Autonomous mobile device

Abstract

The embodiment of the utility model provides autonomous mobile equipment. Comprising a motion unit, a distance sensor assembly and an adjusting mechanism, the distance sensor assembly is connected with the adjusting mechanism, and the distance sensor assembly is used for measuring the distance of an environment object; the adjusting mechanism is connected with the distance sensor assembly and used for adjusting the inclination angle of the distance sensor assembly relative to the horizontal plane; the motion unit is used for controlling the autonomous mobile device to move and cooperating with the work of the distance sensor assembly. According to the scheme, by arranging the adjusting mechanism to adjust the inclination angle of the distance sensor assembly relative to the horizontal plane, the distance sensor assembly can obtain the distances of environment objects at multiple heights, map information can be enriched according to the distances of the environment objects at the multiple heights, and therefore the accuracy of map construction is improved.

Description

Technical Field

[0001] This application relates to the field of smart home technology, and more particularly to an autonomous mobile device. Background Technology

[0002] Autonomous mobile devices include motion units that drive them to move autonomously. When moved to a designated location, these devices can perform tasks specific to a given application scenario. These application scenarios include, but are not limited to, at least one of the following: home services, logistics services, industrial manufacturing, or security monitoring.

[0003] In practical applications, autonomous mobile devices construct maps using ranging devices. These maps include the locations of environmental objects. The autonomous mobile devices then plan their paths based on these locations, thus completing the tasks they need to perform while avoiding obstacles.

[0004] In related technologies, autonomous mobile devices move within a designated area. These devices construct a map of the area using distance sensors to plan their routes. The map includes the locations of environmental objects, and the routes planned based on these locations can prevent collisions during movement, thereby improving the reliability of the autonomous mobile device's task execution.

[0005] However, distance sensors can only acquire the distance to environmental objects at a preset height. The map constructed based on the distance to environmental objects at the preset height is a two-dimensional planar map, which has the problem of inaccuracy. Utility Model Content

[0006] This application provides an autonomous mobile device to improve the accuracy of map construction.

[0007] In a first aspect, embodiments of this application provide an autonomous mobile device, including: a motion unit, a distance sensor assembly, and an adjustment mechanism, wherein the distance sensor assembly is connected to the adjustment mechanism, and the distance sensor assembly is used to measure the distance of objects in the environment; the adjustment mechanism is connected to the distance sensor assembly, and the adjustment mechanism is used to adjust the tilt angle of the distance sensor assembly relative to the horizontal plane; the motion unit is used to control the movement of the autonomous mobile device and to cooperate with the operation of the distance sensor assembly.

[0008] In one possible implementation, the adjustment mechanism includes a limiting component and a driving component, wherein the limiting component is connected to the distance sensor assembly and the limiting component includes at least an oblique travel; the driving component is used to drive the distance sensor assembly to adjust the tilt angle relative to the horizontal plane during the oblique travel.

[0009] In a possible implementation, the limiting component further comprises a vertical stroke, wherein the driving component is further configured to drive the distance sensor assembly to adjust a height relative to a horizontal plane in the vertical stroke.

[0010] In a possible implementation, the limiting component comprises two symmetrically arranged limiting plates arranged in cooperation with the distance sensor assembly, and two parallel arranged first vertical slots and second vertical slots corresponding to the vertical stroke are arranged on the limiting plates.

[0011] In a possible implementation, a diagonal slot corresponding to the diagonal stroke is arranged through the second vertical slot.

[0012] In a possible implementation, the first vertical slot and the second vertical slot are staggered with each other, and projections of the first vertical slot and the second vertical slot on a side of the limiting plate are a line segment; the diagonal slot is an arc-shaped slot, the arc-shaped slot is inclined to an opposite direction of the side where the first vertical slot is located, and a concave surface of the arc-shaped slot faces the side where the first vertical slot is located.

[0013] In a possible implementation, the driving component comprises a motor and a connecting rod, wherein the motor is connected to a first end of the connecting rod, and the motor is configured to provide a driving force to the connecting rod; the connecting rod is inclined relative to a horizontal plane, a second end of the connecting rod is connected to the distance sensor assembly, and the connecting rod is configured to push the distance sensor assembly to move.

[0014] In a possible implementation, the driving component further comprises a sliding block, and the motor is a lead screw motor, wherein a lead screw of the lead screw motor passes through the sliding block, the lead screw motor is configured to provide a driving force to the sliding block, the sliding block is connected to the first end of the connecting rod, and the sliding block is configured to move along the lead screw under the driving force of the lead screw motor to push the distance sensor assembly to move through the connecting rod.

