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 a mobile main body, an extension part arranged on the mobile main body and an obstacle avoidance detection assembly, wherein the obstacle avoidance detection assembly is movably installed on the mobile main body, and the detection area of the obstacle avoidance detection assembly can be adjusted. The extension part can protrude out of the top of the moving main body in a working state, and the obstacle avoidance detection assembly is movably mounted on the moving main body, so that the position of the obstacle avoidance detection assembly relative to the moving main body can be adjusted, namely the position between the obstacle avoidance detection assembly and the extension part can be adjusted; the detection area of the obstacle avoidance detection assembly can move relative to the extension part, so that the detection area of the obstacle avoidance detection assembly is a movable area, the detection range of the obstacle avoidance detection interval can be increased, the detection range of the obstacle avoidance detection assembly can cover the periphery of the extension part as much as possible, and the obstacle avoidance detection precision is improved. And the risk that the extension part touches an obstacle in the working process is reduced.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of robots, and particularly relates to a mobile robot and a robot system. BACKGROUND

[0002] With the development of intelligent hardware technology, a series of intelligent vision products with autonomous navigation and pathfinding, including but not limited to a meal delivery robot, a sweeping robot, a cargo delivery robot, etc., have the need to avoid obstacles and prevent people from being injured by collision with the robots. The obstacle avoidance function is more important for the design of the robots with externally extended components such as mechanical arms and mechanical hands. In the related art, the obstacle avoidance function for the design of the robots with externally extended components such as mechanical arms and mechanical hands is relatively weak, which causes the mobile device to touch obstacles or people during the working process. CONTENT OF THE UTILITY MODEL

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

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

[0005] a mobile body and an externally extended component arranged on the mobile body, the externally extended component being capable of protruding from the top of the mobile body in a working state;

[0006] an obstacle avoidance detection assembly movably mounted on the mobile body and capable of adjusting a detection area of the obstacle avoidance detection assembly.

[0007] In the embodiments of the present application, the obstacle avoidance detection assembly is movably mounted on the mobile body, so that the obstacle avoidance detection assembly can adjust the position relative to the mobile body, that is, the position between the obstacle avoidance detection assembly and the externally extended component can be adjusted, so that the detection area of the obstacle avoidance detection assembly can move relative to the externally extended component, so that the detection area of the obstacle avoidance detection assembly is an area that can move, thereby increasing the detection range of the obstacle avoidance detection interval, making the detection range of the obstacle avoidance detection assembly cover the periphery of the externally extended component as much as possible, improving the accuracy of obstacle avoidance detection, and reducing the risk of the externally extended component touching obstacles during the working process.

[0008] In the optional embodiments of the present application, the mobile body has a mounting groove, and the obstacle avoidance detection assembly can be mounted in the mounting groove.

[0009] In the optional embodiments of the present application, when the obstacle avoidance detection assembly is located outside the mounting groove, the obstacle avoidance detection assembly can detect the peripheral environment of the externally extended component.

[0010] In an alternative embodiment of the present application, the detection area of the obstacle detection assembly at least partially overlaps with at least part of the extension portion when the obstacle detection assembly is located outside the mounting slot.

[0011] In an alternative embodiment of the present application, the obstacle detection assembly is capable of detecting the peripheral environment of the mobile body when the obstacle detection assembly is located outside the mounting slot.

[0012] In an alternative embodiment of the present application, the obstacle detection assembly comprises a lifting member, a support, and an obstacle detector mounted on the support, the lifting member being connected to the support and capable of accommodating the support in the mounting slot or extending the support outside the mounting slot.

[0013] In an alternative embodiment of the present application, the obstacle detection assembly comprises a turning member, a support, and an obstacle detector mounted on the support, the turning member being drivingly connected to the support and capable of rotating the support relative to the mobile body.

[0014] In an alternative embodiment of the present application, the turning member is capable of rotating the obstacle detector in a non-horizontal plane via the support.

[0015] In an alternative embodiment of the present application, the support is capable of rotating the obstacle detector between a first position and a second position.

[0016] In an alternative embodiment of the present application, the obstacle detector is capable of hovering at the first position, the second position, or any position between the first position and the second position.

[0017] In an alternative embodiment of the present application, the obstacle detection assembly comprises a support, a lifting member, a turning member, and an obstacle detector mounted on the support, the lifting member being connected to the support and capable of accommodating the support in the mounting slot or extending the support outside the mounting slot, the turning member being drivingly connected to the support and capable of rotating the support relative to the mobile body.

[0018] In an alternative embodiment of the present application, the distance between the obstacle detection assembly and the extension portion is greater than the radius of the mobile body.

[0019] In an alternative embodiment of the present application, the obstacle detector comprises a first obstacle detector and a second obstacle detector, the first obstacle detector being disposed behind the extension portion and the second obstacle detector being disposed in front of the extension portion along the operation direction of the extension portion.

[0020] In optional embodiments of the application, the field of view of the obstacle detector includes a first horizontal angle and a first vertical angle, the first horizontal angle being 30-60 degrees, and the first vertical angle being 20-60 degrees.

[0021] In optional embodiments of the application, the first obstacle detector has an optical axis that forms an angle of 30-60 degrees with the horizontal.

[0022] In optional embodiments of the application, the field of view of the obstacle detector has a first edge and a second edge in the vertical direction, the first edge being below the second edge, and the first edge forming an angle of greater than or equal to 0 degrees with the horizontal.

[0023] In optional embodiments of the application, the first edge forms an angle of 15-30 degrees with the horizontal.

[0024] In optional embodiments of the application, the field of view of the first obstacle detector has a first edge and a second edge in the vertical direction, the first edge being below the second edge, and the second edge forming an angle of less than or equal to 90 degrees with the horizontal.

[0025] In optional embodiments of the application, the second edge forms an angle of 60-75 degrees with the horizontal.

[0026] In optional embodiments of the application, the field of view of the second obstacle detector includes a second horizontal angle and a second vertical angle, the second horizontal angle being 30-60 degrees, and the second vertical angle being 20-60 degrees.

[0027] In optional embodiments of the application, the second optical axis forms an angle of 60-90 degrees with the horizontal.

[0028] In optional embodiments of the application, the field of view of the second obstacle detector has a third edge and a fourth edge in the vertical direction, the third edge being below the fourth edge, and the third edge forming an angle of greater than or equal to 0 degrees with the horizontal.

[0029] In optional embodiments of the application, the third edge forms an angle of 50-70 degrees with the horizontal.

[0030] In optional embodiments of the application, the field of view of the second obstacle detector has a third edge and a fourth edge in the vertical direction, the third edge being below the fourth edge, and the fourth edge forming an angle of less than or equal to 180 degrees with the horizontal.

[0031] In optional embodiments of the application, the fourth edge forms an angle of 90-110 degrees with the horizontal.

[0032] In an optional embodiment 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.

[0033] In a second aspect, the embodiments of the present application provide a robot system, comprising a base station and the mobile robot.

[0034] 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

[0035] 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. 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 labor.

[0036] Figure 1 A structure diagram showing that the obstacle detection assembly of the mobile robot provided in the embodiments of the present application is located at a first position is shown.

[0037] Figure 2 A structure diagram showing that the obstacle detection assembly of the mobile robot provided in the embodiments of the present application is located at a second position is shown.

[0038] Figure 3 A range of movement of the obstacle detection assembly of the mobile robot provided in the embodiments of the present application is shown.

[0039] Figure 4 A structure diagram showing that the first obstacle detector of the mobile robot provided in the embodiments of the present application is disposed behind the extension part in one embodiment is shown.

[0040] Figure 5 A top view of Figure 4 is shown.

[0041] Figure 6 A structure diagram showing that the first obstacle detector of the mobile robot provided in the embodiments of the present application is disposed behind the extension part in another embodiment is shown.

[0042] Figure 7 A structure diagram showing that the first obstacle detector of the mobile robot provided in the embodiments of the present application is disposed in front of the extension part in one embodiment is shown.

[0043] Figure 8 A top view of one embodiment of the mobile robot provided in the embodiments of the present application is shown.

[0044] Figure 9 A side view of Figure 8 is shown.

[0045] Figure 10 A front view of the Figure 8 is shown.

[0046] Figure 11 A structure diagram showing that the forward sensor is opposite to the detection direction of the first and second obstacle detectors is shown.

[0047] Figure 12 A side view of the Figure 11 is shown.

[0048] Figure 13 A structure diagram showing that the extension part is located on the right side is shown.

[0049] Figure 14 A structure diagram showing that the extension part is located on the left side is shown.

[0050] Figure 15 A top view showing that the second obstacle detector of the mobile robot provided by the embodiment of the application is located at the front is shown.

[0051] Figure 16 A side view of the Figure 15 is shown.

[0052] Figure 17 A front view of the Figure 15 is shown.

[0053] Figure 18 A structure diagram showing that the first obstacle detector of the mobile robot provided by the embodiment of the application is arranged on the side of the extension part is shown.

[0054] Figure 19 A top view showing that the second obstacle detector of the mobile robot provided by the embodiment of the application is arranged obliquely is shown.

[0055] Figure 20 A side view of the Figure 19 is shown.

[0056] Figure 21 A front view of the Figure 19 is shown.

[0057] Figure 22 A top view showing that the second obstacle detector of the mobile robot provided by the embodiment of the application is arranged vertically upward is shown.

[0058] Figure 23 A side view of the Figure 22 is shown.

[0059] Figure 24 A front view of the Figure 22 is shown.

[0060] Figure 25 A top view of the mobile robot is shown.

[0061] Figure 26 A side view of the mobile robot is shown. Figure 25

[0062] Figure 27 A front view of the mobile robot is shown. Figure 25

[0063] Figure 28 A top view of the mobile robot is shown.

[0064] Figure 29 A side view of the mobile robot is shown. Figure 28

[0065] A front view of the mobile robot is shown. Figure 30 Figure 28

[0066] 100 - mobile robot, 110 - mobile body, 120 - extension part, 121 - mounting section, 123 - connecting section, 124 - operating section, 130 - first obstacle detection device, 131 - first detection area, 131a - long side, 131b - short side, a1 - first horizontal angle, b1 - first vertical angle, 131c - first edge, 131d - second edge, 132 - first optical axis, 140 - second obstacle detection device, 141 - second detection area, a2 - second horizontal angle, b2 - second vertical angle, 141c - third edge, 141d - fourth edge, 142 - second optical axis, 150 - front sensor, 160 - obstacle detection assembly, 162 - bracket, 164 - obstacle detection device, 165 - detection area of obstacle detection device, 21 - detection area of first position, 22 - detection area of intermediate position, 23 - detection area of second position. DETAILED DESCRIPTION

[0067] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0068] It should be noted that all directional indications in the embodiments of the present application are only used to explain the relative positional relationship, movement condition and the like between components in a certain posture, and if the certain posture changes, the directional indications also change accordingly. ​​​​

[0069] In the utility model, unless another explicit provision and limitation, the terms "connect", "fix" and the like should be broad sense understanding, for example, "fix" can be fixed connection, also can be detachable connection, or be integrated;Can be mechanical connection, also can be electrical connection;Can be directly connected, also can be indirectly connected through the intermediate medium, can be two element internal communication or two element interaction relationship, unless another explicit limitation. For ordinary skilled in the art, the specific meaning of the above terms in the utility model can be understood according to specific circumstances.

[0070] In addition, in the utility model, the description such as "first", "second" and the like is only for the purpose of description, and cannot be understood as indicating or implying the relative importance of the indicated technical features or implicitly indicating the number of the indicated technical features. Therefore, the features limited by "first", "second" can explicitly or implicitly include at least one feature. In addition, the technical solutions of each embodiment can be combined with each other, but it must be based on the realization of ordinary skilled in the art, when the combination of technical solutions appears contradictory or unachievable, it should be considered that the combination of technical solutions does not exist, also not within the protection scope required by the utility model.

[0071] 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 meal delivery robot, sweeping robot, freight robot, there is the demand of avoiding obstacles and preventing personnel from being injured by robot collision. For the design of robot with mechanical arm, mechanical hand and other external extension components, the obstacle avoidance function is more important. In the related technology, the obstacle avoidance function of the design of robot with mechanical arm, mechanical hand and other external extension components is relatively weak, which leads to the mobile device touching obstacles or personnel during the working process. The mobile robot provided in the embodiment of the application can improve the obstacle avoidance function, reduce the situation that the external extension of the mobile device touches obstacles during the working process, and avoid the overall touching of the mobile robot to obstacles as much as possible.

[0072] The application will be described below in conjunction with the drawings and specific embodiments:

[0073] The embodiment of the application provides a mobile robot 100, and the mobile robot 100 provided in the embodiment of the application can increase the detection range of the obstacle avoidance detection interval, so that the detection range of the obstacle avoidance detection assembly 160 can cover the periphery of the external extension 120 as much as possible, improve the accuracy of obstacle avoidance detection, and reduce the risk that the external extension 120 touches obstacles during the working process.

[0074] Please refer to Figure 1 and Figure 2The mobile robot 100 comprises a mobile body 110, an extension part 120 arranged on the mobile body 110, and an obstacle detection assembly 160 movably arranged on the mobile body 110, and the detection range of the obstacle detection assembly 160 can be adjusted.

