A mobile robot and a robot system

Abstract

This application discloses a mobile robot and robot system, belonging to the technical field of electrical equipment. The mobile robot includes: a main body and a detection module. The main body has a top surface, a bottom surface, and an outer peripheral surface connecting the top and bottom surfaces. The detection module is mounted on the outer peripheral surface and includes a receiver and multiple transmitters. The receiver is used to receive detection signals sent by the multiple transmitters. Along the height direction of the main body, the detection signals emitted by any two transmitters have different directions. In some embodiments, along the movement direction of the main body, the detection module is disposed on the front side of the main body. The detection module can detect spatial information at different heights in front of the main body, that is, the detection module can detect spatial information at different heights such as the upper front, directly above, and lower front, which can improve the obstacle avoidance ability of the mobile robot and reduce the risk of the mobile robot encountering obstacles during operation.

Description

Technical Field

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

[0002] In recent years, intelligent mobile robot technology has matured and has been widely applied in commercial, household, and industrial fields. Taking food delivery robots, cleaning robots, and cargo delivery robots as examples, they achieve automated operation in preset environments through autonomous navigation and obstacle avoidance technologies. These types of robots all involve map building, navigation, and active obstacle avoidance functions, enabling them to accurately navigate the environment along a set path and avoid obstacles such as shoes, chairs, pets, and walls in complex environments.

[0003] The mapping and obstacle avoidance capabilities of mobile robots in related technologies need further improvement. Utility Model Content

[0004] This application aims to at least partially address the technical problem of poor obstacle avoidance capabilities in mobile robots. To this end, this application provides a mobile robot and a robot system.

[0005] In a first aspect, an embodiment of this application provides a mobile robot, comprising: The main body of the equipment has a top surface, a bottom surface, and an outer peripheral surface connecting the top surface and the bottom surface; A detection module is installed on the main body of the device. The detection module includes a receiver and multiple transmitters. The receiver is used to receive detection signals sent by the multiple transmitters. The detection signals sent by the transmitters have different directions along the height direction of the main body of the device.

[0006] In some embodiments, the detection module is disposed on the front side of the device body along the direction of movement of the device body. The detection module can detect spatial information at different heights in front of the device body, that is, the detection module can detect spatial information at different heights such as the upper front, directly above, and lower front, which can improve the obstacle avoidance ability and mapping accuracy of the mobile robot and reduce the risk of the mobile robot encountering obstacles during operation.

[0007] In an optional embodiment of this application, the plurality of transmitters includes a first transmitter, a second transmitter, and a third transmitter. The first transmitter is used to transmit a first detection signal, the second transmitter is used to transmit a second detection signal, and the third transmitter is used to transmit a third detection signal. The first detection signal is located above the second detection signal, and the second detection signal is located above the third detection signal.

[0008] In an optional embodiment of this application, the first detection signal is positioned in the direction of the plane containing the top surface.

[0009] In an optional embodiment of this application, the first detection signal has a first detection area, and the angle between the first detection area and the plane containing the top surface is 10° to 90°.

[0010] In an optional embodiment of this application, the first detection signal has a first detection area, and along the height direction of the main body of the device, the first detection area forms a first projection area on the plane where the top surface is located; Along the horizontal direction of the main body of the device, the first projection area has a first edge and a second edge, and the included angle between the first edge and the second edge is 1° to 150°.

[0011] In an optional embodiment of this application, the second detection signal is set along the moving direction of the device body or toward the plane where the top surface is located.

[0012] In an optional embodiment of this application, the second detection signal has a second detection area, and the angle between the second detection area and the plane containing the top surface is 0° to 10°.

[0013] In an optional embodiment of this application, the second detection signal has a second detection area, and along the height direction of the device body, the second detection area forms a second projection area on the plane where the top surface is located; Along the horizontal direction of the main body of the device, the second projection area has a third edge and a fourth edge, and the included angle between the third edge and the fourth edge is 20°~150°.

[0014] In an optional embodiment of this application, the third detection signal is positioned toward the plane containing the bottom surface.

[0015] In an optional embodiment of this application, the third detection signal has a third detection area, and the angle between the third detection area and the plane containing the top surface is 5° to 30°.

[0016] In an optional embodiment of this application, the third detection signal has a third detection area, and along the height direction of the device body, the third detection area forms a third projection area on the plane where the top surface is located; Along the horizontal direction of the main body of the device, the third projection area has a fifth edge and a sixth edge, and the included angle between the fifth edge and the sixth edge is 80°~150°.

[0017] In an optional embodiment of this application, the receiver has a receiving area that covers the detection area of ​​all the transmitters along the height direction of the device body.

[0018] In an optional embodiment of this application, the second transmitter and the third transmitter are integrated on the same chip, and the first transmitter is a point laser.

[0019] In an optional embodiment of this application, the first transmitter, the second transmitter, and the third transmitter are spaced apart along the horizontal direction of the device body.

[0020] In an optional embodiment of this application, the first transmitter, the second transmitter, and the third transmitter are spaced apart along the height direction of the device body.

[0021] In an optional embodiment of this application, the detection signal has a detection area, the receiver has a receiving area, and the central axis of the detection area and the central axis of the receiving area are set at an angle.

[0022] In an optional embodiment of this application, the detection area forms a projection area on the plane where the transmitting surface of the transmitter is located along the central axis of the detection area, and the central axis of the receiving area is spaced apart from the projection area.

[0023] In an optional embodiment of this application, the distance between the central axis of the receiving area and the projection area is a baseline distance, which is 10mm to 30mm.

[0024] In an optional embodiment of this application, the detection module is disposed on the front side of the device body along the moving direction of the device body.

[0025] In an optional embodiment of this application, the detection module is disposed on the outer peripheral surface.

[0026] In an optional embodiment of this application, multiple transmitters are integrated into the same chip.

[0027] Secondly, embodiments of this application provide a robot system, including a base station and the mobile robot described in the first aspect, wherein the mobile robot can interface with the base station.

[0028] The beneficial effects of the robot system described in the second aspect are the same as those of the mobile robot provided in the first 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 This invention provides a schematic diagram of the structure of a mobile robot from a first-view perspective, illustrating an embodiment of the mobile robot. Figure 2 This invention provides a schematic diagram of the structure of a mobile robot from a second perspective, based on an embodiment of the present application. Figure 3 A third-view structural schematic diagram of the mobile robot provided in an embodiment of this application is shown; Figure 4 A schematic diagram of the detection module is shown; Figure 5 The diagram shows a schematic representation of the detection module provided in some embodiments; Figure 6 Schematic diagrams of the detection module provided in other embodiments are shown; Figure 7 Schematic diagrams of the detection module provided in some other embodiments are shown; Figure 8 A schematic diagram of the first probe projection is shown; Figure 9 The angle between the first detection area and the plane containing the top surface is shown; Figure 10 Schematic diagrams of some other provided first detection areas are shown; Figure 11 A schematic diagram of the second probe projection is shown; Figure 12 The angle between the second detection area and the plane containing the top surface is shown; Figure 13 Schematic diagrams of some other provided second detection areas are shown; Figure 14 A schematic diagram of the third probe projection is shown; Figure 15 The angle between the third detection area and the plane containing the top surface is shown; Figure 16 Schematic diagrams of some other provided third detection areas are shown; Figure 17 A schematic diagram of the receiver's receiving area, first detection area, second detection area, and third detection area is shown. Figure 18 A schematic diagram of the detection area and the receiving area is shown; Figure 19 A schematic diagram of the flight path of the detection signal is shown; Figure 20 A schematic diagram of the optical axis of the planar projection area and the receiving area is shown; Figure 21 A schematic diagram of the structure of the robot system provided in an embodiment of this application is shown.