[0015] In a possible implementation, the distance sensor assembly comprises a distance sensor, a sensor cover, and a base, the sensor cover has an opening, wherein a positioning pin group corresponding to the limiting component is arranged on the sensor cover and the base, and the positioning pin group is arranged to slide in the limiting component; the sensor cover is connected to the distance sensor in a semi-enclosed manner.

[0016] In a possible implementation, when the height of the distance sensor assembly relative to a horizontal plane is at a lowest position, the height of the distance sensor assembly is less than or equal to the height of the autonomous mobile device.

[0017] The autonomous mobile device provided by the embodiment of the present application can adjust the inclination angle of the distance sensor assembly relative to the horizontal plane through the adjusting mechanism, so that the distance sensor assembly can obtain the distances of environmental objects at multiple heights, the information of the map can be enriched according to the distances of the environmental objects at multiple heights, and the accuracy of constructing the map is improved. BRIEF DESCRIPTION OF DRAWINGS

[0018] The accompanying drawings, which are incorporated herein and form a part of the specification, illustrate the embodiments of the present application and, together with the description, serve to explain the principles of the present application.

[0019] Figure 1 An application scenario diagram of the autonomous mobile device provided by the embodiment of the present application is shown in the figure.

[0020] Figure 2 A structure diagram of the autonomous mobile device provided by the embodiment of the present application is shown in the figure.

[0021] Figure 3a An adjusting inclination angle diagram provided by the embodiment of the present application is shown in the figure.

[0022] Figure 3b An adjusting inclination angle diagram provided by the embodiment of the present application is shown in the figure.

[0023] Figure 4 A structure diagram of the adjusting mechanism provided by the embodiment of the present application is shown in the figure.

[0024] Figure 5a A distance sensor assembly position adjusting diagram provided by the embodiment of the present application is shown in the figure.

[0025] Figure 5b A distance sensor assembly position adjusting diagram provided by the embodiment of the present application is shown in the figure.

[0026] Figure 5c A distance sensor assembly position adjusting diagram provided by the embodiment of the present application is shown in the figure.

[0027] Figure 6 A structure diagram of the limiting part provided by the embodiment of the present application is shown in the figure.

[0028] Figure 7 A structure diagram of the driving part provided by the embodiment of the present application is shown in the figure.

[0029] Figure 8 A structure diagram of the distance sensor assembly provided by the embodiment of the present application is shown in the figure.

[0030] Figure 9 A structure diagram of the autonomous mobile device provided by the embodiment of the present application is shown in the figure.

[0031] Figure 10A schematic view of a semi-concealed structure of an autonomous mobile device according to an embodiment of the present application.

[0032] Legend of reference signs:

[0033] 1-distance sensor assembly; 11-distance sensor; 12-sensor cover; 13-base; 2-environmental object; 3-movement unit; 4-adjusting mechanism; 41-limiting component; 411-first vertical sliding groove; 412-second vertical sliding groove; 413-oblique sliding groove; 42-driving component; 421-motor; 422-linkage; 423-sliding block; 5-horizontal plane.

[0034] The specific embodiments of the present application have been shown and described in the above-described drawings, and will be described in more detail hereinafter. These drawings and written description are not meant to limit the scope of the present application in any way, but merely to illustrate the concept of the present application to those skilled in the art by reference to a particular embodiment. DETAILED DESCRIPTION

[0035] The exemplary embodiments will be described in detail herein with reference to the attached drawings. In the following description, like reference numerals refer to like elements, unless the context clearly dictates otherwise. The embodiments described in the following exemplary embodiments are not meant to represent all embodiments consistent with the present application. Rather, they are merely examples of apparatus consistent with some aspects of the present application as detailed in the appended claims.

[0036] It should be noted that the autonomous mobile device of the present application can be used in the field of smart home, and can also be used in any field other than smart home. The application field of the autonomous mobile device of the present application is not limited.

[0037] Figure 1 A schematic view of an application scenario of an autonomous mobile device according to an embodiment of the present application is provided, and an example is given in combination with the illustrated scenario: the autonomous mobile device includes a distance sensor assembly 1, which can measure the distance to the direction facing it and emit and receive laser. When the direction facing the distance sensor assembly 1 is the position of A1 point or A2 point of the environmental object 2, etc., the distance between the distance sensor assembly 1 and the position of A1 point or A2 point of the environmental object 2 can be measured, and the autonomous mobile device can construct a map according to the distance.

[0038] For example, a single-line laser radar is provided in the distance sensor assembly 1, which is horizontally arranged. The single-line laser radar can only emit laser at a fixed height and receive laser at a fixed height, so the single-line laser radar can only obtain the distance of the environmental object at a fixed height, which results in low accuracy of the constructed map.

