A detection module, mobile robot and robot system

Abstract

The application discloses a detection module, a mobile robot and a robot system, and belongs to the technical field of electrical equipment. The detection module comprises a shell, a detection assembly and a reflection assembly. The shell has a mounting cavity. The detection assembly comprises a transmitter and a receiver. The transmitter and the receiver are arranged in the mounting cavity at intervals. The reflection assembly comprises a driving member and a reflection part. The driving member is connected with the reflection part. The reflection part has a first reflection surface and a second reflection surface. The first reflection surface and the second reflection surface are arranged in the mounting cavity. The second reflection surface can reflect the signal emitted by the transmitter from the shell to the receiver to form a reference signal. The difference between the reference distance measured by the reference signal and the measurement distance measured by the measurement signal can offset the measurement error caused by the deviation of the transmitter or the receiver, and the measurement accuracy of the detection module can be improved to a certain extent.

Description

Technical Field

[0001] This application belongs to the field of electrical equipment technology, and in particular relates to a detection module, a mobile robot, and a robot system. Background Technology

[0002] With the development of smart hardware technology, including but not limited to food delivery robots, robotic vacuum cleaners, and delivery robots, a series of intelligent vision products with autonomous navigation and pathfinding capabilities are emerging. There is a need to avoid obstacles and prevent collisions between the mobile robots and personnel, thus preventing injuries from such collisions. This is especially true for robotic vacuum cleaners, which need to identify obstacles and clean the surrounding surfaces while avoiding them.

[0003] In related technologies, mobile robots generally use detection modules to detect obstacles. However, after working for a period of time, the detection accuracy of the detection module will decrease. Utility Model Content

[0004] This application aims to at least partially solve the technical problem of low accuracy in detection modules. To this end, this application provides a detection module, a mobile robot, and a robot system.

[0005] In a first aspect, an embodiment of this application provides a detection module, comprising: The housing has a mounting cavity; The detection assembly includes a transmitter and a receiver, the transmitter and the receiver being spaced apart within the mounting cavity; A reflective assembly includes a driving member and a reflective part, the driving member being connected to the reflective part, the reflective part having a first reflective surface and a second reflective surface, the first reflective surface and the second reflective surface being disposed within the mounting cavity; The driving component is used to drive the reflector to move, such that the first reflector reflects the detection signal emitted by the transmitter to the outside of the mounting cavity, and the second reflector reflects the detection signal emitted by the transmitter from the inside of the mounting cavity to the receiver.

[0006] The second reflective surface can reflect the signal emitted by the transmitter from inside the housing to the receiver to form a reference signal. The difference between the reference distance measured by the reference signal and the measured distance obtained by the measurement signal can offset the measurement error caused by the deviation of the transmitter or receiver, which can improve the measurement accuracy of the detection module to a certain extent.

[0007] In an optional embodiment of this application, the driving member is used to drive the reflective part to rotate, such that the first reflective surface and the second reflective surface are alternately positioned toward the detection component.

[0008] In an optional embodiment of this application, the first reflective surface and the second reflective surface are disposed on opposite sides of the reflective portion.

[0009] In an optional embodiment of this application, the driving component includes a driving part and a transmission shaft, the driving part and the transmission shaft are connected in a driving connection, the transmission shaft is connected to the reflective part, and the driving part drives the transmission shaft to rotate so that the first reflective surface and the second reflective surface are alternately positioned toward the detection component.

[0010] In an optional embodiment of this application, the detection module further includes a detection element for detecting the rotation angle of the reflector to determine the positions of the first reflective surface and the second reflective surface relative to the detection component.

[0011] In an optional embodiment of this application, the reflective component further includes a connecting portion and a plurality of trigger portions, wherein the plurality of trigger portions are spaced apart from the connecting portion, the connecting portion is connected to the reflective component, and the trigger portions are used to trigger the detection element to determine the rotation angle of the reflective component based on the number of times the detection element is triggered by the trigger portions.

[0012] In an optional embodiment of this application, the reflective component further includes a first circuit board, the driving element is mounted on the first circuit board, and the detection element is mounted on the first circuit board.

[0013] In an optional embodiment of this application, the detection component further includes a fixing member, the transmitter and the receiver are mounted on the fixing member, and the fixing member is detachably connected to the first circuit board.

[0014] In an optional embodiment of this application, a baffle is provided inside the mounting cavity. The baffle is used to separate the detection signal and the measurement signal. The measurement signal is a signal reflected back from an obstacle. The receiver is used to receive the measurement signal. The baffle is provided with a connection port, and the reflector passes through the connection port.

[0015] In an optional embodiment of this application, the reflective component further includes a stop portion, which is disposed on the same side of the reflective component as the first reflective surface. The stop portion divides the first reflective surface into a emitting reflective surface and a receiving reflective surface. The emitting reflective surface is disposed corresponding to the transmitter, and the receiving reflective surface is disposed corresponding to the receiver.

[0016] In an optional embodiment of this application, when the first reflective surface faces the detection component, the projection of the stop portion onto the housing coincides with the projection of the baffle onto the housing along the direction of the rotation center of the reflective portion.

[0017] In an optional embodiment of this application, the stop portion includes a main body segment and a stop segment. The main body segment is connected to the reflective portion, and the stop segment is connected to the end of the main body segment away from the reflective portion. Along the direction of the rotation center of the reflective portion, the thickness of the stop segment is less than the thickness of the main body segment. The baffle has a stop groove, which communicates with the connection port, and the stop section is disposed in the stop groove.

[0018] In an optional embodiment of this application, the reflective portion further has a first connecting surface and a second connecting surface, wherein the first connecting surface connects one side of the first reflective surface and one side of the second reflective surface, and the second connecting surface connects the other side of the first reflective surface and the other side of the second reflective surface; The stop portion includes a first stop segment, a second stop segment, and a third stop segment. One end of the third stop segment is connected to the first stop segment, and the other end of the third stop segment is connected to the second stop segment. The first stop segment is disposed on the first connecting surface, the second stop segment is disposed on the second connecting surface, and the third stop segment is disposed on the first reflective surface.

[0019] In an optional embodiment of this application, the reflective portion further has a first connecting surface and a second connecting surface, wherein the first connecting surface connects one side of the first reflective surface and one side of the second reflective surface, and the second connecting surface connects the other side of the first reflective surface and the other side of the second reflective surface; The stop portion includes a first stop segment, a second stop segment, and a third stop segment. One end of the third stop segment is connected to the first stop segment, and the other end of the third stop segment is connected to the second stop segment. The first stop segment is disposed on the first connecting surface, the second stop segment is disposed on the second connecting surface, and the third stop segment is disposed on the first reflective surface.

[0020] In an optional embodiment of this application, the transmitting cavity and the receiving cavity are connected when the second reflective surface faces the detection component.

[0021] In an optional embodiment of this application, the roughness of the second reflective surface is greater than the roughness of the first reflective surface.

[0022] In an optional embodiment of this application, the housing has a window, the detection module further includes a lens, the lens covers the window, and the emission direction of the transmitter is parallel to or away from the lens.

[0023] Secondly, embodiments of this application provide a mobile robot, including a main body and the detection module described in the first aspect, wherein the detection module is installed on the main body.

[0024] The beneficial effects of the mobile robot provided in the second aspect are the same as those of the detection module provided in the first aspect, and will not be repeated here.

[0025] In an optional embodiment of this application, the detection module is disposed on the front side of the main body of the device.

[0026] In an optional embodiment of this application, the detection module includes two modules, one of which is disposed on the front side of the device body and the other of which is disposed on the rear side of the device body.

[0027] Thirdly, embodiments of this application provide a robot system, characterized in that it includes a base station and the mobile robot described in the second aspect, wherein the mobile robot can interface with the base station.

[0028] The beneficial effects of the robot system provided in the third aspect are the same as those of the detection module provided in the first aspect and the mobile robot provided in the second aspect, and will not be repeated here. Attached Figure Description

[0029] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0030] Figure 1 A schematic diagram of the structure of the detection module provided in an embodiment of this application is shown.

[0031] Figure 2 An exploded view of the detection module provided in an embodiment of this application is shown.

[0032] Figure 3 This paper shows a schematic diagram of the first view of the detection module provided in the embodiment of this application without the lens.

[0033] Figure 4 The flight paths of the detection and measurement signals are shown.

[0034] Figure 5 The diagram shows the paths of the detection signal, measurement signal, and interference signal.

[0035] Figure 6 A schematic diagram of the second perspective of the detection module is shown.

[0036] Figure 7 It shows Figure 6 Sectional view at point AA.

[0037] Figure 8 A schematic diagram of part of the detection module structure is shown.

[0038] Figure 9 The diagrams showing the positional relationship between the connecting wall and the transmitter and receiver in other embodiments are illustrated.

[0039] Figure 10 It shows Figure 6 Sectional view at point BB.

[0040] Figure 11 A schematic diagram of the matting section is shown.

[0041] Figure 12 A schematic diagram is shown of the probe signal transmitted by the transmitter and the measurement signal received by the receiver.

[0042] Figure 13 The distance between the lens and the transmitter and receiver is shown.

[0043] Figure 14 It shows Figure 7 A magnified view of a section at point I.

[0044] Figure 15 This paper shows a schematic diagram of the second view of the detection module provided in an embodiment of this application without the lens.

[0045] Figure 16 The path diagram of the detection signal emitted by the transmitter is shown.

[0046] Figure 17 A schematic diagram of the structure showing the first reflective surface facing the detection component is shown.

[0047] Figure 18 Schematic diagrams of the reflective components provided in other embodiments are shown.

[0048] Figure 19 It shows Figure 18 A sectional view of DD.

[0049] Figure 20 A schematic diagram of the structure showing the second reflective surface facing the detection component is shown.

[0050] Figure 21 A schematic diagram of the reflector from a first-view perspective is shown.

[0051] Figure 22 The path diagrams of the probe signal and the reference signal are shown.

[0052] Figure 23 The path diagram of the probe signal emitted to the outside of the mounting cavity is shown.

[0053] Figure 24A schematic diagram of a structure in which the first and second reflecting surfaces are disposed on the same side of the reflecting part is shown.

[0054] Figure 25 A schematic diagram of the reflector from a second perspective is shown.

[0055] Figure 26 It shows Figure 6 Sectional view at point BB.

[0056] Figure 27 An exploded view of the reflective component is shown.

[0057] Figures 28-34 A schematic diagram of the reflector at different angles is shown.

[0058] Figure 35 A schematic diagram of the reflective part, connecting part, and triggering part of the reflective assembly is shown.

[0059] Figure 36 It shows Figure 27 A magnified view of section II in the middle.

[0060] Figure 37 A schematic diagram of the structure showing the first reflective surface facing the detection component is shown.

[0061] Figure 38 A structural schematic diagram of the casing from a first-view perspective is shown.

[0062] Figure 39 It shows Figure 26 A magnified view of section III in the middle.

[0063] Figure 40 A structural schematic diagram of the shell is shown from a second perspective.

[0064] Figure 41 A structural schematic diagram of the reflective part and the stop part of the reflective assembly from a first-view perspective is shown.

[0065] Figure 42 A structural schematic diagram of the reflective part and the stop part of the reflective assembly from a second perspective is shown.

[0066] Figure 43 A schematic diagram of the structure showing the second reflective surface facing the detection component is shown.

[0067] Figure 44 It shows Figure 6 Sectional view at point CC.