[0031] Figure label: 100 - Mobile robot, 110 - Equipment body, 112 - Top surface, 114 - Bottom surface, 116 - Outer peripheral surface; 120 - Detection module; 122 - Detection area; 1221 - Central axis of detection area; 122a - First detection area; 1222a - First detection projection; 1224a - First edge; 1226a - Second edge; 1228a - First upper edge; 1229a - First lower edge; 122b - Second detection area; 1222b - Second detection projection; 1224b - Third edge; 1226b - Fourth edge; 1228b - Second upper edge; 1229b - Second lower edge; 122c - Third detection area; 1222c - Third detection projection; 1224c - Fifth edge; 1226c - Sixth edge; 1228c - Third upper edge; 1229c - Third lower edge; 1225 - Emitting surface; 1223 - Planar projection area; 124 - Transmitter, 124a - First transmitter, 124b - Second transmitter, 124c - Third transmitter, 128 - Receiver; 129 - Receiving area, 1291 - Central axis of the receiving area, 1292 - Receiving height projection, 1294 - Upper edge of the receiving area, 1296 - Lower edge of the receiving area; 140 - Travel wheel assembly, 150 - Guide wheel, 160 - Support wheel; 200-base stations, 10-robot systems; 300 - Control device for mobile robot, 360 - First determinant, 370 - Second determinant, 380 - Third determinant; 800 - Electronic device; 810 - Processor; 820 - Memory; 821 - Random access memory; 822 - Cache memory; 832 - Read-only memory; 824 - Program / utility; 825 - Program module; 830 - Bus; 840 - Display unit; 850 - Interface; 860 - Network adapter. X - direction of movement, Y - horizontal direction, Z - vertical direction. Detailed Implementation

[0032] 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.

[0033] It should be noted that all directional indications in this utility model embodiment are only used to explain the relative positional relationship and movement of each component in a specific posture. If the specific posture changes, the directional indications will also change accordingly.

[0034] 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.

[0035] 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.

[0036] In recent years, intelligent mobile robot technology has matured and has been widely applied in commercial, household, and industrial fields. Taking food delivery robots, cleaning robots, and cargo delivery robots as examples, they achieve automated operation in preset environments through autonomous navigation and obstacle avoidance technologies. These types of robots all involve map building, navigation, and active obstacle avoidance functions, enabling them to accurately navigate the environment along a set path and avoid obstacles such as shoes, chairs, pets, and walls in complex environments.

[0037] In related technologies, mobile robots require numerous sensors to acquire spatial environmental data in order to meet the needs of spatial map creation and obstacle avoidance. The mapping and obstacle avoidance capabilities of mobile robots in these technologies require further improvement. The mobile robot, robot system, and control method provided in this application can improve the above-mentioned problems. The mobile robot and robot system provided in this application can improve the obstacle avoidance capability and mapping accuracy of mobile robots.

[0038] This application is described below with reference to the accompanying drawings and specific embodiments: Figure 1This paper shows a first-view structural schematic diagram of the mobile robot 100 provided in an embodiment of this application. Figure 2 This application provides a schematic diagram of the mobile robot 100 from a second perspective, as shown in the embodiment. Figure 1 and Figure 2 As shown, this application embodiment provides a mobile robot 100, which can improve the obstacle avoidance ability and mapping (establishing spatial map information around the main body of the device 110) accuracy of the mobile robot 100.

[0039] Figure 3 This illustration shows a third-view structural diagram of the mobile robot 100 provided in an embodiment of this application. Figure 4 A schematic diagram of the detector module 120 is shown, as follows: Figures 1-4 As shown, the mobile robot 100 includes: a device body 110 and a detection module 120. The device body 110 has a top surface 112, a bottom surface 114, and an outer peripheral surface 116 connecting the top surface 112 and the bottom surface 114. The detection module 120 is installed on the device body 110. The detection module 120 includes a receiver 128 and multiple transmitters 124. The receiver 128 is used to receive detection signals sent by the multiple transmitters 124. Along the height direction Z of the device body 110, the directions of the detection signals sent by any two transmitters 124 are different.

[0040] The mobile robot 100 also includes a walking wheel assembly 140, which can be disposed on the bottom surface 114 of the main body 110 to guide the main body 110 to move on the operating surface. The walking wheel assembly 140 can be roughly disposed in the central area of ​​the main body 110. The mobile robot 100 may also include a guide wheel 150 and a support wheel 160, arranged sequentially along the moving direction X of the main body 110. The walking wheel assembly 140 is disposed between the guide wheel 150 and the support wheel 160, and the guide wheel 150 can be a swivel wheel.

[0041] In some embodiments, the main body 110 of the mobile robot 100 is generally cylindrical. The main body 110 has a height direction Z, a movement direction X, and a horizontal direction Y. When the mobile robot 100 is in operation, the height direction Z is vertical, the movement direction X refers to the direction in which the main body 110 moves forward or backward, and the horizontal direction Y is perpendicular to both the height direction Z and the movement direction X. For ease of description, the two ends of the height direction Z are defined as up and down. The top surface 112 and the bottom surface 114 are spaced apart along the height direction Z of the main body 110, with one side of the top surface 112 designated as up and the other side as down, i.e., the top surface 112 is positioned above the bottom surface 114. The two ends of the movement direction X are defined as front and back, with the side of the main body 110 where the guide wheel 150 is located designated as front and the side where the support wheel 160 is located designated as back. The two ends of the horizontal direction Y are defined as left and right. Specifically, the left side from back to front is designated as left, and the right side from back to front is designated as right.

[0042] Along the height direction Z of the main body 110, the top surface 112 is positioned above the bottom surface 114. When the traveling wheel assembly 140 guides the main body 110 to move on the operating surface, the direction of movement X is approximately parallel to the operating surface. When the operating surface is parallel to the horizontal plane, the direction of movement X is approximately horizontal.

[0043] In some embodiments, the transmitter 124 transmits a detection signal, which is reflected by an obstacle and received by the receiver 128. The distance between the device body 110 and the obstacle can be calculated from the time of flight of the detection signal. The detection signal has a specific detection area 122, which is the area covered by the detection signal, enabling it to detect obstacles within this area. The direction of the detection signal refers to the direction of its central axis. When the transmitter 124 is a TOF (Time of Flight) sensor, the central axis of the detection signal is its optical axis. If the transmitter 124 is a laser sensor such as a line laser sensor or an area laser sensor, the central axis of the detection signal is the center of symmetry of the line laser.

[0044] In some embodiments, the transmitters 124 include multiple transmitters along the height direction Z of the device body 110. The detection signals of the multiple transmitters 124 have different directions, so that the detection module 120 can have multiple different detection areas 122 in the height direction Z of the device body 110. This allows the detection signals emitted by the multiple transmitters 124 to detect spatial information at different heights in the height direction Z of the device body 110, thereby improving the obstacle avoidance capability and mapping accuracy of the mobile robot 100.

[0045] The detection module 120 also includes a receiver 128, which is used to receive detection signals emitted by multiple transmitters 124. The same receiver 128 can receive detection signals emitted by different transmitters 124, so that the same receiver 128 can receive detection signals from multiple different receivers 128, thereby reducing the number of receivers 128 and reducing the cost of the detection module 120.

[0046] The detection module 120 includes a receiver 128 and multiple transmitters 124, enabling the same detection module 120 to detect spatial information at different heights of the main body 110. The detection module 120 has a high degree of integration and can also reduce the space occupied on the main body 110, allowing the mobile robot 100 to be compactly laid out.

[0047] In some embodiments, a detection module 120 is disposed on the front side of the device body 110 along the moving direction X of the device body 110. The detection module 120 can detect spatial information at different heights in front of the device body 110, that is, the detection module 120 can detect spatial information at different heights such as the upper front, directly above, and lower front, which can improve the obstacle avoidance capability of the mobile robot 100 and reduce the risk of the mobile robot 100 encountering obstacles during operation.

[0048] In some embodiments, the detection module 110 can be disposed on the outer peripheral surface 116. This enables the detection module to detect spatial information above, in front of, and below the main body of the device 110, thereby improving the obstacle avoidance capability and mapping accuracy of the mobile robot 100.

[0049] like Figure 3 and Figure 4 As shown, in some embodiments, the plurality of transmitters 124 include a first transmitter 124a, a second transmitter 124b, and a third transmitter 124c. The first transmitter 124a is used to transmit a first detection signal, the second transmitter 124b is used to transmit a second detection signal, and the third transmitter 124c is used to transmit a third detection signal. The first detection signal is located above the second detection signal, and the second detection signal is located above the third detection signal.

[0050] The plurality of transmitters 124 may include three: a first transmitter 124a, a second transmitter 124b, and a third transmitter 124c. The area covered by the first detection signal is the first detection area 122a, the area covered by the second detection signal is the second detection area 122b, and the area covered by the third detection signal is the third detection area 122c. The first detection signal is located above the second detection signal, which also means that the first detection area 122a is located above the second detection area 122b. The second detection signal is located above the third detection signal, which also means that the second detection area 122b is located above the third detection area 122c.

[0051] The first detection signal is located above the second detection signal, and the second detection signal is located above the third detection signal. Through three different detection areas 122, the detection module 120 can cover multiple different areas in the height direction Z of the device body 110 as much as possible, so that the detection signals emitted by multiple transmitters 124 can detect spatial information at different heights in the height direction Z of the device body 110, thereby improving the obstacle avoidance capability of the mobile robot 100.

