rather than ground-level detection), thereby improving the extension 120's obstacle avoidance capabilities.

[0225] The angle between the second optical axis 142 and the horizontal direction can be 60 degrees to 90 degrees, so that the second detection area 142 can detect the area above the extension 120 while also taking into account the area in front of the second extension 120, thereby improving the obstacle avoidance capability of the extension 120. Specifically, the angle between the second optical axis 142 and the horizontal direction can be 65 degrees, 70 degrees, 75 degrees, 80 degrees, 85 degrees, etc.

[0226] In some embodiments, the field of view of the second obstacle avoidance detector 140 has a third edge 141c and a fourth edge 141d in the vertical direction, the third edge 141c is located below the fourth edge 141d, and the angle between the third edge 141c and the horizontal direction is greater than or equal to 0 degrees.

[0227] The area between the third edge 141c and the fourth edge 141d is the vertical detection range of the second obstacle avoidance detector 140, i.e., the second vertical angle b2. The angle between the third edge 141c located below and the horizontal direction is greater than or equal to 0 degrees, which means that the third edge 141c is set horizontally or tilted upward. If the third edge 141c is tilted downward, part of the second vertical angle b2 will hit the mobile body 110, which will cause part of the second vertical angle b2 to be unable to detect the area ahead, resulting in a waste of the detection area of ​​the second vertical angle b2.

[0228] In some embodiments, the angle between the third edge 141c and the horizontal direction is 50 degrees to 70 degrees. The third edge 141c is the lower limit of the entire second detection area 141. Because the distance between the second obstacle avoidance detector 140 and the extension 120 is relatively close, and the second vertical angle b2 is relatively small, in order to detect the area above the extension 120, the angle between the third edge 141c and the horizontal direction cannot be too small. If the angle is too small, the second detection area 141 will not be able to detect the area above the extension 120. The angle between the third edge 141c and the horizontal direction is 50 degrees to 70 degrees. This allows the second obstacle avoidance detector 140 to detect the area above the extension 120 while detecting the area in front of the extension 120, thereby improving the obstacle avoidance capability of the extension 120.

[0229] Specifically, the angle between the third edge 141c and the horizontal direction can be 53 degrees, 56 degrees, 60 degrees, 63 degrees, 68 degrees, etc.

[0230] In some embodiments, the angle between the fourth edge 141d and the horizontal direction is less than or equal to 180 degrees.

[0231] Fourth edge 141d is the upper limit of second detection area 141. The angle between fourth edge 141d and the horizontal direction is less than or equal to 180 degrees, which means that fourth edge 141d is arranged vertically, tilted upward, or tilted backward. Because second obstacle avoidance detector 140 is arranged in front of extension 120, the rearward tilt of fourth edge 141d allows second detection area 141 to also detect the area behind extension 120. This allows second obstacle avoidance detector 140 to detect the areas in front of, above, and behind extension 120, thereby improving the utilization rate of first obstacle avoidance detector 130 and reducing waste in detection area 131 of first obstacle avoidance detector 30.

[0232] The angle between the third edge 141c and the horizontal direction is greater than or equal to 0 degrees, and the angle between the fourth edge 141d and the horizontal direction is less than or equal to 180 degrees. This allows the detection area of ​​the second vertical angle b2 of the second obstacle avoidance detector to be arranged in a substantially horizontal or oblique direction, enabling detection of the areas directly in front of, above, in front of, and behind the extension 120, thereby improving the utilization rate of the detection area 141 of the second obstacle avoidance detector.

[0233] In some embodiments, the angle between the fourth edge 141d and the horizontal direction is 90 degrees to 110 degrees.

[0234] Since the fourth edge 141d is the upper limit of the second detection area 141, and obstacles are most likely to appear in front of and above the extension part 120, the angle between the fourth edge 141d and the horizontal direction is 90 degrees to 110 degrees, so that the second obstacle avoidance detector 140 can mainly detect the area in front of and above the extension part 120, thereby improving the utilization rate of the first obstacle avoidance detector 130 and reducing the waste of the detection area 131 of the first obstacle avoidance detector 30.

[0235] Specifically, the angle between the fourth edge 141d and the horizontal direction can be 95 degrees, 98 degrees, 100 degrees, 105 degrees, or 108 degrees.

[0236] In some embodiments, along the operating direction of the extension portion 120, the projection of the second detection area 141 in the first setting plane covers the projection of the operating area of ​​the extension portion 120 in the first setting plane, wherein the first setting plane is perpendicular to the operating direction and the extension portion 120 is located between the second obstacle avoidance detector 140 and the first setting plane.

[0237] It should be noted that the first set plane is a virtual plane, not the physical plane of the entire mobile robot 100. The first set plane is located on the side of the extension part 120 away from the second obstacle avoidance detector 140. The projection of the second detection area 141 in the first set plane covers the operating area of ​​the extension part 120. The projection in the first set plane means that the second obstacle avoidance detector 140 can cover all areas in front of the extension part 120 (directly in front, side front and upper front). The detection area 141 of the second obstacle avoidance detector can completely cover the extension part 120, so that there will be no detection blind spot in front of the extension part 120, reducing the risk of the extension part 120 touching an obstacle.