[0068] Figure 45 A structural schematic diagram of the reflective and detection components from a first-view perspective is shown.

[0069] Figure 46 It shows Figure 44 A magnified view of section IV in the middle.

[0070] Figure 47 It shows Figure 45 A magnified view of the middle V section.

[0071] Figure 48 A structural schematic diagram of the reflective and detection components from a second perspective is shown.

[0072] Figure 49 An exploded view of the detection module from a second perspective is shown.

[0073] Figure 50 A schematic diagram of the structure of the mobile robot provided in an embodiment of this application is shown.

[0074] Figure 51 A schematic diagram of the structure of the mobile robot removing part of the main body provided in an embodiment of this application is shown.

[0075] Figure 52 A schematic diagram of the structure of the robot system provided in an embodiment of this application is shown.

[0076] Reference numerals: 100-Detection module, 110-Housing, 112-Window, 113-Mounting cavity, 1132-First sub-cavity, 1134-Second sub-cavity, 11342-Emitting cavity, 11344-Receiving cavity, 114-Connecting wall, 115-Stepped surface, 116-Assembly hole, 117-Assembly port, 1172-First sub-port, 1174-Second sub-port, 118-Matching port, 119-Extinction section; 120-lens; 130-Detection component, 132-Transmitter, 1321-Transmitting surface, 134-Receiver, 1341-Receiving surface, 136-Fixing component, 1362-First fixing hole, 1364-First positioning part, 138-Second circuit board; 140 - Adhesive layer; 150-Reflective assembly, 152-Driver, 1522-Drive unit, 1523-Drive shaft, 1524-Transmission shaft, 154-Reflective part, 1542-First reflective surface, 15422-Emitting reflective surface, 15424-Receiving reflective surface, 1543-Second reflective surface, 1544-First connecting surface, 1545-Second connecting surface, 1549-Mounting hole, 155-Bearing, 156-First circuit board, 1562-Second fixing hole, 1564-Second positioning part; 157-Separating part, 158-Stop part, 1582-Main body section, 1583-Stop section, 1584-First stop section, 1586-Second stop section, 1588-Third stop section, 153-Connecting part, 159-Trigger part; 160 - Detection component, 162 - Transmitter, 164 - Receiver, 166 - Spacing distance; 170-Baffle, 172-Connection port, 174-Stop groove, 176-Baffle body, 178-Baffle section; 180 - partition, 182 - transmitter port, 184 - receiver port; 190 - Fixed part; 10 - Mobile robot, 200 - Main body of equipment, 20 - Base station, 1 - Robot system. Detailed Implementation

[0077] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0078] It should be noted that all directional indications in this embodiment are only used to explain the relative positional relationship and movement of the components in a specific posture. If the specific posture changes, the directional indications will also change accordingly.

[0079] In this utility model, unless otherwise explicitly specified and limited, the terms "connection," "fixing," etc., should be interpreted broadly. For example, "fixing" can mean a fixed connection, a detachable connection, or an integral part; it can mean a mechanical connection or an electrical connection; it can mean a direct connection or an indirect connection through an intermediate medium; it can mean the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0080] Furthermore, in this utility model, descriptions involving "first," "second," etc., are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. Additionally, the technical solutions of the various embodiments can be combined with each other, but only on the basis of being achievable by those skilled in the art. When the combination of technical solutions is contradictory or impossible to implement, such a combination of technical solutions should be considered non-existent and not within the scope of protection claimed by this utility model.

[0081] With the development of smart hardware technology, including but not limited to food delivery robots, robotic vacuum cleaners, and delivery robots, a series of intelligent vision products with autonomous navigation and pathfinding capabilities are emerging. There is a need to avoid obstacles and prevent collisions between the mobile robots and personnel, thus preventing injuries from such collisions. This is especially true for robotic vacuum cleaners, which need to identify obstacles and clean the surrounding surfaces while avoiding them.

[0082] In related technologies, mobile robots generally use detection modules to detect obstacles. However, after working for a period of time, the detection accuracy of the detection module will decrease. The detection module, mobile robot and robot system provided in this application can improve the above problems and improve the measurement accuracy of the detection module.

[0083] This application is described below with reference to the accompanying drawings and specific embodiments: Figure 1 This paper shows a schematic diagram of the first view of the detection module 100 provided in an embodiment of this application, as shown below. Figure 1 As shown, this application embodiment provides a detection module 100, which is applied to a mobile robot 10. The detection module 100 can improve the detection accuracy of the detection module 100, thereby improving the obstacle avoidance capability of the mobile robot 10.

[0084] Figure 2 An exploded view of the detection module 100 provided in an embodiment of this application is shown. Figure 3 This illustration shows a structural schematic diagram of the detection module 100 provided in this application embodiment without the lens 120, representing a first-view perspective. Figure 2 and Figure 3 As shown, the detection module 100 includes: a housing 110, a lens 120, and a detection assembly 130. The housing 110 has a mounting cavity 113 and a window 112 communicating with the mounting cavity 113. The lens 120 is connected to the housing 110 and blocks the window 112. The detection assembly 130 includes a transmitter 132 and a receiver 134, both of which are installed in the mounting cavity 113.

[0085] The housing 110 is the basic component of the entire detection module 100, providing a base for the transmitter 132 and receiver 134. The transmitter 132, receiver 134 and other structures can be installed in the mounting cavity 113. The housing 110 can assemble the transmitter 132, receiver 134 and other structures into a whole, which facilitates the transportation and installation of the detection module 100.

[0086] Transmitter 132, receiver 134 and other structures are installed inside housing 110. Housing 110 can also protect transmitter 132, receiver 134 and other structures, reducing the possibility of damage to transmitter 132, receiver 134 and other structures during use or transportation.

[0087] The transmitter 132 and receiver 134 can be spaced apart within the mounting cavity 113 of the housing 110. The transmitter 132 is mainly used to transmit the detection signal a. The flight paths of the detection signal a and the measurement signal b are as follows: Figure 4 As shown, Figure 4 The hollow arrow indicates the direction of the detection signal a, and the filled arrow indicates the direction of the measurement signal b. Detection signal a passes through the lens 120 to the outside of the housing 110, and after being reflected by the obstacle, it is reflected back into the housing 110 from the lens 120. The receiver 134 is mainly used to receive the reflected measurement signal b. The distance between the transmitter 132 and the receiver 134 can be calculated based on the flight time and speed of detection signal a and measurement signal b between the transmitter 132 and the receiver 134: Total propagation distance = Flight time * Flight speed. Since detection signal a and measurement signal b are in reciprocating motion, the distance between the detection module 100 and the obstacle is half the total propagation distance of detection signal a and measurement signal b.

[0088] In some embodiments, the detection signal 'a' can be an optical signal, and in this case, the flight speed is the speed of light. Alternatively, the detection signal 'a' can be an acoustic signal, and in this case, the flight speed is the speed of sound.

[0089] The transmitting surface 1321 is the outer surface of the transmitter 132 in the direction of transmitting the detection signal a, that is, the foremost surface of the transmitter 132. The detection signal a is emitted from the transmitter 132 through the transmitting surface 1321. Similarly, the receiving surface 1341 is the outer surface of the receiver 134 in the direction of receiving the signal, that is, the receiving surface 1341 is the foremost surface of the receiver 134. The measurement signal b can enter the receiver 134 from the receiving surface 1341.

[0090] Lens 120 blocks window 112, making the mounting cavity 113 essentially a closed cavity. This reduces the amount of dust and other impurities entering the mounting cavity 113, minimizing damage to electronic components such as transmitter 132 and receiver 134 within the mounting cavity 113. The light transmittance of lens 120 is between 90% and 100%, meaning that the majority of the detection signal a passing through lens 120 exits the housing 110. A small portion of the detection signal a is absorbed or reflected back into the mounting cavity 113 by lens 120. For ease of description, the signal reflected back into the mounting cavity 113 by lens 120 is defined as interference signal c.

[0091] Especially when impurities adhering to the outer surface of the lens 120 cause it to become dirty, the light transmittance of the lens 120 decreases, resulting in an increase in the energy of the interference signal c reflected back into the housing 110. This interference signal c reflected back into the mounting cavity 113 may be received by the receiver 134, causing light crosstalk inside the housing 110 and affecting the measurement accuracy of the detection module 100. In some embodiments, the reflection direction of the lens 120 is set away from the receiver 134, and the reflection direction is the direction in which the detection signal a emitted by the transmitter 132 is reflected back into the housing 110 through the lens 120.

[0092] Figure 5 The diagram shows the paths of the detection signal a, the measurement signal b, and the interference signal c, as follows: Figure 5 As shown, the reflection direction ( Figure 5 The direction indicated by the solid arrow is the direction in which the detection signal a emitted by the transmitter 132 is reflected back into the housing 110 by the lens 120. That is, the reflection direction of the lens 120 is also the direction of the interference signal c. The reflection direction of the lens 120 is set away from the receiver 134, that is, the interference signal c is set away from the receiver 134. This setting can make the interference signal c as far away from the receiver 134 as possible, reduce the possibility of the receiver 134 receiving the interference signal c, and thus increase the measurement accuracy of the detection module 100 and improve the measurement precision of the detection module 100.

[0093] Figure 6 A schematic diagram of the second perspective of the detection module 100 is shown. Figure 7 It shows Figure 6 Sectional view at point AA. Figure 8 A schematic diagram of part of the structure of the detection module 100 is shown, such as Figure 6 , Figure 7 and Figure 8 As shown, in some embodiments, the housing 110 has a connecting wall 114, which connects to the lens 120, and the reflection direction ( Figure 8 (The direction indicated by the solid arrow) is toward the connecting wall 114 of the housing 110.

[0094] The reflection direction is set towards the connecting wall 114 of the housing 110, meaning the interference signal c reflected back into the mounting cavity 113 by the lens 120 is directed towards the connecting wall 114 of the housing 110. This reduces the likelihood of the interference signal c being directed towards the transmitter 132, and also reduces the impact of the interference signal c on the detection signal a emitted by the transmitter 132 to some extent. This arrangement ensures that the interference signal c is directed towards the connecting wall 114 of the housing 110, and also reduces the impact of the interference signal c on other components within the mounting cavity 113.

[0095] like Figure 8 As shown, in some embodiments, the transmitter 132 is disposed between the receiver 134 and the connecting wall 114. That is, the connecting wall 114 is disposed on the side of the transmitter 132 away from the receiver 134, and the reflection direction is set towards the connecting wall 114, so that the reflection direction and the receiver 132 are located on different sides of the transmitter 132. This arrangement can basically prevent the interference signal c from entering the receiving area of ​​the receiver 134, and can keep the interference signal c as far away from the receiver 134 as possible, reducing the possibility that the receiver 134 will receive the interference signal c, thereby increasing the measurement accuracy of the detection module 100 and improving the measurement precision of the detection module 100.

[0096] Of course, in some other embodiments, the connecting wall 114 may also be located on the same side of the receiver 134 and the transmitter 132. Figure 9 A diagram showing the positional relationship between the connecting wall 114 and the transmitter 132 and receiver 134 in some other embodiments is also shown. Figure 9 As shown, the connecting wall 114 can be positioned on the same side of the receiver 134 and the transmitter 132, with the reflection direction ( Figure 9 The direction indicated by the solid arrow can also be set away from the transmitter 132, so that the interference signal c is directed toward the connecting wall 114. This reduces the likelihood of the interference signal c being directed toward the transmitter 132. In other words, the position of the connecting wall 114 can be set according to the reflection direction, and the specific position is not limited.