[0052] Figure 5 The diagram shows a schematic representation of the detection module provided in some embodiments, such as... Figure 5 As shown, regarding the arrangement of multiple transmitters 124, in some embodiments, the second transmitter 124b and the third transmitter 124c are integrated into the same chip, and the first transmitter 124a is a point laser. That is, the first transmitter 124a can be an independent module, and the integration of the second transmitter 124b and the third transmitter 124c into the same chip indicates that the second transmitter 124b and the third transmitter 124c are integrated as a single unit, meaning that the second transmitter 124b and the third transmitter 124c are integrated into the same module. This arrangement allows for miniaturization of the detection module 100, reducing the space occupied by the detection module 120 on the device body 110.

[0053] Figure 6 Schematic diagrams of the detection module provided in other embodiments are shown, such as Figure 6 As shown, in other embodiments, multiple transmitters 124 are integrated into the same chip, that is, the first transmitter 124a, the second transmitter 124b and the third transmitter 124c are integrated into the same chip. The integration of the three transmitters 124 into the same chip allows the entire detection module 100 to be set up more centrally, enabling the detection module 100 to be miniaturized and reducing the space occupied by the detection module 120 on the device body 110.

[0054] In some other embodiments, the first transmitter 124a, the second transmitter 124b, and the third transmitter 124c can be three independent modules, that is, the first transmitter 124a, the second transmitter 124b, and the third transmitter 124c can be arranged at intervals. Having the first transmitter 124a, the second transmitter 124b, and the third transmitter 124c as three independent modules facilitates the maintenance and installation of the first transmitter 124a, the second transmitter 124b, and the third transmitter 124c.

[0055] like Figure 6 As shown, the spacing arrangement can be such that the first transmitter 124a, the second transmitter 124b, and the third transmitter 124c are spaced apart along the horizontal direction of the device body 110. Specifically, the first transmitter 124a, the second transmitter 124b, and the third transmitter 124c can be arranged sequentially from left to right, with the first transmitter 124a on the far left, the second transmitter 124b in the middle, and the third transmitter 124c on the far right. Alternatively, the first transmitter 124a can be on the far right, the second transmitter 124b in the middle, and the third transmitter 124c on the far left. Of course, there are other arrangement methods, and the arrangement along the horizontal direction Y of the device body 110 is not limited.

[0056] Figure 7 The diagram shows structural schematics of the detection module provided in some other embodiments, such as Figure 7 As shown, in some other embodiments, the multiple transmitters 124 may also be arranged at intervals along the height direction of the device body, with the first transmitter 124a, the second transmitter 124b, and the third transmitter 124c. Specifically, the first transmitter 124a may be located at the top, the second transmitter 124b in the middle, and the third transmitter 124c at the bottom.

[0057] The following will combine Figures 8-16 Detailed reception refers to the specific coverage area of ​​three different detection signals (detection area 122).

[0058] Figure 8 A schematic diagram of the first probe projection 1222a is shown, as follows. Figure 5 As shown, in some embodiments, the first detection signal is positioned in the direction of the plane 112a where the top surface 112 is located.

[0059] The first detection signal (first detection area 122a) is set in the direction of the plane 112a where the top surface 112 is located. The top surface 112 is located above the main body of the device 110. The first detection signal (first detection area 122a) is set in the direction of the plane 112a where the top surface 112 is located, that is, the first detection area 122a is set upward. The first detection area 122a is mainly used to detect the area above the front of the main body of the device 110.

[0060] In some embodiments, the first detection signal has a first detection area 122a. Along the height direction Z of the device body 110, the first detection area 122a forms a first projection area on the plane 112a where the top surface 112 is located. Along the horizontal direction Y of the device body 110, the first projection area has a first edge 1224a and a second edge 1226a, and the included angle between the first edge 1224a and the second edge 1226a (e.g., ...) Figure 5 (As shown in β1) is 1°~150°.

[0061] In this case, when the operating surface is parallel to the horizontal plane, the plane 112a containing the top surface 112 is also approximately parallel to the horizontal plane. Along the height direction Z of the main body 110, the projection of the first detection area 122a onto the plane 112a containing the top surface 112 can be considered as the projection of the first detection area 122a onto the horizontal plane. The projection of the first detection projection 1222a onto the plane 112a containing the top surface 112 can be a triangle or an arc. The first edge 1224a and the second edge 1226a are the two boundaries of the first detection projection 1222a in the horizontal direction Y. The included angle between the first edge 1224a and the second edge 1226a (e.g., ...) is the angle between the first edge 1224a and the second edge 1226a. Figure 8 (As shown in β1) This represents the area that the first detection region 122a can cover in the horizontal direction Y.

[0062] Specifically, the included angle between the first edge 1224a and the second edge 1226a (e.g.) Figure 8 (As shown in β1) is 1°~150°. For ease of description, the angle between the first edge 1224a and the second edge 1226a is defined as the first horizontal angle (as shown in β1). Figure 8 As shown in β1), the first horizontal angle can be 1° to 150°, and can be any angle within the range of 1° to 150°, i.e., the first horizontal angle can be 1°, 20°, 35°, 50°, 80°, 100°, 120°, 150°, etc. When the first transmitter 124a is a point laser, the first horizontal angle can be 1° or other smaller angles. When the first transmitter 124a is a line laser or a TOF sensor, the first horizontal angle can be any angle within the range of 1° to 150°.

[0063] In some embodiments, the first horizontal angle (e.g.) Figure 8As shown in β1, the first horizontal angle can be a fixed angle, meaning the first detection projection 1222a is a fixed projection, and the positions of the first edge 1224a and the second edge 1226a relative to the device body 110 do not change. Of course, in other embodiments, the first horizontal angle can also be a variable angle, meaning the first detection projection 1222a can be a changing region. The first detection projection 1222a can rotate relative to the device body 110. During this process, the first edge 1224a is the leftmost boundary of the first detection projection 1222a, and the second edge 1226a is the rightmost boundary of the first detection projection 1222a. During rotation, the angle between the first edge 1224a and the second edge 1226a refers to the maximum angle between the first edge 1224a and the second edge 1226a.

[0064] The first horizontal angle (e.g.) Figure 8 If the angle is 1° to 150° (as shown in β1), it indicates that the first detection area 122a has a certain coverage area in the horizontal direction Y. The first edge 1224a and the second edge 1226a have a certain angle. When the first detection area 122a is facing upward, it can also detect the spatial information of the device body 110 in the horizontal direction Y (left and right direction), which can also improve the obstacle avoidance ability of the mobile robot 100 to a certain extent.

[0065] Figure 9 The angle between the first detection area 122a and the plane 112a containing the top surface 112 is shown, as follows: Figure 9 As shown, in some embodiments, the first detection signal has a first detection area 122a, and the angle between the first detection area 122a and the plane 112a containing the top surface 112 (e.g., ...) is... Figure 9 (As shown in γ1) is 10°~90°.

[0066] When the operating surface is horizontal, the first detection area 122a is set upward or along the moving direction X (horizontal setting). The angle between the first detection area 122a and the plane 112a where the top surface 112 is located also refers to the angle between the top surface 112 and the plane 112a where the top surface 112 is located.

[0067] The first detection area 122a can be a line laser or a surface laser. The first detection area 122a is approximately a plane, and the angle between the first detection area 122a and the plane 112a containing the top surface 112 essentially refers to the angle between the two surfaces. The angle between the first detection area 122a and the plane 112a containing the top surface 112 (e.g., ...) Figure 9(As shown in γ1) The angle of 10° to 90° means that the first detection area 122a can be any angle between 10° and 90° and the plane 112a containing the top surface 112. This angle can be a fixed angle, such as 10°, 20°, 30°, 50°, 60°, 80°, or 90°. Of course, in some other embodiments, the angle between the first detection area 122a and the plane 112a containing the top surface 112 can be a dynamic angle, that is, the first detection area 122a is a dynamic area that can change within the range of 10° to 90°. This setting can increase the detection area 122 of the first detection area 122a and also improve the obstacle avoidance capability of the mobile robot 100.