[0075] 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 refers to that the extension part 120 is arranged outside the mobile body 110, that is, the extension part 120 protrudes from the top of the mobile body 110. 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 is at a 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.

[0076] Specifically, the extension part 120 can be fixed outside the mobile body 110, or arranged outside the mobile body 110 in a telescopic manner. Telescopic refers to that the extension part 120 can change the mechanical structure to change the shape of the body volume, so as to realize the action process of having a larger activity range or a smaller occupied volume. That is, in the working state, the extension part 110 can be stretched out of the mobile body 110, or in the working state, the structure of the extension part 110 can be adjusted by telescoping to obtain a larger operation area. In the non-working state, the extension part 110 can be shrunk to a smaller volume or into the mobile body 110, facilitating the storage of the extension part 120.

[0077] As for the specific form of the extension part 120, the extension part 120 can be a single-joint or multi-joint mechanical claw, a mechanical clamp, a mechanical arm, a mechanical hand, etc., or a clamping device, a detection device, etc.

[0078] For example, when the mobile robot 100 is a cleaning device, the mobile body 110 can be a robot body, and the extension part 120 can be a cleaning mechanical arm. The robot body can clean the ground, and the cleaning mechanical arm can clean the wall surface, the ground of other areas, or other surfaces to be cleaned higher than the ground at the same time as the robot body cleans the ground, thereby improving the cleaning range of the entire mobile robot 100 and improving the overall work efficiency.

[0079] The operation area of the extension part 120 refers to the range of movement of the extension part 120 during operation. The operation area can be a fixed area or a variable area. In the case where the extension part 120 is a mechanical arm, the mechanical arm can have only one degree of freedom, in which case the range of movement of the mechanical arm (operation area) can be considered fixed. In addition, the mechanical arm can have multiple degrees of freedom, and because the mechanical arm can move during operation, the range of movement of the mechanical arm (operation area) is a variable area.

[0080] The detection area of the obstacle detection assembly 160 refers to the area that can be detected by the obstacle detection assembly 160. If an obstacle appears in the detection area of the obstacle detection assembly 160, the obstacle detection assembly 160 will feed back to the controller, and the position or attitude of the extension part 120 can be adjusted in advance to avoid collision with the obstacle.

[0081] The detection area of the obstacle detection assembly 160 at least partially overlaps the operation area of the extension part 120. It can be that the detection area of the obstacle detection assembly 160 completely overlaps the operation area of the extension part 120, i.e., the obstacle detection assembly 160 can detect all the operation areas of the extension part 120. It can also be that the detection area of the obstacle detection assembly 160 partially overlaps the operation area of the extension part 120, i.e., the obstacle detection assembly 160 can detect part of the operation area of the extension part 120.

[0082] The detection area of the obstacle detection assembly 160 at least partially overlaps the operation area of the extension part 120, so that during operation of the extension part 120, the obstacle detection assembly 160 can detect the range of movement of the extension part 120 in real time, and can as far as possible avoid the appearance of obstacles in the operation area of the extension part 120, so that damage to the extension part 120 can be avoided as far as possible, and the extension part 120 can as far as possible avoid touching people and causing injury to people.

[0083] In addition, the obstacle detection assembly 160 can detect the range of movement of the extension part 120 in real time, without the need to install any external equipment, and the protection of the operation area of the extension part 120 can be completed.

[0084] The obstacle detection assembly 160 is movably connected to the mobile body 110, i.e., the obstacle detection assembly 160 can rotate relative to the mobile body 110, or the obstacle detection assembly 160 can move relative to the mobile body 110, or the obstacle detection assembly 160 can both rotate relative to the mobile body 110 and move relative to the mobile body 110.

[0085] The obstacle avoidance detection assembly 160 is mainly used to detect whether there is an obstacle around the extension part 120. Since the extension part 120 is arranged outside the mobile body 110 in the working state, the extension part 120 can touch the obstacle around it. However, the detection area of the obstacle avoidance detection assembly 160 is limited, so that the fixed obstacle avoidance detection assembly 160 can only detect a limited area. In the embodiment of the present application, the obstacle avoidance detection assembly 160 is movably arranged on the mobile body 110, so that the position of the obstacle avoidance detection assembly 160 relative to the mobile body 110 can be adjusted, that is, the position between the obstacle avoidance detection assembly 160 and the extension part 120 can be adjusted, so that the detection area of the obstacle avoidance detection assembly 160 can be moved relative to the extension part 120. Therefore, the detection area of the obstacle avoidance detection assembly 160 is movable, which can increase the detection range of the obstacle avoidance detection assembly 160, so that the detection range of the obstacle avoidance detection assembly 160 can cover the periphery of the extension part 120 as much as possible, improve the accuracy of obstacle avoidance detection, and reduce the risk of the extension part 120 touching the obstacle during the working process.

[0086] In some embodiments, the mobile body 110 has a mounting groove, and the obstacle avoidance detection assembly 160 can be mounted in the mounting groove. The obstacle avoidance detection assembly 160 is arranged in the mounting groove, so that the obstacle avoidance detection assembly 160 can be accommodated in the mounting groove, that is, the obstacle avoidance detection assembly 160 can be considered to be accommodated inside the mobile body 110. The mounting groove can provide a certain protection for the obstacle avoidance detection assembly 160. In addition, the obstacle avoidance detection assembly 160 can be accommodated in the mounting groove, so that the obstacle avoidance detection assembly 160 can avoid interference with the base station when the mobile robot 100 returns to the base station.

[0087] In addition, the obstacle avoidance detection assembly 160 is mounted in the mounting groove. In the working state, the obstacle avoidance detection assembly 160 can be located in the mounting groove or can extend out of the mounting groove. The movable obstacle avoidance detection assembly 160 relative to the mobile body 110 can mean that the obstacle avoidance detection assembly 160 moves relative to the mobile body 110 in the mounting groove, or moves relative to the mobile body 110 outside the mounting groove.

[0088] In some embodiments, when the obstacle avoidance detection assembly 160 is located outside the mounting groove, the obstacle avoidance detection assembly 160 can detect the peripheral environment of the extension part 120.

[0089] When the obstacle avoidance detection assembly 160 is located outside the mounting groove, the obstacle avoidance detection assembly 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 assembly 160 can detect the peripheral environment of the extension part 120, so as to avoid the extension part 120 from touching the obstacle during the working process.

[0090] When the obstacle detection assembly 160 is located outside the installation slot, the obstacle detection assembly 160 can stay in a fixed position, can move within a certain range, that is, the detection area of the obstacle detection assembly 160 can be fixed or mobile. The obstacle detection assembly 160 can detect the peripheral environment of the extension part 120, which can be the area above the extension part 120 or the area on the left side, right side and back side of the extension part 120. The obstacle detection assembly 160 can detect the peripheral environment of the extension part 120 in a fixed position or can rotate to detect the peripheral environment of the extension part 120.

[0091] Please refer to Figure 1 In some embodiments, when the obstacle detection assembly 160 is located outside the installation slot, at least part of the detection area of the obstacle detection assembly 160 at least partially overlaps at least part of the extension part 120.

[0092] At least part of the detection area of the obstacle detection assembly 160 at least partially overlaps at least part of the extension part 120, which can be that part of the detection area overlaps part of the extension part 120, or that part of the detection area overlaps all of the extension part 120, or that all of the detection area overlaps part of the extension part 120, or that all of the detection area overlaps all of the extension part 120.

[0093] At least part of the detection area of the obstacle detection assembly 160 at least partially overlaps at least part of the extension part 120, which enables the obstacle detection assembly 160 to detect the area around the extension part 120, thereby avoiding the extension part 120 encountering obstacles during operation.

[0094] Please refer to Figure 2 In some embodiments, when the obstacle detection assembly 160 is located inside the installation slot, the obstacle detection assembly 160 can detect the peripheral environment of the mobile body 110.

[0095] When the obstacle detection assembly 160 is located inside the installation slot, the obstacle detection assembly 160 can be approximately in the same plane as the mobile body 110, thereby detecting the peripheral environment of the mobile body 110. If the obstacle detection assembly 160 is arranged in front of the mobile body 110 in the forward direction, the obstacle detection assembly 160 can detect the area in front of the mobile body 110. If the obstacle detection assembly 160 is arranged on the left side of the mobile body 110 in the forward direction, the obstacle detection assembly 160 can detect the area on the left side of the mobile body 110. If the obstacle detection assembly 160 is arranged on the right side of the mobile body 110 in the forward direction, the obstacle detection assembly 160 can detect the area on the right side of the mobile body 110.

[0096] When the obstacle avoidance detection assembly 160 is located in the installation slot, it means that the obstacle avoidance detection assembly 160 does not need to detect the peripheral environment of the extension part 120, and the obstacle avoidance detection assembly 160 can detect the peripheral environment of the mobile body 110. The obstacle avoidance detection assembly 160 can cooperate with the sensor of the mobile body 110 to detect the environment around the mobile body 110, thereby improving the utilization rate of the obstacle avoidance detection assembly 160.

[0097] Please refer to Figure 1 and Figure 2 In some embodiments, the obstacle avoidance detection assembly 160 includes a lifting member, a bracket 162, and an obstacle avoidance detector 164 mounted on the bracket 162. The lifting member is connected with the bracket 162 and can drive the bracket 162 to be accommodated in the installation slot or to be extended out of the installation slot.

[0098] The lifting member can also be a gear and rack mechanism, the gear is in transmission connection with the driving motor, the rack is connected with the bracket 162, and the lifting of the bracket 162 is realized by driving the gear and rack mechanism through the driving motor. It can also be realized through a driving motor and a ball screw structure, the screw rod is connected with the bracket 162, and the driving motor is in transmission connection with the ball.

[0099] In addition, the lifting member can also be a folding suspension structure, and the lifting of the bracket 162 and the obstacle avoidance detector 164 is realized through the folding suspension structure.

[0100] The lifting member can drive the bracket 162 and the obstacle avoidance detector 164 to rise or fall, which means rising or falling in the vertical direction. Therefore, the lifting member can not only drive the obstacle avoidance detector 164 to move out of the installation slot, but also adjust the position of the obstacle avoidance detector 164 in the vertical direction, and further adjust the detection area of the obstacle avoidance detector 164 in the vertical direction. The height of the obstacle avoidance detector 164 can be adjusted according to the height of the extension part 120, so that the obstacle avoidance detector 164 can detect the area around the extension part 120.

[0101] In some embodiments, the obstacle avoidance detection assembly 160 includes a turnover member, a bracket 162, and an obstacle avoidance detector 164 mounted on the bracket 162. The bracket 162 can rotate relative to the mobile body 110. The turnover member is in transmission connection with the bracket 162 and can drive the bracket 162 to rotate relative to the mobile body 110.

[0102] The turnover member is mainly used to drive the bracket 162 to rotate. As for the rotating mode of the bracket 162, the turnover member can directly 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 out of the installation slot, and then the turnover member drives the bracket 162 to rotate.

[0103] As to the specific structure of the turnover member, the turnover member can include a driving motor and a rotating shaft, the rotating shaft is connected with the support 162, the driving motor drives the rotating shaft to rotate, so as to realize the rotation of the support, and to realize the turnover of the obstacle detection device 164.

[0104] That is to say, in some embodiments, the obstacle detection assembly 160 can include a lifting member, a turnover member, the support 162 and the obstacle detection device 164 installed on the support 162, the lifting member first drives the support 162 to move out of the installation slot, and then the turnover member drives the support 162 to rotate. In some other embodiments, the obstacle detection assembly 160 can include a turnover member, a support 162 and an obstacle detection device 164 installed on the support 162, without a lifting member, the turnover member directly drives the support 162 to rotate from inside the installation slot to outside the installation slot.

[0105] Since the extension part 120 can change the position of the partial part during the work, the turnover member can drive the support 162 to rotate relative to the moving body 110, so as to adjust the angle of the support 162 relative to the moving body 110, and further adjust the angle of the obstacle detection device 164 relative to the extension part 120, so that the obstacle detection device 164 can always detect the area around the extension part 120.

[0106] In addition, compared with the case that the obstacle detection device 164 is fixed, the obstacle detection device 164 can rotate relative to the moving body 110, which can increase the detection range of the obstacle detection device 164 and improve the utilization rate of the obstacle detection device 164.

[0107] In some embodiments, the turnover member can drive the obstacle detection device 164 to rotate in a non-horizontal plane through the support 162. The non-horizontal plane refers to a vertical plane or an inclined plane between the vertical plane and the horizontal plane. The turnover member can drive the obstacle detection device 164 to rotate in a vertical plane or an inclined plane between the vertical plane and the horizontal plane through the support 162, which can adjust the angle of the obstacle detection device 164 in space, so that the angle of the optical axis of the obstacle detection device 164 in space can be adjusted, so that the optical axis of the obstacle detection device 164 can be located in different inclined planes, and further the detection area of the obstacle detection device 164 above the extension part 120 can be adjusted, so as to use the area above and in front of the extension part 120 as much as possible, and to reduce the case that there is an obstacle above and in front of the extension part 120.

[0108] Please refer to Figure 3 , Figure 3The 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 are shown in FIG. 6. In some embodiments, the support 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 position and the second position.