[0238] Among them, if there are multiple second obstacle avoidance detectors 140, the projection of the second detection area 141 in the first setting plane can cover the projection of the operating area of ​​the extension part 120 in the first setting plane, which means that the sum of the projections of multiple second detection areas 141 in the first setting plane covers the projection of the operating area of ​​the extension part 120 in the first setting plane.

[0239] The above describes the installation positions and various parameters of the first obstacle avoidance detector 130 and the second obstacle avoidance detector 140 . The following lists different implementations based on the number, installation position, optical axis orientation, etc. of the second obstacle avoidance detector 140 .

[0240] In some embodiments, only one second obstacle avoidance detector 140 may be provided. When one second obstacle avoidance detector 140 is provided, the second obstacle avoidance detector 140 may be provided right in front of the extension portion 120 (eg, Figure 12 、 Figure 13 and Figure 14 ), and the optical axis of the second obstacle avoidance detector 140 is arranged along the operating direction of the extension portion 120. For the convenience of description, the optical axis of the second obstacle avoidance detector 140 is defined as a second optical axis 142.

[0241] Since there is only one second obstacle avoidance detector 140, the second obstacle avoidance detector 140 is set directly in front of the extension part 120, so that the second detection area 141 can take into account the surrounding areas of the left front and right front of the extension part 120 as much as possible, thereby improving the obstacle avoidance capability of the extension part 120.

[0242] like Figure 15 、 Figure 16 and Figure 17 As shown, in some other embodiments, there are multiple second obstacle avoidance detectors 140, and the multiple second obstacle avoidance detectors 140 are staggered.

[0243] Since the field of view of the second obstacle avoidance detector 140 is small, multiple second obstacle avoidance detectors 140 can be set in front of the extension part 120. The staggered setting of multiple second obstacle avoidance detectors 140 means that multiple second obstacle avoidance detectors 140 are set at different positions, so that the detection areas 141 of the multiple second obstacle avoidance detectors at least partially do not overlap, thereby increasing the detection range in front of the extension part 120 and improving the detection accuracy.

[0244] The detection areas 141 of the plurality of second obstacle avoidance detectors may or may not overlap. That is, the plurality of second optical axes 142 may be in the same direction or in different directions. This is not specifically limited.

[0245] In some embodiments, the plurality of second obstacle avoidance detectors 140 are all installed on the mobile body 110 .

[0246] In the operating state, the extension 120 is disposed on the mobile body 110. In the non-operating state, the extension 120 can be retracted into the mobile body 110. Multiple second obstacle avoidance detectors 140 can be mounted on the mobile body 110. The second obstacle avoidance detectors 140 do not move with the extension 120, making the extension 120 and the second obstacle avoidance detectors 140 independent of each other. This can reduce the impact of the extension 120 on the second obstacle avoidance detectors 140 during operation.

[0247] In some embodiments, the plurality of second obstacle avoidance detectors 140 are respectively located on different sides of the extension portion 120 (eg, Figure 15 、 Figure 16 and Figure 17 shown).

[0248] Multiple second obstacle avoidance detectors 140 can be set on different sides of the extension part 120. For example, when the number of second obstacle avoidance detectors 140 is two, the second obstacle avoidance detectors 140 can be respectively set on the left and right sides of the extension part 120. When there are three second obstacle avoidance detectors 140, one can be located on the left side of the extension part 120, one can be located on the right side of the extension part 120, and the other can be located on the front side of the extension part 120.

[0249] Multiple second obstacle avoidance detectors 140 are respectively located on different sides of the extension part 120 so that the second obstacle avoidance detectors 140 can detect different areas in front of the extension part 120, and can cover all areas in front of the extension part 120 as much as possible, avoiding detection blind spots, and thereby improving the detection accuracy around the extension part 120.

[0250] In some embodiments, the second optical axis 142 is parallel to the operating direction of the extension 120 .

[0251] When the second obstacle avoidance detector 140 is one (eg Figure 12 、 Figure 13 and Figure 14 As shown), the second obstacle avoidance detector 140 can be located directly in front of the extension part 120, and the second optical axis 142 can be set toward the operating direction of the extension part 120, so that the detection areas of the second obstacle avoidance detector 140 on the left and right sides of the extension part 120 are roughly the same, and the second detection area 141 can take into account the surrounding areas of the left front and right front of the extension part 120 as much as possible, thereby improving the obstacle avoidance capability of the extension part 120.

[0252] Of course, in addition to this, in the case where there are multiple second obstacle avoidance detectors 140 (such as Figure 8 、 Figure 9 and Figure 10), the plurality of second optical axes 142 can all be arranged in the operating direction of the extension portion 120, so that the second obstacle avoidance detector 140 can detect the area in front of the extension portion 120. The plurality of second optical axes 142 are parallel, but two adjacent second detection areas 141 may partially overlap or may not overlap.

[0253] The detection areas 141 of two adjacent second detection areas 141 are partially overlapped, so that the partial area in front of the extension part 120 is detected simultaneously by two second obstacle avoidance detectors 140. Through the joint cooperation of the two second obstacle avoidance detectors 140, the obstacle avoidance capability of the area in front of the extension part 120 can be improved.