[0068] Figure 10 Schematic diagrams of other provided first detection areas 122a are shown, such as... Figure 10 As shown, in some other embodiments, the first detection area 122a can be approximately cone-shaped, that is, along the height direction Z of the device body 110. The first detection area 122a also has a certain coverage area, that is, along the horizontal direction Y of the device body 110. The projection of the first detection area 122a in the plane containing the movement direction X and the height direction Z is a triangle or arc. For ease of description, this projection is defined as the first height projection. Along the height direction Z of the device body 110, the first height projection has a first upper edge 1228a and a first lower edge 1229a. The first upper edge 1228a is the uppermost boundary of the first height projection, and the first lower edge 1229a is the lowermost boundary of the first height projection. The angle between the first detection area 122a and the plane it is located in is 10°~90°, which can be the angle between the first upper edge 1228a and the plane 112a containing the top surface 112 (e.g., Figure 10 The angle between the first lower edge 1229a and the plane 112a containing the top surface 112 (as shown in γ11) is 90°, and the angle between the first lower edge 1229a and the plane 112a containing the top surface 112 is 90°. Figure 10 (As shown in γ12) is 10°. In this case, the first detection area 122a can have a certain coverage area in the height direction Z of the device body 110, so that the space above and in front of the device body 110 can be detected, and the obstacle avoidance ability of the mobile robot 100 can be improved to a certain extent.

[0069] The angle between the first detection area 122a and the plane 112a containing the top surface 112 is 10°~90°, indicating that the angle between the first detection area 122a and the plane 112a containing the top surface 112 is relatively large. That is, the first detection area 122a is set upwards with a certain area, that is, in the height direction Z of the main body of the device 110, the first detection area 122a has a certain separation. In particular, the angle between the first detection area 122a and the plane 112a containing the top surface 112 is in the range of 45°~90°. The component of the first detection area 122a in the height direction Z of the main body of the device 110 is greater than the component in the movement direction X, so that the detection area 122 (first detection area 122a) of the first detection signal can detect higher spatial information. Therefore, the first detection signal is mainly used to detect the spatial information above and in front of the main body of the device 110, or it can be considered to detect the spatial information diagonally above. Especially when the mobile robot 100 enters a low space, it can determine whether the mobile robot 100 can pass through based on the spatial information fed back by the first detection area 122a.

[0070] like Figure 3 As shown, in some embodiments, the second detection signal is set along the moving direction X of the device body 110 or toward the plane 112a where the top surface 112 is located.

[0071] The detection module 120 is disposed on the outer peripheral surface 116, that is, the detection module 120 is disposed between the top surface 112 and the bottom surface 114. The first detection area 122a is disposed along the moving direction X, meaning that the first detection area 122a is approximately parallel to the operating surface. When the operating surface is parallel to the horizontal plane, the first detection area 122a is approximately horizontally disposed. In some other embodiments, the first detection area 122a is disposed towards the plane 112a on which the top surface 112 is located. The top surface 112 is located above the device body 110. The first detection area 122a is disposed towards the plane 112a on which the top surface 112 is located, that is, the first detection area 122a is disposed upward. In other words, the first detection area 122a can be disposed along the moving direction X of the device body 110 or disposed upward.

[0072] The second detection signal is set below the first detection signal, and the second detection area 122b is set below the first detection area 122a. The first detection area 122a is used to detect the spatial information above the front of the main body of the device 110, and the second detection area 122b is mainly used for the spatial information in front of the main body of the device 110, so that spatial map information around the main body of the device 110 can be established based on the spatial information detected by the second detection area 122b.

[0073] Figure 11 A schematic diagram of the second detection area 122b is shown, as follows. Figure 11As shown, in some embodiments, the second detection signal has a second detection area 122b. Along the height direction Z of the device body 110, the second detection area 122b forms a second projection area on the plane 112a where the top surface 112 is located. Along the horizontal direction Y of the device body 110, the second projection area has a third edge 1224b and a fourth edge 1226b. The included angle between the third edge 1224b and the fourth edge 1226b (e.g., ...) Figure 11 (As shown in β2) is 20°~150°.

[0074] In this case, when the operating surface is parallel to the horizontal plane, the plane 112a containing the top surface 112 is also approximately parallel to the horizontal plane. Along the height direction Z of the main body 110, the projection of the second detection area 122b onto the plane 112a containing the top surface 112 can be considered as the projection of the second detection area 122b onto the horizontal plane. The projection of the second detection projection 1222b onto the plane 112a containing the top surface 112 can be a triangle or an arc. The third edge 1224b and the fourth edge 1226b are the two boundaries of the second detection projection 1222b in the horizontal direction Y. The included angle between the third edge 1224b and the fourth edge 1226b (e.g., ...) Figure 11 (As shown in β2) This represents the area that the second detection region 122b can cover in the horizontal direction Y.

[0075] Specifically, the angle between the third edge 1224b and the fourth edge 1226b (e.g.) Figure 11 (As shown in β2) is 20°~150°. For ease of description, the angle between the third edge 1224b and the fourth edge 1226b is defined as the second horizontal angle (as shown in β2). Figure 8 As shown in β2), the second horizontal angle is 20°~150°. The second horizontal angle can be any angle between 80° and 150°, that is, the second horizontal angle can be 20°, 40°, 60°, 80°, 100°, 120°, 140°, 150°, etc.

[0076] In some embodiments, the second horizontal angle (e.g.) Figure 11As shown in β2, the second horizontal angle can be a fixed angle, meaning the second detection projection 1222b is a fixed projection, and the positions of the third edge 1224b and the fourth edge 1226b relative to the device body 110 do not change. Of course, in other embodiments, the second horizontal angle can also be a variable angle, meaning the second detection projection 1222b can be a changing region, rotating relative to the device body 110. During this rotation, the third edge 1224b becomes the leftmost boundary of the first detection projection 1222a, and the fourth edge 1226b becomes the rightmost boundary of the first detection projection 1222a. During rotation, the angle between the third edge 1224b and the fourth edge 1226b refers to the maximum angle between them.

[0077] The second horizontal angle (such as) Figure 11 The angle between the second detection area 122b and the third edge 1224b (as shown in β2) is 20°~150°, which indicates that the second detection area 122b has a certain coverage area in the horizontal direction Y. The angle between the third edge 1224b and the fourth edge 1226b allows the second detection area 122b to detect the spatial information of the device body 110 in the horizontal direction Y (left and right direction), and can also improve the obstacle avoidance ability and mapping accuracy of the mobile robot 100 to a certain extent.

[0078] Figure 12 The angle between the second detection area 122b and the plane 112a containing the top surface 112 is shown, as follows: Figure 12 As shown, in some embodiments, the second detection signal has a second detection region 122b, and the angle between the second detection region 122b and the plane 112a containing the top surface 112 (e.g., ...) is... Figure 12 (As shown in γ2) is 0°~10°.

[0079] When the operating surface is horizontal, the first detection area 122a is set upward or along the moving direction X (horizontal setting). The angle between the first detection area 122a and the plane 112a where the top surface 112 is located also refers to the angle between the top surface 112 and the plane 112a where the top surface 112 is located.

[0080] The second detection area 122b can be a line laser or a surface laser. The second detection area 122b is approximately a plane, and the angle between the second detection area 122b and the plane 112a containing the top surface 112 essentially refers to the angle between the two surfaces. Figure 12(As shown in γ2) The angle of 0° to 10° means that the second detection area 122b can be any angle between 0° and 10° and the plane 112a containing the top surface 112. This angle can be a fixed angle, i.e., 0°, 1°, 4°, 6°, 8°, 10°, etc. Of course, in some other embodiments, the angle between the second detection area 122b and the plane 112a containing the top surface 112 can be a dynamic angle, i.e., the second detection area 122b is a dynamic area that can change within the range of 0° to 10°. This setting can increase the detection range of the second detection area 122b and improve the obstacle avoidance capability of the mobile robot 100. In any case, if the angle between the second detection area 122b and the plane 112a containing the top surface 112 is 0°, it means that the second detection area 122b is set along the moving direction X of the device body 110.

[0081] Figure 13 A schematic diagram of the second detection region 122b is shown in some other embodiments, such as... Figure 13 As shown, in some other embodiments, the second detection area 122b can be approximately cone-shaped, i.e., along the height direction Z of the device body 110. The second detection area 122b also has a certain coverage area, i.e., along the horizontal direction Y of the device body 110. The projection of the second detection area 122b in the plane containing the movement direction X and the height direction Z is a triangle or arc. For ease of description, this projection is defined as the second height projection. Along the height direction Z of the device body 110, the second height projection has a second upper edge 1228b and a second lower edge 1229b. The second upper edge 1228b is the uppermost boundary of the second height projection, and the second lower edge 1229b is the lowermost boundary of the second height projection. The angle between the second detection area 122b and the plane it is located is 0°~10°, which can be the angle between the second upper edge 1228b and the plane 112a containing the top surface 112 (e.g., Figure 13 The angle between the second lower edge 1229b and the plane 112a containing the top surface 112 (as shown in γ21) is 10°, and the angle between the second lower edge 1229b and the plane 112a containing the top surface 112 is 10°. Figure 13 (As shown in γ22) is 0°. In this case, the second detection area 122b can have a certain coverage area in the height direction Z of the device body 110, so that the space above and in front of the device body 110 can be detected, and the obstacle avoidance ability and mapping accuracy of the mobile robot 100 can be improved to a certain extent.