[0109] The first position and the second position are two limit positions in which the support 162 can be flipped. The support 162 can swing between the first position and the second position, so that the obstacle avoidance detector 164 detects the area in the first position and the area in the second position alternately. The obstacle avoidance detector 164 can also hover in the first position, the second position, or any position between the first position and the second position (intermediate position), and the obstacle avoidance detector 164 can be fixed in a certain position to detect the corresponding area in the certain position.

[0110] The first position is outside the mounting groove, and the second position is inside the mounting groove. When the obstacle avoidance detector 164 is in the second position (outside the mounting groove), the obstacle avoidance detector 164 can be considered to be in a working state, and can detect the working area of the extension part 120. That is, in some embodiments, the obstacle avoidance detector 164 can be fixed in the second position in the working state, and the detection area of the obstacle avoidance detector 164 is a fixed area, not a variable area, in the working state.

[0111] The above describes how the obstacle avoidance detector 164 moves relative to the mobile support 162 and how the angle between the obstacle avoidance detector 164 and the extension part 120 is adjusted. The installation position of the entire obstacle avoidance detection assembly 160 on the mobile body 110 and the parameters of the obstacle avoidance detector 164 will be described below.

[0112] In some embodiments, the obstacle avoidance detector 164 can be multiple, and can include a first obstacle avoidance detector 130 and a second obstacle avoidance detector 140. When the number of obstacle avoidance detectors 164 is two or more, each obstacle avoidance detector 164 sensor can be movable relative to the mobile body 110, or only the second obstacle avoidance detector 140 can be movable relative to the mobile body 110, or only the first obstacle avoidance detector can be movable relative to the mobile body. The first obstacle avoidance detector 130 and / or the second obstacle avoidance detector 140 can be movable in the same way as the obstacle avoidance detector 164 described above, and can be achieved by the support 162, the flipping member, the lifting member, and the like. The specific rotating manner can refer to the rotating manner of the obstacle avoidance detector 164 described above, and will not be described again.

[0113] Please refer to Figure 4 and Figure 5In some embodiments, the obstacle avoidance detection assembly 160 can include a first obstacle avoidance detector 130 mounted on the mobile body 110.

[0114] The first obstacle avoidance detector 130 mounted on the mobile body 110 can be fixedly mounted on the mobile body 110 or movably mounted on the mobile body 110, and the specific manner can not be limited.

[0115] The first obstacle avoidance detector 130 can be a TOF sensor (Time of Flight), and specifically, 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.

[0116] 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, i.e., the area to be detected by the first obstacle avoidance detector 130 is large, the iToF sensor can achieve a large field of view angle and a large detection area.

[0117] The first detection area 131 is arranged towards the extension part 120, so that the detection area of the first obstacle avoidance detector 130 can at least partially coincide with the operation area of the extension part 120. The first detection area 131 includes a field of view angle and a detection distance (as shown by h1 in the figure). Figure 5 The first detection area 131 is generally conical or pyramidal. The first obstacle avoidance detector 130 also has an optical axis, which is defined as the first optical axis 132 for the convenience of description. The first optical axis 132 is generally the center of the first detection area 131.

[0118] Since the extension part 120 protrudes outward from the mobile body 110 in the working state, and the first obstacle avoidance detector 130 is arranged 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 operation area of the extension part 120, the first optical axis 132 can be arranged upwardly inclined or vertically upwardly.

[0119] Specifically, the optical axis of the first obstacle detector 130 can be arranged towards the operation direction of the extension part 120. This arrangement does not mean that the first optical axis 132 is arranged parallel to the operation direction of the extension part 120. Instead, the projection of the first optical axis 132 in the horizontal direction can be the same as the projection of the operation direction of the extension part 120 (as indicated by the arrow Y in the figures) in the horizontal direction. That is, the first optical axis 132 can be inclined forward.

[0120] It should be noted that the operation direction of the extension part 120 and the operation area are not the same concept. The operation area refers to the activity range of the extension part 120, while the operation direction refers to the action direction of the extension part 120 during operation. For example, when the extension part 120 is a mechanical arm, the operation area refers to the activity range of the mechanical arm in space, and the operation direction can be considered as the extension direction of the mechanical arm.

[0121] Along the advancing direction of the moving body 110, the first obstacle detector 130 can be arranged in front of the extension part 120, or arranged behind the extension part 110, or arranged on the side of the extension part 120.

[0122] Similarly, the first obstacle detector 130 can also be arranged in multiple numbers. The multiple first obstacle detectors 130 can be arranged on different sides of the extension part 120. The arrangement of the optical axes of the first obstacle detectors 130 at different positions can be the same or different.

[0123] The different positions and distances of the first obstacle detector 130 relative to the extension part 120, as well as the different numbers of the first obstacle detector 130, can cause the optical axes of the first obstacle detector 130 to be arranged in different directions. The following will specifically introduce several arrangement modes of the first obstacle detector 130.

[0124] As shown in FIGS. 1 and 2, in some embodiments, the first obstacle detector 130 can be arranged in multiple numbers. Along the operation direction of the extension part 120, the first obstacle detectors 130 can be arranged on the same side of the extension part 120. Figure 4 As shown in FIGS. 3 and 4, in some embodiments, the first obstacle detector 130 can be arranged in multiple numbers. Along the operation direction of the extension part 120, the first obstacle detectors 130 can be arranged on different sides of the extension part 120. Figure 5 As shown in FIGS. 5 and 6, in some embodiments, the first obstacle detector 130 can be arranged in multiple numbers. Along the operation direction of the extension part 120, the first obstacle detectors 130 can be arranged on different sides of the extension part 120.

[0125] If the mobile body 110 is substantially cylindrical, the extension part 120 is substantially arranged in front of the mobile body 110, and the first obstacle detector 130 is substantially arranged at the rear of the mobile body 110. The distance between the first obstacle detector 130 and the extension part 120 is far, which means that the distance between the first obstacle detector 130 and the extension part 120 is greater than the radius of the mobile body 110. Since the first detection area 131 is substantially conical, the farther the distance, the larger the detection range of the first obstacle detector 130 around the extension part 120, thereby improving the obstacle avoidance area of the extension part 120 and improving the obstacle avoidance capability of the extension part 120.

[0126] The optical axis (first optical axis 132) of the first obstacle detector 130 is inclined upward, which means that the optical axis (first optical axis 132) of the first obstacle detector 130 has a certain angle with the horizontal plane, so that the first detection area 131 is substantially inclined upward. Then the area above the extension part 120 can be detected.

[0127] During the forward movement of the mobile body 110, obstacles are more likely to be encountered in front of or above the mobile robot 100. The optical axis (first optical axis 132) of the first obstacle detector 130 is inclined upward, so that the first obstacle 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 contact.

[0128] In some embodiments, the projection of the first detection area 131 in the second set plane covers the projection of the operation area of the extension part 120 in the second set plane along the operation direction of the extension part 120. The second set plane is perpendicular to the operation direction and the extension part 120 is located between the first obstacle detector and the second set plane.

[0129] The second set plane is a virtual plane, not the entire physical plane of the mobile robot 100. The second set plane is located on the side of the extension part 120 away from the first obstacle sensor 130. The projection of the first detection area 131 in the second set plane covers the projection of the operation area of the extension part 120 in the second set plane, which means that the first obstacle sensor 130 can cover all areas behind the extension part 120 (front, side and top). The detection area 131 of the first obstacle detector 131 can completely cover the extension part 120, so that there is no detection blind area in front of the extension part 120, reducing the risk of the extension part 120 touching obstacles.

[0130] Wherein, if the first obstacle detector 130 is multiple, the projection of the detection region 131 of the first obstacle detector 1300 in the second setting plane covers the projection of the operation region of the extension part 120 in the second setting plane refers to the sum of the projections of the multiple first detection regions 131 in the second setting plane covers the projection of the operation region of the extension part 120 in the second setting plane.

[0131] Please refer to Figure 6 and Figure 7 In some other embodiments, the first obstacle detector 130 can be set closer to the extension part 120, and be arranged close to the extension part 120. Specifically, if the extension part 120 is a mechanical arm or a mechanical claw, the mechanical arm or the mechanical claw can be arranged near the geometric center of the moving body 110, and the first obstacle detector 130 is also arranged near the geometric center of the moving body 110, so that the distance between the first obstacle detector 130 and the extension part 120 is closer.

[0132] Since the first obstacle detector 130 is installed on the moving body 110, and the extension part 120 is protruded from the moving body 110 in the working state, and the moving body 110 is generally moving on the ground during the whole working process of the mobile robot 100, so that the overall height of the extension part 120 is relatively low. Since the probability of the obstacle appearing on the top of the extension part 120 is relatively large, therefore, the optical axis of the first obstacle detector 130 can be perpendicular to the advancing direction of the moving body 110 (i.e. generally vertically arranged), and has an overlapping relationship with the extension part 120 in space, so that the first detection region 131 can detect the region above the extension part 120.

[0133] Specifically, in the advancing direction of the moving body 110, the first obstacle detector 130 can be arranged in front of the moving body 110 (such as Figure 7 ) or can be arranged behind the moving body 110 (such as Figure 6 ). Whether the first obstacle detector 130 is arranged in front of the moving body 110 or behind the moving body 110. The first detection region 131 is generally conical, so that the cross section (the cross section of the horizontal plane) of the first detection region 131 in the plane perpendicular to the first optical axis 132 is generally rectangular, and the short side 131b of the rectangle is parallel to the operation direction of the extension part 120. The long side 131a is perpendicular to the operation direction of the extension part 120.

[0134] Whether the first obstacle detector 130 is arranged in front of the extension part 120 or behind the extension part 120, the long side 131a being perpendicular to the operation direction of the extension part 120 makes the first obstacle detector 130 have a larger detection region on the left and right sides of the extension part 120, and can improve the obstacle avoidance ability of the extension part 120 on the left and right sides.

[0135] The above describes the case that the obstacle detection assembly 160 only includes the first obstacle detector 130, and the following describes the case that the obstacle detection assembly 160 includes multiple obstacle detectors. Referring to FIG. 1, the obstacle detection assembly 160 includes the first obstacle detector 130 and the second obstacle detector 140. Figure 8 Figure 8 The arrow X represents the advancing direction of the mobile body 110, and the arrow Y represents the operating direction of the extension part 120. In some other embodiments, the obstacle detection assembly 160 can further include the second obstacle detector 140, and the first obstacle detector 130 and the second obstacle detector 140 are respectively arranged on different sides of the extension part 120.

[0136] The first obstacle detector 130 and the second obstacle detector 140 are used to detect the surrounding area of the extension part 120, and can detect whether there is an obstacle around the extension part 120 during the operation of the extension part 120, so as to avoid the risk of the extension part 120 touching the obstacle as much as possible during the operation of the extension part 120.

[0137] Since the extension part 120 can extend into other areas during the operation, the thickness or length of the extension part 120 can be large. If only one sensor is used to detect the surrounding area of the extension part 120, since the extension part 120 has a certain volume, the extension part 120 will block part of the area on the side of the extension part 120 away from the sensor, so that the single sensor detection will have a certain blind area, which cannot comprehensively detect all the areas around the extension part 120.

[0138] In the embodiments of the present application, the first obstacle detector 130 and the second obstacle detector 140 are respectively arranged on the two sides of the extension part 120, so that the two sides of the extension part 120 can be detected, and the area around the extension part 120 can be detected under the cooperation of the first obstacle detector 130 and the second obstacle detector 140, so as to avoid the existence of blind area around the extension part 120 as much as possible, thereby improving the accuracy of obstacle detection and reducing the risk of the extension part 120 touching the obstacle during the operation of the extension part 120.

[0139] Since the mobile robot 100 will work while advancing or will advance to a certain position and then work during the whole operation of the mobile robot 100, the mobile robot 100 mainly detects whether there is an obstacle in the front area, wherein the front area includes the front, the upper front, the side front, and the like.

[0140] Referring to FIG. 1, Figure 9 and Figure 10 Figure 9 ​​The arrow X represents the advancing direction of the mobile body 110, and the arrow Y represents the operating direction of the extension part 120. In some embodiments, along the operating direction of the extension part 120, the first obstacle detector 130 is located at the rear of the extension part 120, and the second obstacle detector 140 is located at the front of the extension part 120.

[0141] The second obstacle 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 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 ease of description, the optical axis of the second obstacle detector 140 is defined as the second optical axis 142, and the detection area of the second obstacle 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 the figures represents the detection distance of the second detection area 141).

[0142] The second obstacle detector 140 is arranged at the front of the extension part 120 and mainly detects the area in front, side front, and upper front of the extension part 120. The second obstacle detector 140 can detect obstacles earlier than the first obstacle detector 130. Since it is uncertain whether there is an obstacle in front of the extension part 120, it may be necessary to detect a long distance. The detection accuracy of the dToF sensor does not decrease with the increase of the detection distance, which can improve the detection accuracy and enable the second obstacle detector 140 to detect a long distance, thereby providing more obstacle avoidance time for the extension part 120.

[0143] During the operation of the extension part 120, obstacles are more likely to be encountered in front or above the extension part 120. The first obstacle detector 130 is arranged at the rear of the extension part 120 and mainly detects all areas of the extension part 120, including the rear, side, front, side front, and upper front of the extension part 120. The second obstacle detector 140 is arranged at the front of the extension part 120 and mainly detects the front and upper front of the extension part 120, which is mainly used to detect the blind area of the first obstacle detector 130, so that the surrounding of the extension part 120 has no blind area, thereby enabling the extension part 120 to detect all directions and improving the accuracy of obstacle detection.

