A mobile robot and 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, an image acquisition device, a detection module, and a wheel assembly. The main body has a top surface, a bottom surface, and an outer peripheral surface connecting the top and bottom surfaces. The wheel assembly is disposed on the bottom surface, and the detection module is mounted on the outer peripheral surface. The detection module has a first detection area and a second detection area, which are arranged along the movement direction of the main body along the first detection area or in a direction facing the plane containing the top surface, and the second detection area in a direction facing the plane containing the bottom surface. The image acquisition device is disposed on the side of the main body near the top surface. Through the joint operation of the detection module and the image acquisition device, the possibility of the mobile robot encountering obstacles during operation can be reduced, thereby improving the obstacle avoidance capability of the mobile robot.

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 solve the technical problem of poor mapping and obstacle avoidance capabilities. To this end, this application provides a mobile robot and 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 located between the top surface and the bottom surface; A detection module is installed on the outer peripheral surface. The detection module has a first detection area and a second detection area. The first detection area is set parallel to the moving direction of the main body of the device or is set in the direction of the first detection area toward the plane where the top surface is located. The second detection area is set in the direction of the plane where the bottom surface is located. An image acquisition device is disposed on the side of the main body of the device near the top surface; The walking wheel assembly is disposed on the bottom surface.

[0006] The first and second detection areas of the detection module can detect all areas in front of the main body of the device. This allows the detection module to detect spatial information in front of the main body of the device. Through the joint operation of the detection module and the image acquisition device, the mobile robot can detect spatial information in front of it, which can improve the accuracy of the mobile robot's mapping and reduce the possibility of the mobile robot encountering obstacles during operation, thereby improving the obstacle avoidance capability of the mobile robot.

[0007] In an optional embodiment of this application, the detection module includes a first transmitter and a second transmitter, the first transmitter having the first detection area and the second transmitter having the second detection area.

[0008] In an optional embodiment of this application, the first transmitter is positioned above the second transmitter along the height direction of the device body.

[0009] In an optional embodiment of this application, the first transmitter and the second transmitter are spaced apart along the horizontal direction of the device body.

[0010] In an optional embodiment of this application, the detection module further includes a receiver, which is used to receive a first detection signal emitted by the first transmitter and a second detection signal emitted by the second transmitter.

[0011] In an optional embodiment of this application, the angle between the first detection area and the plane containing the top surface is 0° to 10°.

[0012] In an optional embodiment of this application, along the height direction of the device body, the first detection area forms a first detection projection on the plane where the top surface is located. The first detection projection has a first edge and a second edge, and the included angle between the first edge and the second edge is 80°~150°.

[0013] In an optional embodiment of this application, the angle between the second detection area and the plane containing the top surface is 5° to 25°.

[0014] In an optional embodiment of this application, along the height direction of the device body, the second detection area forms a second detection projection on the plane where the top surface is located, and the first detection projection has a third edge and a fourth edge, the included angle between the third edge and the fourth edge being 80°~150°.

[0015] In an optional embodiment of this application, the top surface has a mounting hole, and the image acquisition device is disposed in the mounting hole.

[0016] In an optional embodiment of this application, along the height direction of the device body, the highest point of the image acquisition device is lower than the bottom surface or flush with the top surface.

[0017] In an optional embodiment of this application, the mobile robot further includes a motherboard, which is mounted on the main body of the device, and the image acquisition device is electrically connected to the motherboard and / or the detection module is electrically connected to the motherboard.

[0018] In an optional embodiment of this application, along the height direction of the device body, the projection of the image acquisition device on the device body coincides with the projection of the motherboard on the device body.

[0019] In an optional embodiment of this application, the image acquisition device includes one or at least two cameras.

[0020] In optional embodiments of this application, the plurality of cameras are spaced apart or arranged symmetrically with respect to the detection module along the moving direction of the device body.

[0021] In an optional embodiment of this application, the distance between two adjacent cameras is 10mm-100mm.

[0022] In an optional embodiment of this application, the image acquisition device is used to acquire image information above the main body of the device.

[0023] Secondly, embodiments of this application provide a robot system, including a base station and the mobile robot described in the second aspect, wherein the mobile robot can interface with the base station.

[0024] The beneficial effects of the robot system provided 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

[0025] 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.