[0082] The angle between the second detection area 122b and the plane 112a containing the top surface 112 is 0°~10°, indicating that the angle between the second detection area 122b and the plane 112a containing the top surface 112 is small. That is, the upward tilt angle of the second detection area 122b is not large, which makes the component of the second detection area 122b in the movement direction X of the device body 110 more, thus making most of the area of ​​the second detection area 122b used to detect the area in front of the device body 110. The component in the height direction Z is less, making a small part of the second detection area 122b used to detect the area above the device body 110. This can also improve the utilization rate of the second detection area 122b to a certain extent. It allows the second detection area 122b to take into account the space above the device body 110 and detect more of the area in front of the device body 110, thereby improving the utilization rate of the second detection area 122b and also improving the obstacle avoidance ability and mapping accuracy of the entire mobile robot 100.

[0083] The angle between the second detection area 122b and the plane 112a containing the top surface 112 is 0° to 10°, so that the second detection area 122b is set along the moving direction X of the device body 110 or tilted upward. Since the angle between the second detection area 122b and the plane 112a containing the top surface 112 is 0° to 10°, it means that the upward tilt angle of the second detection area 122b is small. The second detection area 122b mainly detects the spatial information in front of the device body 110. Therefore, it can be considered that the second detection area 122b is used to detect the spatial information in front of the device body 110 and to detect whether there are obstacles in front of the device body 110.

[0084] Figure 14 A schematic diagram of the third detection region 122c is shown, as follows. Figure 14 As shown, in some embodiments, the third detection signal is positioned toward the plane containing the bottom surface 114.

[0085] The third detection area 122c is positioned facing the plane of the bottom surface 114, which is located below the main body 110 of the device, meaning the third detection area 122c is positioned downwards.

[0086] In some embodiments, the third detection signal has a third detection region 122c. Along the height direction Z of the device body 110, the third detection region 122c forms a third projection region on the plane 112a where the top surface 112 is located. Along the horizontal direction Y of the device body 110, the third projection region has a fifth edge 1224c and a sixth edge 1226c, and the included angle between the fifth edge 1224c and the sixth edge 1226c is (e.g., ...). Figure 14 (As shown in β3) is 80°~150°.

[0087] In this case, when the operating surface is parallel to the horizontal plane, the plane 112a where the top surface 112 is located is also roughly parallel to the horizontal plane. Along the height direction Z of the main body 110, the projection of the third detection area 122c in the plane 112a where the top surface 112 is located can be considered as the projection of the third detection area 122c in the horizontal plane. The projection of the third detection projection 1222c in the plane 112a where the top surface 112 is located can be a triangle or an arc. The fifth edge 1224c and the sixth edge 1226c are the two boundaries of the third detection projection 1222c in the horizontal direction Y. The included angle between the fifth edge 1224c and the sixth edge 1226c represents the area that the third detection area 122c can cover in the horizontal direction Y.

[0088] Specifically, the angle between the fifth edge 1224c and the sixth edge 1226c (e.g. Figure 14 (As shown in β3) is 80°~150°. For ease of description, the angle between the fifth edge 1224c and the sixth edge 1226c is defined as the third horizontal angle (as shown in β3). Figure 14 As shown in β3), the third horizontal angle is 80°~150°. The third horizontal angle can be any angle between 80° and 150°, that is, the third horizontal angle can be 80°, 90°, 100°, 110°, 120°, 130°, 140°, 150°, etc.

[0089] In some embodiments, the third horizontal angle (such as...) Figure 14 As shown in β3, the third horizontal angle can be a fixed angle, meaning the third detection projection 1222c is a fixed projection, and the positions of the fifth edge 1224c and the sixth edge 1226c relative to the device body 110 do not change. Of course, in other embodiments, the third horizontal angle can also be a variable angle, meaning the third detection projection 1222c can be a changing region. The third detection projection 1222c can rotate relative to the device body 110. During this process, the fifth edge 1224c is the leftmost boundary of the third detection projection 1222c, and the sixth edge 1226c is the rightmost boundary of the third detection projection 1222c. During rotation, the angle between the fifth edge 1224c and the sixth edge 1226c refers to the maximum angle between the fifth edge 1224c and the sixth edge 1226c.

[0090] The third horizontal angle (such as) Figure 14If the angle is 80°~150° (as shown in β3), it indicates that the angle between the third horizontal edge is relatively large, that is, the angle between the fifth edge 1224c and the sixth edge 1226c is relatively large. The coverage area of ​​the third detection area 122c in the horizontal direction Y is relatively large, which means that during the operation of the mobile robot 100, the area that the third detection area 122c can detect in the horizontal direction Y (left and right direction) of the device body 110 is relatively large, which can also improve the obstacle avoidance ability of the mobile robot 100 to a certain extent.

[0091] Figure 15 The angle between the third detection area 122c and the plane 112a containing the top surface 112 is shown, as follows: Figure 15 As shown, in some embodiments, the third detection signal has a third detection region 122c, and the angle between the third detection region 122c and the plane 112a containing the top surface 112 is (e.g., Figure 15 (As shown in γ3) 5°~30°.

[0092] The third detection area 122c faces downwards. The angle between the third detection area 122c and the plane 112a containing the top surface 112 also refers to the angle between the bottom of the top surface 112 and the plane 112a containing the top surface 112. For example, positive and negative values ​​can be used to distinguish the angle relationship between the first detection area 122a, the second detection area 122b, the third detection area 122c and the plane 112a containing the top surface 112. If the moving direction X of the device body 110 is taken as 0°, then the angle between the first detection area 122a and the plane 112a containing the top surface 112 (e.g.) Figure 9 The angle between the second detection area 122b and the plane 112a containing the top surface 112 (as shown in γ1) is +10° to +90°. Figure 12 The angle between the third detection region 122c and the plane 112a containing the top surface 112 (as shown in γ2) is 0° to +10°. Figure 15 (As shown in γ3) is -5° to -30°.

[0093] The third detection area 122c can be formed by a line laser or by a surface laser. The third detection area 122c is roughly a plane. The angle between the third detection area 122c and the plane 112a containing the top surface 112 essentially refers to the angle between the two surfaces. An angle of 5° to 30° between the third detection area 122c and the plane 112a containing the top surface 112 means that the third detection area 122c can be any angle between 5° and 30°. This angle can be a fixed angle, such as 5°, 8°, 10°, 15°, 20°, 25°, or 30°. Of course, in some other embodiments, the angle between the third detection area 122c and the plane 112a containing the top surface 112 can be a dynamic angle, that is, the third detection area 122c is a dynamic area that can change within the range of 5° to 30°. This setting can increase the detection range of the third detection area 122c and also improve the obstacle avoidance capability of the mobile robot 100.

[0094] Figure 16 A schematic diagram of the third detection region 122c provided in some other embodiments is shown, such as Figure 16 As shown, in some other embodiments, the third detection area 122c can be approximately cone-shaped, that is, along the height direction Z of the device body 110. The third detection area 122c also has a certain coverage area, that is, along the horizontal direction Y of the device body 110. The projection of the third detection area 122c in the plane containing the movement direction X and the height direction Z is a triangle or arc. For ease of description, this projection is defined as the third height projection. Along the height direction Z of the device body 110, the third height projection has a third upper edge 1228c and a third lower edge 1229c. The third upper edge 1228c is the uppermost boundary of the third height projection, and the third lower edge 1229c is the lowermost boundary of the third height projection. The angle between the third detection area 122c and the plane it is located is 5°~30°, which can be the angle between the third upper edge 1228c and the plane 112a containing the top surface 112 (e.g., Figure 16 The angle between the third lower edge 1229c and the plane 112a containing the top surface 112 (as shown in γ31) is 5°, and the angle between the third lower edge 1229c and the plane 112a containing the top surface 112 is 5°. Figure 16 (As shown in γ32) is 30°. In this case, the second detection area 122b can have a certain coverage area in the height direction Z of the device body 110, so that the space below and in front of the device body 110 can be detected, and the obstacle avoidance ability of the mobile robot 100 can be improved to a certain extent.