[0144] The operating direction of the extension part 120 can be the same as the advancing direction of the mobile body 110 (e.g. Figure 9 and Figure 10The same as shown by the arrow X, that is, in the advancing direction of the mobile body 110, the first obstacle detection device 130 is located behind the extension part 120, and the second obstacle detection device 140 is located in front of the extension part 120. In this case, the detection direction of the first obstacle detection device 130 (the direction of the first optical axis 132) is arranged towards the advancing direction of the mobile body 110. Similarly, the detection direction of the second obstacle detection device 140 (the direction of the second optical axis 142) is arranged towards the advancing direction of the mobile body 110 or vertically. That is, in this case, the angle between the detection direction of the first obstacle detection device 130 (the direction of the first optical axis 132) and the advancing direction of the mobile body 110 is not greater than 90 degrees. The angle between the detection direction of the second obstacle detection device 140 (the direction of the second optical axis 142) and the advancing direction of the mobile body 110 is not greater than 90 degrees.

[0145] In some other embodiments, the operation direction of the extension part 120 can not be the same as the advancing direction of the mobile body 110, specifically as follows:

[0146] Please refer to Figure 11 and Figure 12 , the front sensor 150 is arranged in front of the mobile body 110 in the advancing direction, and is mainly used for detecting whether there is an obstacle in front of the mobile body 110. The obstacle detection assembly 160 (at least one of the first obstacle detection device 130 and the second obstacle detection device 140) is mainly used for detecting the area around the extension part 120. Of course, the obstacle detection assembly 160 can also detect part of the area around the mobile body 110, which can be the side area of the mobile body 110 or the rear area of the mobile body 110. The detection direction of the obstacle detection assembly 160 is arranged at an angle with the detection direction of the front sensor 150, which means that the detection direction of the obstacle detection assembly 160 is different from the detection direction of the front sensor 150. The detection directions of the two are different, which can avoid the accumulation of sensors or structural components in a certain direction as much as possible, and further avoid the interference between the obstacle detection assembly 160 and the front sensor 150 and the performance sacrifice.

[0147] The detection direction of the obstacle detection assembly 160 (the first obstacle detection device 130 and the second obstacle detection device 140) is different from the detection direction of the front sensor 150, which means that the direction of the optical axis of the obstacle detection assembly 160 is different from the direction of the optical axis of the front sensor 150.

[0148] Specifically, the optical axis of the obstacle detection component 160 is a ray, and the optical axis direction is a vector. The optical axis of the forward sensor 150 is a ray, and the optical axis direction is a vector. The included angle between the optical axis of the obstacle detection component 160 (the first obstacle detector 130 or the second obstacle detector 140) and the optical axis of the forward sensor 150 is 180 degrees, which also indicates that the optical axis direction of the obstacle detection component 160 (the first obstacle detector 130 or the second obstacle detector 140) is different from the optical axis direction of the forward sensor 150. For example, the optical axis of the forward sensor 150 is horizontally forward, and the optical axis direction of the obstacle detection component 160 (the first obstacle detector 130 or the second obstacle detector 140) is horizontally backward, and the optical axis directions of the two are also different, that is, the detection direction of the obstacle detection component 160 (the first obstacle detector 130 or the second obstacle detector 140) and the detection direction of the forward sensor 150 are also at an included angle.

[0149] The following takes the optical axis direction of the first obstacle detector 130 and the forward sensor 150 as an example to illustrate whether the directions are the same, and the judgment mode of the second obstacle detector 140 is the same, which can be deduced by analogy, and will not be repeated here.

[0150] The optical axis of the forward sensor 150 is horizontally forward, and the optical axis direction of the first obstacle detector 130 is inclined forward, and the included angle between the two is less than 90 degrees, which indicates that the optical axis direction of the first obstacle detector 130 is different from the optical axis direction of the forward sensor 150.

[0151] The optical axis of the forward sensor 150 is horizontally forward, and the optical axis direction of the first obstacle detector 130 is inclined backward, and the included angle between the two is greater than 90 degrees, which indicates that the optical axis direction of the first obstacle detector 130 is different from the optical axis direction of the forward sensor 150.

[0152] The optical axis of the forward sensor 150 is horizontally forward, and the optical axis direction of the first obstacle detector 130 is also horizontally forward (the two are parallel), which indicates that the optical axis direction of the forward sensor 150 is the same as the optical axis direction of the first obstacle detector 130.

[0153] Since the operation direction of the extension part 120 and the forward direction of the mobile main body 110 are at an included angle (the directions are different), the first obstacle detector 130 and the second obstacle detector 140 mainly detect the operation area of the extension part 120, so that the detection direction of the first obstacle detector 130 and the second obstacle detector 140 is approximately the same as the operation direction of the extension part 120. That is, the detection direction of the first obstacle detector 130 and the detection direction of the forward sensor 150 are also at an included angle, and the detection direction of the second obstacle detector 140 and the detection direction of the forward sensor 150 are also at an included angle.

[0154] The first obstacle detector 130 and the second obstacle detector 140 are respectively located at different sides of the extension part 120, so that the first obstacle detector 130 and the second obstacle detector 140 can respectively detect different areas around the extension part 120, so that the cooperation of the first obstacle detector 130 and the second obstacle detector 140 can make the area around the extension part 120 as much as possible without detection blind area, improve the detection effect of the extension part 120, and further reduce the case that the extension part 120 touches obstacles during work.

[0155] The detection direction of the first obstacle detector 130 is set at an angle with the detection direction of the front sensor 150, which means that the detection direction of the first obstacle detector 130 is different from the detection direction of the front sensor 150. The detection directions of the two are different, which can as much as possible avoid the accumulation of sensors or structural components in a certain direction, and further as much as possible avoid the interference and performance sacrifice between the first obstacle detector 130 and the front sensor.

[0156] The detection direction of the second obstacle detector 140 is set at an angle with the detection direction of the front sensor 150, which means that the detection direction of the second obstacle detector 140 is different from the detection direction of the front sensor 150. The detection directions of the two are different, which can as much as possible avoid the accumulation of sensors or structural components in a certain direction, and further as much as possible avoid the interference and performance sacrifice between the second obstacle detector 140 and the front sensor.

[0157] In some embodiments, the angle between the detection direction of the first obstacle detector 130 and the detection direction of the front sensor 150 is greater than or equal to 90 degrees.

[0158] Since the detection direction of the front sensor 150 is towards the advancing direction of the mobile body 110, specifically, the front sensor 150 can be horizontally forward, can be inclined upward, or can be inclined downward. No matter which way is used, the detection direction of the front sensor 150 is considered to be forward. The angle between the detection direction of the first obstacle detector 130 and the detection direction of the front sensor 150 is greater than or equal to 90 degrees, which means that the detection direction of the first obstacle detector 130 is not along the advancing direction of the mobile body 110 or has no component along the advancing direction of the mobile body 110. Since the detection directions of the two are different, the accumulation of sensors or structural components in a certain direction can be as much as possible avoided, and further the interference and performance sacrifice between the obstacle detection assembly 160 and the front sensor can be as much as possible avoided.

[0159] The first obstacle detector 130 can rotate relative to the extension part 120 under the drive of the bracket 162, and the included angle between the detection direction of the first obstacle detector 130 and the detection direction of the front sensor 150 can be greater than or equal to 90 degrees. The included angle between the detection direction of the first obstacle detector 130 and the detection direction of the front sensor 150 can be greater than or equal to 90 degrees when the first obstacle detector 130 is in the second position. Alternatively, the included angle between the detection direction of the first obstacle detector 130 and the detection direction of the front sensor 150 can be greater than or equal to 90 degrees when the first obstacle detector 130 is in the first position, the second position, or any position between the first position and the second position.

[0160] In some embodiments, the included angle between the detection direction of the second obstacle detector 140 and the detection direction of the front sensor 150 can be greater than or equal to 90 degrees.

[0161] In some embodiments, the included angle between the detection direction of the second obstacle detector 140 and the detection direction of the front sensor 150 can be greater than or equal to 90 degrees.

[0162] In some embodiments, the included angle between the detection direction of the second obstacle detector 140 and the detection direction of the front sensor 150 can be greater than or equal to 90 degrees.

[0163] It should be noted that the first position of the first obstacle detector 130 and the first position of the second obstacle detector 140 are not the same position, and the second position of the first obstacle detector 130 and the second position of the second obstacle detector 140 are not the same position.

[0164] As Figure 11 and Figure 12As shown, in some embodiments, the extension part 120 includes a mounting section 121 and a connecting section 123, the mounting section 121 is connected to the moving body 110 and the connecting section 123 respectively, the first obstacle detector 130 is located on the side of the mounting section 121 away from the connecting section 123, and the second obstacle detector 140 is located on the same side of the mounting section 121 as the connecting section 123. In some embodiments, the extension part 120 only includes the mounting section 121 and the connecting section 123, and the connecting section 123 is the outermost structure of the entire extension part 120, and the connecting section 123 can be the working position of the entire extension part 120, which can be the entire connecting section 123 as the working position (which can be the entire cleaning part), or only a part of the connecting section 123 away from the mounting section 121 as the working position (which can be the mechanical claw).

[0165] In addition, in other embodiments, the extension part 120 can include the mounting section 121, the connecting section 123, and an operating section 124 (as shown in Figures 8-10 The connecting section 123 is connected to the mounting section 121 and the operating section 124 respectively, the mounting section 121 is mounted on the moving body 110, and the operating section 124 is located in front of the mounting section 121 along the operating direction of the extension part 120, and the second obstacle detector 140 is mounted on the mounting section 121.

[0166] In the case where the extension part 120 includes the mounting section 121, the connecting section 123, and the operating section 124, the operating section 124 is the outermost structure of the entire extension part 120, and the operating section 124 can be the working position of the entire extension part, which can be the entire operating section 124 as the working position (which can be the entire cleaning part), or only a part of the operating section 124 away from the connecting section 123 as the working position (which can be the mechanical claw).

[0167] The extension part 120 can be a mechanical arm, which can include multiple sections, such as the above-mentioned two sections (the mounting section 121 and the connecting section 123), three sections (the mounting section 121, the connecting section 123, and the operating section 124), or four sections, five sections, etc. Regardless of the number of sections included in the extension part 120, the outermost structure of the extension part 120 can be the working position of the entire extension part 120 (in the case of two sections, the connecting section 123 is the outermost structure, and the connecting section 123 is the working position; in the case of three sections, the operating section 124 is the outermost structure, and the operating section 124 is the working position).

[0168] For convenience of description, the case where the extension part 120 includes the mounting section 121 and the connecting section 123 (as shown in Figure 4 and Figure 5As an example, the following is described: in some embodiments, the connecting section 123 can be the working part of the entire extension part 120. 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 rear of the extension part 120, i.e., the first obstacle avoidance detector 130 is located at the rear of the entire extension part 120, and the second obstacle avoidance detector 140 is located at the front of the entire extension part 120.

[0169] In the process of working of the extension part 120, obstacles are more likely to be touched in front of or above the extension part 120. The first obstacle avoidance detector 130 is arranged at the rear of the extension part 120 and is mainly used to detect the area at the rear, side, front, side front and upper front of the extension part 120. The second obstacle avoidance detector 140 is arranged at the front of the extension part 120 and is mainly used to detect the area at the front and upper front of the extension part 120, and is mainly used to detect the blind area of the first obstacle avoidance detector 130, so that there is basically no blind area around the extension part 120, thereby enabling the area around the extension part 120 to be detected in all directions and improving the accuracy of detecting obstacles.

[0170] In some embodiments, the extending direction of the connecting section 123 is arranged at an angle with the advancing direction of the mobile body 110.

[0171] The extending direction of the connecting section 123 is the operating direction of the entire extension part 120, and the operating direction of the extension part 120 is arranged at an angle with the advancing direction of the mobile body 110, so that the advancing direction of the mobile body 110 and the operating direction of the extension part 120 can be separated, and the working of the two is independent of each other, thereby reducing the limitation of the moving direction and limiting the operating space of the extension part 120, and improving the working range of the extension part 120.

[0172] Specifically, the extending direction of the connecting section 123 and the advancing direction of the mobile body 110 can have the following positions, which can be opposite to each other (as shown in Figure 11 and Figure 12 ). That is, the operating direction of the connecting section 123 is located at the rear of the entire mobile body 110, so that the extension part 120 can clean the area at the rear of the mobile body 110.

[0173] It can also be that along the advancing direction of the mobile body 110, the connecting section 123 is located at the left side of the mounting section 121 (as shown in Figure 13 ). That is, in the process of working of the mobile body 110 against the wall, if the wall is located at the left side of the mobile body 110, the connecting section 123 can clean the side of the wall. It can also be that the connecting section 123 is located at the right side of the mounting section 121 (as shown in Figure 14As shown). That is, during the process of wall-attached operation of the mobile body 110, if the wall is located at the right side of the mobile body 110, the connecting section 123 can clean the other side of the wall side.