[0097] In some embodiments, the angle between the incident direction and the reflection direction of the lens 120 is less than or equal to 30° (e.g., Figure 8 and 10As shown in γ1, the incident direction is the direction in which the detection signal a emitted by the transmitter 132 is incident on the lens 120, and the reflection direction is also the direction of the interference signal c. The angle between the incident direction and the reflection direction of the lens 120 is also the angle between the detection signal a and the interference signal c. This indicates that the angle between the detection signal a sent by the transmitter 132 and the normal n of the lens 120 when passing through the lens 120 is less than or equal to 15°. This arrangement ensures that the tilt angle between the transmitter 132 and the lens 120 is small, minimizing the increase in space between the lens 120 and the transmitter 132, making the layout of the entire detection module 100 compact, and thus enabling the detection module 100 to be miniaturized as much as possible.

[0098] In some embodiments, the transmitter 132 and the receiver 134 are spaced apart along the direction o of the rotation center of the reflector 154 (the specific structure of the reflector 154 can be referred to in the following description), and the angle between the lens 120 and the direction o of the rotation center of the reflector 154 is less than or equal to 30°. Figure 10 As shown in γ2 (γ1=2γ2), the angle between the lens 120 and the direction o of the rotation center of the reflector 154 is less than or equal to 30°, so that the lens 120 has a certain tilt angle relative to the direction o of the rotation center of the reflector 154, but the tilt angle of the lens 120 relative to the direction o of the rotation center of the reflector 154 is not large. This arrangement allows the lens 120 to reflect the interference signal c in a direction away from the receiver 134, but also ensures that the distance between the lens 120 and the transmitter 132 is not too large, so as not to increase the space occupied by the lens 120 as much as possible, so that the layout of the entire detection module 100 can be compact, and thus the detection module 100 can be miniaturized as much as possible.

[0099] Figure 11 A schematic diagram of the structure of the matting section 119 is shown, as follows: Figure 11 As shown, in some embodiments, after the interference signal c strikes the connecting wall 114 of the housing 110, the connecting wall 114 can perform attenuation, absorption, or other processing on the interference signal c, thereby weakening the interference signal c and absorbing it at the connecting wall 114. This reduces the risk of the interference signal c striking other components. Specifically, in some embodiments, the detection module 100 also includes an extinction part 119, which is disposed on the connecting wall 114. The extinction part 119 mainly absorbs and attenuates the interference signal c striking the connecting wall 114, so that after the interference signal c strikes the connecting wall 114, the extinction part 119 can absorb the interference signal c, allowing the interference signal c to be absorbed as much as possible at the connecting wall 114, reducing the possibility of light crosstalk inside the housing 110, and thus improving the measurement accuracy of the detection module 100.

[0100] Regarding the specific structure of the extinction section 119, the extinction section 119 includes a plurality of extinction rings protruding from the connecting wall 114, and the plurality of extinction rings are arranged concentrically. The extinction rings protrude from the connecting wall 114, so that after the interference signal c is incident on the outer surface of the extinction ring, it can be reflected by the extinction ring. After the interference signal c is reflected multiple times between the plurality of extinction rings, it is basically absorbed, that is, the interference signal c can be absorbed through the direction of multiple reflections.

[0101] Multiple extinction rings can be set concentrically. This arrangement allows the interference signal c to be reflected in any direction by any extinction ring, and the adjacent extinction rings can reflect the interference signal c again. This means that the interference signal c is basically absorbed after being reflected multiple times between multiple extinction rings. In other words, the interference signal c can be absorbed through multiple reflections, so that the interference signal c can be basically completely absorbed.

[0102] As for the distance between two adjacent extinction rings, after the detection module 100 is determined, the frequency of the detection signal a emitted by the transmitter 132 is determined, that is, the frequency of the interference signal c is determined, and the interval distance between two adjacent extinction rings can be set according to the frequency of the interference signal c.

[0103] As for the height of the extinction ring protruding from the connecting wall 114, it can be set according to the size of the entire detection module 100, the angle between the reflection direction of the interference signal c and the connecting wall 114, etc., and there is no specific limitation.

[0104] Of course, in some other embodiments, the matting part 119 is formed by spraying matte paint onto the connecting wall 114. The matte paint can be sprayed onto the connecting wall 114 to form a matting structure, which is the matting part 119. After the interference signal c is directed towards the connecting wall 114, the matting part 119 can directly absorb the interference signal c, reducing the possibility of light crosstalk inside the housing 110, thereby improving the measurement accuracy of the detection module 100.

[0105] Figure 12 A schematic diagram is shown of a detection signal a emitted by transmitter 132 and a measurement signal b received by receiver 134. In some embodiments, along the incident direction of the central axis a0 of the detection signal a, the central axis a0 of the detection signal a forms an angle with the normal d of the lens (the angle is as follows). Figure 11 (As shown in β1). The angles shown in the accompanying drawings are only schematic representations of their positions and do not represent their magnitudes.

[0106] Along the reflection direction of the central axis b0 of the measurement signal b, the central axis b0 of the measurement signal b forms an angle with the normal n of the lens 120 (the angle is as follows). Figure 12As shown in β2, the measurement signal b is the signal formed after the detection signal a is reflected by the obstacle, and the reflection direction is the direction from the central axis b0 of the measurement signal b to the lens 120.

[0107] In this context, the central axis a0 of the detection signal a refers to the geometric center of the detection signal a, and the measurement signal b is the signal reflected back from the obstacle by the receiver 134. When the detection component 130 is a TOF (Time of Flight) sensor, the central axis a0 of the detection signal a is the optical axis of the detection signal a, and the central axis b0 of the measurement signal b is also the optical axis of the detection signal a. If the detection component 130 is a line laser sensor, the central axis a0 of the detection signal a is the center of symmetry of the line laser. The central axis b0 of the measurement signal b is also the center of symmetry of the line laser.

[0108] The central axis a0 of the detection signal a forms an angle with the normal d of the mirror (the angle is as follows). Figure 11 As shown in β1, the configuration ensures that when the detection signal a is incident on the lens 120, the reflection direction of all areas covered by the detection signal a is directed away from the receiver 134 and towards the connecting wall 114, reducing the possibility of light crosstalk inside the housing 110 and thus improving the measurement accuracy of the detection module 100.

[0109] Incident direction ( Figure 12 The direction indicated by the hollow arrow is the direction in which the detection signal a enters the lens 120, and the direction of the return of the measurement signal b is (…). Figure 12 (As indicated by the arrow filling the mid-section line) This is also the direction in which the measurement signal b is incident on the lens 120. The direction of the reflection of the measurement signal b is set at an angle to the normal n of the lens, that is, the direction of the reflection of the measurement signal b is not along the normal n of the lens 120, and the direction of the reflection of the measurement signal b is not perpendicular to the lens 120. This makes the lens 120 tilted relative to the transmitter 132 and the receiver 134 as a whole. This setting allows the central axis of the measurement signal b and the central axis of the detection signal a to remain parallel, so that the detection signal a emitted by the transmitter 132 can be received by the receiver 134 after being reflected back by the obstacle, thereby improving the obstacle recognition capability of the detection module 100.

[0110] In some embodiments, along the incident direction of the central axis of the detection signal a, the distance between the lens 120 and the transmitter 132 (e.g.) Figure 13 (As shown in H1) is greater than the distance between lens 120 and receiver 134 (e.g., Figure 13(As shown in H2). The distance between the lens 120 and the transmitter 132 is greater than the distance between the lens 120 and the receiver 134. This indicates that the distance between the lens 120 and the transmitter 132 is relatively large. In the direction from the receiver 134 to the transmitter 132 (the direction o where the rotation center of the reflector 154 is located), the lens 120 is tilted away from the detection component 130. This arrangement causes the detection signal a emitted by the transmitter 132 to be reflected away from the receiver 134 after passing through the lens 120. This arrangement allows the interference signal c to be placed as far away from the receiver 134 as possible, reducing the possibility of the receiver 134 receiving the interference signal c, thereby increasing the measurement accuracy of the detection module 100 and improving the measurement precision of the detection module 100.

[0111] In some embodiments, the incident direction of the central axis of the detection signal a is parallel to the reflection direction of the central axis of the measurement signal b, so that the detection signal a emitted by the transmitter 132 can be received by the receiver 134 after being reflected back by the obstacle, thereby improving the obstacle recognition capability of the detection module 100.

[0112] Figure 14 It shows Figure 7 A magnified view of a section at point I, as shown below. Figure 14 As shown, regarding the mounting method and position of the lens 120 on the housing 110, in some embodiments, the detection module 100 further includes an adhesive layer 140, which bonds the housing 110 and the window 112. Specifically, a stepped surface 115 can be provided on the outer surface of the housing 110, and the adhesive layer 140 can be disposed on the stepped surface 115, so that the adhesive layer 140 bonds the housing 110 and the lens 120. Of course, the lens 120 can also be connected to the housing 110 by means of snap-fit, screw fixing, etc., and the specific connection method is not limited.

[0113] The lens 120 covers the window 112, meaning the lens 120 is closed over the window 112. The adhesive layer 140 can be arranged around the window 112, so that the adhesive layer 140 can also play a certain sealing role. It can also seal the gap between the lens 120 and the housing 110, reducing the risk of external impurities entering the mounting cavity 113, and ensuring that the detection module 100 can work normally to a certain extent.

[0114] By bonding the housing 110 and the lens 120 together with the adhesive layer 140, the contact area between the lens 120 and the adhesive layer 140 and the housing 110 and the adhesive layer 140 can be increased, thereby improving the fixing effect of the lens 120 and the housing 110.

[0115] As can be seen from the above, the detection signal a sent by the transmitter 132 is emitted to the outside of the mounting cavity 113 after passing through the lens 120. As for the path of the detection signal a, it can be emitted directly from the lens 120 to the outside of the mounting cavity 113, or it can be emitted to the outside of the mounting cavity 113 after one or more reflections through the reflection structure.

[0116] Figure 15 The diagram shows a second-view structural diagram of the detection module 100 provided in this application embodiment without the lens 120. Specifically, in some embodiments, the detection module 100 further includes a reflection component 150, which is used to reflect the detection signal a emitted by the transmitter 132 to the lens 120. The reflection component 150 is also used to reflect the measurement signal b received by the lens 120 to the receiver 134.

[0117] After the detection signal a passes through the reflector 150, the path of the detection signal a changes, so that the arrangement of the transmitter 132 and the receiver 134 (detector 130) in the mounting cavity 113 is unrestricted. That is, by adjusting the angle of the reflector 150 relative to the detector 130, the detection signal a sent by the transmitter 132 can be emitted out of the mounting cavity 113 through the lens 120, and the measurement signal b reflected back by the obstacle can enter the mounting cavity 113 through the lens 120 and be received by the receiver 134.

[0118] In other words, the position of the detection component 130 in the mounting cavity 113 can be set according to the internal space of the mounting cavity 113 and the mounting space of the detection module 100 on the mobile robot 10, so as to make reasonable use of the space in the mounting cavity 113 and the space on the mobile robot 10.

[0119] Figure 16 The path diagram of the detection signal a emitted by transmitter 132 is shown. In some embodiments, the emission direction of transmitter 132 is parallel to or away from lens 120.