[0095] The angle between the third detection area 122c and the plane 112a containing the top surface 112 is 5°~30°, indicating that the angle between the third detection area 122c and the plane 112a containing the top surface 112 is not large. That is, the upward tilt angle of the third detection area 122c is not large, which makes the component of the third detection area 122c in the movement direction X of the device body 110 more, thus making most of the area of ​​the third detection area 122c used to detect the area in front of the device body 110. The component in the height direction Z is less, making a small part of the third detection area 122c used to detect the area above the device body 110. This can also improve the utilization rate of the third detection area 122c to a certain extent. It allows the third detection area 122c to detect more of the area in front of the device body 110 while taking into account the space below the device body 110, thereby improving the utilization rate of the third detection area 122c and also improving the obstacle avoidance ability of the entire mobile robot 100.

[0096] That is, the first detection area 122a is set upwards, and the angle between the first detection area 122a and the plane 112a containing the top surface 112 is 10°~90°; the second detection area 122b is set upwards along the moving direction X, and the angle between the second detection area 122b and the plane 112a containing the top surface 112 is 0°~10°; the third detection area 122c is set downwards, and the angle between the third detection area 122c and the plane 112a containing the top surface 112 is 5°~30°. In other words, the first detection area 122a is mainly used to detect the area above and in front of the main body 110 of the device, the second detection area 122b is mainly used to detect the area in front of the main body 110 of the device, and the third detection area 122c is mainly used to detect the area below and in front of the main body 110 of the device. Through the joint cooperation of the first detection area 122a, the second detection area 122b and the third detection area 122c, the detection module 120 can detect a large spatial range in the height direction Z of the main body 110 of the device, thereby obtaining more complete spatial information in front of the main body 110 of the device, which can improve the obstacle avoidance capability of the mobile robot 100.

[0097] Among them, the first transmitter 124a, the second transmitter 124b and the third transmitter 124c can all be laser sensors. By using the three laser sensors, a larger spatial range can be detected in the height direction Z of the main body of the device 110, thereby obtaining more complete spatial information in front of the main body of the device 110 and reducing the cost of the mobile robot 100.

[0098] Figure 17 A schematic diagram of the receiving area 129, the first detection area 122a, the second detection area 122b, and the third detection area 122c of the receiver 128 is shown; as follows: Figure 17As shown, in some embodiments, the detection signals of the first transmitter 124a, the second transmitter 124b, and the third transmitter 124c are all received by the receiver 128. As for the receiving range of the receiver 128, the receiver 128 may have a receiving area 129 that covers the detection area 122 of all transmitters 124 along the height direction Z of the device body 110.

[0099] Among them, the receiving area 129 refers to the area where the receiver 128 can receive the detection signal. The receiving area 129 is also the receiving range of the receiver 128. The receiving area 129 covers all the detection areas 124. The detection area 122 refers to the area in the height direction Z of the device body 110 where the detection signals transmitted by multiple transmitters 124 can be received.

[0100] Specifically, along the height direction Z of the device body 110, the receiving area 129 covers the detection area 122 of all transmitters 124. This means that along the horizontal direction Y of the device body 110, the receiving area 129 has a receiving height projection 1292 in the plane containing the height direction Z and the movement direction X. The receiving height projection 1292 has a receiving upper edge 1294 and a receiving lower edge 1296 in the height direction Z of the device body 110. The upper edge is located above all detection areas 122 or is flush with the uppermost detection area 122, and the receiving lower edge 1296 is located below all detection areas 122 or is flush with the lowermost detection area 122. Specifically, in the case of multiple transmitters 124, including a first transmitter 124a, a second transmitter 124b, and a third transmitter 124c, the upper edge 1294 of the receiver is located above the first detection area 122a, or above or flush with the first upper edge 1228a, and the lower edge 1296 of the receiver is located below the third detection area 122c, or below the third lower edge 1229c. This arrangement allows the receiver 128 to receive detection signals from all transmitters 124, thereby improving the obstacle avoidance capability of the mobile robot 100.

[0101] It should be noted that the receiver 128 in this application is able to receive the detection signal emitted by the transmitter 124, which means that the detection signal emitted by the transmitter 124 is the signal that returns to the receiver 128 after being reflected by the obstacle. In other words, the detection signal received by the receiver 128 is the signal after being reflected by the obstacle.

[0102] In some embodiments, the receiver 128 has a receiving area 129 along the height direction Z of the device body 110, and the receiving area 129 has a receiving projection area on the plane 112a where the top surface 112 is located. The transmitter 124 has a detection area 122 for its detection signal, and the detection area 122 forms a detection projection area on the plane 112a where the top surface 112 is located.

[0103] The transmitter 124 comprises multiple transmitters, each with a detection area 122. Each detection area 122 has a detection projection area within the plane 112a containing the top surface 112 (the projection of the first detection area 122a onto the plane 112a is the first detection projection 1222a area, the projection of the second detection area 122b onto the plane 112a is the second detection projection 1222b area, and the projection of the third detection area 122c onto the plane 112a is the third detection projection 1222c area). The receiver 128 receives detection signals from the multiple transmitters 124. The receiving projection area of ​​a transmitter 124 can be larger than all the detection projection areas, enabling the receiver 128 to receive as many detection signals as possible from all transmitters 124, thereby improving the obstacle avoidance capability of the mobile robot 100. In some other embodiments, the receiving projection area can be smaller than the maximum detection projection area. This arrangement can reduce the cost of the receiver 128, thereby reducing the overall cost of the mobile robot 100.

[0104] Figure 18 A schematic diagram of the detection area 122 and the receiving area 129 is shown; as follows: Figure 18 As shown, in some embodiments, the detection signal has a detection area 122, the receiver 128 has a receiving area 129, and the central axis 1221 of the detection area and the central axis 1291 of the receiving area are set at an angle.

[0105] In this system, the central axis 1221 of the detection area is the center of the entire detection area 122, and the central axis 1291 of the receiving area is the center of the receiving area 129. The central axis 1221 of the detection area and the central axis 1291 of the receiving area are set at an angle, indicating that the central axes of the transmitter 124 and the receiver 128 are not parallel. That is, there is a certain angle between the central axes of the transmitter 124 and the receiver 128, causing the detection signal emitted by the transmitter 124 to have a certain offset after being reflected by the obstacle and received by the receiver 128. This offset is then used to calculate the distance between the detection module 120 and the obstacle using the principle of triangulation. When the detection module 120 is installed on the main body 110 of the mobile robot 100, the position of the detection module 120 on the main body 110 is determined, and the distance between the mobile robot 100 and the obstacle can also be calculated using the principle of triangulation.

[0106] Specifically, after the detection module 120 is manufactured, the baseline distance between the transmitter 124 and the receiver 128 is determined, and the focal length of the receiver 128 is also determined. The distance between the transmitter 124 and the obstacle can be obtained based on the baseline distance, the focal length of the receiver 128, and the offset of the detection signal on the receiving chip of the receiver 128. The position of the transmitter 124 on the main body 110 is also determined. The position between the mobile robot 100 and the obstacle can be obtained based on the position of the transmitter 124 on the main body 110.

[0107] Figure 19 A schematic diagram of the detection signal's flight path is shown; the distance between transmitter 124 and the obstacle is determined using the principle of triangulation. Figure 19 As shown, Figure 19 The hollow arrow indicates the flight direction of the detection signal, where AB is the baseline distance between the transmitter and receiver 128 (e.g., ...). Figure 19 Distance shown in L), baseline distance (as shown in L) Figure 19 The distance (as shown by L) is the distance between the central axis 1291 of the receiving area and the central axis 1221 of the detection area within the baseline plane. Specifically, the baseline plane is perpendicular to the central axis 1291 of the receiving area, and the intersection of the central axis 1221 of the detection area and the transmitting surface lies within the baseline plane. α is the angle between the central axis 1221 of the detection area and the central axis 1291 of the receiving area, and BF is the focal length of the transmitter (e.g., ...). Figure 19In the diagram, distance f is shown. D represents the position of the reflected detection signal on the receiver chip of receiver 128 when the obstacle is at infinity from the transmitter's transmitting surface (when the obstacle is at infinity, the angle between the central axis 1221 of the detection area and the central axis 1291 of the receiving area can be ignored, i.e., the central axis 1221 of the detection area and the central axis 1291 of the receiving area can be considered parallel), O represents the position of the obstacle, C is the vertical position of point O on AB, AO is the distance between the transmitter and the obstacle, E represents the position of the detection signal reflected from point O received by receiver 128 on the receiver chip of receiver 128, and DE represents the offset of the detection signal (e.g., ...). Figure 19 The distance shown in H). Where AB ( Figure 19 The distance shown by L in the figure), BF ( Figure 19 The distances shown by f in the diagram are all fixed values. After the reflected light path from point O is determined, the geometric relationship in the light path diagram shows that triangles ABO and DEB are similar triangles. Therefore, the relationship between their side lengths is as follows: ,and Therefore, we can obtain Therefore, the distance between the transmitter and the obstacle can be calculated as follows: the baseline distance between the transmitter and the receiver 128 multiplied by the focal length of the receiver 128 and then divided by the product of the offset and sina. Thus, the distance between the transmitter and the obstacle can be calculated. For ease of description, the distance between the transmitter and the obstacle calculated using the triangulation principle is referred to as the first measurement distance.