[0039] In combination with the scenario example, reference is made to Figure 1The environmental object 2 has a certain height in the three-dimensional space, and only the distances of multiple positions at a fixed height of the environmental object 2, such as the A1 point and the A2 point, or the distances of multiple positions at the same height can be obtained by the single-line laser radar. The map constructed on this basis cannot accurately reflect the complete information of the environmental object 2, thereby causing the problem of low accuracy of the constructed map.

[0040] In combination with a scene example, the single-line laser radar can only obtain the distances of positions at a fixed height. If the environmental object includes low chairs, sofas and other objects, such objects include suspended parts. The single-line laser radar cannot accurately identify the suspended parts, which causes the path planning generated by the autonomous mobile device to include the suspended parts, and can cause the autonomous mobile device to be stuck in the suspended parts when moving. If the environmental object includes a ground depression, the single-line laser radar cannot accurately identify the depression, which can cause the autonomous mobile device to be stuck in the depression when moving. Therefore, the accuracy of the constructed map can affect the accuracy of the path planning of the autonomous mobile device, and further affect the reliability of the autonomous mobile device in performing a task.

[0041] In the related art, a multi-line laser radar is arranged on the autonomous mobile device. The multi-line laser radar is a sensor that realizes three-dimensional environmental perception by simultaneously emitting multiple laser beams and receiving reflected laser beams. Compared with the single-line laser radar, the multi-line laser radar can emit and receive laser beams at multiple inclined angles in the vertical direction, thereby constructing a three-dimensional map to improve the accuracy of the constructed map. Or a solid-state laser radar is arranged. The solid-state laser radar does not rely on rotating parts to change the direction of the laser. The solid-state laser radar can change the direction of the laser by means of an optical phased array (OPA) or a micro-electro-mechanical system (MEMS) mirror. Specifically, the OPA uses beam forming technology to dynamically control the phase difference between array laser units to accurately control the direction of the laser wave front in an electronic manner, thereby forming a spatial scanning capability without mechanical rotating parts, so as to realize scanning of different positions in space. The OPA can realize two-dimensional or three-dimensional scanning without mechanical movement. The MEMS mirror is a small mechanical device that controls the high-frequency vibration of a micron-level mirror in a two-axis direction through a micro-sized piezoelectric or electromagnetic driving device, thereby realizing full-coverage scanning of a three-dimensional space, thereby covering a three-dimensional space. However, the price of the solid-state laser radar is relatively high, and the use of the solid-state laser radar increases the cost of the autonomous mobile device.

[0042] The autonomous mobile device provided in the present application aims to solve the above technical problems of the prior art.

[0043] The technical solutions of the present application and how the technical solutions of the present application solve the above technical problems will be described in detail below with specific examples. The following specific examples can be combined with each other, and the same or similar concepts or processes can not be described again in some examples. The embodiments of the present application will be described below with reference to the drawings.

[0044] Figure 2 A structural schematic diagram of an autonomous mobile device provided by an embodiment of the present application includes a motion unit 3, a distance sensor assembly 1, and an adjusting mechanism 4, wherein,

[0045] The distance sensor assembly 1 is connected with the adjusting mechanism 4, and the distance sensor assembly 1 is used to measure the distance of the environmental object;

[0046] The adjusting mechanism 4 is connected with the distance sensor assembly 1, and the adjusting mechanism 4 is used to adjust the inclination angle of the distance sensor assembly 1 relative to the horizontal plane;

[0047] The motion unit 3 is used to control the movement of the autonomous mobile device and cooperate with the work of the distance sensor assembly 1.

[0048] For example, the distance sensor in the distance sensor assembly 1 can only measure the distance between itself and multiple positions of the environmental object in the ranging direction, so when the ranging direction is parallel to the horizontal plane, the distance sensor can only obtain the distance of the environmental object at a fixed height.

[0049] Optionally, the ranging direction of the distance sensor is the direction in which the probe of the distance sensor faces.

[0050] Optionally, the distance sensor includes but is not limited to a single-line laser radar, a depth camera, or a line laser sensor, etc.

[0051] For example, the distance sensor is a single-line laser radar, and the scanning plane is the range in which the distance sensor assembly 1 measures the distance. The single-line laser radar in the distance sensor assembly 1 can rotate in the scanning plane. When the single-line laser radar rotates to any position, the single-line laser radar can send and receive laser in the facing direction, and according to the time length between the sending laser and the receiving laser, the distance of the environmental object in the facing direction can be obtained. With the rotation of the single-line laser radar, the distances of the environmental objects in different directions in the scanning plane are obtained in turn. When the scanning plane is parallel to the horizontal plane, the height of the position in any direction in the scanning plane is the same, and at this time the distance sensor assembly 1 can only obtain the distances of multiple environmental objects at a fixed height.