[0026] 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 first probe projection is shown; Figure 5 The angle between the first detection area and the plane containing the top surface is shown; Figure 6 Schematic diagrams of some other provided first detection areas are shown; Figure 7 A schematic diagram of the second probe projection is shown; Figure 8 The angle between the second detection area and the plane containing the top surface is shown; Figure 9 A schematic diagram of the second detection area provided in some other embodiments is shown; Figure 10 Schematic diagrams of the detection module in some embodiments are shown; Figure 11 Schematic diagrams of the detection module provided in some other embodiments are shown; Figure 12 A schematic diagram of the receiver's receiving area and its first and second detection areas is shown. Figure 13 A schematic diagram of the detection area and the receiving area is shown; Figure 14 A schematic diagram of the flight path of the detection signal is shown; Figure 15 A schematic diagram of the optical axis of the planar projection area and the receiving area is shown; Figure 16 It shows Figure 3 A magnified view of a section at point I; Figure 17 Schematic diagrams of the structure of a mobile robot provided in some other embodiments are shown; Figure 18 Schematic diagrams of the image acquisition devices in some embodiments are shown; Figure 19 A schematic diagram of the robot system is shown.

[0027] Reference numerals: 100-Mobile robot, 110-Equipment body, 112-Top surface, 114-Bottom surface, 116-Outer peripheral surface, 118-Mounting hole; 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; 124 - First transmitter, 124a - First transmitter, 124b - Second 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; 130 - Image acquisition device, 132 - Camera, 134 - Base, 140 - Walking wheel assembly, 150 - Guide wheel, 160 - Support wheel, 170 - Mainboard; 200-base stations, 10-robot systems; X - direction of movement, Y - horizontal direction, Z - vertical direction. Detailed Implementation

[0028] 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.

[0029] 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.

[0030] 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.

[0031] 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.

[0032] 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.

[0033] In related technologies, mobile robots require a large number of sensors to acquire spatial environment data in order to meet the needs of spatial map building and obstacle avoidance. This results in poor obstacle avoidance ability and poor mapping accuracy of mobile robots. The mobile robot, robot system and mobile robot control method provided in this application embodiment can improve the above problems. The mobile robot, robot system and mobile robot control method provided in this application embodiment can improve the obstacle avoidance ability and mapping (building spatial map information around the main body of the device 110) accuracy of the mobile robot.

[0034] This application is described below with reference to the accompanying drawings and specific embodiments: Figure 1 This 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 obstacle avoidance ability and mapping accuracy.

[0035] Figure 3 This illustration shows a third-view structural diagram of the mobile robot 100 provided in an embodiment of this application, as shown below. Figure 1 , Figure 2 and Figure 3 As shown in the embodiment of this application, the mobile robot 100 includes: a device body 110, a detection module 120, and an image acquisition device 130. The device body 110 has a top surface 112, a bottom surface 114, and an outer peripheral surface 116 located between the top surface 112 and the bottom surface 114. The detection module 120 is mounted on the outer peripheral surface 116 and has a first detection area 122a and a second detection area 122b. The first detection area 122a is set parallel to the moving direction X of the device body 110 or is set in the direction of the plane 112a where the top surface 112 is located. The second detection area 122b is set in the direction of the plane where the bottom surface 114 is located. The image acquisition device 130 is disposed on the side of the device body 110 near the top surface 112.

[0036] 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.

[0037] 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, respectively. The top surface 112 and the bottom surface 114 are spaced apart along the height direction Z of the main body 110, with the top surface 112 positioned above the bottom surface 114. The two ends of the movement direction X are defined as front and rear, respectively. The side of the main body 110 where the guide wheel 150 is located is defined as front, and the side where the support wheel 160 is located is defined as rear. The two ends of the horizontal direction Y are defined as left and right. Specifically, the left side from back to front is defined as left, and the right side from back to front is defined as right.

[0038] 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.

[0039] 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 parallel to the movement 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 movement direction X of the device body 110 or disposed upward. The second detection area 122b is disposed towards the plane on which the bottom surface 114 is located. The bottom surface 114 is located below the device body 110, that is, the second detection area 122b is disposed downward. In other words, the first detection area 122a can detect the area in front of or above the front of the device body 110, and the second detection area 122b can detect the area below the front of the device body 110. With the cooperation of the first detection area 122a and the second detection area 122b, the detection module 120 can basically detect all areas in front of the device body 110.

[0040] The image acquisition device 130 being positioned on the side of the device body 110 near the top surface 112 means that the image acquisition device 130 is positioned on the upper side of the device body 110. The image acquisition device 130 can be positioned outside the device body 110, that is, the image acquisition device 130 can be installed on the top surface 112. The image acquisition device 130 can be completely protruding from the top surface 112 of the device body 110, or the image acquisition device 130 can be positioned in the upper region of the device body 110 and close to the top surface 112, so that the shooting surface of the image acquisition device 130 can be exposed from the top surface 112 of the device body 110, and can capture the spatial information above the device body 110. The image acquisition device 130 is used to acquire image information of the side of the top surface 112 of the device body 110 away from the bottom surface 114, that is, the image acquisition device 130 is used to acquire image information above the device body 110. Based on the acquired image information, the spatial information above the device body 110 is determined, that is, spatial map information above the device body 110 can be established based on the image information acquired by the image acquisition device 130.