[0254] For example, when there are two second obstacle avoidance detectors 140 (eg Figure 8 、 Figure 9 and Figure 10 ), the two second obstacle avoidance detectors 140 are symmetrically arranged along the operating direction of the extension part 120. Since the two second obstacle avoidance detectors 140 have the same field of view, the overlapping area of ​​the two second detection areas 141 is directly in front of the extension part 120. In the process of the extension part 120 following the moving body 110, the front is most likely to touch an obstacle. The area directly in front is detected by the two second obstacle avoidance detectors 140 at the same time, which can also improve the obstacle avoidance capability of the extension part 120.

[0255] Please refer to Figure 16 、 Figure 17 and Figure 18 In some embodiments, the second optical axis 142 is tilted toward the extension portion 120 .

[0256] If there are multiple second obstacle avoidance detectors 140, the multiple second optical axes 142 are all tilted toward the extension portion 120. That is, if the second obstacle avoidance detector 140 is located on the left side of the extension portion 120, the optical axis is tilted toward the right. If the second obstacle avoidance detector 140 is located on the right side of the extension portion 120, the optical axis is tilted toward the left.

[0257] The second obstacle avoidance detectors 140 are disposed on the sides of the extension 120, with the second optical axes 142 tilted toward the extension 120. This allows the second optical axes 142 to be directed toward the extension 120 and detect the area in front of the extension 120. The multiple second optical axes 142 are tilted toward the extension 120, allowing the detection areas 164 of the multiple obstacle avoidance detectors to overlap in front of the extension 120. Consequently, the multiple second obstacle avoidance detectors 140 can all detect the area directly in front of the extension 120. If one of the second obstacle avoidance detectors 140 malfunctions, the remaining second obstacle avoidance detectors 140 can still function, improving overall obstacle avoidance effectiveness.

[0258] In addition, since the second optical axis 142 is arranged obliquely relative to the extension part 120, the detection area 141 of the second obstacle detector can pass through both sides of the extension part 120. For example, the second obstacle detector 140 is arranged on the left side of the extension part 120, and due to the oblique arrangement of the optical axis, the detection area 141 of the second obstacle detector can extend from the left side of the second obstacle detector 140 to the right side of the extension part 120. Similarly, the second obstacle detector 140 is arranged on the right side of the extension part 120, and due to the oblique arrangement of the optical axis, the detection area 141 of the second obstacle detector can extend from the right side of the second obstacle detector 140 to the left side of the extension part 120.

[0259] In this way, in cooperation with the plurality of second obstacle detectors 140, the area in front of the extension part 120 (left front and right front) can be detected, the plurality of second detection areas 141 are increased, and thus the detection range of the plurality of second obstacle detectors 140 on the extension part 120 is improved, and the obstacle avoidance capability of the extension part 120 during operation is improved.

[0260] In some embodiments, the angle C of the second optical axis 142 towards the extension part 120 is 0-45 degrees.

[0261] The angle C is the angle of the optical axis relative to the forward direction of the mobile body 110. Since the detection area 141 of the second obstacle detector is constant, the second optical axis 142 is arranged obliquely towards the extension part 120, so that the detection area 141 of the second obstacle detector has components in the forward direction and the direction perpendicular to the forward direction. The smaller the angle C of the second optical axis 142 towards the extension part 120, the longer the detection distance of the second obstacle detector 140 in the operation direction of the extension part 120. The larger the angle C of the second optical axis 142 towards the extension part 120, the shorter the detection distance of the second obstacle detector 140 in the operation direction of the extension part 120.

[0262] The shorter the detection distance of the second obstacle detector 140 in the operation direction of the extension part 120, the shorter the obstacle avoidance time of the extension part 120, and the more likely it is that the obstacle avoidance is not in time. The angle C of the second obstacle detector 140 is between 0 and 45 degrees, so that the detection length in the forward direction is relatively long, and the main detection area of the second obstacle detector 140 is in front of the extension part 120, so that the detection distance of the second obstacle detector 140 in front of the extension part 120 is ensured, and the obstacle avoidance time of the extension part 120 is increased, and the situation of touching the obstacle is avoided as much as possible.

[0263] In some other embodiments, the second optical axis 142 is perpendicular to the operation direction of the extension part 120, as shown in Figure 19 , Figure 20 and Figure 21 shown.

[0264] The operating direction can be set in the horizontal direction. In this case, the second optical axis 142 can be set vertically, so that the second obstacle avoidance detector 140 mainly detects the space above the extension part 120. The number of second obstacle avoidance detectors 140 can be set to multiple, and the multiple second obstacle avoidance detectors 140 are respectively arranged at different positions of the extension part 120, and can detect different areas of the extension part 120.

[0265] During the forward movement of the mobile body 110, it is easy to touch obstacles mainly in front of or above the mobile robot 100. The upward setting of the second obstacle avoidance detector 140 enables the second obstacle avoidance detector 140 to detect the area in front of and above the extension part 120, thereby enabling the extension part 129 to avoid obstacles and reduce the risk of touch.

[0266] See also Figure 22-Figure 27 In some embodiments, when there are two second obstacle avoidance detectors 140 , one of the second obstacle avoidance detectors 140 is installed on the mobile body 110 , and the other second obstacle avoidance detector 140 is installed on the extension portion 120 .