[0052] For example, the adjusting mechanism 4 lifts one end of the distance sensor assembly 1 to make one end of the distance sensor assembly 1 tilt, so as to change the inclination angle of the distance sensor assembly 1 relative to the horizontal plane.

[0053] Exemplarily, the application adjusts the inclination angle of the distance sensor assembly 1 relative to the horizontal plane through the adjusting mechanism 4, and in the process of adjustment, the angle of the ranging direction of the distance sensor assembly 1 relative to the horizontal plane changes, so that the distance of the environmental object obtained by the distance sensor assembly 1 is not limited to a fixed height. The ranging direction of the distance sensor assembly 1 is inclined, so that the distance sensor assembly 1 can move with the movement unit, thereby obliquely scanning the environmental object, and obtaining the profile of the environmental object.

[0054] Next, the adjustment of the inclination angle will be described in combination with Figure 3a the adjustment of the inclination angle.

[0055] Figure 3a The schematic diagram for adjusting the inclination angle provided by the embodiment of the application is shown in FIG. 3. As shown in FIG. 3, the ranging direction of the distance sensor assembly 1 is parallel to the horizontal plane 5, the height difference between the ranging direction of the distance sensor assembly 1 and the horizontal plane 5 is H, and the distance sensor assembly 1 can only obtain the information of the environmental object with the height of H. Figure 3a Next, the adjustment of the inclination angle will be described in combination with

[0056] the adjustment of the inclination angle. Figure 3b

[0057] Figure 3b The schematic diagram for adjusting the inclination angle provided by the embodiment of the application is shown in FIG. 3. As shown in FIG. 3, the ranging direction of the distance sensor assembly 1 is parallel to the horizontal plane 5, the height difference between the ranging direction of the distance sensor assembly 1 and the horizontal plane 5 is H, and the distance sensor assembly 1 can only obtain the information of the environmental object with the height of H. Figure 3b Next, the adjustment of the inclination angle will be described in combination with

[0058] the adjustment of the inclination angle.

[0059] ​The autonomous mobile device provided in this application embodiment, through the cooperation of the adjustment mechanism and the distance sensor assembly, can acquire the distance of environmental objects at multiple heights using only a single-line LiDAR. Compared with using multi-line LiDAR and other equipment, it can improve the accuracy of map construction at a low cost.

[0060] One feasible implementation method, such as Figure 4 As shown, Figure 4 This is a schematic diagram of the adjusting mechanism 4. The adjusting mechanism 4 includes a limiting component 41 and a driving component 42, wherein...

[0061] The limiting component 41 is connected to the distance sensor assembly 1, and the limiting component 41 includes at least an oblique travel.

[0062] The drive unit 42 is used to drive the distance sensor assembly 1 to adjust the tilt angle relative to the horizontal plane during the oblique stroke.

[0063] For example, the limiting component 41 is used to limit the adjustment of the distance sensor assembly 1 within a preset position range in order to control the accuracy of adjusting the tilt angle of the distance sensor assembly 1 relative to the horizontal plane.

[0064] For example, drive component 42 provides drive force to drive distance sensor assembly 1 to reciprocate within an oblique stroke to adjust the tilt angle of distance sensor assembly 1 relative to the horizontal plane to a specified value.

[0065] With the scenario example, distance sensor assembly 1 is located at the top of the autonomous mobile device. When distance sensor assembly 1 is adjusted to the lowest point of its tilt travel, its tilt angle relative to the horizontal plane is 0, and the ranging direction is parallel to the horizontal plane. When distance sensor assembly 1 is adjusted to the highest point of its tilt travel, its tilt angle relative to the horizontal plane reaches its maximum value, and the tilt angle between the ranging direction and the horizontal plane reaches its maximum value. Therefore, distance sensor assembly 1 can obtain the distance to environmental objects at their maximum and minimum heights.

[0066] In this feasible implementation, by setting the oblique stroke, the tilt angle of the distance sensor assembly 1 relative to the horizontal plane can be effectively adjusted, thereby obtaining the distance to environmental objects at different heights.

[0067] A feasible implementation method, see reference Figure 4 The limiting component 41 also includes a vertical travel, wherein,

[0068] The drive unit 42 is also used to drive the distance sensor assembly 1 to adjust its height relative to the horizontal plane during the vertical stroke.

[0069] Optionally, the vertical stroke is perpendicular to the horizontal plane.

[0070] For example, the driving component 42 provides driving force to drive the distance sensor assembly 1 to reciprocate in the vertical stroke to adjust the height of the distance sensor assembly 1 relative to the horizontal plane.