[0041] In other words, in this embodiment, the first detection area 122a and the second detection area 122b of the detection module 120 can detect all areas in front of the device body 110. This allows the detection module 120 to detect spatial information in front of the device body 110. Through the combined operation of the detection module 120 and the image acquisition device 130, the mobile robot 100 can detect spatial information in front of and above it, improving the accuracy of establishing a spatial map of the area surrounding the device body 110 and reducing the likelihood of the mobile robot 100 encountering obstacles during operation, thereby enhancing its obstacle avoidance capability.

[0042] In some embodiments, the detection module 120 can be a lidar, specifically a structured light such as a line laser or a surface laser. When both the image acquisition device 130 and the detection module 120 output spatial information of the same area, the spatial information output by the detection module 120 can be used as the spatial information acquired by the entire mobile robot 100, thereby improving the arm-like capabilities of the mobile robot 100.

[0043] In this embodiment, since the image acquisition device 130 is located in the upper region of the device body 110, the image acquisition device 130 can acquire spatial information above, in front of, behind, to the left and to the right of the device body 110. That is, the image acquisition device 130 can also acquire spatial information in the front region of the device body 110. When the detection module 120 malfunctions and cannot output spatial information normally, the position of the mobile robot 100 in space can be roughly estimated based on the spatial information acquired by the image acquisition device 130. The mobile robot 100 can avoid obstacles by using the spatial information acquired by the image acquisition device 130. Through the cooperation of the image acquisition device 130 and the detection module 120, the number of sensors can be reduced, and the cost of the mobile robot 100 can be reduced to a certain extent.

[0044] The following will combine Figures 4-9 Combine the position and size of the first detection area 122a and the second detection area 122b.

[0045] Figure 4 A schematic diagram of the first probe projection 1222a is shown, as follows. Figure 4 As shown, in some embodiments, along the height direction Z of the device body 110, the first detection area 122a forms a first detection projection 1222a on the plane 112a where the top surface 112 is located. The first detection projection 1222a 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 (e.g., ...). Figure 4 (As shown in β1) is 80°~150°.

[0046] In the case where the operating surface is parallel to the horizontal plane, the plane 112a where the top surface 112 is located 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 in the plane 112a where the top surface 112 is located can be considered as the projection of the first detection area 122a in the horizontal plane. The projection of the first detection projection 1222a in the plane 112a where the top surface 112 is located 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 represents the area that the first detection area 122a can cover in the horizontal direction Y.

[0047] Specifically, the included angle between the first edge 1224a and the second edge 1226a (e.g.) Figure 4 (As shown in β1) is 80°~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 4 As shown in β1), that is, the first horizontal angle (as shown in β1). Figure 4 (As shown in β1) is 80°~150°, and the first horizontal angle can be any angle between 80° and 150°, that is, the first horizontal angle can be 80°, 90°, 100°, 110°, 120°, 130°, 140°, 150°, etc.

[0048] In some embodiments, the first horizontal angle (e.g.) Figure 4 As 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.

[0049] The first horizontal angle (e.g.) Figure 4If the angle is 80°~150° (as shown in β1), it indicates that the angle between the first horizontal edge 1224a and the second edge 1226a is relatively large. This means that the coverage area of ​​the first detection area 122a in the horizontal direction Y is relatively large. As a result, during the operation of the mobile robot 100, the area that the first detection area 122a can detect in the horizontal direction Y (left and right direction) of the device body 110 is relatively large. This can also improve the obstacle avoidance ability of the mobile robot 100 and improve the accuracy of mapping to a certain extent.

[0050] Figure 5 The angle between the first detection area 122a and the plane 112a containing the top surface 112 is shown, as follows: Figure 5 As shown, in some embodiments, the angle between the first detection area 122a and the plane 112a containing the top surface 112 (e.g., Figure 5 (As shown in γ1) is 0°~10°.

[0051] 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.