[0267] Since the second obstacle avoidance detector 140 is arranged in front of the extension part 120, the second obstacle avoidance detector 140 can be arranged on the mobile body 110 or on the extension part 120, and can detect the area in front of the extension part 120. When the second obstacle avoidance detector 140 is arranged on the extension part 120, the second obstacle avoidance detector 140 can be arranged at different positions of the extension part 120. Specifically, the following will introduce the setting method of the optical axis when the second obstacle avoidance detector 140 is located at different positions of the extension part 120.

[0268] See also Figure 22 、 Figure 23 and Figure 24 In some embodiments, the extension portion 120 includes a mounting section 121, a connecting section 123, and an operating section 124. The connecting section 123 connects the mounting section 121 and the operating section 124, respectively. The mounting section 121 is mounted on the mobile body 110. Along the operating direction of the extension portion 120, the operating section 124 is located in front of the mounting section 121. The second obstacle avoidance detector 140 is mounted on the mounting section 121. The optical axis (second optical axis 142) of the second obstacle avoidance detector 140 mounted on the mobile body 110 is tilted upward, while the optical axis (second optical axis 142) of the second obstacle avoidance detector 140 mounted on the mounting section 121 is horizontally arranged.

[0269] The operating direction refers to the extending direction of the connecting section 123, that is, the operating direction can be considered to be the direction from the mounting section 121 toward the operating section 124. Since the mounting section 121, the connecting section 123, and the operating section 124 can be fixedly connected or movably connected, and since the operating direction can be fixed or not fixed, the operating direction can be horizontal, inclined at a certain angle to the horizontal plane, or any other direction.

[0270] In some embodiments, the extension 120 can be stored inside the mobile body 110, and the second obstacle avoidance detector 140 is installed on the installation section 121. It can also detect whether the extension 120 encounters an obstacle during the process of being taken out of the warehouse or stored. No additional sensors are required to detect the process of the extension 120 being stored or taken out of the warehouse.

[0271] The operating section 124 is connected to the top of the connecting section 123, so that the area below the installation section 121 is not blocked by the operating section 124. The second obstacle avoidance detector 140 can be set below the installation section 121, which can prevent the detection area 141 of the second obstacle avoidance detector from being blocked by the operating section 124.

[0272] The optical axis (second optical axis 142) of the second obstacle avoidance detector 140 mounted on the mobile body 110 is tilted upward so that the second obstacle avoidance detector 140 can primarily detect the area in front of the extension 120. The second optical axis 142 mounted on the mounting section 121 is horizontally arranged so that the second obstacle avoidance detector 140 can detect the area directly in front of the extension 120. This can minimize the occurrence of blind spots in front of the extension 120.

[0273] For example, if the extension 120 is a robotic arm and the robotic arm includes three sections, the operating section 124 is located at the outermost portion of the entire extension 120. The operating section 124 is the working position of the entire robotic arm. The entire operating section 124 can be the working position (the entire cleaning section can be provided), or only the section of the operating section 124 away from the connecting section 123 can be the working position (the robotic claw can be provided). The mounting section 121 and the connecting section 123 are the connecting arms of the robotic arm, and there can be a certain degree of freedom between the mounting section 121 and the connecting section 123. The second obstacle avoidance detector 140 can be provided below the mounting section 121 to prevent the detection area 141 of the second obstacle avoidance detector from being blocked by the working position of the operating section 124, thereby maximizing the utilization of the second detection area 141.

[0274] See also Figure 25 、 Figure 26 and Figure 27In some other embodiments, the extension portion 120 includes a mounting section 121, a connecting section 123, and an operating section 124. The connecting section 123 connects the mounting section 121 and the operating section 124, respectively. The mounting section 121 is mounted on the mobile body 110. The operating section 124 is located in front of the mounting section 121 along the operating direction of the extension portion 120. The second obstacle avoidance detector 140 is mounted on the operating section 124. The optical axis (second optical axis 142) of the second obstacle avoidance detector 140 mounted on the mobile body 110 is tilted upward, while the optical axis (second optical axis 142) of the second obstacle avoidance detector 140 mounted on the operating section 124 is tilted downward.

[0275] Since the operating section 124 is disposed in front of the mounting section 121, mounting the second obstacle avoidance detector 140 on the operating section 124 can reduce the possibility of the second obstacle avoidance detector's detection area 141 being blocked by the operating section 124. Since the operating section 124 is located above the mounting section 121, the second obstacle avoidance detector 140 can be tilted downward to detect the area directly in front of the operating section 124.

[0276] For example, if the extension 120 is a robotic arm, the operating section 124 is the working position of the entire robotic arm. This can be the entire operating section 124 (e.g., the entire cleaning section), or just the section of the operating section 124 away from the connecting section 123 (e.g., the robotic claw). The mounting section 121 and the connecting section 123 are the connecting arms of the robotic arm, and there can be a certain degree of freedom between the mounting section 121 and the connecting section 123. The second obstacle avoidance detector 140 can be tilted downward to detect the area directly in front of the operating section 124.

[0277] During the forward movement of the mobile body 110, it is easy to touch obstacles mainly in front of or above the mobile robot 100. The upward setting of the second obstacle avoidance detector 140 enables the second obstacle avoidance detector 140 to detect the area in front of and above the extension part 120, thereby enabling the extension part 129 to avoid obstacles and reduce the risk of touch.