[0108] As can be seen from the above calculation process, the distance between the transmitter 124 and the obstacle is calculated using the triangulation principle based on the baseline distance between the transmitter 124 and the receiver 128, the focal length of the receiver 128, and the angle between the central axis of the transmitter 124 and the central axis of the receiver 128. When the distance between the obstacle and the transmitter 124 (which is also the distance between the obstacle and the detection module 120) is small, the greater the offset of the detection signal reflected back from the obstacle on the receiving chip of the receiver 128, the higher the accuracy of the distance between the obstacle and the transmitter 124 (the first measurement distance) calculated using the triangulation principle.

[0109] The following section will detail the parameters of the receiver 128 in triangulation, such as focal length and baseline distance.

[0110] In some embodiments, the focal length of receiver 128 ( Figure 19The distance (f) shown in the figure is 0.5mm to 15mm. As can be seen from the above, the focal length of the receiver 128 directly affects the first measurement distance. A focal length of 0.5mm to 15mm for the receiver 128 can ensure the accuracy of the first measurement distance and also make the structure of the receiver 128 compact. This, in turn, makes the structure of the entire detection module 120 compact and reduces the space occupied by the detection module 120.

[0111] Figure 20 A schematic diagram showing the planar projection area 1223 and the central axis 1291 of the receiving area is shown, as follows. Figure 20 As shown, in some embodiments, along the central axis 1221 of the detection area, the detection area 122 forms a planar projection area 1223 on the plane where the transmitting surface of the transmitter 124 is located, and the central axis 1291 of the receiving area is spaced apart from the planar projection area 1223.

[0112] The emitting surface 1225 refers to the outer surface of the detection module 120 in the direction of emitting the detection signal. The direction of the central axis 1221 of the detection area is also the direction of the detection signal. Projecting along the central axis 1221 of the detection area onto the plane containing the emitting surface 1225 of the transmitter 124, the resulting planar projection area can be a point, a line, or a surface. When the transmitter 124 is a point laser, the planar projection area is a point; when the transmitter 124 is a line laser, the planar projection area 1223 is a line; and when the transmitter 124 is a surface laser, the planar projection area 1223 is a surface.

[0113] The fact that the central axis 1291 of the receiving area is spaced apart from the planar projection area 1223 indicates that there is a certain distance between the central axis 1291 of the receiver 128 and the transmitter 124, which makes the baseline distance relatively large, thereby improving the accuracy of the first ranging distance obtained by triangulation.

[0114] The baseline distance between the transmitter 124 and the receiver 128 is 5mm to 50mm. This baseline distance is the distance between the central axis 1291 of the receiving area and the central axis 1221 of the detection area within the baseline plane. Specifically, the baseline plane is perpendicular to the central axis 1291 of the receiving area, and the intersection of the central axis 1221 of the detection area and the transmitting surface lies within the baseline plane.

[0115] The central axis 1291 of the receiving area and the central axis 1221 of the detection area are set at an angle, so that there is also a certain angle between the transmitting surface of the transmitter 124 and the receiving surface of the receiver 128. If the distance between the central axis 1291 of the receiving area and the central axis 1221 of the detection area is used as the baseline distance, or the distance between the transmitting surface 1225 and the receiving surface is used, the baseline distance will have a certain error. The distance between the central axis 1291 of the receiving area and the central axis 1221 of the detection area in the baseline plane can more accurately reflect the baseline distance between the transmitter 124 and the receiver 128.

[0116] A larger baseline distance results in a more accurate first measurement distance obtained using triangulation. However, an excessively large baseline distance leads to an excessively large distance between the transmitter 124 and the receiver 128, which in turn results in an excessively large detection module 120. In some embodiments, the baseline distance can be between 5mm and 50mm, or even 10mm to 30mm. This approach ensures both the accuracy of the first measurement distance and allows the detection module 120 to be as compact as possible, enabling miniaturization of the detection module 120.

[0117] Specifically, the baseline distance can be 5mm, 10mm, 15mm, 20mm, 25mm, 30mm, 35mm, 40mm, 45mm, 50mm, etc., and the baseline distance does not need to be specifically limited.

[0118] In some embodiments, the transmitter 124 includes a plurality of transmitters 124, the directions of the detection signals of any two transmitters 124 are different, and the central axis 1221 of each detection area is set at an angle to the central axis 1291 of the receiving area.

[0119] When there are multiple transmitters 124, the central axis 1221 of each detection area is set at an angle to the central axis 1291 of the receiving area, so that the receiver 128 can receive the triangulation distance information of multiple transmitters 124. This allows the detection signal emitted by each transmitter 124 to obtain the first measurement distance using triangulation distance, which can also improve the detection accuracy to a certain extent, thereby improving the obstacle avoidance capability of the mobile robot 100.

[0120] In some embodiments, the multiple transmitters 124 are at the same baseline distance from the receiver 128.

[0121] The detection signals from multiple transmitters 124 have different directions, resulting in multiple detection areas 122 that are also different. Since the baseline distance between the multiple transmitters 124 and the receiver 128 is the same, the receiver 128 can calculate the first measurement distance using the same baseline distance even when receiving different detection signals, thus reducing computational burden to some extent. Of course, in other embodiments, at least two transmitters 124 have different baseline distances from the receiver 128. This allows different transmitters 124 to detect obstacles at different distances, thereby improving the obstacle avoidance capability of the mobile robot 100.

[0122] In some embodiments, receiver 128 is a time-of-flight sensor. Specifically, the receiving chip of receiver 128 can be a time-of-flight chip, enabling receiver 128 to obtain the second measurement distance by acquiring the flight time of the detection signal. The time-of-flight sensor can also output grayscale information, thereby obtaining the offset of the detection signal on the receiving chip of receiver 128. The first measurement distance can then be calculated using triangulation. By using a single receiver 128 to obtain data from two ranging methods, the number of receiving sensors can be reduced, making the structure of detection module 120 more compact and reducing its cost. As for transmitter 124, transmitter 124 is a laser sensor, specifically a point laser sensor, a line laser sensor, or a sensor surface laser sensor. The type of transmitter 124 is not limited.

[0123] In other words, the distance between the obstacle and the transmitter 124 can also be calculated based on the flight time of the detection signal. Specifically, the transmitter 124 is mainly used to transmit the detection signal, and the flight path of the detection signal is as follows: Figure 16 The path indicated by the hollow arrow shows that receiver 128 is mainly used to receive the detection signal reflected back by the obstacle. The distance between transmitter 124 and receiver 128 can be calculated based on the flight time and speed of the detection signal between them: Flight distance = Flight time * Flight speed. Since the detection signal reciprocates, the distance between transmitter 124 and the obstacle is half the flight distance. For ease of description, the distance between transmitter 124 and the obstacle calculated using the flight time of the detection signal is defined as the second measurement distance.

[0124] In some embodiments, the detection signal can be an optical signal, and in this case, the flight speed is the speed of light. Of course, the detection signal can also be an acoustic signal, and in this case, the flight speed is the speed of sound.

[0125] Because the central axis of transmitter 124 and receiver 128 have a certain angle, the distance between transmitter 124 and obstacle calculated using the time-of-flight of the detected signal will have some error, especially when the distance between the obstacle and transmitter 124 is relatively short. The greater the distance between the obstacle and transmitter 124, the less the angle between the central axis of transmitter 124 and receiver 128 affects the time-of-flight calculation method. Particularly when the distance between the obstacle and transmitter 124 is infinitely far, the central axis of transmitter 124 and receiver 128 can be considered parallel, meaning the distance between transmitter 124 and obstacle can be half the flight distance of the detected signal (the second measurement distance). In other words, the greater the distance to the obstacle, the higher the accuracy of the distance between transmitter 124 and obstacle (the second measurement distance) calculated using the time-of-flight of the detected signal.