[0052] The first detection area 122a can be a line laser or a surface laser. The first detection area 122a is roughly a plane. 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 is 0° to 10°, meaning that the first detection area 122a can be any angle between 0° and 10°. This angle can be a fixed angle, i.e., it can be 0°, 1°, 4°, 6°, 8°, 10°, etc. 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 dynamic, meaning the first detection area 122a is a dynamic region that can vary within the range of 0° to 10°. This arrangement can increase the detection area 122 of the first detection area 122a and improve the obstacle avoidance capability of the mobile robot 100. In any case, if the angle between the first detection area 122a and the plane 112a containing the top surface 112 is 0°, it indicates that the first detection area 122a is set along the moving direction X of the device body 110.

[0053] Figure 6 Schematic diagrams of other provided first detection areas 122a are shown, such as... Figure 6As 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 0°~10°, which can be the angle between the first upper edge 1228a and the plane 112a containing the top surface 112 (e.g., Figure 6 The angle between the first lower edge 1229a and the plane 112a containing the top surface 112 (as shown in γ11) is 10°, and the angle between the first lower edge 1229a and the plane 112a containing the top surface 112 is 10°. Figure 6 (As shown in γ12) is 0°. 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 and mapping accuracy of the mobile robot 100 can be improved to a certain extent.

[0054] The angle between the first detection area 122a and the plane 112a containing the top surface 112 is 0°~10°, indicating that the angle between the first detection area 122a and the plane 112a containing the top surface 112 is small. That is, the upward tilt angle of the first detection area 122a is not large, which makes the first detection area 122a have a larger component in the X-direction of movement of the device body 110. As a result, most of the area of ​​the first detection area 122a is used to detect the area in front of the device body 110, while the component in the Z-direction of height is smaller, which makes a smaller part of the first detection area 122a used to detect the area above the device body 110. This can also improve the utilization rate of the first detection area 122a to a certain extent. It allows the first detection area 122a 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 first detection area 122a and also improving the obstacle avoidance ability and mapping accuracy of the entire mobile robot 100.

[0055] Figure 7A schematic diagram of the second detection projection 1222b is shown. In some embodiments, along the height direction Z of the device body 110, the second detection area 122b forms the second detection projection 1222b on the plane 112a where the top surface 112 is located. The second detection projection 1222b 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 (e.g., ...). Figure 7 (As shown in β2) is 80°~150°.

[0056] 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 second detection area 122b in the plane 112a where the top surface 112 is located can be considered as the projection of the second detection area 122b in the horizontal plane. The projection of the second detection projection 1222b in the plane 112a where the top surface 112 is located 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 represents the area that the second detection area 122b can cover in the horizontal direction Y.

[0057] Specifically, the angle between the third edge 1224b and the fourth edge 1226b (e.g.) Figure 7 (As shown in β2) is 80°~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 7 As shown in β2), the second horizontal angle is 80°~150°. The second horizontal angle can be any angle between 80° and 150°, that is, the second horizontal angle can be 80°, 90°, 100°, 110°, 120°, 130°, 140°, 150°, etc.

[0058] In some embodiments, the second horizontal angle (e.g.) Figure 7As 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 is the leftmost boundary of the second detection projection 1222b, and the fourth edge 1226b is the rightmost boundary of the second detection projection 1222b. During rotation, the angle between the third edge 1224b and the fourth edge 1226b refers to the maximum angle between them.

[0059] The second horizontal angle (such as) Figure 7 If the angle is 80°~150° (as shown in β2), it indicates that the angle between the second horizontal edge is relatively large, that is, the angle between the third edge 1224b and the fourth edge 1226b is relatively large. The coverage area of ​​the second detection area 122b in the horizontal direction Y is relatively large, so that the area that the second detection area 122b can detect in the horizontal direction Y (left and right direction) of the device body 110 during the operation of the mobile robot 100 is relatively large, which can also improve the obstacle avoidance ability of the mobile robot 100 to a certain extent.

[0060] Figure 8 The angle between the second detection area 122b and the plane 112a containing the top surface 112 is shown, as follows: Figure 8 As shown, in some embodiments, the angle between the second detection area 122b and the plane 112a containing the top surface 112 (e.g., Figure 8 (As shown in γ2) is 5°~25°.

[0061] The second detection area 122b faces downwards. The angle between the second detection area 122b 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 and the second detection area 122b and the plane 112a containing the top surface 112. If the movement direction X of the main body 110 is taken as the 0° line, then the angle between the first detection area 122a and the plane 112a containing the top surface 112 is 0° to +10°, and the angle between the second detection area 122b and the plane 112a containing the top surface 112 is -5° to -25°.