[0174] It should be noted that the position between the connecting section 123 and the mobile body 110 can be fixed, that is, in the case that the connecting section 123 protrudes out of the mobile body 110, the connecting section 123 can be fixed at the rear of the mobile body 110, or at the left side or the right side. In addition, the position between the connecting section 123 and the mobile body 110 can also be movable, and the relative position between the connecting section 123 and the mobile body 110 can be adjusted according to the position to be cleaned.

[0175] That is, the above lists different connection modes between the extension part 120 and the mobile body 110. It can be fixed or movable. If the position of the connecting section 123 on the mobile body 110 is fixed, after the extension part 120 protrudes out of the mobile body 110, the position of the connecting section 123 relative to the mobile body 110 will not change.

[0176] Specifically, if the extension part 120 protrudes to the rear of the mobile body 110, the connecting section 123 will be located at the rear of the mounting section 121 during the entire operation process, and the position of the connecting section 123 relative to the mobile body 110 will not change. If the extension part 120 protrudes to the left side of the mobile body 110, the connecting section 123 will be located at the left side of the mobile body 110 during the entire operation process, and the position of the connecting section 123 relative to the mobile body 110 will not change. If the extension part 120 protrudes to the right side of the mobile body 110, the connecting section 123 will be located at the right side of the mobile body 110 during the entire operation process, and the position of the connecting section 123 relative to the mobile body 110 will not change.

[0177] If the whole extension part 120 can move relative to the moving body 110, so that the connecting section 123 can be located in different directions of the mounting section 121, that is, the position of the connecting section 123 relative to the moving body 110 can be adjusted during the whole cleaning process. The position of the connecting section 123 can be adjusted according to different cleaning positions. Specifically, if the area on the left side of the moving body 110 needs to be cleaned, the connecting section 123 can be located on the left side of the operating section 121. If the area on the right side of the moving body 110 needs to be cleaned, the connecting section 123 can be located on the right side of the operating section 121. Wherein, the position of the connecting section 123 relative to the moving body 110 can change, that is, the mounting section 121 can be fixed relative to the moving body 110, and the connecting section 123 can rotate relative to the mounting section 121, or the mounting section 121 can rotate relative to the moving body 110, and drive the mounting section 121 to rotate relative to the moving body 110.

[0178] Whether the operating direction of the extension part 120 is the same as the advancing direction of the moving body 110 or not, the related positions and parameters of the first obstacle detector 130 and the second obstacle detector 140 need to meet the following requirements, which are as follows:

[0179] It should be noted that since the first obstacle detector 130 can rotate relative to the extension part 120 under the drive of the bracket 162, the positions and parameters of the first obstacle detector 130 described below can be the positions and parameters of the first obstacle detector 130 at the second position, or can be the parameters at any position between the first position, the second position, the first position and the second position.

[0180] Similarly, if the second obstacle detector 140 can also rotate relative to the extension part 120 under the drive of the bracket 162, the positions and parameters of the second obstacle detector 140 described below can be the positions and parameters of the second obstacle detector 140 at the second position, or can be the parameters at any position between the first position, the second position, the first position and the second position.

[0181] Please refer to Figure 15 , Figure 16 and Figure 17 In some embodiments, the field of view angle of the first obstacle detector 130 is greater than the field of view angle of the second obstacle detector 140.

[0182] Wherein, the detection area includes the field of view angle and the detection distance, wherein the field of view angle can be considered as the opening angle of the first obstacle detector 130 or the second obstacle detector 140, or can be considered as the width of the first obstacle detector 130 or the second obstacle detector 140, and the detection distance can be considered as the length of the first obstacle detector 130 or the second obstacle detector 140.

[0183] The first detection area 131 is larger when the field of view angle of the first obstacle detector 130 is larger, and the first detection area 131 is smaller when the field of view angle of the first obstacle detector 130 is smaller. Similarly, the second detection area 141 is larger when the field of view angle of the second obstacle detector 140 is larger, and the second detection area 141 is smaller when the field of view angle of the second obstacle detector 140 is smaller.

[0184] The field of view angle of the first obstacle detector 130 is larger than the field of view angle of the second obstacle detector 140, which means that the first detection area 131 is larger than the second detection area 141 when the detection distance is the same. Since the first obstacle detector 130 is arranged at the rear of the extension part 120, and the second obstacle detector 140 is arranged at the front of the extension part 120, the first detection area 131 is larger, and can detect most of the rear, side front, front and upper front areas of the extension part 120, so that most of the areas can be detected by one sensor, and the number of sensors can be reduced. Since the second obstacle detector 140 is located at the front of the extension part 120, it is mainly used to detect the front and upper front areas of the extension part 120 and the blind area of the first obstacle detector 130, and the detection area is relatively small, so a sensor with a smaller field of view angle can be selected.

[0185] For obstacle avoidance sensors, the size of the field of view angle is positively correlated with the cost, that is, the larger the field of view angle, the higher the cost, and the smaller the field of view angle, the lower the cost. The field of view angle of the first obstacle detector 130 is larger, and the field of view angle of the second obstacle detector 140 is smaller. By using two sensors with different field of view angles, the overall cost can be reduced while ensuring that there is no blind area around the extension part 120.

[0186] Since the first detection area 131 is conical or conical, the field of view angle of the first obstacle detector 130 is not an angle in a certain direction, but a three-dimensional angle. Taking the first detection area 131 as a cone as an example, the field of view angle of the first obstacle detector 130 includes a first horizontal angle a1 and a first vertical angle b1. Similarly, taking the second detection area 141 as a cone as an example, the field of view angle of the second obstacle detector 140 includes a second horizontal angle a2 and a second vertical angle b2.

[0187] The first lateral angle a1 can be considered as the detection range of the first obstacle detector 130 in the horizontal direction, and the first vertical angle b1 can be considered as the detection range of the first obstacle detector 130 in the vertical direction. The second lateral angle a2 can be considered as the detection range of the second obstacle detector 140 in the horizontal direction, and the second vertical angle b2 can be considered as the detection range of the second obstacle detector 140 in the vertical direction.

[0188] The field of view angle of the first obstacle detector 130 is greater than that of the second obstacle detector 140 at least in that 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 vertical angle b1 can be greater than the second vertical angle b2.

[0189] Since the first obstacle detector 130 is arranged at the rear of the extension part 120, and the second obstacle detector 140 is arranged at the front of the extension part 140, the first lateral angle a1 being greater than the second lateral angle a2 can make the first obstacle detector 130 have a larger detection range in the horizontal direction, and can detect the area at the rear, side, and top of the extension part 120, thereby improving the obstacle avoidance capability of the extension part 120.

[0190] In some embodiments, the field of view angle of the first obstacle detector 130 includes the first lateral angle a1 and the first vertical angle b1, the first lateral angle a1 is 80-120 degrees, and the first vertical angle b1 is 20-60 degrees.

[0191] The first lateral angle a1 can be considered as the detection range of the first obstacle detector 130 in the horizontal direction, and the first vertical angle b1 can be considered as the detection range of the first obstacle detector 130 in the vertical direction, so that the field of view angle of the first obstacle detector 130 is approximately conical. The first lateral angle a1 is 80-120 degrees, so that the detection angle of the first obstacle detector 130 in the horizontal direction is larger, and can basically cover the area at the rear, side, and front of the extension part 120, so that it is not necessary to arrange or install another sensor for detecting the area at the side of the front, thereby reducing the number of sensors and reducing the cost.

[0192] Specifically, the first lateral angle a1 can be 80 degrees, 90 degrees, 100 degrees, 110 degrees, 118 degrees, etc.

[0193] The first vertical angle b1 of the first obstacle detector 130 is 20-60 degrees, so that the first obstacle detector 130 has a certain detection range in the vertical plane. Since the mobile robot 100 mostly moves on the ground, the overall height is low, and the first obstacle detector 130 has a certain detection range in the vertical direction, so that the first obstacle detector 130 can detect the area above the extension part 120, thereby reducing the collision between the extension part 120 and the obstacle above during the working process, and improving the accuracy of obstacle avoidance.

[0194] Specifically, the first vertical angle b1 can be 25 degrees, 30 degrees, 35 degrees, 40 degrees, 45 degrees, 50 degrees, 55 degrees, etc.

[0195] In addition, during the working process of the extension part 120, the position of the extension part 120 in space may change, so that the position of part of the extension part 120 in the vertical direction changes. The first obstacle detector 130 has a certain detection area in the vertical direction, which can detect whether there is an obstacle in the area above the extension part 120, thereby avoiding the extension part 120 touching the obstacle as much as possible during the working process.

[0196] It should be noted that in some embodiments, since the first obstacle detector 130 can rotate relative to the extension part 120, the first horizontal angle a1 can be the angle of the first obstacle detector 130 at a certain position, and can be the included angle between the left and right edges of the detection range of the first obstacle detector 130 in the horizontal direction in the active area. The first vertical angle b1 can be the angle of the first obstacle detector 130 at a certain position, and can be the included angle between the left and right edges of the detection range of the first obstacle detector 130 in the vertical direction in the active area.

[0197] In some embodiments, the optical axis of the first obstacle detector 130 is arranged towards the operation direction of the extension part 120.

[0198] The optical axis of the first obstacle detector 130 can be considered as the center of the entire field of view angle of the first obstacle detector 130. Since the first obstacle detector 130 is arranged behind the extension part 120, the optical axis of the first obstacle detector 130 can be arranged in the forward direction of the mobile body 110, i.e. in the forward direction, the first obstacle detector 130 can be located on the diameter coinciding with the operation direction of the extension part 120, so that the first obstacle detector 130 can be located at the middle position 22 of the mobile body 110, thereby making the detection area of the first obstacle detector 130 on the left and right of the extension part 120 approximately the same, and reducing the situation that the left or right cannot be detected.

[0199] In some embodiments, the first obstacle detector 130 can be rotated relative to the extension portion 120 under the driving of the bracket 162, and the orientation of the optical axis of the first obstacle detector 130 towards the operation direction of the extension portion 120 can refer to the orientation of the optical axis of the first obstacle detector 130 towards the operation direction of the extension portion 120 when the first obstacle detector 130 is in the second position. It can also refer to the orientation of the optical axis of the first obstacle detector 130 towards the operation direction of the extension portion 120 when the first obstacle detector 130 is in the first position, the second position, or any position between the first position and the second position.

[0200] It is easy to understand that the orientation of the optical axis of the first obstacle detector 130 (the first optical axis 132) towards the operation direction of the extension portion 120 does not mean that the optical axis of the first obstacle detector 130 is parallel to the operation direction of the extension portion 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, i.e., the optical axis of the first obstacle detector 130 (the first optical axis 132) can be inclined forward.

[0201] 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 reflect the relative positional relationship between the first detection area 131 and the operation area of the extension portion 120.

[0202] Since the extension portion 120 is convex on the mobile body 110 in the working state, and the first obstacle detector 130 is installed on the mobile body 110, the first obstacle detector 130 and the extension portion 120 have a certain height difference, and the first obstacle detector 130 and the extension portion 120 have a certain distance. In the case that the distance between the first obstacle detector 130 and the extension portion 120 is unchanged, in order to be able to detect the area above and in front of the extension portion 120, the higher the extension portion 120 is, the larger the angle between the first obstacle detector 130 and the horizontal direction will be. The shorter the extension portion 120 is, the smaller the angle between the first obstacle detector 130 and the horizontal direction will be.

[0203] Similarly, in the case that the height of the extension portion 120 is 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 detector 130 and the extension portion 120 is, the larger the angle between the first obstacle detector 130 and the horizontal direction will be, and the larger the distance between the first obstacle detector 130 and the extension portion 120 is, the smaller the angle between the first obstacle detector 130 and the horizontal direction will be.

[0204] As can be seen, the angle of the first optical axis 132 with respect to the horizontal direction is related to the height of the extension portion 120 and the distance between the first obstacle detection sensor 130 and the extension portion 120, and the angle of the first optical axis 132 (the angle with respect to the horizontal direction) can be set by comprehensively considering the height of the extension portion 120 and the distance between the first obstacle detection sensor 130 and the extension portion 120.

[0205] Specifically, in some embodiments, the angle of the first optical axis 132 with respect to the horizontal direction can be 30 degrees to 60 degrees in the advancing direction of the mobile body 110 (the direction indicated by the arrow X in each figure). The first obstacle detection sensor 130 is disposed behind the extension portion 120, and the distance between the first obstacle detection sensor 130 and the extension portion 120 is relatively far, and thus the angle of the first optical axis 132 with respect to the horizontal direction can be relatively small.

[0206] In other conditions (the height of the extension portion 120 and the distance between the first obstacle detection sensor 130 and the extension portion 120) are unchanged, the angle of the first optical axis 132 with respect to the horizontal direction determines the size of the front and rear regions and the region above the extension portion 120 that are detected by the first detection region 131.

[0207] In the range of 0 to 45 degrees, the smaller the angle of the first optical axis 132 with respect to the horizontal direction, the more the horizontal component of the first detection region 131 and the less the vertical component. In this case, the more the horizontal component of the first detection region 131, the more the detection region in the horizontal direction (the larger the detection region in the front and rear directions of the extension portion 120) and the less the detection region above the extension portion 120.