[0071] For example, the distance sensor assembly 1 is located at the upper part of the autonomous mobile device. When the distance sensor assembly 1 is adjusted to the lowermost part of the vertical stroke, the height of the distance sensor assembly 1 is the lowest, and the height of the autonomous mobile device is the lowest. At this time, the autonomous mobile device can move under some environmental objects to perform tasks or drill through some obstacles to perform tasks.

[0072] In this feasible implementation, by setting the vertical stroke, the height of the autonomous mobile device can be adjusted, thereby increasing the moving range of the autonomous mobile device, and further obtaining the distance of more environmental objects in the area. For example, low internal space such as a table and a sofa, after lowering the radar, the passability of the autonomous mobile device can be improved, the moving range of the autonomous mobile device is increased, and the autonomous mobile device is prevented from being stuck under the sofa.

[0073] Next, the autonomous mobile device is described in combination with Figure 5a , 5b , and 5c.

[0074] Figure 5a , 5b , and 5c are schematic diagrams of the position adjustment of the distance sensor assembly provided by the embodiments of the present application. As shown in Figure 5a , when the distance sensor assembly 1 is adjusted to the lowermost part of the vertical stroke, the part of the distance sensor assembly 1 exposed outside the limiting component 41 is the least, and the distance sensor assembly 1 can only adjust the height and cannot adjust the tilt angle due to the limitation of the limiting component 41. At this time, the ranging direction of the distance sensor assembly 1 is parallel to the horizontal plane, and the height of the ranging direction relative to the horizontal plane is the lowest, and the distance sensor assembly can obtain the distance of the environmental object at the first height. As shown in Figure 5b , when the distance sensor assembly 1 is adjusted to the uppermost part of the vertical stroke, compared with Figure 5a , the part of the distance sensor assembly 1 exposed outside the limiting component 41 is more, the limiting component 41 no longer limits the adjustment of the tilt angle of the distance sensor assembly 1, and the distance sensor assembly 1 can move in the oblique stroke to adjust the tilt angle of the distance sensor assembly 1. At this time, the ranging direction of the distance sensor assembly 1 is parallel to the horizontal plane, and the distance sensor assembly 1 can obtain the distance of the environmental object at the second height, which is greater than the first height. As shown in Figure 5c , when the distance sensor assembly 1 is adjusted to the uppermost part of the vertical stroke, the distance sensor assembly 1 produces a tilt angle relative to the horizontal plane, and the ranging direction of the distance sensor assembly 1 is inclined to the horizontal plane, and the distance sensor assembly 1 can obtain the distance of the environmental object at different heights.

[0075] An example implementation is shown in Figure 6 Figure 6 Fig. 4 is a schematic view of a limiting component 41. The limiting component 41 includes two symmetrically arranged limiting plates that are arranged in cooperation with the distance sensor assembly 1, and each limiting plate is provided with two parallel first vertical sliding grooves 411 and second vertical sliding grooves 412 corresponding to the vertical stroke.

[0076] An example implementation is shown in Figure 6 The second vertical sliding grooves 412 are provided with a diagonal sliding groove 413 corresponding to the diagonal stroke.

[0077] In an example, the first vertical sliding grooves 411, the second vertical sliding grooves 412, and the diagonal sliding groove 413 are groove tracks, and the distance sensor assembly 1 can only move within the range limited by the groove tracks.

[0078] In an example, the movement of the distance sensor assembly 1 is limited from two directions by the two symmetrically arranged limiting plates, so as to improve the stability of the distance sensor assembly 1.

[0079] An example implementation is shown in Figure 6 The first vertical sliding grooves 411 and the second vertical sliding grooves 412 are staggered, and the projections of the first vertical sliding grooves 411 and the second vertical sliding grooves 412 on the side of the limiting plate are a line segment.

[0080] The diagonal sliding groove 413 is an arc-shaped sliding groove, which is inclined to the opposite side of the side where the first vertical sliding grooves 411 are located, and the concave surface of the arc-shaped sliding groove faces the side where the first vertical sliding grooves 411 are located.

[0081] In an example, the projections of the first vertical sliding grooves 411 and the second vertical sliding grooves 412 on the side of the limiting plate are a line segment, which means that the first vertical sliding grooves 411 and the second vertical sliding grooves 412 on any one limiting plate are located on the same surface of the limiting plate, so as to realize the cooperative work of the first vertical sliding grooves 411 and the second vertical sliding grooves 412. The first vertical sliding grooves 411 and the second vertical sliding grooves 412 are staggered, and they jointly adjust the height of the distance sensor assembly 1, so as to maintain the stability of the distance sensor assembly 1 when adjusting the height of the distance sensor assembly 1.