[0120] The transmission direction of transmitter 132 refers to the direction of the detection signal a emitted by transmitter 132 (e.g., Figure 15 The direction of a1 in the middle), the direction of the transmitter 132 (such as the .... Figure 15 (As shown in a1) The direction away from the lens 120 refers to the detection signal a emitted by the transmitter 132 (e.g., the direction shown in a1) Figure 15The direction shown in a1 cannot be directly emitted towards the lens 120. That is, the emission direction of the transmitter 132 is along the direction away from the lens 120. In other words, the emission direction of the transmitter 132 will not pass through the lens 120. That is, without the reflector component 150, the detection signal a emitted by the transmitter 132 cannot be emitted towards the lens 120 and cannot pass through the lens 120 to the outside of the mounting cavity 113.

[0121] Similarly, the emission direction of the transmitter 132 is set parallel to the lens 120. The detection signal a emitted by the transmitter 132 is parallel to the lens 120. The emission direction of the transmitter 132 will not pass through the lens 120. That is, without the reflection component 150, the detection signal a emitted by the transmitter 132 cannot be emitted towards the lens 120 and cannot pass through the lens 120 to the outside of the mounting cavity 113.

[0122] In some embodiments of this application, a reflective component 150 is provided in the mounting cavity 113. The reflective component 150 can change the path of the signal emitted by the transmitter 132, so that when the emission direction of the transmitter 132 is parallel to or away from the lens 120, the detection signal a emitted by the transmitter 132 (e.g., ...) is... Figure 15 The direction shown in a1) is reflected by the reflective component 150 (as shown in the image). Figure 15 The direction shown in a2 (where the paths of a1 and a2 are the complete paths of the detection signal a) can be emitted through the lens 120 to the outside of the mounting cavity 113. This setting method can determine the position of the transmitter 132 and the receiver 134 in the mounting cavity 113 according to the internal space of the mounting cavity 113 and the mounting space of the detection module 100 on the mobile robot 10, thereby making reasonable use of the space in the mounting cavity 113 and the space on the mobile robot 10.

[0123] Figure 17 A schematic diagram of the structure of the first reflective surface 1542 facing the detection component 130 is shown. Figure 17 Hollow arrows indicate the direction of the detection signal a, and arrows with filled cross-sections indicate the direction of the measurement signal b. In some embodiments, the reflective assembly 150 includes a drive member 152 and a reflective part 154. The reflective part 154 is connected to the drive member 152 and has a first reflective surface 1542. The first reflective surface 1542 is disposed in the mounting cavity 113. The drive member 152 is used to drive the reflective part 154 to rotate. The rotation centers o of the reflective part 154 of the transmitter 132 and receiver 134 are spaced apart in the direction of the reflective part 154.

[0124] The driving component 152 can drive the reflector 154 to rotate, causing the first reflective surface 1542 to rotate within the mounting cavity 113. With the transmitter 132 and receiver 134 already installed within the mounting cavity 113, their positions within the cavity are determined, i.e., the transmitting direction of the transmitter 132 and the receiving direction of the receiver 134 are also determined. The driving component 152 can drive the first reflective surface 1542 to rotate, causing the normal of the first reflective surface 1542 to continuously change, thereby causing the direction of the detection signal a emitted from the lens 120 to continuously change. This configuration can increase the detection area of ​​the detection module 100, enabling it to detect obstacles in more areas, thus improving the obstacle detection capability of the detection module 100 and also enhancing the obstacle avoidance capability of the mobile robot to a certain extent.

[0125] Figure 18 A schematic diagram of the structure of the reflective component 150 provided in some other embodiments is shown. Figure 19 It shows Figure 18 The cross-sectional view of DD shows that multiple first reflective surfaces 1542 can be provided, and these multiple first reflective surfaces 1542 can be disposed on different sides of the reflective part 154. In some embodiments, the tilt angles of the multiple first reflective surfaces 1542 relative to the transmitter 132 can be different, resulting in different normal directions of the multiple first reflective surfaces 1542. The different normal directions of the first reflective surfaces 1542 will cause the detection signal a emitted by the transmitter 132 to exit the housing 110 in different directions after being reflected by the first reflective surfaces 1542. By using first reflective surfaces 1542 with different tilt angles, the detection signal a emitted from the housing 110 can have different detection areas, thereby further increasing the detection range of the entire detection module 100 and improving the obstacle avoidance capability of the mobile robot 10.

[0126] The two first reflective surfaces 1542 have different tilt angles relative to the rotation center direction o of the reflective part 154, so that the driving member 152 has two directions of emission of the detection signal a during the rotation of the two first reflective surfaces 1542. This allows the detection module 100 to detect two different areas, further increasing the detection range of the entire detection module 100 and improving the obstacle avoidance capability of the mobile robot.

[0127] When there are two first reflective surfaces 1542, the two first reflective surfaces 1542 can be arranged back to back and parallel to each other. This arrangement can make the area of ​​a single first reflective surface 1542 as large as possible, so that the dynamic detection area formed by a single first reflective surface 1542 can be as large as possible, thereby improving the detection range of the detection module 100.

[0128] The first reflective surface 1542 can also be of other quantities. When there are three, four or five first reflective surfaces 1542, the tilt angle of each first reflective surface 1542 can be different, so that the emitted detection signal a can have multiple different detection areas, and multiple different areas can be detected, further increasing the detection range of the detection module 100.

[0129] In some embodiments, during the operation of the transmitter 132 and receiver 134, factors such as power supply ripple jitter and high capacitor temperature may cause the transmitter 132 or receiver 134 to deviate. Alternatively, during the testing process, repeated testing may cause the voltage attenuation of the transmitter 132 or receiver 134 to deviate. In either case, the transmitter 132 or receiver 134 is prone to deviate after the detection module 100 leaves the factory. If at least one of them deviates, the flight time of the detection signal a will change, which will lead to an error in the calculated distance between the detection module 100 and the obstacle, resulting in a decrease in the measurement accuracy of the detection module 100.

[0130] Figure 20 A schematic diagram of the structure of the second reflective surface 1543 facing the detection component 130 is shown. Figure 20 The grid fill arrows in the text indicate the direction of the reference signal d. Figure 21 A schematic diagram of the structure of the reflector 154 from a first-view perspective is shown. Figure 22 The path diagrams of the probe signal a and the reference signal d are shown, as follows: Figure 20 , Figure 21 and Figure 22 As shown, in some embodiments, the reflector 154 further has a second reflective surface 1543, and the first reflective surface 1542 and the second reflective surface 1543 are disposed within the mounting cavity 113; wherein, the driving member 152 is used to drive the reflector 154 to move, such that the first reflective surface 1542 reflects the signal emitted by the transmitter 132 to the outside of the mounting cavity 113, and the second reflective surface 1543 reflects the signal emitted by the transmitter 132 from the inside of the mounting cavity 113 to the receiver 134. The signal reflected by the second reflective surface 1543 to the receiver 134 forms a reference signal d. For ease of description, a measurement position m1 and a reference position m2 are defined (m1 and m2 are as follows). Figure 22 (As shown).

[0131] Wherein, the measurement position m1 is the position of the detection module 100 receiving and / or transmitting the detection module 100. When the transmitting surface 1321 of the transmitter 132 and the receiving surface 1341 of the receiver 134 are located on the same plane, the measurement position m1 is located on the plane where the transmitting surface 1321 and the receiving surface 1341 are located. Specifically, in some embodiments, since the transmitter 132 and the receiver 134 are very small and the distance between the transmitter 132 and the receiver 134 is very close, the transmitter 132 and the receiver 134 can be ignored as two positions and can be considered as equivalent to one position. The measurement position m1 is the equivalent position of the transmitter 132 and the receiver 134. Or in other embodiments, the measurement position m1 can be the center point between the transmitting surface 1321 and the receiving surface 1341.

[0132] Measurement position m1 is the position where the detection module 100 receives and / or transmits the detection module 100. The total propagation distance of the detection signal a and the measurement signal b is twice the distance between measurement position m1 and the obstacle. Based on the total propagation distance of the detection signal a (which is incident on the first reflecting surface 1542 and reflected by the first reflecting surface 1542) and the measurement signal b, the measurement distance between measurement position m1 and the obstacle can be determined. Figure 23 The distance between L1 and L2 is the measurement distance (half of the total propagation distance of the detection signal a and the measurement signal b, which is also the propagation distance of the detection signal a or the propagation distance of the measurement signal b).

[0133] Wherein, reference position m2 is the position of the reflected reference signal d. Reference position m2 can be located inside the housing 110, on the housing 110, or outside the housing 110. In some embodiments, reference position m2 can be located on the second reflecting surface 1543. The total propagation distance of the reference signal d and the detection signal a (which is incident on the second reflecting surface 1543 and reflected by the second reflecting surface 1543 to the receiver 134 to form the reference signal d) is twice the distance between the measurement position m1 and the reference position m2. Therefore, based on the total propagation distance of the detection signal a and the reference signal d, the reference distance between the measurement position m1 and the reference position m2 can be determined as half the total propagation distance of the detection signal a and the reference signal d, such as... Figure 22 and Figure 23 The distance shown in L1 is the reference distance (which is also the propagation distance of the reference signal d).

[0134] It should be noted that the signal sources (transmitter 132) for the measurement signal b and the reference signal d are the same, and the signal receiving end (receiver 134) is also the same. The difference lies in the main body of the reflected signal during signal transmission, resulting in different signal transmission paths. The measurement signal b is reflected back to the receiver 134 by an obstacle, while the reference signal d is reflected to the receiver 134 from the reference position m2 (second reflecting surface 1543). Therefore, during the measurement process, any deviation of the transmitter 132 or the receiver 134 results in the same error for both the detection signal a and the reference signal d. The difference between the measurement distance obtained by the measurement signal b and the reference distance obtained by the reference signal d can offset the error of the transmitter 132 or the receiver 134, thereby improving the measurement accuracy of the detection module 100.

[0135] The difference between the measured distance and the reference distance is the distance between the reference position m2 and the obstacle, such as... Figure 22 and Figure 23 The distance shown in L2. The distance between the detection module 100 and the obstacle can be determined based on the distance between the reference position m2 and the obstacle. The reference position m2 is set on the second reflective surface 1543 of the housing 110 (see the description below for details), and the distance between the reference position m2 and the obstacle can be considered as the actual distance between the detection module 100 and the obstacle. In this embodiment, the reflector 154 is further provided with a second reflective surface 1543. The second reflective surface 1543 can reflect the signal emitted by the transmitter 132 from inside the housing 110 to the receiver 134 to form a reference signal d. That is, the reference position m2 can be set on the second reflective surface 1543. The difference between the reference distance measured by the reference signal d and the measured distance obtained by the measurement signal b can compensate for the measurement error caused by the deviation of the transmitter 132 or the receiver 134, and can improve the measurement accuracy of the detection module 100 to a certain extent. The following will be combined with Figures 11-16 The specific structure of the reflective component 150 is described in detail.

[0136] The first reflective surface 1542 and the second reflective surface 1543 are both disposed on the reflective part 154. The first reflective surface 1542 is used to reflect the detection signal emitted by the transmitter 132 to the outside of the mounting cavity 113 and to reflect the measurement signal b reflected back by the obstacle to the receiver 134. The second reflective surface 1543 is mainly used to reflect the signal sent by the transmitter 132 from inside the housing 110 to the receiver 134 to form a reference signal d.