[0208] In the range of 45 to 90 degrees, the larger the angle of the first optical axis 132 with respect to the horizontal direction, the less the horizontal component of the first detection region 131 and the more the vertical component. In this case, the less the horizontal component of the first detection region 131, the less the detection region in the horizontal direction (the less the detection in the front and rear directions of the extension portion 120) and the more the detection region above the extension portion 120.

[0209] 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 interval of 30 degrees to 45 degrees, the horizontal component of the first detection area 131 is greater than the vertical component, and in the interval 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 interval of 30 degrees to 60 degrees, the horizontal component and the vertical component of the first detection area 131 can be considered to be substantially the same, so that the front-back direction (horizontal direction) of the extension part 120 of the first detection area 131 or the upper area (vertical direction) of the extension part 120 is substantially the same, and further, the first obstacle detector 130 can simultaneously consider the front-back direction and the upper area of the extension part 120, thereby improving the obstacle avoidance capability of the extension part 120.

[0210] 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 front-back direction (horizontal direction) of the extension part 120 of the first detection area 131 or the upper area (vertical direction) of the extension part 120 is the same, and further, the first obstacle detector 130 can simultaneously consider the front-back direction and the upper area of the extension part 120, thereby improving the obstacle avoidance capability of the extension part 120.

[0211] In some embodiments, the field of view angle of the first obstacle 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.

[0212] 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 obliquely upward. If the first edge 131c is arranged obliquely downward, part of the first vertical angle b1 will hit the mobile body 110, and further, part of the first vertical angle b1 cannot detect the front area, resulting in waste of the detection area of the first vertical angle b1.

[0213] In some embodiments, the first edge 131c can form an angle of 15-30 degrees with the horizontal direction. Since the first obstacle detector 130 is arranged behind the extension part 120, the distance between the first edge 131c and the extension part 120 is far, and the angle between the first edge 131c and the horizontal direction can be set to be small, so that the first detection area 131 can cover the space above and in front of and behind the extension part 120 when projected to the operating area of the extension part 120, so that the first obstacle detector 130 can detect the area above and in front of and behind the extension part 120.

[0214] Specifically, the first edge 131c can form an angle of 18 degrees, 20 degrees, 22.5 degrees, 25 degrees, 27.5 degrees, 28 degrees, etc. with the horizontal direction.

[0215] In some embodiments, the first obstacle detector 130 can be rotated relative to the extension part 120 under the driving of the bracket 162, and the angle between the first edge 131c and the horizontal direction can refer to the angle between the first obstacle detector 130 and the horizontal direction at the second position. It can also be the angle between the first edge 131c and the horizontal direction at the first position, the second position, or any position between the first position and the second position.

[0216] In some embodiments, the second edge 131d can form an angle of less than or equal to 90 degrees with the horizontal direction.

[0217] 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 inclined upward, so that all the first vertical angles b1 are arranged 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 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 can be arranged as much as possible to overlap the extension part 120, 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.

[0218] 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 sensor is arranged to be substantially horizontal or inclined, which can overlap the area in front of, above and beside the extension part 120 as much as possible, thereby improving the utilization rate of the first detection area 131.

[0219] 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 is used to detect the space above the extension part 120, so that the detection distance of the first obstacle detector 130 in front of the extension part 120 is short. The angle between the second edge 131d and the horizontal direction can be 60 degrees to 75 degrees, which can ensure the detection distance above, and also has a certain detection distance in the operation direction of the extension part 120, which can provide more time for the extension part 120 to avoid obstacles.

[0220] 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.

[0221] In some embodiments, the first obstacle detector 130 can be rotated relative to the extension part 120 under the driving of the bracket 162, and the angle between the second edge 131d and the horizontal direction can be the angle between the first obstacle detector 130 at the second position and the horizontal direction. It can also be the angle between the second edge 131d and the horizontal direction at the first position, the second position, or any position between the first position and the second position. In some embodiments, the distance between the first obstacle detector 130 and the extension part 120 is greater than the radius of the mobile body 110.

[0222] The mobile body 110 is generally cylindrical, the extension part 120 is generally arranged in front of the mobile body 110, and the first obstacle detector 130 is generally arranged behind the mobile body 110. The distance between the first obstacle detector 130 and the extension part 120 is greater than the radius of the mobile body 110, which can be considered as the distance between the first obstacle detector 130 and the extension part 120 is far away. Since the first detection area 131 is generally conical, the farther the distance, the larger the detection range of the first obstacle detector 130 around the extension part 120, thereby improving the obstacle avoidance area of the extension part 120, and thus improving the obstacle avoidance effect.

[0223] In some embodiments, the first obstacle detector 130 is arranged on the diameter of the mobile body 110 in the forward direction.

[0224] Since the mobile body 110 is cylindrical, the diameter in the advancing direction is the longest distance in the advancing direction, the first obstacle detector 130 can be arranged at the end of the diameter, so that the first obstacle detector 130 is located at the back of the mobile body 110, while detecting the area around the extension part 120, it can also detect the area on the left and right sides of the mobile body 110 (the area in front of the side), so that the first obstacle detector 130 can detect both the area around the extension part 120 and the area around the mobile body 110, and the utilization rate of the first obstacle detector 130 can be improved.

[0225] It should be noted that in some embodiments, only one first obstacle detector 130 is arranged, and the first obstacle detector 130 can be arranged on the diameter of the mobile body 110 in the advancing direction, and in addition, in other embodiments, two, three or the like number of first obstacle detectors 130 can be arranged, and the number of first obstacle detectors 130 arranged can not be limited.

[0226] As shown in Figure 18 When two first obstacle detectors 130 are arranged, the two first obstacle detectors 130 can be arranged symmetrically along the diameter of the mobile body 110 in the advancing direction. Since the first obstacle detector 130 is not arranged on the diameter of the mobile body 110 in the advancing direction, the first obstacle detector 130 is not arranged directly behind the extension part 120, that is, along the advancing direction of the mobile body 110, the two first obstacle detectors 130 are arranged offset from the extension part 120.

[0227] The optical axis (first optical axis 132) of the first obstacle detector 130 can be arranged obliquely towards the extension part 120. That is, the optical axis (first optical axis 132) of the two first obstacle detectors 130 has a certain angle with the operation direction of the extension part 120, so that the first detection area 131 can be arranged towards the extension part 120, and further so that more areas of the first detection area 131 can overlap with the operation area of the extension part 120, thereby improving the utilization rate of the first obstacle detector 130.

[0228] Of course, in other embodiments, when two first obstacle detectors 130 are arranged, the optical axis of the first obstacle detector 130 can also be arranged towards the operation direction of the extension part 120.

[0229] When three first obstacle detectors 130 are arranged, one can be arranged on the diameter of the mobile body 110 in the advancing direction, and the other two can be arranged symmetrically along the diameter of the mobile body 110 in the advancing direction. When the first obstacle detector 130 is arranged in other quantities, even numbers can refer to the arrangement when two are arranged, and odd numbers can refer to the arrangement when three are arranged.

[0230] Please refer to Figures 15-17The setting position and parameters of the second obstacle detector 140 are introduced below.

[0231] In some embodiments, the field of view angle of the second obstacle detector 140 includes a second horizontal angle a2 and a second vertical angle b2, the second horizontal angle a2 is 30-60 degrees, and the second vertical angle b2 is 20-60 degrees.

[0232] It should be noted that, in some embodiments, since the second obstacle detector 140 can rotate relative to the extension part 120, the second horizontal angle a2 can be the angle of the second obstacle detector 140 at a certain position, and can be the included angle between the left and right edges of the detection range of the second obstacle detector 140 in the horizontal direction within the active area. The second vertical angle b2 can be the angle of the second obstacle detector 140 at a certain position, and can be the included angle between the left and right edges of the detection range of the second obstacle detector 140 in the vertical direction within the active area.

[0233] The second horizontal angle a2 can be considered as the detection range of the second obstacle detector 140 in the horizontal direction, and the second vertical angle b2 can be considered as the detection range of the second obstacle detector 140 in the vertical direction, so that the field of view angle of the second obstacle detector 140 is approximately conical.

[0234] Since the second obstacle detector 140 is arranged in front of the extension part 120, the second obstacle detector 140 mainly detects the front and upper parts of the extension part 120 and the detection blind area of the first obstacle detector 130, that is, the field of view angle of the second obstacle detector 140 can not be too large, and the second horizontal angle a2 is 30-60 degrees, so that the detection angle of the first obstacle detector 130 in the horizontal direction can basically cover the upper front and front areas of the extension part 120, and basically cover the detection blind area of the first obstacle detector 130, so as to reduce the cost (the larger the field of view angle, the higher the cost of the second obstacle detector 140) while fully covering the surrounding of the extension part 120.

[0235] The second vertical angle b2 of the second obstacle detector 140 is 20-60 degrees, so that the second obstacle detector 140 has a certain detection range in the vertical plane. Since the mobile robot 100 mostly moves on the ground and has a low overall height, the second obstacle detector 140 has a certain detection range in the vertical direction, so that the second obstacle detector 140 can detect the area above the extension part 120, thereby reducing the collision between the extension part 120 and the obstacle above during the working process, and improving the accuracy of obstacle avoidance.

[0236] In addition, the position of the extension part 120 in space may change during operation, so that the position of part of the extension part 120 in the vertical direction changes. The second obstacle detector 140 has a detection area in the vertical direction, and can detect whether there is an obstacle in the area above the extension part 120, so as to avoid the extension part 120 from touching the obstacle as much as possible during operation.

[0237] It should be noted that the field of view angle of the first obstacle detector 130 and the field of view angle of the second obstacle detector 140 have an overlapping area, which is approximately in front of and above the extension part 120. Since the mobile robot 100 moves forward in general, the overlapping area of the first obstacle detector 130 and the second obstacle detector 140 in the front can enable the first obstacle detector 130 and the second obstacle detector 140 to detect obstacles during the forward movement of the mobile robot 100, and improve the detection accuracy under the cooperation of the first obstacle detector 130 and the second obstacle detector 140.

[0238] 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 reflect the relative positional relationship between the second detection area 141 and the operation area of the extension part 120.

[0239] Since the extension part 120 is convex on the mobile body 110 in the working state, and the second obstacle detector 140 is installed on the mobile body 110, the second obstacle detector 140 has a certain height difference with the extension part 120, and a certain distance with the extension part 120. In the case that the distance between the second obstacle detector 140 and the extension part 120 is unchanged, in order to detect the area above and in front of the extension part 120, the higher the extension part 120 is, the larger the angle between the second obstacle detector 140 and the horizontal direction is. The shorter the extension part 120 is, the smaller the angle between the second obstacle detector 140 and the horizontal direction is.

[0240] Similarly, in the case that the height of the extension part 120 is unchanged, in order to detect the area above and in front of the extension part 120, the smaller the distance between the second obstacle detector 140 and the extension part 120 is, the larger the angle between the second obstacle detector 140 and the horizontal direction is. The larger the distance between the second obstacle detector 140 and the extension part 120 is, the smaller the angle between the second obstacle detector 140 and the horizontal direction is.

[0241] Therefore, the angle between the second optical axis 142 and the horizontal direction is related to the height of the extension portion 120 and the distance between the second obstacle detector 140 and the extension portion 120, and the angle of the second optical axis 142 can be set by comprehensively considering the height of the extension portion 120 and the distance between the second obstacle detector 140 and the extension portion 120.

[0242] Specifically, in some embodiments, the angle between the second optical axis 142 and the horizontal direction can be 60 degrees to 90 degrees along the advancing direction of the mobile body 110 (the direction indicated by the arrow X in each figure). The second obstacle detector 140 is arranged in front of the extension portion 120 and is relatively close to the extension portion 120, and therefore the angle between the second optical axis 142 and the horizontal direction can be relatively large.

[0243] In other conditions (the height of the extension portion 120 and the distance between the second obstacle detector 140 and the extension portion 120) are unchanged, the angle between the second optical axis 142 and the horizontal direction determines whether the second detection region 141 detects the region above the extension portion 120 or the front and rear regions.

[0244] In the interval of 0 to 45 degrees, the smaller the angle between the second optical axis 142 and the horizontal direction, the more the horizontal component of the second detection region 141 and the less the vertical component. In this case, the more the horizontal component of the second detection region 141, the more the detection region along the horizontal direction (the larger the detection distance in front of the extension portion 120) and the less the detection region above the extension portion 120.

[0245] In the interval of 45 to 90 degrees, the larger the angle between the second optical axis 142 and the horizontal direction, the less the horizontal component of the second detection region 141 and the more the vertical component. In this case, the less the horizontal component of the second detection region 141, the less the detection region along the horizontal direction (the less the detection in front of the extension portion 120) and the more the detection region above the extension portion 120.

[0246] Since the distance between the second obstacle detector 140 and the extension portion 120 is very close, in order to enable the second obstacle detector 140 to detect the region above the extension portion 120, the second optical axis 142 needs to be as upward 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 arrangement can enable the second detection region 141 to be as upward as possible, thereby enabling the detection of the region above the extension portion 120.

[0247] In addition, since the mobile robot 100 basically walks on the ground, the height of the entire mobile robot 100 cannot be too high, and the probability of obstacles appearing in front of and above the extension part 120 is relatively large. The second optical axis 142 has a large angle with the horizontal direction, so that the entire second detection area 141 can be arranged close to the vertical direction, so that the second obstacle avoidance detector 140 can detect a relatively high position (not close to the ground), thereby improving the obstacle avoidance capability of the extension part 120.