[0082] In an example, the diagonal sliding groove 413 is arc-shaped, which is used to realize smooth adjustment when adjusting the inclination angle of the distance sensor assembly 1, and reduce the wear of the components.

[0083] An example implementation is shown in Figure 7 ​​Figure 7 A schematic diagram of the driving component 42. The driving component 42 comprises a motor 421 and a connecting rod 422, wherein,

[0084] The motor 421 is connected with the first end of the connecting rod 422, and the motor 421 is used to provide driving force to the connecting rod;

[0085] The connecting rod 422 is inclined relative to the horizontal plane, and the second end of the connecting rod 422 is connected with the distance sensor assembly 1, and the connecting rod 422 is used to push the distance sensor assembly 1 to move.

[0086] For example, the motor 421 provides driving force to the connecting rod 422, so as to control the connecting rod 422 to move, and the connecting rod 422 is connected with the distance sensor assembly 1, and the movement of the connecting rod 422 pushes the distance sensor assembly 1 to move.

[0087] Optionally, the connecting rod 422 can be fixed at multiple positions, so that the distance sensor assembly 1 can stop at multiple positions during movement.

[0088] In combination with the scene example, the limiting component 41 and the driving component 42 work cooperatively, the driving component 42 provides driving force to the distance sensor assembly 1, controls the distance sensor assembly 1 to move, and controls the distance sensor assembly 1 to move to the preset position through the limiting component 41.

[0089] A possible implementation manner is shown in Figure 7 The driving component 42 further comprises a sliding block 423, and the motor is a lead screw motor, wherein,

[0090] The lead screw of the lead screw motor passes through the sliding block 423, and the lead screw motor is used to provide driving force to the sliding block 423;

[0091] The sliding block 423 is connected with the first end of the connecting rod 422, and the sliding block 423 is used to move along the lead screw under the driving force of the lead screw motor, so as to push the distance sensor assembly 1 to move through the connecting rod 422.

[0092] Optionally, a threaded structure is arranged outside the lead screw, the lead screw motor drives the lead screw to rotate forward or reversely, the position where the sliding block 423 contacts the lead screw is provided with a threaded structure, the threaded structure of the lead screw and the threaded structure of the sliding block 423 are matched, the threaded structure is used to realize that the lead screw motor drives the sliding block 423 to move along the axis direction of the lead screw, so as to convert the driving force of the lead screw motor into the linear motion of the sliding block 423.

[0093] Optionally, the connection position of the sliding block 423 and the connecting rod 422 is a movable shaft, the movable shaft is used to convert the linear motion of the sliding block 423 into the movement of the connecting rod 422 to multiple angles, so that the distance sensor assembly 1 connected with the connecting rod 422 can move along the vertical stroke and the inclined stroke.

[0094] For example, the sliding block 423 can stop at any position of the screw rod, each position of the sliding block 423 corresponds to a position of the connecting rod 422, and each position of the connecting rod 422 corresponds to a position of the distance sensor assembly 1. That is, each position of the sliding block 423 corresponds to a position of the distance sensor assembly 1. By controlling the sliding block 423 to stop at any position, the position of the distance sensor assembly 1 can be controlled.

[0095] In this feasible implementation manner, the position of the distance sensor assembly 1 can be accurately controlled by the sliding block and the screw rod motor, thereby improving the accuracy of mapping.

[0096] A feasible implementation manner is shown in Figure 8 FIG. 1, Figure 8 which is a structural schematic diagram of the distance sensor assembly 1. The distance sensor assembly 1 includes a distance sensor 11, a sensor cover 12, and a base 13. The sensor cover 12 has an opening, wherein

[0097] The sensor cover 12 and the base 13 are provided with a positioning pin group corresponding to the limiting component 41, and the positioning pin group is slidably arranged in the limiting component 41.

[0098] The sensor cover 12 is connected to the distance sensor 11 in a semi-enclosed manner.

[0099] For example, the sensor cover 12 includes an opening, and the distance sensor 11 can measure the distance of the environmental object through the opening to avoid the shielding of the sensor cover.

[0100] For example, the sensor cover 12 is used to protect the distance sensor 11 from collision. At the same time, the distance sensor 11 can measure the distance of the environmental object through the opening of the sensor cover 12 during rotation.

[0101] For example, the base 13 is used to support the distance sensor assembly 1 to avoid the direct contact between the connecting rod 422 and the distance sensor 11, which may cause abrasion of the distance sensor 11. The base 13 is connected to the connecting rod 422, and the connecting rod 422 pushes the base 13 to adjust the position of the distance sensor assembly 1.