[0137] Figure 24 A schematic diagram shows a structure in which the first reflecting surface 1542 and the second reflecting surface 1543 are disposed on the same side of the reflecting part 154, as shown. Figure 24As shown, the first reflective surface 1542 and the second reflective surface 1543 can be disposed on the same side of the reflective part 154. The first reflective surface 1542 and the second reflective surface 1543 can reflect signals from different areas emitted by the transmitter 132, or reflect the detection signal a and the reference signal d to different areas of the receiver 134, thereby enabling the receiver 134 to distinguish between the detection signal a and the reference signal d, and to calculate the measurement distance based on the detection signal a and the reference distance based on the reference signal d.

[0138] Specifically, to avoid crosstalk between the measurement signal b and the reference signal d, a separator 157 can be provided between the first reflecting surface 1542 and the second reflecting surface 1543 to separate the corresponding areas of the first reflecting surface 1542 and the second reflecting surface 1543.

[0139] Figure 25 A schematic diagram of the structure of the reflector 154 from a second perspective is shown. Figure 26 It shows Figure 6 A sectional view at point BB, as shown Figure 25 and Figure 26 As shown, the first reflective surface 1542 and the second reflective surface 1543 can also be arranged on different sides of the reflective part 154. The receiver 134 can determine whether it receives the detection signal a or the reference signal d based on the position of the first reflective surface 1542 and the second reflective surface 1543. The specific method is not limited.

[0140] In some embodiments, the drive member 152 is used to drive the reflector 154 to move, such that the first reflector 1542 and the second reflector 1543 are alternately positioned toward the detector assembly 130.

[0141] The driving component 152 drives the first reflecting surface 1542 and the second reflecting surface 1543 to alternately face the detection component 130 via the reflecting part 154. That is, only one of the first reflecting surface 1542 and the second reflecting surface 1543 is set to face the detection component 130, so that the receiver 134 will only receive one of the detection signal a and the reference signal d. By alternating the first reflecting surface 1542 and the second reflecting surface 1543, it is possible to distinguish whether the receiver 134 receives the detection signal a or the reference signal d, so as to calculate the measurement distance based on the detection signal a and the reference distance based on the reference signal d.

[0142] Specifically, when the first reflective surface 1542 is positioned facing the detection component 130, the signal emitted by the transmitter 132 is reflected by the first reflective surface 1542 and then emitted from the window 112 to the outside of the mounting cavity 113. The detection signal a reflected back by the obstacle is emitted by the first reflective surface 1542 and then received by the receiver 134.

[0143] With the second reflective surface 1543 facing the detection component 130, the signal emitted by the transmitter 132 passes through the second reflective surface 1543 to the receiver 134, so that the receiver 134 receives the reference signal d reflected by the second reflective surface 1543.

[0144] In some embodiments, the first reflective surface 1542 and the second reflective surface 1543 are disposed on opposite sides of the reflective portion 154, such that the normal of the first reflective surface 1542 and the normal of the second reflective surface 1543 are in opposite directions. This arrangement can reduce the possibility of mutual interference between the first reflective surface 1542 and the second reflective surface 1543 during operation, thereby improving the accuracy of the reference signal d or the detection signal a received by the receiver 134.

[0145] like Figure 25 As shown, the reflector 154 can be a cuboid, and the first reflector 1542 and the second reflector 1543 can be disposed on the two surfaces of the reflector 154 with the largest area. This arrangement allows the surface area of ​​the first reflector 1542 and the surface area of ​​the second reflector 1543 to be large enough, so that the first reflector 1542 can reflect as much of the signal sent by the transmitter 132 as possible out of the mounting cavity 113, thereby reducing the energy loss of the detection signal a.

[0146] Similarly, the second reflective surface 1543 is disposed on the largest outer surface of the reflective part 154, so that the second reflective surface 1543 can reflect as many signals as possible from inside the housing 110 to the receiver 134, thereby increasing the energy of the reference signal d received by the receiver 134, so that the receiver 134 can receive more reference signals d, thereby improving the accuracy of acquiring the reference signal d.

[0147] The first reflective surface 1542 and the second reflective surface 1543 are respectively disposed on different sides of the reflective part 154. The driving member 152 can drive the first reflective surface 1542 or the second reflective surface 1543 to rotate, so that the first reflective surface 1542 or the second reflective surface 1543 is disposed toward the detection component 130, so that the receiver 134 can receive the measurement signal b or the reference signal d.

[0148] The first reflective surface 1543 is oriented toward the detection component 130, meaning that the first reflective surface 1543 can reflect the measurement signal b to the receiver 134. The second reflective surface 1543 is oriented toward the detection module 130, meaning that the second reflective surface 1543 can reflect the reference signal d to the receiver 134.

[0149] After the first reflective surface 1542 and the second reflective surface 1543 are installed on the reflective part 154, their positions on the reflective part 154 are fixed. The positions of the first reflective surface 1542 and the second reflective surface 1543 can be determined according to the rotation angle of the reflective part 154. This allows it to be determined whether the first reflective surface 1542 and the second reflective surface 1543 are facing the detection component 130, and thus whether the receiver 134 receives a measurement signal b or a reference signal d.

[0150] like Figure 26 As shown, regarding the structure of the driving member 152, in some embodiments, the driving member 152 includes a drive shaft 1524 and a driving part 1522. The driving part 1522 and the drive shaft 1524 are connected in a transmission manner. The drive shaft 1524 is connected to the reflector 154. The driving part 1522 drives the drive shaft 1524 to rotate, so that the first reflective surface 1542 and the second reflective surface 1543 are alternately arranged facing the detection component 130. The driving part 1522 can be a motor. The motor drives the drive shaft 1524 to rotate, so that the drive shaft 1524 drives the reflector 154 to rotate, so that the first reflective surface 1542 and the second reflective surface 1543 on the reflector 154 are alternately arranged facing the detection component 130.

[0151] like Figure 25 and Figure 26 As shown, the reflector 154 has a mounting hole 1549, and the drive shaft 1524 passes through the mounting hole 1549. The direction o of the rotation center of the reflector 154 is also the axial direction of the drive shaft 1524. The end of the drive shaft 1524 away from the drive unit 1522 can be mounted on the housing 110. Specifically, an assembly hole 116 can be provided on the housing 110, and a bearing 155 can be provided in the assembly hole 116. The drive shaft 1524 cooperates with the bearing 155. Of course, in some other embodiments, a sealing structure can also be provided in the assembly hole 116. The sealing structure can be a sealing ring, which is sleeved on the bearing 155 and is arranged to contact the outer surface of the bearing 155 and the inner wall of the assembly hole 116 to seal the gap between the bearing 155 and the assembly hole 116.

[0152] In some embodiments, the drive unit 1522 has a drive shaft 1523, and the drive shaft 1523 and the transmission shaft 1524 are an integral structure.

[0153] The drive shaft 1523 and the transmission shaft 1524 can be integrated into one piece. Specifically, they can be integrally molded by injection molding. This arrangement can reduce the assembly process of the drive shaft 1523 and the transmission shaft 1524, improve the assembly accuracy of the entire detection module 100, and reduce costs to a certain extent.

[0154] Figure 27 An exploded view of the reflector assembly 150 is shown, as follows: Figure 27 As shown, specifically, in some embodiments, the detection module 100 further includes a detection element 160, which is used to detect the rotation angle of the reflector 154 to determine the position of the first reflector 1542 and the second reflector 1543 relative to the detection assembly 130.

[0155] The detection element 160 can be used to detect the rotation angle of the drive element 152, thereby determining whether the first reflective surface 1542 or the second reflective surface 1543 is facing the detection assembly 130. For example, any position can be set as the initial position; specifically, the emission direction of the first reflective surface 1542 and the transmitter 132 can be set (e.g., Figure 27 The initial position is the position parallel to the direction indicated by the middle arrow. Figure 27 The location shown.

[0156] The rotation angle of the reflector 154 is set to 0° in the initial position, such as... Figure 28 As shown. The first reflective surface 1542 is driven by the driving member 152 to face the detection component 130 in the first direction. That is, the driving member 152 rotates in the first direction, causing the first reflective surface 1542 to face the detection component 130. Within the 0-180° range of the reflective part's rotation (excluding the two endpoints), the first reflective surface 1542 faces the detection component 130, enabling it to reflect the signal emitted by the transmitter 132 out of the mounting cavity 113 and to return the measurement signal reflected back from the obstacle to the receiver 134 via the first reflective surface 1542. Within the 0-90° range (excluding the two endpoints), the first reflective surface 1542 can reflect the detection signal a in a direction away from the lens 120. A reflector can be placed inside the housing 110 on the side away from the lens 120 to reflect the detection signal a to the lens 120, and then out of the housing 110. When the driving member 152 drives the reflector 154 to rotate 90°, such as Figure 29 As shown, the first reflective surface 1542 is positioned toward the detector component 130, and the first reflective surface 1542 is perpendicular to the emission direction of the transmitter 132.

[0157] Within the range of 90°-180° (excluding the two endpoints), the detection signal a can be directly reflected by the first reflecting surface 1542 to the outside of the housing 110, such as... Figure 30 As shown, Figure 30 A schematic diagram of the optical path is shown for the reflector 150 when the rotation angle is 120°. Figure 31 A schematic diagram of the optical path is shown when the reflector 150 rotates at an angle of 135°. Figure 32A schematic diagram of the optical path is shown with the reflector 150 rotating at a rotation angle of 150°. During the rotation of the reflector 150, the detection signal a1 emitted by the transmitter 132 is reflected by the first reflector 1542, and the resulting detection signal a2 can form a dynamic measurement area. This can increase the detection area of ​​the detection module 100, enabling the detection module 100 to detect obstacles in more areas. This improves the obstacle detection capability of the detection module 100 and also enhances the obstacle avoidance capability of the mobile robot to a certain extent.

[0158] The driving component 152 drives the reflector 154 to rotate 180° (as shown in the image). Figure 33 Within a 360° range (excluding the two endpoints), the second reflective surface 1543 is positioned towards the detector assembly 130, enabling it to directly reflect the signal emitted by the transmitter 132 from inside the housing 110 to the receiver 134. When the reflective part 154 is at 270°, as shown... Figure 34 As shown, the second reflective surface 1542 is disposed toward the detection component 130, and the second reflective surface 1542 is perpendicular to the emission direction of the transmitter 132. The transmitter 132 and the receiver 134 are disposed at intervals along the direction of the rotation center of the reflective part 134, so that the detection signal a emitted by the transmitter 132 can be reflected toward the receiver 134 as much as possible by the second reflective surface 1542, thereby maximizing the energy of the reference signal d received by the receiver 134.

[0159] Figure 35 A schematic diagram of the structure of the reflective part 154, the connecting part 153, and the triggering part 159 of the reflective assembly 150 is shown, as follows: Figure 35 As shown, regarding how the detection element 160 obtains the rotation angle of the driving element 152, in some embodiments, the reflective assembly 150 further includes a connecting portion 153 and a plurality of trigger portions 159. The plurality of trigger portions 159 are spaced apart on the connecting portion 153, the connecting portion 153 is connected to the reflective portion 154, and the trigger portions 159 are used to trigger the detection element 160 to determine the rotation angle of the reflective portion 154 based on the number of times the detection element 160 is triggered by the trigger portion 159.