[0278] In the above structure, the first obstacle avoidance detector 130 and the second obstacle avoidance detector 140 are both fixedly mounted on the mobile body 110 or the extension 120. The following describes a solution in which the first obstacle avoidance detector 130 and the second obstacle avoidance detector 140 are movably mounted on the mobile body 110. For the convenience of description, the first obstacle avoidance detector 130 and the second obstacle avoidance detector 140 can both be defined as obstacle avoidance detectors 164. The specific solution is as follows:

[0279] See also Figure 28 and Figure 29The mobile robot 100 includes: a mobile body 110, an extension portion 120 provided on the mobile body 110, and an obstacle avoidance detection component 160. The obstacle avoidance detection component 160 is movably installed on the mobile body 110 and can adjust the detection area of ​​the obstacle avoidance detection component 160.

[0280] Among them, the obstacle avoidance detection component 160 is movably connected to the mobile body 110, and the obstacle avoidance detection component 160 can rotate relative to the mobile body 110, or the obstacle avoidance detection component 160 can move relative to the mobile body 110, or the obstacle avoidance detection component 160 can both rotate relative to the mobile body 110 and move relative to the mobile body 110.

[0281] In some embodiments, the mobile body 110 has a mounting slot, and the obstacle avoidance detection assembly 160 can be mounted in the mounting slot. The obstacle avoidance detection assembly 160 is disposed within the mounting slot, allowing it to be housed within the mounting slot. In other words, the obstacle avoidance detection assembly 160 can be housed within the mobile body 110, and the mounting slot can provide a certain degree of protection for the obstacle avoidance detection assembly 160. Furthermore, the fact that the obstacle avoidance detection assembly 160 can be housed within the mounting slot prevents interference between the obstacle avoidance detection assembly 160 and the base station when the mobile robot 100 returns to the base station.

[0282] Furthermore, the obstacle avoidance detection assembly 160 is mounted within the mounting slot. In operation, the obstacle avoidance detection assembly 160 may be located within the mounting slot or may extend outside the mounting slot. The obstacle avoidance detection assembly 160 being movable relative to the mobile body 110 may refer to the obstacle avoidance detection assembly 160 being movable relative to the mobile body 110 within the mounting slot or outside the mounting slot.

[0283] In some embodiments, when the obstacle avoidance detection assembly 160 is located outside the mounting slot, the obstacle avoidance detection assembly 160 can detect the surrounding environment of the extension portion 120 .

[0284] When the obstacle avoidance detection component 160 is located outside the mounting groove, the obstacle avoidance detection component 160 can rotate or not rotate relative to the mobile body 110. Since the position of the extension part 120 on the mobile body 110 is fixed, the obstacle avoidance detection component 160 can detect the peripheral environment of the extension part 120 to prevent the extension part 120 from encountering obstacles during operation.

[0285] When the obstacle avoidance detection assembly 160 is located outside the mounting slot, it can remain in a fixed position or move within a certain range. That is, the detection area of ​​the obstacle avoidance detection assembly 160 can be fixed or movable. The obstacle avoidance detection assembly 160 can detect the environment surrounding the extension 120. The obstacle avoidance detection assembly 160 can detect the area above the extension 120, or the areas to the left, right, and rear of the extension 120. It can remain in a fixed position to detect the environment surrounding the extension 120, or it can rotate to detect the environment surrounding the extension 120.

[0286] In some embodiments, when the obstacle avoidance detection assembly 160 is located outside the mounting slot, the detection area of ​​the obstacle avoidance detection assembly 160 at least partially overlaps with at least partially the extension portion 120 .

[0287] At least part of the detection area of ​​the obstacle avoidance detection component 160 overlaps with at least part of the extension part 120. Part of the detection area may overlap with part of the extension part 120, or part of the detection area may overlap with the entire extension part 120. Alternatively, the entire detection area may overlap with part of the extension part 120, or the entire detection area may overlap with the entire extension part 120.

[0288] At least a portion of the detection area of ​​the obstacle avoidance detection component 160 overlaps with at least a portion of the extension portion 120, so that the obstacle avoidance detection component 160 can detect the area around the extension portion 120, thereby preventing the extension portion 120 from encountering obstacles during operation.

[0289] In some embodiments, when the obstacle avoidance detection assembly 160 is located in the mounting slot, the obstacle avoidance detection assembly 160 can detect the surrounding environment of the mobile body 110 .

[0290] When the obstacle avoidance detection assembly 160 is located in the mounting slot, the obstacle avoidance detection assembly 160 may be approximately located in the same plane as the mobile body 110, thereby being able to detect the surrounding environment of the mobile body 110. If the obstacle avoidance detection assembly 160 is located in front of the mobile body 110 in the forward direction, the obstacle avoidance detection assembly 160 can detect the area in front of the mobile body 110. If the obstacle avoidance detection assembly 160 is located to the left of the mobile body 110 in the forward direction, the obstacle avoidance detection assembly 160 can detect the area to the left of the mobile body 110. If the obstacle avoidance detection assembly 160 is located to the right of the mobile body 110 in the forward direction, the obstacle avoidance detection assembly 160 can detect the area to the right of the mobile body 110.