[0248] 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 part 120 while also considering the area in front of the second extension part 120, thereby improving the obstacle avoidance capability of the extension part 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.

[0249] In some embodiments, the field of view angle 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 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.

[0250] The area between the third edge 141c and the fourth edge 141d is the detection range of the second obstacle avoidance detector 140 in the vertical direction, that is, the second vertical angle b2. The third edge 141c below has an angle greater than or equal to 0 degrees with the horizontal direction, which means that the third edge 141c is arranged horizontally or is arranged obliquely upward. If the third edge 141c is arranged obliquely downward, part of the second vertical angle b2 will hit the mobile body 110, thereby causing part of the second vertical angle b2 to be unable to detect the front area, resulting in waste of the detection area of the second vertical angle b2.

[0251] 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. Since the distance between the second obstacle avoidance detector 140 and the extension part 120 is relatively close, and the second vertical angle b2 is relatively small, in order to detect the area above the extension part 120, the angle between the third edge 141c and the horizontal direction cannot be too small, and if the angle is too small, the second detection area 141 cannot detect the area above the extension part 120. The angle between the third edge 141c and the horizontal direction is 50 degrees to 70 degrees, so that the second obstacle avoidance detector 140 can detect the area above the extension part 120 while detecting the area in front of the extension part 120, thereby improving the obstacle avoidance capability of the extension part 120.

[0252] Specifically, the third edge 141c can form an angle of 53 degrees, 56 degrees, 60 degrees, 63 degrees, 68 degrees, or the like with the horizontal direction. In some embodiments, the fourth edge 141d forms an angle of less than or equal to 180 degrees with the horizontal direction.

[0253] The fourth edge 141d is the upper limit of the second detection area 141, and the fourth edge 141d forms an angle of less than or equal to 180 degrees with the horizontal direction, which means that the fourth edge 141d is vertically arranged, is arranged obliquely upward, or is arranged obliquely backward. Since the second obstacle detector 140 is arranged in front of the extension part 120, the fourth edge 141d arranged obliquely backward enables the second detection area 141 to also detect the area behind the extension part 120, so that the second obstacle detector 140 can detect the areas in front of, above, and behind the extension part 120, 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.

[0254] The third edge 141c forms an angle of greater than or equal to 0 degrees with the horizontal direction, and the fourth edge 141d forms an angle of less than or equal to 180 degrees with the horizontal direction. This enables the second detection area of the second obstacle sensor to be arranged substantially horizontally or obliquely toward the front, so as to detect the areas in front, above, side, and behind the extension part 120, thereby improving the utilization rate of the detection area 141 of the second obstacle detector.

[0255] In some embodiments, the fourth edge 141d forms an angle of 90 degrees to 110 degrees with the horizontal direction.

[0256] Since the fourth edge 141d is the upper limit of the second detection area 141, and the front and upper parts of the extension part 120 are most likely to have obstacles, the fourth edge 141d forms an angle of 90 degrees to 110 degrees with the horizontal direction, so that the second obstacle detector 140 can mainly detect the areas in front and above the extension part 120, 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.

[0257] Specifically, the fourth edge 141d can form an angle of 95 degrees, 98 degrees, 100 degrees, 105 degrees, or 108 degrees with the horizontal direction.

[0258] In some embodiments, the second obstacle detector 140 can rotate relative to the extension part 120 under the driving of the bracket 162, and the angle between the third edge 141c and the horizontal direction can refer to the angle between the second obstacle detector 140 at the second position and the horizontal direction. It can also be the angle between the third edge 141c and the horizontal direction at the first position, the second position, or any position between the first position and the second position. The angle between the fourth edge 141d and the horizontal direction can refer to the angle between the second obstacle detector 140 at the second position and the horizontal direction. It can also be the angle between the fourth edge 141d and the horizontal direction at the first position, the second position, or any position between the first position and the second position. In some embodiments, along the operation direction of the extension part 120, the projection of the second detection area 141 in the first set plane covers the projection of the operation area of the extension part 120 in the first set plane, where the first set plane is perpendicular to the operation direction and the extension part 120 is located between the second obstacle sensor 140 and the first set plane.

[0259] It should be noted that the first set plane is a virtual plane, not the entire physical plane of the mobile robot 100. The first set plane is located on the side of the extension part 120 away from the second obstacle sensor 140. The projection of the second detection area 141 in the first set plane covering the projection of the operation area of the extension part 120 in the first set plane means that the second obstacle detector 140 can cover all areas in front of the extension part 120 (front, side, and top), and the detection area 141 of the second obstacle detector can completely cover the extension part 120, so that there is no detection blind area in front of the extension part 120, reducing the risk of the extension part 120 touching obstacles.

[0260] If there are multiple second obstacle detectors 140, the projection of the second detection area 141 in the first set plane covering the projection of the operation area of the extension part 120 in the first set plane means that the sum of the projections of the multiple second detection areas 141 in the first set plane covers the projection of the operation area of the extension part 120 in the first set plane.

[0261] The above describes the setting positions and parameters of the first obstacle detector 130 and the second obstacle detector 140. The following will list different embodiments in combination with the number, setting position, and optical axis orientation of the second obstacle detector 140.

[0262] It should be noted that since at least one of the first obstacle detector 130 and the second obstacle detector 140 can rotate relative to the extension part 120, the following multiple embodiments are the setting positions and optical axis orientations when fixed at the second position.

[0263] If both the first obstacle avoidance detector 130 and the second obstacle avoidance detector 140 are rotatable relative to the extension portion 120, then the following embodiments refer to embodiments where both the first obstacle avoidance detector 130 and the second obstacle avoidance detector 140 are in the second position. If only the first obstacle avoidance detector 130 or the second obstacle avoidance detector 140 is rotatable relative to the extension portion 120, then the embodiments listed below refer to different embodiments where the first obstacle avoidance detector 130 or the second obstacle avoidance detector 140 is in the second position.

[0264] In some embodiments, only one second obstacle avoidance detector 140 may be provided. When only one second obstacle avoidance detector 140 is provided, the second obstacle avoidance detector 140 may be located directly in front of the extension 120 (e.g., Figure 15 , Figure 16 and Figure 17 As shown), the optical axis of the second obstacle avoidance detector 140 is set along the operating direction of the extension portion 120. For ease of description, the optical axis of the second obstacle avoidance detector 140 is defined as the second optical axis 142.

[0265] Since there is only one second obstacle avoidance detector 140, the second obstacle avoidance detector 140 is located directly in front of the extension portion 120, which allows the second detection area 141 to take into account the surrounding areas of the left front and right front of the extension portion 120 as much as possible, thereby improving the obstacle avoidance capability of the extension portion 120.

[0266] like Figure 19 , Figure 20 and Figure 21 As shown, in some other embodiments, there are multiple second obstacle avoidance detectors 140, and the multiple second obstacle avoidance detectors 140 are staggered.

[0267] 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 120. The multiple second obstacle avoidance detectors 140 are staggered, which means that the multiple second obstacle avoidance detectors 140 are set in different positions, so that the detection areas 141 of the multiple second obstacle avoidance detectors do not overlap at least partially, thereby increasing the detection range in front of the extension 120 and improving the detection accuracy.

[0268] The detection areas 141 of the multiple second obstacle avoidance detectors may overlap or not. That is, the multiple second optical axes 142 may be along the same direction or along different directions. No specific limitation is required.

[0269] In some embodiments, a plurality of second obstacle avoidance detectors 140 are mounted on the mobile body 110.

[0270] In the working state, the extension part 120 is arranged on the mobile body 110, and in the non-working state, the extension part 120 can be retracted into the mobile body 110. The plurality of second obstacle detectors 140 can be mounted on the mobile body 110, and the second obstacle detectors 140 do not move with the extension part 120, so that the extension part 120 and the second obstacle detectors 140 are independent of each other, thereby reducing the influence of the extension part 120 on the second obstacle detectors 140 during operation.

[0271] In some embodiments, the plurality of second obstacle detectors 140 are respectively located on different sides of the extension part 120 in a direction at an angle to the operation direction of the extension part 120 (for example, as shown in Figure 19 、 Figure 20 and Figure 21 ).

[0272] The plurality of second obstacle detectors 140 can be arranged on different sides of the extension part 120, for example, when the number of second obstacle detectors 140 is two, the second obstacle detectors 140 can be arranged on the left and right sides of the extension part 120 respectively, and when the number of second obstacle detectors 140 is three, one can be arranged on the left side of the extension part 120, one on the right side of the extension part 120, and the other on the front side of the extension part 120.

[0273] The plurality of second obstacle detectors 140 are respectively located on different sides of the extension part 120, so that the second obstacle 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 area, thereby improving the detection accuracy of the surroundings of the extension part 120.

[0274] In some embodiments, the second optical axis 142 is parallel to the operation direction of the extension part 120.

[0275] When the second obstacle detector 140 is one (for example, as shown in Figure 15 、 Figure 16 and Figure 17 ), the second obstacle detector 140 can be located directly in front of the extension part 120, and the second optical axis 142 can be arranged towards the operation direction of the extension part 120, so that the detection areas of the second obstacle detector 140 on the left and right sides of the extension part 120 are approximately the same, and the second detection area 141 can take into account the surrounding areas on the left and right front sides of the extension part 120 as much as possible, thereby improving the obstacle avoidance ability of the extension part 120.

[0276] Of course, in addition to this, when the second obstacle detector 140 is a plurality (for example, as shown in Figure 11 、 Figure 12 and Figure 13), the plurality of second light axes 142 can be arranged to be inclined towards the extension part 120, so that the second obstacle avoidance detector 140 can detect the area in front of the extension part 120. The plurality of second light axes 142 are parallel, but the adjacent two second detection areas 141 can partially overlap or not overlap.

[0277] The partial overlap of the detection areas 141 of the adjacent two second detection areas 141 is arranged so that the partial area in front of the extension part 120 is simultaneously detected by the two second obstacle avoidance detectors 140, and through the cooperation of the two second obstacle avoidance detectors 140, the obstacle avoidance ability of the area in front of the extension part 120 can be improved.

[0278] For example, in the case of two second obstacle avoidance detectors 140 (for example, as shown in Figure 11 、 Figure 12 and Figure 13 ), the two second obstacle avoidance detectors 140 are symmetrically arranged along the operation direction of the extension part 120. Since the two second obstacle avoidance detectors 140 have the same field of view angle, the overlapping area of the two second detection areas 141 is in the front of the extension part 120. During the process of the extension part 120 following the mobile body 110 to move forward, the front area is most likely to touch the obstacle. The area in the front is simultaneously detected by the two second obstacle avoidance detectors 140, which can also improve the obstacle avoidance ability of the extension part 120.

[0279] Please refer to Figure 19 、 Figure 20 and Figure 21 , in some embodiments, the second light axis 142 is arranged to be inclined towards the extension part 120.

[0280] In the case of multiple second obstacle avoidance detectors 140, the plurality of second light axes 142 are arranged to be inclined towards the extension part 120. That is, if the second obstacle avoidance detector 140 is arranged on the left side of the extension part 120, the light axis is arranged to be inclined to the right. If the second obstacle avoidance detector 140 is arranged on the right side of the extension part 120, the light axis is arranged to be inclined to the left.

[0281] The second obstacle avoidance detector 140 is arranged on the side of the extension part 120, and the second light axis 142 is arranged to be inclined towards the extension part 120, so that the second light axis 142 can be arranged towards the extension part 120 and can detect the area in front of the extension part 120. The plurality of second light axes 142 are arranged to be inclined towards the extension part 120, so that the detection areas 165 of the plurality of obstacle avoidance detectors can coincide in front of the extension part 120, and further so that the plurality of second obstacle avoidance detectors 140 can detect the area in front of the extension part 120. In the case of failure of one of the second obstacle avoidance detectors 140, the other second obstacle avoidance detector 140 can also work, improving the overall obstacle avoidance effect.

[0282] Furthermore, because the second optical axis 142 is inclined relative to the extension portion 120, the detection area 141 of the second obstacle avoidance detector can penetrate both sides of the extension portion 120. For example, if the second obstacle avoidance detector 140 is located on the left side of the extension portion 120, the inclined optical axis allows the detection area 141 of the second obstacle avoidance detector to extend from the left side of the second obstacle avoidance detector 140 to the right side of the extension portion 120. Similarly, if the second obstacle avoidance detector 140 is located on the right side of the extension portion 120, the inclined optical axis allows the detection area 141 of the second obstacle avoidance detector to extend from the right side of the second obstacle avoidance detector 140 to the left side of the extension portion 120.

[0283] With this configuration, the area in front of the extension portion 120 (left front and right front) can be detected in cooperation with multiple second obstacle avoidance detectors 140, increasing the multiple second detection areas 141, thereby improving the detection range of the multiple second obstacle avoidance detectors 140 on the extension portion 120 and improving the obstacle avoidance capability of the extension portion 120 during operation.

[0284] In some embodiments, the tilt angle C of the second optical axis 142 toward the extension portion 120 is 0 degrees to 45 degrees.