[0160] Multiple triggering parts 159 can be evenly arranged in a ring around the rotation center of the reflector 154 on the connecting part 153. Any two adjacent triggering parts 159 form an angle with the rotation center of the reflector 154, and these two angles are equal. For example, if 30 triggering parts 159 are provided on the connecting part 153, the angle between any two adjacent triggering parts 159 and the rotation center of the reflector 154 will be 12°. In the initial position, if the first triggering part 159 triggers the detection element 160, and the second triggering part 159 triggers the detection element 160, it indicates that the reflector 154 has rotated 12°. If the third triggering part 159 triggers the detection element 160, it indicates that the reflector 154 has rotated 24°, and so on. If 36 triggering parts 159 are provided, the angle between any two adjacent triggering parts 159 and the rotation center of the reflector 154 will be 10°. In the initial position, the first trigger 159 triggers the detection element 160. If the second trigger 159 triggers the detection element 160, it indicates that the reflector 154 has rotated by 10°. If the third trigger 159 triggers the detection element 160, it indicates that the reflector 154 has rotated by 20°, and so on. Of course, the more triggers 159 there are, the more accurate the angle detection of the reflector 154 will be.

[0161] In this case, the rotation angle of the reflector 154 can be determined based on the number of times the triggering part 159 triggers the detection element 160. That is, the rotation angle of the reflector 154 is the angle between the rotation centers of two adjacent triggering parts 159 and the detection element 160 multiplied by the number of times the triggering part 159 triggers the detection element 160.

[0162] Figure 36 It shows Figure 27 A magnified view of a section at point II, as shown below. Figure 36 As shown, the detection element 160 can be a light blocking sensor, that is, the detection element 160 can include a transmitter 162 and a receiver 164, which are spaced apart, that is, there is a certain distance 166 between the transmitter 162 and the receiver 164. The transmitter 162 can continuously emit light signals to the receiver 164. After the triggering part 159 moves to within the distance 166 between the transmitter 162 and the receiver 164, the triggering part 159 blocks the path of the light signal emitted by the transmitter 162. If the receiver 164 does not receive the light signal, the triggering part 159 triggers the detection element 160.

[0163] Regarding the mounting location of the detection element 160, in some embodiments, the reflective assembly 150 further includes a first circuit board 156, with the driving element 152 mounted on the first circuit board 156 and the detection element 160 mounted on the first circuit board 156. Direct mounting of the detection element 160 on the first circuit board 156 reduces the number of wires connecting the detection element 160 to the first circuit board 156 and also facilitates the assembly of the entire reflective assembly 150.

[0164] Regarding how the first reflecting surface 1542 and the second reflecting surface 1543 of the reflector 154 are installed in the mounting cavity 113 and how the above functions are achieved, the following will be discussed in conjunction with 37- Figure 44 Detailed introduction. Figure 37 A schematic diagram of the structure of the first reflective surface 1542 facing the detection component 130 is shown. Figure 38 A structural schematic diagram of the housing 110 from a first-view perspective is shown, as follows. Figure 37 and Figure 38 As shown, in some embodiments, a baffle 170 may be provided inside the housing 110. The baffle 170 is disposed between the transmitter 132 and the receiver 134. The baffle 170 is used to separate the detection signal a and the measurement signal b. The measurement signal b is the signal reflected back by the obstacle. The receiver 134 is used to receive the measurement signal b. A connection port 172 is provided on the baffle 170, and the reflector 154 can pass through the connection port 172. Specifically, the baffle 170 can divide the internal space of the housing 110 into a transmitting cavity 11342 and a receiving cavity 11344. The signal emitted by the transmitter 132 is emitted from the transmitting cavity 11342 to the first reflecting surface 1542 or the second reflecting surface 1543. If the first reflecting surface 1542 faces the transmitter 132, it can be reflected out of the housing 110 through the first reflecting surface 1542. The measurement signal reflected back by the obstacle can enter the receiving cavity 11344 and be reflected back to the receiver 134 through the first reflecting surface 1542. That is, part of the first reflecting surface 1542 is disposed in the transmitting cavity 11342 and part of the first reflecting surface 1542 is disposed in the receiving cavity 11344.

[0165] Part of the second reflective surface 1543 is disposed in the transmitting cavity 11342 and part is disposed in the receiving cavity 11344. If the second reflective surface 1543 is disposed facing the transmitter 132, the second reflective surface 1543 can directly reflect the signal emitted by the transmitter 132 into the receiving cavity 11344, so that the receiver 134 can receive the reference signal d reflected by the second reflective surface 1543.

[0166] In some embodiments, the reflective component 150 further includes a stop 158, such as Figure 39 As shown, Figure 39 It shows Figure 26In the enlarged view at point III, the stop portion 158 and the first reflective surface 1542 are disposed on the same side of the reflective portion 154. When the first reflective surface 1542 faces the detection component 130, along the direction o where the rotation center of the reflective portion 154 is located, the projection of the stop portion 158 on the housing 110 coincides with the projection of the baffle 170 on the housing 110.

[0167] Along the rotation center direction O of the reflector 154, the projection of the stop 158 on the housing 110 coincides with the projection of the baffle 170 on the housing 110. This ensures that when the first reflector 1542 faces the detector assembly 130, the emitting cavity 11342 and the receiving cavity 11344 are completely separated, so that the emitting cavity 11342 and the receiving cavity 11344 will not have light crosstalk, thereby improving the detection accuracy of the detector module 100.

[0168] When the first reflective surface 1542 faces the detector assembly 130, the complete separation of the transmitting cavity 11342 and the receiving cavity 11344 means that the transmitting cavity 11342 and the receiving cavity 11344 between the first reflective surface 1542 and the detector assembly 130 are completely separated, not that the transmitting cavity 11342 and the receiving cavity 11344 are completely separated. Unless otherwise specified, the complete separation of the transmitting cavity 11342 and the receiving cavity 11344 mentioned in this application refers to the complete separation of the transmitting cavity 11342 and the receiving cavity 11344 between the first reflective surface 1542 and the detector assembly 130.

[0169] As for the overlapping area of ​​the stop part 158 ​​and the baffle 170, it is sufficient to ensure that the signal in the transmitting cavity 11342 does not enter the receiving cavity 11344.

[0170] A stop 158 is disposed on the first reflective surface 1542, which divides the first reflective surface 1542 into a transmitting reflective surface 15422 and a receiving reflective surface 15424. The transmitting reflective surface 15422 is disposed corresponding to the transmitter 132, and the receiving reflective surface 15424 is disposed corresponding to the receiver 134. That is, the transmitting reflective surface 15422 is disposed inside the transmitting cavity 11342, and the receiving reflective surface 15424 is disposed inside the receiving cavity 11344. The transmitting reflective surface 15422 is mainly used to reflect the signal emitted by the transmitter 132 out of the housing 110, and the receiving reflective surface 15424 is mainly used to feed back the obstacle detection signal a to the receiver 134.

[0171] In this embodiment, the stop portion 158 and the first reflective surface 1542 are disposed on the same side of the reflective portion 154. The stop portion 158 can be connected to the first reflective surface 1542, meaning the stop portion 158 is attached to the first reflective surface 1542, dividing the first reflective surface 1542 into a emitting reflective surface 15422 and a receiving reflective surface 15424. In this case, the first reflective surface 1542 can be a single unit. In other embodiments, the stop portion 158 can be connected to the reflective portion 154, meaning the first reflective surface 1542 can be divided into two segments, with the emitting reflective surface 15422 and the receiving reflective surface 15424 disposed on opposite sides of the stop portion 158.

[0172] Figure 40 A structural schematic diagram of the casing from a second perspective is shown, such as... Figure 39 and Figure 40 As shown, in some embodiments, the stop portion 158 may include a main body segment 1582 and a stop portion 1583. The main body segment 1582 is connected to the reflective portion 154, and the stop portion 1583 is connected to the end of the main body segment 1582 away from the reflective portion 154. The main body segment 1582 may be disposed within the connection port 172. Along the direction of the rotation center of the reflective portion 154 (which is also the axial direction of the drive shaft 1524), the stop portion 1583 overlaps with the baffle 170. The thickness of the stop portion 1583 along the direction of the rotation center of the reflective portion 154 (which is also the axial direction of the drive shaft 1524) may be less than the thickness of the main body segment 1582.

[0173] like Figure 35 and Figure 36 As shown, in some embodiments, the baffle 170 may have a stop groove 174, which communicates with the connection port 172. The stop section 1583 may be disposed in the stop groove 174, so that the stop section 1583 overlaps in the stop groove 174, so that the stop part 158 ​​and the baffle 170 can form a stepped engagement, thereby blocking the gap between the baffle 170 and the stop part 158 ​​along the direction of the rotation center of the reflector 154 (which is also the axial direction of the drive shaft 1524), reducing the possibility of light crosstalk between the emitting cavity 11342 and the receiving cavity 11344.

[0174] like Figure 39 and Figure 40 As shown, specifically, the baffle 170 may include a baffle body 176 and a baffle segment 178. The baffle segment 178 is connected to the baffle body 176, and the connection port 172 is provided in the baffle segment 178 along the direction o where the rotation center of the reflector 154 is located (which is also the axial direction of the drive shaft 1524). The thickness of the baffle segment 178 may be less than the thickness of the baffle body 176, so that the baffle segment 178 and the baffle body 176 form a stop groove 178.

[0175] In other words, along the direction o where the rotation center of the reflector 154 is located (which is also the axial direction of the drive shaft 1524), the projection of the stop section 1583 on the housing 110 at least partially coincides with the projection of the baffle section 178 on the housing 110.

[0176] In some embodiments, the side of the stop section 1583 away from the baffle section 178 may be flush with the side of the baffle body 176, or the side of the stop section 1583 away from the baffle section 178 may not protrude from the baffle body 176. This can reduce the likelihood that the stop section 1583 or even the stop portion 158 protrudes from the receiving cavity 11344, thereby minimizing the risk of the receiver 134 receiving the measurement signal b (the measurement signal b is the signal reflected back from the obstacle).

[0177] Figure 41 The diagram shows a first-view structural schematic of the reflective portion 154 and the stop portion 158 of the reflective assembly 150. Figure 42 A structural schematic diagram of the reflective portion 154 and the stop portion 158 of the reflective assembly 150 from a second perspective is shown, as follows. Figure 41 and Figure 42 As shown, in some embodiments, the reflective portion 154 further has a first connecting surface 1544 and a second connecting surface 1545, the first connecting surface 1544 being connected to one side of the first reflective surface 1542, and the second connecting surface 1545 being connected to the other side of the first reflective surface 1542.

[0178] The stop portion 158 may include a first stop segment 1584, a second stop segment 1586, and a third stop segment 1588. One end of the third stop segment 1588 is connected to the first stop segment 1584, and the other end is connected to the second stop segment 1586. The first stop segment 1584 is disposed on the first connecting surface 1544, the second stop segment 1586 is disposed on the second connecting surface 1545, and the third stop segment 1588 is disposed on the first reflecting surface 1542. This arrangement means that the stop portion 158 is disposed above and below the first reflecting surface 1542. Even when the first reflecting surface 1542 is rotated to its upper or lower limit position, the transmitting cavity 11342 and the receiving cavity 11344 can still be separated, which can reduce crosstalk between the transmitting cavity 11342 and the receiving cavity 11344 and improve the detection accuracy of the detection module 100.