[0291] When the obstacle avoidance detection component 160 is located in the installation groove, it means that the obstacle avoidance component is not needed to detect the peripheral environment of the extension part 120. The obstacle avoidance detection component 160 can detect the surrounding environment of the mobile body 110 and can cooperate with the mobile body 110's own sensor to detect the environment around the mobile body 110, thereby improving the utilization rate of the obstacle avoidance detection component 160.

[0292] In some embodiments, the obstacle avoidance detection assembly 160 includes a lifting member, a bracket 162 and an obstacle avoidance detector 164 installed on the bracket 162. The lifting member is connected to the bracket 162 and can drive the bracket 162 to be accommodated in the installation slot or extend out of the installation slot.

[0293] The lifting member can be a worm gear structure, where the lifting function is achieved through the cooperation of a drive motor and a worm gear. Specifically, the worm gear is connected to the bracket 162, and the drive motor and the worm gear cooperate to achieve the lifting of the bracket 162, so that the obstacle avoidance detector 164 can be extended out of the installation slot or can be stored in the installation slot. It can also be a rack and pinion mechanism, where the gear is connected to the drive motor and the rack is connected to the bracket 162, and the drive motor drives the rack and pinion mechanism to achieve the lifting of the bracket 162. It can also be achieved through a drive motor and a ball screw structure, where the screw is connected to the bracket 162 and the drive motor is connected to the ball screw.

[0294] In addition, the lifting member may also be a folding suspension structure, through which the bracket 162 and the obstacle avoidance detector 164 can be lifted and lowered.

[0295] The lifting member's ability to raise or lower the bracket 162 and obstacle avoidance detector 164 refers to raising or lowering them vertically. Therefore, in addition to moving the obstacle avoidance detector 164 out of the mounting slot, the lifting member can also adjust the vertical position of the obstacle avoidance detector 164, thereby adjusting the vertical detection area of ​​the obstacle avoidance detector 164. The height of the obstacle avoidance detector 164 can be adjusted based on the height of the extension 120, allowing the obstacle avoidance detector 164 to detect the area surrounding the extension 120.

[0296] In some embodiments, the obstacle avoidance detection assembly 160 includes a flip member, a bracket 162, and an obstacle avoidance detector 164 mounted on the bracket 162. The bracket 162 is rotatable relative to the mobile body 110. The flip member is in transmission connection with the bracket 162, and can drive the bracket 162 to rotate relative to the mobile body 110.

[0297] The flipping member is mainly used to drive the bracket 162 to rotate. As for the rotation method of the bracket 162, the flipping member bracket 162 can drive the bracket 162 to rotate from the installation slot to the outside of the installation slot, or the lifting member can first drive the bracket 162 to move outside the installation slot, and then the flipping member drives the bracket 162 to rotate.

[0298] As for the specific structure of the flipping member, the flipping member may include a driving motor and a rotating shaft, the rotating shaft is connected to the bracket 162, and the driving motor drives the rotating shaft to rotate to realize the rotation of the bracket, thereby realizing the flipping of the obstacle avoidance detector 164.

[0299] That is, in some embodiments, the obstacle avoidance detection assembly 160 may include a lifting member, a flip member, a bracket 162, and an obstacle avoidance detector 164 mounted on the bracket 162. The lifting member first drives the bracket 162 to move outside the mounting slot, and the flip member then drives the bracket 162 to rotate. In other embodiments, the obstacle avoidance detection assembly 160 may include a lifting and flip member, a bracket 162, and an obstacle avoidance detector 164 mounted on the bracket 162, without a lifting member. The flip member directly drives the bracket 162 to rotate the bracket 162 from inside the mounting slot to outside the mounting slot.

[0300] Since the position of a local part of the extension part 120 may change during operation, the flip part can drive the bracket 162 to rotate relative to the mobile body 110, thereby adjusting the angle of the bracket 162 relative to the mobile body 110, and then adjusting the angle of the obstacle avoidance detector 164 relative to the extension part 120, so that the obstacle avoidance detector 164 can always detect the area around the extension part 120.

[0301] In addition, compared to the case where the obstacle avoidance detector 164 is fixed, the obstacle avoidance detector 164 can rotate relative to the mobile body 110 , which can increase the detection range of the obstacle avoidance detector 164 and improve the utilization rate of the obstacle avoidance detector 164 .

[0302] In some embodiments, the flip member can drive the obstacle avoidance detector 164 to rotate in a non-horizontal plane through the bracket 162. The non-horizontal plane refers to a vertical plane or an inclined plane between the vertical plane and the horizontal plane. The flip member can drive the obstacle avoidance detector 164 to rotate in a vertical plane or an inclined plane between the vertical plane and the horizontal plane through the bracket 162. The angle of the obstacle avoidance detector 164 in space can be adjusted, so that the angle of the optical axis of the obstacle avoidance detector 164 in space can be adjusted, so that the optical axis of the obstacle avoidance detector 164 can be located in different inclined planes, and then the detection area of ​​the obstacle avoidance detector 164 above the extension 120 can be adjusted, and the area above and in front of the extension 120 can be used as much as possible to detect obstacles above and in front of the extension 120, thereby reducing the situation where there are obstacles above and in front of the extension 120.