[0102] For example, the positioning pin group includes a plurality of positioning pins, and the plurality of positioning pins are symmetrically arranged on two symmetric surfaces of the sensor cover 12 and two symmetric surfaces of the base 13. The positioning pins are used for the slot connection of the limiting component 41, and the positioning pins move in the slot of the limiting component 41 to adjust the position of the distance sensor assembly 1.

[0103] Optionally, the sensor cover 12 also includes a collision sensor, which is used to detect whether the sensor cover 12 collides with environmental objects. By detecting whether a collision occurs, the movement path of the autonomous mobile device can be adjusted in a timely manner to reduce collisions between the autonomous mobile device and environmental objects.

[0104] In this feasible implementation, the distance sensor can be protected and its movement controlled by the sensor cover and base, thereby improving the stability of the distance sensor.

[0105] One feasible implementation method, such as Figure 9 As shown, Figure 9 This is a schematic diagram of the autonomous mobile device. When the distance sensor assembly 1 is at its lowest position relative to the horizontal plane 5, the height of the distance sensor assembly 1 is less than or equal to the height of the autonomous mobile device.

[0106] In related technologies, the distance sensor assembly 1 is protruding, and the distance sensor assembly 1 is higher than any component of the autonomous mobile device, resulting in low space utilization of the autonomous mobile device. Consequently, the autonomous mobile device cannot enter some low-ceilinged spaces, thus limiting the mobility range of the autonomous mobile device.

[0107] For example, refer to Figure 9 When the distance sensor assembly 1 is at its lowest position relative to the horizontal plane 5, that is, when the distance sensor assembly 1 is at its lowest position in the vertical travel, the distance sensor assembly 1 is set in a semi-hidden manner. At this time, the height of the distance sensor assembly 1 is less than or equal to the height of the autonomous mobile device.

[0108] Below, in conjunction with Figure 10 The semi-hidden structure of autonomous mobile devices is explained.

[0109] Figure 10 This is a schematic diagram of the semi-hidden structure of the autonomous mobile device provided in an embodiment of this application. Figure 10 This is a top view of an autonomous mobile device. Figure 10 The height of the shadow area is lower than the height of area 6, and the distance sensor assembly 1 is set in the shadow area in a semi-hidden manner. The height of the shadow area is set to be lower than the height of area 6 so that when the distance sensor assembly 1 is partially retracted, the height of the distance sensor assembly 1 is less than or equal to the height of area 6, and the shadow area provides a fan-shaped range for the distance sensor assembly 1 to obtain the distance of environmental objects, so that the autonomous mobile device can effectively avoid obstacles.

[0110] With the scene example, when the autonomous mobile device moves, the distance sensor assembly 1 is partly retracted to reduce the overall height of the autonomous mobile device to pass through the low space. When the autonomous mobile device maps, the distance sensor assembly 1 is lifted and the inclination angle of the distance sensor assembly 1 relative to the horizontal plane is adjusted to build a three-dimensional map.

[0111] Optionally, the autonomous mobile device further comprises a top sensor, wherein the top sensor is arranged on the top of the autonomous mobile device, and the top sensor is configured to detect the distance between the autonomous mobile device and the top environmental object. With the scene example, when the autonomous mobile device moves to the low space, to avoid the distance sensor assembly 1 colliding with the top environmental object, the distance sensor assembly 1 is partly retracted, and the inclination angle of the distance sensor assembly 1 relative to the horizontal plane is 0, so the distance sensor assembly 1 cannot obtain the distance of the environmental object above the autonomous mobile device. By arranging the top sensor upward, the distance of the environmental object above the autonomous mobile device can be effectively obtained, so that the autonomous mobile device can effectively avoid obstacles.

[0112] In this feasible implementation, by means of semi-concealment, the space utilization of the autonomous mobile device can be improved, so that the autonomous mobile device can more easily enter the low space, thereby improving the moving range of the autonomous mobile device.

[0113] In the above embodiments, the description of each embodiment has its own emphasis, and the parts not described in detail in a certain embodiment can be referred to the relevant description of other embodiments. The technical features of the above embodiments can be combined arbitrarily, and in order to make the description concise, not all possible combinations of the technical features in the above embodiments are described, however, as long as the combination of these technical features does not exist contradictory, it should be considered as the scope of the present disclosure.