[0179] In some embodiments, the first connecting surface 1544 is connected to one side of the first reflecting surface 1542 and one side of the second reflecting surface 1543, and the second connecting surface 1545 is connected to the other side of the first reflecting surface 1542 and the other side of the second reflecting surface 1543.

[0180] In some embodiments, the stop segment 1583 may include a first stop segment 1584, a second stop segment 1586, and a third stop segment 1588, with the third stop segment 1588 connected to the main body segment 1582.

[0181] In some embodiments, the stop portion 158 and the baffle 170 are spaced apart (e.g.) Figure 39 (As shown). Specifically, the stop section 1583 and the baffle section 178 are spaced apart. Since the reflective part 154 rotates under the drive of the drive member 152, the stop section 158 is fixed on the first reflective surface 1542. The stop section 158 will also rotate with the reflective part 154. The stop section 158 and the baffle 170 are spaced apart. During the rotation of the stop section 158 relative to the baffle 170, the stop section 158 will not contact the baffle 170, which can reduce the resistance during the rotation of the reflective part 154 by the drive member 152 and reduce the difficulty of the drive member 152 in driving the reflective part 154 to rotate.

[0182] Figure 43 A schematic diagram of the structure of the second reflective surface 1543 facing the detector assembly 130 is shown, as follows. Figure 43 As shown, in some embodiments, when the second reflective surface 1543 faces the detector assembly 130, the transmitting cavity 11342 and the receiving cavity 11344 are connected.

[0183] The second reflective surface 1543 can be a diffuse reflective surface, that is, the surface of the second reflective surface 1543 is relatively rough. After the signal emitted by the transmitter 132 is directed toward the second reflective surface 1543, the rough second reflective surface 1543 can reflect the signal emitted by the transmitter 132 to different directions, so that part of the signal can pass through the connection port 172 and enter the receiving cavity 11344 to form a reference signal d, thereby enabling the receiver 134 to receive the reference signal d.

[0184] In other words, when the second reflective surface 1543 faces the detection module 100, the transmitting cavity 11342 and the receiver 134 remain connected, allowing the reference signal d to enter the receiving cavity 11344. The second reflective surface 1543 reflects part of the signal to the receiving cavity 11344 through diffuse reflection. This method limits the energy of the reference signal d entering the receiving cavity 11344. When the second reflective surface 1543 faces the detection module 100, the connection area between the receiving cavity 11344 and the transmitting cavity 11342 can be maximized, allowing more reference signal d to enter the receiving cavity 11344, thereby increasing the energy of the reference signal d. This enables the receiver 134 to receive the reference signal d and calculate the reference distance, improving the accuracy of the reference distance.

[0185] In some embodiments, the roughness of the second reflective surface 1543 is greater than that of the first reflective surface 1542. The greater roughness of the second reflective surface 1543 allows it to have multiple different reflection directions, thereby enabling the reference signal d to be fed back from the transmitting cavity 11342 to the receiver 134. The smaller roughness of the first reflective surface 1542 allows the signal transmitted by the transmitter 132 to be reflected as much as possible outside the housing 110, and the measurement signal b reflected back from the obstacle can be reflected to the receiver 134, which can reduce the energy loss of the measurement signal b and improve the measurement accuracy of the detection module 100.

[0186] Figure 44 It shows Figure 6 A sectional view at point CC, as shown Figure 43 and Figure 44 As shown, in some embodiments, a partition 180 is provided inside the housing 110, which divides the mounting cavity 113 into a first sub-cavity 1132 and a second sub-cavity 1134. The transmitter 132 and the receiver 134 are disposed in the first sub-cavity 1132, and the reflector 154 is disposed in the second sub-cavity 1134. The partition 180 has a transmitting port 182 and a receiving port 184 that connect the first sub-cavity 1132 and the second sub-cavity 1134. The transmitting surface 1321 of the transmitter 132 is disposed corresponding to the transmitting port 182, and the receiving surface 1341 of the receiver 134 is disposed corresponding to the receiving port 184.

[0187] The first reflective surface 1542 and the second reflective surface 1543 are both disposed in the second sub-cavity 1134, and the window 112 is also connected to the second sub-cavity 1134. The detection component 130 is installed in the second sub-cavity 1134. The partition 180 separates the second sub-cavity 1134 from the first sub-cavity 1132, which can reduce the impact on the transmitter 132 and the receiver 134 during the rotation of the first reflective surface 1542 and the second reflective surface 1543 by the driving component 152, thereby ensuring that the transmitter 132 and the receiver 134 can work normally.

[0188] In addition, the reflective component 150 is disposed in the second sub-cavity 1134 and the detection component 130 is disposed in the first sub-cavity 1132. This arrangement allows the reflective component 150 and the detection component 130 to be located in different cavities, thereby enabling the reflective component 150 and the detection module 100 to be disposed independently as much as possible, thus reducing mutual interference.

[0189] Window 112 is connected to the second sub-cavity 1134, which makes it possible for external impurities to enter the second sub-cavity 1134 through window 112. The detection component 130 is placed in the first sub-cavity 1132, or the detection component 130 can be isolated again by the partition 180, thereby reducing the impact of impurities on the operation of transmitter 132 and receiver 134.

[0190] Regarding the position of the baffle 170, in some embodiments, the baffle 170 is provided inside the housing 110, the baffle 170 is connected to the partition 180, and the baffle 170 is disposed between the transmitting port 182 and the receiving port 184. The baffle 170 is disposed inside the second sub-cavity 1134, dividing the second sub-cavity 1134 into a transmitting cavity 11342 and a receiving cavity 11344.

[0191] Specifically, the baffle body 176 is connected to the partition 180.

[0192] The following will combine Figures 45-49 This section describes how to install and secure the detection component 130. Figure 45 A structural schematic diagram of the reflector component 150 and the detector component 130 from a first-view perspective is shown, as follows. Figure 45 As shown, in some embodiments, the reflective component 150 further includes a first circuit board 156, the driving component 152 is mounted on the first circuit board 156, and the detection component 130 further includes a fixing component 136, the transmitter 132 and the receiver 134 are mounted on the fixing component 136, and the fixing component 136 is detachably connected to the circuit board.

[0193] Among them, the fixing part 136 is the basic component of the detection assembly 130. The transmitter 132 and the receiver 134 can be installed on the fixing part 136 so that the detection assembly 130 can form a whole. This method can facilitate the assembly and assembly of the entire detection module 100. During assembly, the entire detection assembly 130 can be assembled into the housing 110, which is simple and convenient to operate.

[0194] Figure 46 It shows Figure 44 A magnified view of a section at point IV, as shown below. Figure 46 As shown, the detachable connection between the fixing member 136 and the circuit board can be achieved by fixing with the fixing part 190. A first fixing hole 1362 can be provided on the fixing member 136, and a second fixing hole 1562 can be provided on the first circuit board 156. The fixing part 190 passes through the first fixing hole 1362 and the second fixing hole 1562. Specifically, the fixing part 190 can be a screw. The screw can pass through the second fixing hole 1562 and the first fixing hole 1362 from the side of the first circuit board 156 away from the fixing member 136. That is, the second fixing hole 1562 can be a through hole, and the first fixing hole 1362 can be a threaded hole. The screw engages with the thread in the first fixing hole 1362.

[0195] Of course, in some other embodiments, the first circuit board 156 and the fastener 136 can be detachably connected by a snap-fit ​​mechanism, and the detachable connection method of the first circuit board 156 and the fastener 136 is not specifically limited.

[0196] Figure 47It shows Figure 45 A magnified view of the middle V section, as shown below. Figure 47 As shown, regarding how the fastener 136 is installed on the first circuit board 156, in some embodiments, the fastener 136 is provided with a first positioning part 1364, and the first circuit board 156 is provided with a second positioning part 1564, with the first positioning part 1364 and the second positioning part 1564 cooperating.

[0197] The first positioning part 1364 and the second positioning part 1564 can be a positioning hole and a positioning protrusion, respectively. During the assembly process, the positioning protrusion is first placed in the positioning hole. After the positioning protrusion is in the positioning hole, the first fixing hole 1362 and the second fixing hole 1562 are connected. Then, the first circuit board 156 and the fixing member 136 can be fixed with screws. This method makes it easy to assemble the fixing member 136 and the first circuit board 156, and reduces the assembly difficulty of the entire detection component 130 and the first circuit board 156.

[0198] Figure 48 A structural schematic diagram of the reflector component 150 and the detector component 130 from a second perspective is shown, as follows. Figure 48 As shown, in some embodiments, the detection component 130 further includes a second circuit board 138, to which the transmitter 132 and receiver 134 are electrically connected. The second circuit board 138 is soldered to the first circuit board 156, so that the second circuit board 138 can be directly electrically connected to the first circuit board 156 by soldering. This eliminates the need for connectors or connecting wires, reduces the number of parts, and can also reduce the overall size of the device to a certain extent, thereby reducing manufacturing costs.

[0199] As for the soldering method of the first circuit board 156 and the second circuit board 138, it can be that the first circuit board 156 and the second circuit board 138 are directly soldered together, or a soldering part is provided, to which both the first circuit board 156 and the second circuit board 158 are soldered. The soldering method of the first circuit board 156 and the second circuit board 138 is not limited.

[0200] During assembly, the detection component 130 can be installed on the first circuit board 156 first, the driving component 152 and the reflector 154 can be assembled together, and the driving component 152 can be installed on the first circuit board 156 so that the reflector 150 and the detection component 130 can form a whole. Then, the reflector 150 and the detection component 130 can be assembled together in the housing 110. This method can facilitate the assembly of the detection component 130 and the reflector 150 and reduce the assembly difficulty of the entire detection module 100.

[0201] In some embodiments, the transmitter 132 is disposed between the receiver 134 and the first circuit board 156, or the receiver 134 is disposed between the transmitter 132 and the first circuit board 156.

[0202] The transmitter 132 and receiver 134 are spaced apart along the direction o (also the axial direction of the drive shaft 1524) of the rotation center of the reflector 154. The transmitter 132 is positioned between the receiver 134 and the first circuit board 156, i.e., along the direction o (also the axial direction of the drive shaft 1524) of the rotation center of the reflector 154. The first circuit board 156 is positioned on the side of the transmitter 132 away from the receiver 134. Similarly, the receiver 134 is positioned between the transmitter 132 and the first circuit board 156, also along the direction o (also the axial direction of the drive shaft 1524) of the rotation center of the reflector 154. The first circuit board 156 is positioned on the end of the receiver 134 away from the transmitter 132. Regardless of the method, along the direction o of the rotation center of the reflector 154 (which is also the axial direction of the drive shaft 1524), the transmitter 132 and the receiver 134 are stacked on the first circuit board 156. This arrangement allows the detector component 130 to occupy as little space as possible on the first circuit board 156 when mounted on it. After the detector component 130 is installed in the housing 110, the structure becomes more compact, and the volume of the detector module 100 can be reduced to a certain extent.

[0203] Figure 49 An exploded view of the detection module 100 from a second perspective is shown, as follows. Figure 49 As shown, in some embodiments, the housing 110 also has an assembly port 117 communicating with the mounting cavity 113, the first circuit board 156 is detachably connected to the housing 110, and the first circuit board 156 can open or close the assembly port 117.