[0285] Here, the tilt angle C refers to the tilt angle of the optical axis relative to the forward direction of the moving body 110. Since the detection area 141 of the second obstacle avoidance detector is fixed, the second optical axis 142 is tilted towards the extension portion 120, so that the detection area 141 of the second obstacle avoidance detector has components in both the forward direction and the direction perpendicular to the forward direction. If the tilt angle of the second optical axis 142 towards the extension portion 120 is smaller, it means that the detection distance of the second obstacle avoidance detector 140 is longer in the operating direction of the extension portion 120; if the tilt angle of the second optical axis 142 towards the extension portion 120 is larger, it means that the detection distance of the second obstacle avoidance detector 140 is shorter in the operating direction of the extension portion 120.

[0286] If the detection distance of the second obstacle avoidance detector 140 in the operating direction of the extension portion 120 is shorter, the obstacle avoidance time of the extension portion 120 will be shorter, and it is easy to fail to avoid the obstacle in time. The tilt angle of the second obstacle avoidance detector 140 is between 0 degrees and 45 degrees, so that the detection length in the forward direction can be longer, and the main detection area of ​​the second obstacle avoidance detector 140 is in front of the extension portion 120. This can ensure the detection distance of the second obstacle avoidance detector 140 in front of the extension portion 120, thereby increasing the obstacle avoidance time of the extension portion 120 and avoiding the situation of touching the obstacle as much as possible.

[0287] In other embodiments, the second optical axis 142 is perpendicular to the operating direction of the extension portion 120, such as... Figure 22 , Figure 23 andFigure 24 The operation direction can be set along a horizontal direction, in which case the second optical axis 142 can be set vertically, so that the second obstacle detector 140 mainly detects the space above the extension part 120, and the number of the second obstacle detectors 140 can be set to be multiple, and the multiple second obstacle detectors 140 are arranged at different positions of the extension part 120 respectively, and can detect different regions of the extension part 120.

[0288] During the advancement of the mobile body 110, obstacles are more likely to be encountered in front of or above the mobile robot 100, and the upward arrangement of the second obstacle detector 140 enables the second obstacle detector 140 to detect the regions in front of and above the extension part 120, so that the extension part 129 can avoid obstacles and reduce the risk of collision.

[0289] Please refer to In some embodiments, when the second obstacle detector 140 is two, one of the second obstacle detectors 140 is installed on the mobile body 110, and the other second obstacle detector 140 is installed on the extension part 120.

[0290] Figures 25-30 Since the second obstacle detectors 140 are all arranged in front of the extension part 120, the second obstacle detectors 140 can be arranged on the mobile body 110 or on the extension part 120, and can all detect the region in front of the extension part 120. When the second obstacle detector 140 is arranged on the extension part 120, the second obstacle detector 140 can be arranged at different positions of the extension part 120. Specifically, the arrangement of the optical axis of the second obstacle detector 140 at different positions of the extension part 120 will be introduced below.

[0291] Please refer to

[0292] In some embodiments, the extension part 120 includes a mounting section 121, a connecting section 123, and an operation section 124, the connecting section 123 connects the mounting section 121 and the operation section 124 respectively, the mounting section 121 is installed on the mobile body 110, and along the operation direction of the extension part 120, the operation section 124 is located in front of the mounting section 121, and the second obstacle detector 140 is installed on the mounting section 121. The second optical axis 142 installed on the mobile body 110 is arranged obliquely upward, and the second optical axis 142 installed on the mounting section 121 is arranged horizontally. Figure 25 Figure 26 and Figure 27 In some embodiments, the extension part 120 includes a mounting section 121, a connecting section 123, and an operation section 124, the connecting section 123 connects the mounting section 121 and the operation section 124 respectively, the mounting section 121 is installed on the mobile body 110, and along the operation direction of the extension part 120, the operation section 124 is located in front of the mounting section 121, and the second obstacle detector 140 is installed on the mounting section 121. The second optical axis 142 installed on the mobile body 110 is arranged obliquely upward, and the second optical axis 142 installed on the mounting section 121 is arranged horizontally.

[0293] ​The operation direction is the extension direction of the connecting section 123, that is, the operation direction can be considered as the direction from the mounting section 121 to the operation section 124. Since the mounting section 121, the connecting section 123 and the operation section 124 can be fixedly connected or movably connected, the operation direction can be a fixed direction or a non-fixed direction. The operation direction can be a horizontal direction, an inclined direction with a certain angle with the horizontal plane, or any other direction.

[0294] In some embodiments, the extension part 120 can be accommodated inside the mobile body 110, and the second obstacle detector 140 is mounted on the mounting section 121. The extension part 120 can be accommodated or withdrawn without encountering obstacles. No other sensor is needed to detect the accommodation and withdrawal of the extension part 120.

[0295] The operation section 124 is connected to the upper side of the connecting section 123, so that the area below the mounting section 121 is not blocked by the operation section 124. The second obstacle detector 140 can be arranged below the mounting section 121, so that the detection area 141 of the second obstacle detector 140 is not blocked by the operation section 124.

[0296] The second optical axis 142 mounted on the mobile body 110 is arranged upwardly inclined, so that the second obstacle detector 140 can mainly detect the area in front of the extension part 120. The second optical axis 142 mounted on the mounting section 121 is arranged horizontally, so that the second obstacle detector 140 can detect the area directly in front of the extension part 120. In this way, the blind area in front of the extension part 120 can be avoided as much as possible.

[0297] Taking the extension part 120 as an example of a mechanical arm: the operation section 124 is located at the outermost part of the entire extension part 120, and the operation section 124 is the working position of the entire mechanical arm. The entire operation section 124 can be the working position (a cleaning part can be arranged), or only a part of the operation section 124 away from the connecting section 123 can be the working position (a mechanical gripper can be arranged). The mounting section 121 and the connecting section 123 are connecting arms of the mechanical arm, and the mounting section 121 and the connecting section 123 can have a certain degree of freedom. The second obstacle detector 140 can be arranged below the mounting section 121, so that the detection area 141 of the second obstacle detector 140 is not blocked by the working position of the operation section 124. In this way, the second detection area 141 can be maximally utilized.

[0298] Please refer to Figure 28 , Figure 29 and Figure 30In some embodiments, the extension 120 comprises 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 120, and the second obstacle detector 140 is mounted on the operating section 124. The second optical axis 142 mounted on the mobile body 110 is arranged obliquely upward, and the second optical axis 142 mounted on the operating section 124 is arranged obliquely downward.

[0299] Since the operating section 124 is arranged in front of the mounting section 121, mounting the second obstacle detector 140 on the operating section 124 can reduce the situation that the detection area 141 of the second obstacle detector is blocked by the operating section 124. Since the operating section 124 is located above the mounting section 121, the second obstacle detector 140 can be arranged obliquely downward and can detect the area directly in front of the operating section 124.

[0300] Taking the extension 120 as an example of a mechanical arm: the operating section 124 is the working position of the entire mechanical arm, which can be the entire operating section 124 (which can be the entire cleaning part) or only a part of the operating section 124 away from the connecting section 123 (which can be a mechanical gripper). The mounting section 121 and the connecting section 123 are connecting arms of the mechanical arm, and the mounting section 121 and the connecting section 123 have a certain degree of freedom therebetween. The second obstacle detector 140 can be arranged obliquely downward and can detect the area directly in front of the operating section 124.

[0301] During the advancement of the mobile body 110, obstacles are more likely to be encountered in front of or above the mobile robot 100. The upward arrangement of the second obstacle detector 140 allows the second obstacle detector 140 to detect the area in front of and above the extension 120, thereby allowing the extension 129 to avoid obstacles and reduce the risk of collision.

[0302] Based on the same inventive concept, the embodiments of the present application also provide a robot system. The robot system provided by the embodiments of the present application comprises a base station and the mobile robot 100 described above.

[0303] In the description of the specification, the description of the terms "one embodiment", "some embodiments", "an example", "a specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the specification, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any appropriate manner in one or more embodiments or examples. In addition, those skilled in the art can combine and integrate different embodiments or examples described in the specification.

[0304] In addition, the technical solutions among various embodiments can be combined with each other, but it must be based on the fact that a person skilled in the art can realize the combination, and when the combination of technical solutions appears contradictory or unachievable, it should be considered that the combination of technical solutions does not exist and is not within the protection scope required by the present application.

[0305] Although the embodiments of the present application have been shown and described, those skilled in the art can understand that various changes, modifications, replacements and variations can be made to the embodiments without departing from the principles and purposes of the present application, and the scope of the present application is defined by the claims and their equivalents.

Claims

1. A mobile robot, characterized in that, include: A movable main body and an extension portion disposed on the movable main body, wherein the extension portion protrudes from the top of the movable main body in the working state; An obstacle avoidance detection component is movably mounted on the mobile body, and the detection area of ​​the obstacle avoidance detection component can be adjusted.

2. The mobile robot according to claim 1, characterized in that, The mobile body has a mounting slot, and the obstacle avoidance detection component can be installed in the mounting slot.

3. The mobile robot according to claim 2, characterized in that, When the obstacle avoidance detection component is located outside the mounting slot, the obstacle avoidance detection component is able to detect the surrounding environment of the extension portion.

4. The mobile robot according to claim 3, characterized in that, When the obstacle avoidance detection component is located outside the mounting slot, the detection area of ​​the obstacle avoidance detection component at least partially overlaps with at least partially the extension portion.

5. The mobile robot according to claim 2, characterized in that, When the obstacle avoidance detection component is located outside the mounting slot, the obstacle avoidance detection component is able to detect the surrounding environment of the moving body.

6. The mobile robot according to claim 2, characterized in that, The obstacle avoidance detection component includes a lifting component, a bracket, and an obstacle avoidance detector mounted on the bracket. The lifting component is connected to the bracket and can drive the bracket to be accommodated in the mounting slot or extend out of the mounting slot.

7. The mobile robot according to claim 1, characterized in that, The obstacle avoidance detection component includes a flipping component, a bracket, and an obstacle avoidance detector mounted on the bracket. The flipping component is connected to the bracket in a transmission manner and can drive the bracket to rotate relative to the moving body.

8. The mobile robot according to claim 7, characterized in that, The flipping component can drive the obstacle avoidance detector to rotate in a non-horizontal plane via the bracket.

9. The mobile robot according to claim 7, characterized in that, The bracket can drive the obstacle avoidance detector to rotate between a first position and a second position.

10. The mobile robot according to claim 9, characterized in that, The obstacle avoidance detector can hover at the first position, the second position, or any position between the first position and the second position.

11. The mobile robot according to claim 2, characterized in that, The obstacle avoidance detection component includes a bracket, a lifting component, a flipping component, and an obstacle avoidance detector mounted on the bracket. The lifting component is connected to the bracket and can drive the bracket to be accommodated in the mounting slot or extend out of the mounting slot. The flipping component is driven to the bracket and can drive the bracket to rotate relative to the moving body.

12. The mobile robot according to any one of claims 1-11, characterized in that, The distance between the obstacle avoidance detection component and the extension portion is greater than the radius of the moving body.

13. The mobile robot according to any one of claims 6-11, characterized in that, The obstacle avoidance detector includes a first obstacle avoidance detector and a second obstacle avoidance detector. Along the operating direction of the extension portion, the first obstacle avoidance detector is disposed behind the extension portion, and the second obstacle avoidance detector is disposed in front of the extension portion.

14. The mobile robot according to claim 13, characterized in that, The field of view of the first obstacle avoidance detector includes a first lateral angle and a first vertical angle, wherein the first lateral angle is 30 degrees to 60 degrees and the first vertical angle is 20 degrees to 60 degrees.

15. The mobile robot according to claim 14, 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.

16. The mobile robot according to claim 13, 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.

17. The mobile robot according to claim 16, characterized in that, The angle between the first edge and the horizontal direction is 15 degrees to 30 degrees.

18. The mobile robot according to claim 14, 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.

19. The mobile robot according to claim 18, characterized in that, The angle between the second edge and the horizontal direction is 60 degrees to 75 degrees.

20. The mobile robot according to claim 13, characterized in that, The field of view of the second obstacle avoidance detector includes a second lateral angle and a second vertical angle, wherein the second lateral angle is 30 degrees to 60 degrees and the second vertical angle is 20 degrees to 60 degrees.

21. The mobile robot according to claim 20, characterized in that, The optical axis of the second obstacle avoidance detector forms an angle of 60 to 90 degrees with the horizontal direction.

22. The mobile robot according to claim 13, 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 being located below the fourth edge, and the angle between the third edge and the horizontal direction being greater than or equal to 0 degrees.

23. The mobile robot according to claim 22, characterized in that, The angle between the third edge and the horizontal direction is 50 degrees to 70 degrees.

24. The mobile robot according to claim 13, 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 being located below the fourth edge, and the angle between the fourth edge and the horizontal direction being less than or equal to 180 degrees.

25. The mobile robot according to claim 24, characterized in that, The angle between the fourth edge and the horizontal direction is 90 degrees to 110 degrees.

26. The mobile robot according to any one of claims 1-11, characterized in that, The extension portion is at least one of a robotic arm, a robotic hand, a gripping device, and a detection device.

27. A robot system, characterized in that, This includes base stations and mobile robots as described in any one of claims 1-26.

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