[0114] It should be noted that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate relative positions or orientations based on the orientation or position shown in the drawings and are used only for convenience in describing the present application and simplifying the description, and thus cannot be construed as indicating or implying that a device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the present application. The terms "mount", "connected", "connecting" should be interpreted broadly, for example, can be fixed connection, can also be detachable connection, or integral connection; can be mechanical connection, can also be electrical connection; can be directly connected, can also be indirectly connected through intermediate medium, can be internal communication of two elements. The terms "parallel", "perpendicular", "equal" include the described case and the approximate case of the described case, and the approximate case is within the acceptable deviation range, wherein the acceptable deviation range is determined by the person skilled in the art considering the measurement being discussed and the error related to the measurement of the specific quantity (i.e. the limitation of the measurement system). For example, "parallel" includes absolute parallel and approximate parallel, wherein the acceptable deviation range of approximate parallel can be, for example, within 5°; "perpendicular" includes absolute perpendicular and approximate perpendicular, wherein the acceptable deviation range of approximate perpendicular can also be, for example, within 5°. "Equal" includes absolute equality and approximate equality, wherein the acceptable deviation range of approximate equality can be, for example, that the difference between the two equalities is less than or equal to 5% of either. For those skilled in the art, the specific meaning of the above terms in the present application can be understood in specific cases.

[0115] Other embodiments of the application will be apparent to those skilled in the art from consideration of the specification and practice of the application disclosed herein. It is intended that the specification and examples be considered as exemplary only, with the true scope and spirit of the application being indicated by the following claims.

[0116] It should be understood that the application is not limited to the precise construction and methods described above and shown in the drawings, and that various modifications and changes can be made without departing from the scope thereof. The scope of the application is limited only by the claims appended hereto.

Claims

1. An autonomous mobile device, comprising: The autonomous mobile device comprises: a movement unit, a distance sensor assembly, and an adjusting mechanism, wherein the distance sensor assembly is connected with the adjusting mechanism, and the distance sensor assembly is configured to measure the distance of an environmental object; the adjusting mechanism is connected with the distance sensor assembly, and the adjusting mechanism is configured to adjust the tilt angle of the distance sensor assembly relative to the horizontal plane; the movement unit is configured to control the movement of the autonomous mobile device and cooperate with the operation of the distance sensor assembly.

2. The autonomous mobile device of claim 1, wherein, The adjusting mechanism comprises a limiting component and a driving component, wherein the limiting component is connected with the distance sensor assembly, and the limiting component comprises at least a slanting stroke; the driving component is configured to drive the distance sensor assembly to adjust the tilt angle relative to the horizontal plane in the slanting stroke.

3. The autonomous mobile device of claim 2, wherein, The limiting component further comprises a vertical stroke, wherein the driving component is further configured to drive the distance sensor assembly to adjust the height relative to the horizontal plane in the vertical stroke.

4. The autonomous mobile device of claim 3, wherein, The limiting component comprises two symmetrically arranged limiting plates arranged in cooperation with the distance sensor assembly, and the limiting plates are provided with two parallel arranged first vertical sliding grooves and second vertical sliding grooves corresponding to the vertical stroke.

5. The autonomous mobile device of claim 4, wherein, The second vertical sliding groove is provided with a slanting sliding groove corresponding to the slanting stroke.

6. The autonomous mobile device of claim 5, wherein, The first vertical sliding groove and the second vertical sliding groove are staggered, and the projections of the first vertical sliding groove and the second vertical sliding groove on the side of the limiting plate are a line segment; The slanting sliding groove is an arc-shaped sliding groove, which is inclined to the opposite side of the side where the first vertical sliding groove is located, and the concave surface of the arc-shaped sliding groove faces the side where the first vertical sliding groove is located.

7. The autonomous mobile device of claim 2, wherein, The driving component comprises a motor and a connecting rod, wherein the motor is connected with the first end of the connecting rod, and the motor is configured to provide driving force to the connecting rod; the connecting rod is inclined relative to the horizontal plane, and the second end of the connecting rod is connected with the distance sensor assembly, and the connecting rod is configured to push the distance sensor assembly to move.

8. The autonomous mobile device of claim 7, wherein, The driving component further comprises a sliding block, and the motor is a lead screw motor, wherein the lead screw of the lead screw motor penetrates through the sliding block, and the lead screw motor is configured to provide driving force to the sliding block; the sliding block is connected with the first end of the connecting rod, and the sliding block is configured to move along the lead screw under the driving force of the lead screw motor, so as to push the distance sensor assembly to move through the connecting rod.

9. The autonomous mobile device of claim 1, wherein, The distance sensor assembly comprises a distance sensor, a sensor cover, and a base, and the sensor cover has an opening, wherein the sensor cover and the base are provided with a positioning pin group corresponding to the limiting component, and the positioning pin group is slidingly arranged in the limiting component; the sensor cover is connected with the distance sensor in a semi-enclosed manner.

10. The autonomous mobile device according to claim 1, wherein when the height of the distance sensor assembly relative to the horizontal plane is at the lowest position, the height of the distance sensor assembly is less than or equal to the height of the autonomous mobile device.

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