[0303] See also Figure 30 , Figure 30Figure 1 shows the detection area 21 of the obstacle avoidance detector 164 in the first position, the detection area 23 in the second position, and the detection area 22 in the intermediate position. In some embodiments, the bracket 162 can drive the obstacle avoidance detector 164 to rotate between the first position and the second position. The obstacle avoidance detector 164 can hover in the first position, the second position, or any position between the first and second positions.

[0304] The first and second positions are the two extreme positions at which bracket 162 can be turned. Bracket 162 can continuously swing between the first and second positions, allowing obstacle avoidance detector 164 to detect back and forth between the first and second positions. Alternatively, obstacle avoidance detector 164 can hover in the first position, the second position, or any position (intermediate position) between the first and second positions. Obstacle avoidance detector 164 can be fixed at a certain position to detect the area corresponding to the certain position.

[0305] The first position is outside the mounting slot, and the second position is inside the mounting slot. When the obstacle avoidance detector 164 is outside the mounting slot (the second position), it can be considered that the obstacle avoidance detector 164 is in an operational state and can detect the operational area of ​​the extension portion 120. In other words, in some embodiments, the obstacle avoidance detector 164 can be fixed in the second position when in operation. In other words, in the operational state, the detection area of ​​the obstacle avoidance detector 164 is a fixed area, not a variable area.

[0306] Based on the same utility model concept, an embodiment of the present application further provides a robot system. The robot system provided by the embodiment of the present application includes a base station and the above-mentioned mobile robot 100.

[0307] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification.

[0308] In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the fact that ordinary technicians in this field can implement them. When the combination of technical solutions is mutually contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0309] Although the embodiments of the present application have been shown and described, those skilled in the art will appreciate that various changes, modifications, substitutions, and variations may be made to the embodiments without departing from the principles and intent of the present application, and that the scope of the present application is defined by the claims and their equivalents.

Claims

1. A mobile robot, characterized in that: include: A mobile body and an extension portion provided on the mobile body, wherein the extension portion can protrude from the top of the mobile body in a working state and can operate in other spaces outside the mobile body; An obstacle avoidance detection component, wherein a detection area of ​​the obstacle avoidance detection component at least partially overlaps with the operating area of ​​the extension portion, and the obstacle avoidance detection component can perform real-time detection on the detection area of ​​the extension portion.

2. The mobile robot according to claim 1, characterized in that The obstacle avoidance detection component includes a first obstacle avoidance detector, which is installed on the mobile body.

3. The mobile robot according to claim 2, characterized in that: The distance between the first obstacle avoidance detector and the extension portion is greater than the radius of the mobile body.

4. The mobile robot according to claim 2, characterized in that: The first obstacle avoidance detector is arranged on a diameter of the moving body along a forward direction.

5. The mobile robot according to claim 2, characterized in that: The obstacle avoidance detection component further includes a second obstacle avoidance detector, and the first obstacle avoidance detector and the second obstacle avoidance detector are respectively arranged on different sides of the extension portion.

6. The mobile robot according to claim 5, characterized in that: Along the operating direction of the extension part, the first obstacle avoidance detector is located behind the extension part, and the second obstacle avoidance detector is located in front of the extension part.

7. The mobile robot according to claim 6, characterized in that: The first obstacle avoidance detector has a field of view angle greater than that of the second obstacle avoidance detector.

8. The mobile robot according to claim 6, characterized in that: The detection area of ​​the second obstacle avoidance detector is the second detection area. Along the operating direction of the extension part, the projection of the second detection area in the first setting plane covers the projection of the operating area of ​​the extension part in the first setting plane, wherein the first setting plane is perpendicular to the operating direction and the extension part is located between the second obstacle avoidance detector and the first setting plane.

9. The mobile robot according to claim 6, characterized in that: There are multiple second obstacle avoidance detectors, and the multiple second obstacle avoidance detectors are staggered.

10. The mobile robot according to claim 9, characterized in that: A plurality of the second obstacle avoidance detectors are all installed on the mobile body.

11. The mobile robot according to claim 10, characterized in that: In a direction forming an angle with the operating direction of the extension portion, the plurality of second obstacle avoidance detectors are respectively located on different sides of the extension portion.

12. The mobile robot according to claim 9, characterized in that: The optical axis of the second obstacle avoidance detector is a second optical axis, and along the operating direction of the extension portion, the second optical axis is tilted toward the extension portion.

13. The mobile robot according to claim 12, characterized in that: The optical axis of the second obstacle avoidance detector is inclined at an angle of 0 to 45 degrees toward the extension portion.

14. The mobile robot according to claim 9, characterized in that: The optical axis of the second obstacle avoidance detector is a second optical axis, and the second optical axis is oriented toward the operating direction of the extension portion.

15. The mobile robot according to claim 9, characterized in that: The optical axis of the second obstacle avoidance detector is a second optical axis, and the second optical axis is perpendicular to the forward direction of the mobile body.

16. The mobile robot according to claim 9, characterized in that: The detection areas of at least two of the second obstacle avoidance detectors at least partially overlap.

17. The mobile robot according to claim 9, characterized in that: In the case where there are two second obstacle avoidance detectors, one of the second obstacle avoidance detectors is mounted on the mobile body, and the other second obstacle avoidance detector is mounted on the extension portion.