[0204] The first circuit board 156 is connected to both the drive component 152 and the detection component 130, such that the first circuit board 156 must cover at least a portion of the first sub-cavity 1132 and a portion of the second sub-cavity 1134. That is, the first circuit board 156 is relatively large. The first circuit board 156 can be directly used to open or close the assembly port 117, so that the first circuit board 156 can be part of the housing 110. This arrangement not only facilitates the overall assembly of the detection component 130 and the reflection component 150, but also saves some material of the housing 110 and reduces manufacturing costs.

[0205] In some embodiments, the partition 180 is disposed within the mounting cavity 113, and the assembly port 117 is disposed along the direction of the rotation center of the housing 110 along the reflector 154, such as... Figure 49On one side shown in the middle (also the axial direction of the drive shaft 1524), the partition 180 can divide the assembly port 117 into a first sub-port 1172 and a second sub-port 1174. The first sub-port 1172 is connected to the first sub-cavity 11132, and the second sub-port 1174 is connected to the second sub-cavity 1134.

[0206] As for the detachable connection method between the first circuit board 156 and the housing 110, it can be referred to the detachable connection method between the first circuit board 156 and the fastener 136, which will not be repeated here.

[0207] In some embodiments, the mounting port 117 and the lens 120 are located on different sides of the housing 110.

[0208] The assembly port 117 is located on one side of the housing 110 along the direction of the rotation center of the reflector 154 (which is also the axial direction of the drive shaft 1524). The assembly port 117 can be located on the upper side or the lower side of the housing 110. The lens 120 is located on the side where the housing 110 forms an angle with the axial direction of the drive shaft 1524, that is, the lens 120 can be located on the front side of the housing 110. The assembly port 117 and the lens 120 are located on different sides of the housing 110, so that the lens 120 will not be affected during the overall maintenance of the detection assembly 130 and the reflector assembly 150, which facilitates the maintenance and assembly of the reflector assembly 150 and the detection assembly 130.

[0209] In some embodiments, the housing 110 further has a mating port 118 communicating with the mounting cavity 113, and the second circuit board 138 can open or close the mating port 118.

[0210] Specifically, the mating port 118 can be located on the side of the housing 110 away from the reflective component 150. That is, if the reflective component 150 is located on the left side of the housing 110, the mating port 118 can be located on the right side of the housing 110, so that the second circuit board 138 can act on a part of the housing 110. This arrangement can facilitate the overall assembly of the detection component 130 and the reflective component 150, and also save some of the material of the housing 110, reducing manufacturing costs.

[0211] Figure 50 A schematic diagram of the structure of the mobile robot 10 provided in an embodiment of this application is shown, as follows: Figure 50 As shown, based on the same inventive concept, this application embodiment also provides a mobile robot 10, including a device body 200 and the above-mentioned detection module 100, wherein the detection module 100 is installed on the device body 200.

[0212] In some embodiments, the detection module 100 may be disposed on the front side of the device body 200 for detecting obstacles in front of the device body 200.

[0213] Figure 51 This application provides a schematic diagram of the structure of the main body 200 of the mobile robot removal device according to an embodiment of the present application. Figure 51 As shown, in some embodiments, the detection module 100 includes two modules, one of which is located on the front side of the device body, and the other is located on the rear side of the device body. The detection module 100 located on the front side is used to detect obstacles in front of the device body 100, and the detection module located on the rear side of the device body 100 is used to detect obstacles behind the device body. The cooperation of the two detection modules 100 improves the obstacle recognition capability of the mobile robot 10.

[0214] The detection module 100 can be installed on the front side, the rear side, the left side or the right side of the main body 200. The installation position of the detection module 100 on the main body 200 is not limited.

[0215] Figure 52 A schematic diagram of the structure of the robot system 1 provided in an embodiment of this application is shown, as follows: Figure 52 As shown, based on the same inventive concept, this application also provides a robot system 1, including a base station 20 and the aforementioned mobile robot 10, wherein the mobile robot 10 can dock with the base station 20. This enables the base station 20 to charge the mobile robot 10. The base station 20 can also be used to place and accommodate the mobile robot 10. In the case that the mobile robot 10 is a sweeping robot, the base station 20 can also clean the cleaning components of the sweeping robot.

[0216] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. In addition, those skilled in the art can combine and integrate the different embodiments or examples described in this specification.

[0217] Furthermore, the technical solutions of the various embodiments can be combined with each other, but only if they are based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such combination of technical solutions does not exist and is not within the scope of protection claimed in this application.

[0218] Although embodiments of this application have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of this application, the scope of which is defined by the claims and their equivalents.

Claims

1. A detection module, characterized in that, include: The housing (110) has a mounting cavity (113); The detection assembly (130) includes a transmitter (132) and a receiver (134), the transmitter (132) and the receiver (134) being spaced apart in the mounting cavity (113). The reflective assembly (150) includes a driving member (152) and a reflective part (154). The driving member (152) is connected to the reflective part (154). The reflective part (154) has a first reflective surface (1542) and a second reflective surface (1543). The first reflective surface (1542) and the second reflective surface (1543) are disposed in the mounting cavity (113). The driving member (152) is used to drive the reflector (154) to move, such that the first reflector (1542) reflects the detection signal emitted by the transmitter (132) to the outside of the mounting cavity (113), and the second reflector (1543) reflects the detection signal emitted by the transmitter (132) from the inside of the mounting cavity (113) to the receiver (134).

2. The detection module according to claim 1, characterized in that, The driving member (152) is used to drive the reflector (154) to rotate, so that the first reflector (1542) and the second reflector (1543) are alternately positioned toward the detection component (130).

3. The detection module according to claim 2, characterized in that, The first reflective surface (1542) and the second reflective surface (1543) are disposed on opposite sides of the reflective part (154).

4. The detection module according to claim 2, characterized in that, The driving component (152) includes a driving part (1522) and a transmission shaft (1524). The driving part (1522) and the transmission shaft (1524) are connected in a transmission manner. The transmission shaft (1524) is connected to the reflective part (154). The driving part (1522) drives the transmission shaft (1524) to rotate so that the first reflective surface (1542) and the second reflective surface (1543) are alternately positioned toward the detection component (130).

5. The detection module according to claim 1, characterized in that, The detection module (100) further includes a detection element (160) for detecting the rotation angle of the reflector (154) to determine the position of the first reflector (1542) and the second reflector (1543) relative to the detection assembly (130).

6. The detection module according to claim 5, characterized in that, The reflective assembly (150) further includes the reflective part (154) which includes a connecting part (153) and a plurality of triggering parts (159). The plurality of triggering parts (159) are spaced apart from the connecting part (153). The connecting part (153) is connected to the reflective part (154). The triggering part (159) is used to trigger the detection element (160) to determine the rotation angle of the reflective part (154) based on the number of times the detection element (160) is triggered by the triggering part (159).

7. The detection module according to claim 5, characterized in that, The reflective assembly (150) further includes a first circuit board (156), the driving element (152) is mounted on the first circuit board (156), and the detection element (160) is mounted on the first circuit board (156).

8. The detection module according to claim 7, characterized in that, The detection assembly (130) also includes a fixing member (136), on which the transmitter (132) and the receiver (134) are mounted, and the fixing member (136) is detachably connected to the first circuit board (156).

9. The detection module according to any one of claims 1-8, characterized in that, A baffle (170) is provided inside the mounting cavity (113). The baffle (170) is used to separate the detection signal and the measurement signal. The measurement signal is a signal reflected back from the obstacle. The receiver (134) is used to receive the measurement signal. The baffle (170) is provided with a connection port (172). The reflector (154) passes through the connection port (172).

10. The detection module according to claim 9, characterized in that, The reflective assembly (150) further includes a stop (158), which is disposed on the same side of the reflective part (154) as the first reflective surface (1542). The stop (158) divides the first reflective surface (1542) into a emitting reflective surface (15422) and a receiving reflective surface (15424). The emitting reflective surface (15422) is disposed corresponding to the transmitter (132), and the receiving reflective surface (15424) is disposed corresponding to the receiver (134).

11. The detection module according to claim 10, characterized in that, With the first reflective surface (1542) facing the detection component (130), along the direction of the rotation center of the reflective part (154), the projection of the stop part (158) on the housing (110) coincides with the projection of the baffle (170) on the housing (110).

12. The detection module according to claim 11, characterized in that, The stop section (158) includes a main body section (1582) and a stop section (1583). The main body section (1582) is connected to the reflective part (154). The stop section (1583) is connected to the end of the main body section (1582) away from the reflective part (154). Along the direction of the rotation center of the reflective part (154), the thickness of the stop section (1583) is less than the thickness of the main body section (1582). The baffle (170) has a stop groove (174) that communicates with the connection port (172), and the stop section (1583) is disposed in the stop groove (174).

13. The detection module according to claim 11, characterized in that, The reflective part (154) also has a first connecting surface (1544) and a second connecting surface (1545), the first connecting surface (1544) connecting one side of the first reflective surface (1542) and one side of the second reflective surface (1543), and the second connecting surface (1545) connecting the other side of the first reflective surface (1542) and the other side of the second reflective surface (1543); The stop portion (158) includes a first stop segment (1584), a second stop segment (1586), and a third stop segment (1588). One end of the third stop segment (1588) is connected to the first stop segment (1584), and the other end of the third stop segment (1588) is connected to the second stop segment (1586). The first stop segment (1584) is disposed on the first connecting surface (1544), the second stop segment (1586) is disposed on the second connecting surface (1545), and the third stop segment (1588) is disposed on the first reflective surface (1542).

14. The detection module according to claim 11, characterized in that, The reflective part (154) also has a first connecting surface (1544) and a second connecting surface (1545), the first connecting surface (1544) connecting one side of the first reflective surface (1542) and one side of the second reflective surface (1543), and the second connecting surface (1545) connecting the other side of the first reflective surface (1542) and the other side of the second reflective surface (1543); The stop portion (158) includes a first stop segment (1584), a second stop segment (1586), and a third stop segment (1588). One end of the third stop segment (1588) is connected to the first stop segment (1584), and the other end of the third stop segment (1588) is connected to the second stop segment (1586). The first stop segment (1584) is disposed on the first connecting surface (1544), the second stop segment (1586) is disposed on the second connecting surface (1545), and the third stop segment (1588) is disposed on the first reflective surface (1542).

15. The detection module according to claim 9, characterized in that, The baffle (170) divides the internal space of the housing (110) into a transmitting cavity (11342) and a receiving cavity (11344), which are connected when the second reflective surface (1543) faces the detection component (130).

16. The detection module according to any one of claims 1-8, characterized in that, The roughness of the second reflective surface (1543) is greater than that of the first reflective surface (1542).

17. The detection module according to any one of claims 1-8, characterized in that, The housing (110) has a window (112), and the detection module (100) also includes a lens (120), which covers the window (112). The emission direction of the transmitter (132) is parallel to or away from the lens (120).

18. A mobile robot, characterized in that, It includes a device body (200) and a detection module (100) as described in any one of claims 1-16, wherein the detection module (100) is installed on the device body (200).

19. The mobile robot according to claim 18, characterized in that, The detection module (100) is located on the front side of the main body of the device (200).

20. The mobile robot according to claim 18, characterized in that, The detection module (100) includes two, one of which is located on the front side of the device body (200), and the other is located on the rear side of the device body (200).

21. A robot system, characterized in that, Includes a base station (20) and a mobile robot (10) as described in any one of claims 18-20, wherein the mobile robot (10) is capable of docking with the base station (20).

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