[0126] As can be seen from the above, the distance between the transmitter 124 and the obstacle can be measured using both triangulation and time-of-flight ranging. When the distance between the transmitter 124 and the obstacle is less than or equal to the set distance, the first measured distance calculated by triangulation can be taken as the actual distance between the transmitter 124 and the obstacle. Based on the position of the transmitter 124 on the main body 110 of the device, the actual distance between the mobile robot 100 and the obstacle can be determined.

[0127] If the distance between the transmitter 124 and the obstacle is greater than the set distance, the second measured distance calculated by the time-of-flight ranging can be used as the actual distance between the transmitter 124 and the obstacle. Based on the position of the transmitter 124 on the main body 110 of the device, the actual distance between the mobile robot 100 and the obstacle can be determined.

[0128] The distance between the transmitter 124 and the obstacle can be determined by taking either the first measurement distance or the second measurement distance as the actual distance between the transmitter 124 and the obstacle. This allows for a more accurate determination of the distance between the mobile robot 100 and the obstacle, thereby improving the accuracy of obstacle measurement and enhancing the obstacle avoidance capability of the mobile robot 100.

[0129] In some embodiments, the set distance can be any value between 150mm and 300mm, such as 150mm, 180mm, 200mm, 220mm, 250mm, 280mm, etc.

[0130] During the operation of the mobile robot 100, the distance between the mobile robot 100 and the obstacle is uncertain, and the probability that the distance between the mobile robot 100 and the obstacle is greater than the set distance is more likely than the case where the distance between the mobile robot 100 and the obstacle is less than or equal to the set distance. That is, the second measurement distance obtained by using the flight time of the detection signal has relatively high accuracy when measuring distance at long distances. The second measurement distance can be used as the basis for comparison with the set distance to make up for the error of the second measurement distance obtained by using the flight time of the detection signal when measuring distance at close distances.

[0131] That is, if the second measured distance is less than or equal to the set distance, the first measured distance is used as the actual distance between the transmitter 124 and the obstacle, and the actual distance between the mobile robot 100 and the obstacle is determined. If the second measured distance is greater than the set distance, the second measured distance is used as the actual distance between the transmitter 124 and the obstacle, and the actual distance between the mobile robot 100 and the obstacle is determined.

[0132] Of course, in some other embodiments, if the second measured distance is greater than the set distance, the second measured distance is taken as the actual distance between the transmitter 124 and the obstacle. In this case, the first measured distance can be omitted to reduce the computational burden on the mobile robot 100.

[0133] Figure 21 A schematic diagram of the structure of the robot system 10 provided in an embodiment of this application is shown, as follows: Figure 21 As shown, based on the same inventive concept, this application provides a robot system 10, including a base station 200 and the aforementioned mobile robot 100. The mobile robot 100 can interface with the base station 200. The base station 200 is used to place and accommodate the mobile robot 100 and to charge the mobile robot 100. In the case that the mobile robot 100 is a sweeping robot, the base station 200 can also clean the cleaning components of the sweeping robot.

[0134] 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.

[0135] 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.

[0136] 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 mobile robot, characterized in that, include: The main body of the equipment (110) has a top surface (112), a bottom surface (114) and an outer peripheral surface (116) connecting the top surface (112) and the bottom surface (114). A detection module (120) is installed on the main body of the device (110). The detection module (120) includes a receiver (128) and multiple transmitters (124). The receiver (128) is used to receive detection signals sent by the multiple transmitters (124). Along the height direction (Z) of the main body of the device (110), the directions of the detection signals that the transmitters (124) can emit are different.

2. The mobile robot according to claim 1, characterized in that, The plurality of transmitters (124) include a first transmitter (124a), a second transmitter (124b), and a third transmitter (124c). The first transmitter (124a) is used to transmit a first detection signal, the second transmitter (124b) is used to transmit a second detection signal, and the third transmitter (124c) is used to transmit a third detection signal. The first detection signal is located above the second detection signal, and the second detection signal is located above the third detection signal.

3. The mobile robot according to claim 2, characterized in that, The first detection signal is set in the direction of the plane where the top surface (112) is located.

4. The mobile robot according to claim 3, characterized in that, The first detection signal has a first detection area (122a), and the angle between the first detection area (122a) and the plane containing the top surface (112) is 10°~90°.

5. The mobile robot according to claim 3, characterized in that, The first detection signal has a first detection area (122a) along the height direction (Z) of the device body (110), and the first detection area (122a) forms a first projection area on the plane where the top surface (112) is located; Along the horizontal direction (Y) of the device body (110), the first projection area has a first edge (1224a) and a second edge (1226a), and the included angle between the first edge (1224a) and the second edge (1226a) is 1°~150°.

6. The mobile robot according to claim 2, characterized in that, The second detection signal is set along the moving direction (X) of the device body (110) or toward the plane where the top surface (112) is located.

7. The mobile robot according to claim 6, characterized in that, The second detection signal has a second detection area (122b), and the angle between the second detection area (122b) and the plane containing the top surface (112) is 0°~10°.

8. The mobile robot according to claim 6, characterized in that, The second detection signal has a second detection area (122b) along the height direction (Z) of the device body (110), and the second detection area (122b) forms a second projection area on the plane where the top surface (112) is located; Along the horizontal direction (Y) of the device body (110), the second projection area has a third edge (1224b) and a fourth edge (1226b), and the included angle between the third edge (1224b) and the fourth edge (1226b) is 20°~150°.

9. The mobile robot according to claim 2, characterized in that, The third detection signal is set in the direction of the plane where the bottom surface (114) is located.

10. The mobile robot according to claim 9, characterized in that, The third detection signal has a third detection area (122c), and the angle between the third detection area (122c) and the plane containing the top surface (112) is 5°~30°.

11. The mobile robot according to claim 9, characterized in that, The third detection signal has a third detection area (122c), which forms a third projection area on the plane of the top surface (112) along the height direction (Z) of the main body of the device (110). Along the horizontal direction (Y) of the main body of the device (110), the third projection area has a fifth edge (1224c) and a sixth edge (1226c), and the included angle between the fifth edge (1224c) and the sixth edge (1226c) is 80°~150°.

12. The mobile robot according to claim 2, characterized in that, The receiver (128) has a receiving area (129) along the height direction (Z) of the device body (110), and the receiving area (129) covers the detection area (122) of all the transmitters (124).

13. The mobile robot according to claim 2, characterized in that, The second transmitter (124b) and the third transmitter (124c) are integrated on the same chip, and the first transmitter (124a) is a point laser.

14. The mobile robot according to claim 2, characterized in that, Along the horizontal direction of the main body of the device, the first transmitter (124a), the second transmitter (124b) and the third transmitter (124c) are arranged at intervals.

15. The mobile robot according to claim 2, characterized in that, Along the height direction of the main body of the device, the first transmitter (124a), the second transmitter (124b) and the third transmitter (124c) are arranged at intervals.

16. The mobile robot according to any one of claims 1-15, characterized in that, The detection signal has a detection area (122), the receiver (128) has a receiving area (129), and the central axis (1221) of the detection area and the central axis (1291) of the receiving area are set at an angle.

17. The mobile robot according to claim 16, characterized in that, Along the central axis (1221) of the detection area, the detection area (122) forms a projection area on the plane where the transmitting surface of the transmitter (124) is located, and the central axis (1291) of the receiving area is spaced apart from the projection area.

18. The mobile robot according to claim 17, characterized in that, The distance between the central axis (1291) of the receiving area and the projection area is the baseline distance, which is 10mm to 30mm.

19. The mobile robot according to any one of claims 1-15, characterized in that, Along the moving direction (X) of the device body (110), the detection module (120) is disposed on the front side of the device body (110).

20. The mobile robot according to any one of claims 1-15, characterized in that, The detection module (120) is disposed on the outer peripheral surface (116).

21. The mobile robot according to any one of claims 1-15, characterized in that, Multiple transmitters (124) are integrated on the same chip.

22. A robot system, characterized in that, Includes a base station (200) and a mobile robot (100) as described in any one of claims 1-21, wherein the mobile robot (100) is capable of docking with the base station (200).

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