18. The mobile robot according to claim 17, characterized in that: The extension portion includes an installation section, a connecting section and an operating section, the connecting section respectively connects the installation section and the operating section, the installation section is installed on the mobile body, along the operating direction of the extension portion, the operating section is located in front of the installation section, and the second obstacle avoidance detector is installed on the installation section.

19. The mobile robot according to claim 18, characterized in that The optical axis of the second obstacle avoidance detector installed on the mobile body is arranged to be tilted upward, and the optical axis of the second obstacle avoidance detector installed on the installation section is arranged to be horizontal.

20. The mobile robot according to claim 17, wherein: The extension portion includes an installation section, a connecting section and an operating section, the connecting section respectively connects the installation section and the operating section, the installation section is installed on the mobile body, along the operating direction of the extension portion, the operating section is located in front of the installation section, and the second obstacle avoidance detector is installed on the operating section.

21. The mobile robot according to claim 20, characterized in that: The optical axis of the second obstacle avoidance detector installed on the mobile body is set to be tilted upward, and the optical axis of the second obstacle avoidance detector installed on the operating section is set to be tilted downward.

22. The mobile robot according to claim 2, characterized in that: Along the operating direction of the extension part, the first obstacle avoidance detector is located in front of or behind the extension part.

23. The mobile robot according to claim 2, characterized in that: The optical axis of the first obstacle avoidance detector is arranged toward the operating direction of the extension portion.

24. The mobile robot according to any one of claims 2, 5-23, characterized in that: Along the operating direction of the extension part, the projection of the detection area of ​​the first obstacle avoidance detector in the second setting plane covers the projection of the operating area of ​​the extension part in the second setting plane, wherein the second setting plane is perpendicular to the operating direction and the extension part is located between the first obstacle avoidance detector and the second setting plane.

25. The mobile robot according to claim 2, characterized in that: The optical axis of the first obstacle avoidance detector is a first optical axis, and the first optical axis is perpendicular to the forward direction of the moving body.

26. The mobile robot according to claim 25, characterized in that Along the first optical axis direction, a projection of a detection area of ​​the first obstacle avoidance detector on the mobile body at least partially overlaps with a projection of an operating area of ​​the extension portion on the mobile body.

27. The mobile robot according to any one of claims 2, 5-23, 25-26, characterized in that: The field of view angle of the first obstacle avoidance detector includes a first lateral angle and a first vertical angle, the first lateral angle is 80 degrees to 120 degrees, and the first vertical angle is 20 degrees to 60 degrees.

28. The mobile robot according to claim 27, characterized in that The angle between the optical axis of the first obstacle avoidance detector and the horizontal direction is 30 degrees to 60 degrees.

29. The mobile robot according to any one of claims 5 to 21, characterized in that: The field of view of the second obstacle avoidance detector includes a second lateral angle and a second vertical angle, the second lateral angle is 30 degrees to 60 degrees, and the second vertical angle is 20 degrees to 60 degrees.

30. The mobile robot according to claim 29, characterized in that The angle between the optical axis of the second obstacle avoidance detector and the horizontal direction is 60 degrees to 90 degrees.

31. The mobile robot according to any one of claims 2, 5-23, characterized in that: The field of view of the first obstacle avoidance detector has a first edge and a second edge in the vertical direction, the first edge is located below the second edge, and the angle between the first edge and the horizontal direction is greater than or equal to 0 degrees.

32. The mobile robot according to claim 31, characterized in that The angle between the first edge and the horizontal direction is 15 degrees to 30 degrees.

33. The mobile robot according to any one of claims 2, 5-23, characterized in that: The field of view of the first obstacle avoidance detector has a first edge and a second edge in the vertical direction, the first edge is located below the second edge, and the angle between the second edge and the horizontal direction is less than or equal to 90 degrees.

34. The mobile robot according to claim 33, characterized in that The angle between the second edge and the horizontal direction is 60 degrees to 75 degrees.

35. The mobile robot according to any one of claims 5 to 21, characterized in that: The field of view of the second obstacle avoidance detector has a third edge and a fourth edge in the vertical direction, the third edge is located below the fourth edge, and the angle between the third edge and the horizontal direction is greater than or equal to 0 degrees.

36. The mobile robot according to claim 35, characterized in that The angle between the third edge and the horizontal direction is 50 degrees to 70 degrees.

37. The mobile robot according to any one of claims 5 to 21, characterized in that: The field of view of the second obstacle avoidance detector has a third edge and a fourth edge in the vertical direction, the third edge is located below the fourth edge, and the angle between the fourth edge and the horizontal direction is less than or equal to 180 degrees.

38. The mobile robot according to claim 37, characterized in that The angle between the fourth edge and the horizontal direction is 90 degrees to 110 degrees.

39. The mobile robot according to any one of claims 1-2, 5-23, 25-26, characterized in that: The extension part is at least one of a robotic arm, a robotic hand, a clamping device, and a detection device.

40. The mobile robot according to any one of claims 5 to 21, characterized in that: The first obstacle avoidance detector is an iTOF sensor, and the second obstacle avoidance detector is a dTOF sensor.

41. A robot system, characterized in that It comprises a base station and a mobile robot as described in any one of claims 1-40.

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