[0062] The second detection area 122b can be formed by a line laser or by 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. The angle between the second detection area 122b and the plane 112a containing the top surface 112 (e.g., ...) Figure 8 (As shown in γ2) The angle of 5° to 25° means that the second detection area 122b can be any angle between the plane 112a containing the top surface 112 and the plane 112a containing the top surface 112, ranging from 5° to 25°. This angle can be a fixed angle, such as 5°, 8°, 10°, 15°, 20°, or 25°. 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, meaning that the second detection area 122b is a dynamic area that can change within the range of 5° to 25°. This setting can increase the detection area 122 of the second detection area 122b and also improve the obstacle avoidance capability of the mobile robot 100.

[0063] Figure 9 A schematic diagram of the second detection region 122b provided in other embodiments is shown, such as... Figure 9 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 triangular or arc-shaped. 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 5°~25°, which can be the angle between the second upper edge 1228b and the plane 112a containing the top surface 112 (e.g., ...). Figure 9 The angle between the second lower edge 1229b and the plane 112a containing the top surface 112 (as shown in γ21) is 5°, and the angle between the second lower edge 1229b and the plane 112a containing the top surface 112 is 5°. Figure 8 (As shown in γ22) is 25°. 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 the 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.

[0064] The angle between the second detection area 122b and the plane 112a containing the top surface 112 is 5°~25°, 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 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 second detection area 122b and also improving the obstacle avoidance ability of the entire mobile robot 100.

[0065] In some embodiments, the angle between the first detection area 122a and the plane 112a containing the top surface 112 is smaller than the angle between the second detection area 122b and the plane 112a containing the top surface 112. That is, the downward tilt angle of the second detection area 122b is greater than the upward tilt angle of the first detection area 122a, which enables the second detection area 122b to detect more of the space below the device body 110, which may improve the detection capability below the device body 110 and thus improve the obstacle avoidance capability of the mobile robot 100.

[0066] Figure 10 Schematic diagrams of the detection module 120 in some embodiments are shown, such as Figure 10 As shown, regarding the specific structure of the detection module 120, in some embodiments, the detection module 120 includes a first transmitter 124a and a second transmitter 124b, the first transmitter 124a having a first detection area 122a, and the second transmitter 124b having a second detection area 122b.

[0067] The detection module 120 may include two transmitters: a first transmitter 124a for transmitting a first detection signal covering a first detection area 122a, and a second transmitter 124b for transmitting a second detection signal covering a second detection area 122b. The first transmitter 124a and the second transmitter 124b may be fixed relative to the device body 110, making the first detection area 122a and the second detection area 122b fixed areas. At least one of the first transmitter 124a and the second transmitter 124b may be movable relative to the device body 110, making the first detection area 122a and / or the second detection area 122b a dynamic area. This can improve the detection range of the detection module 120 and enhance the obstacle avoidance capability of the mobile robot 100.

[0068] Of course, in some other embodiments, the detection module 120 may include only one transmitter 124. When the detection module 120 includes only one transmitter 124, the transmitter may be rotatably configured relative to the main body 110 of the device, so that the transmitter can form a first detection area 122a and a second detection area 122b.

[0069] like Figure 10 As shown, in some embodiments, the first transmitter 124a and the second transmitter 124b are spaced apart along the height direction Z of the device body 110.

[0070] When the detection module 120 includes a first transmitter 124a and a second transmitter 124b, the first transmitter 124a and the second transmitter 124b can be arranged at intervals along the height direction Z of the device body 110. That is, the first transmitter 124a can be arranged above the second transmitter 124b, so that the first detection area 122a and the second detection area 122b will not basically overlap, so that the first detection area 122a and the second detection area 122b can be independent of each other, thereby improving the detection stability of the detection module 120.

[0071] Figure 11 Schematic diagrams of the detection module 120 provided in other embodiments are shown, such as Figure 11 As shown, in other embodiments, the second transmitter 124b can also be positioned above the first transmitter 124a, along the height direction Z of the device body 110, with the first transmitter 124a and the second transmitter 124b spaced apart.

[0072] Of course, in some other embodiments, the first transmitter 124a and the second transmitter 124b are arranged at intervals along the horizontal direction Y of the device body 110. That is, the first transmitter 124a and the second transmitter 124b can be arranged approximately horizontally, that is, the first transmitter 124a and the second transmitter 124b can be arranged side by side. This arrangement can reduce the space occupied in the height direction Z of the device body 110.

[0073] In some embodiments, the detection module 120 further includes a receiver 128, which is used to receive a first detection signal emitted by the first transmitter 124a and a second detection signal emitted by the second transmitter 124b.

[0074] The receiver 128 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.

[0075] Specifically, along the height direction Z of the device body 110, the receiving area 129 covers the detection area 122 of all transmitters. 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 and a second transmitter 124b, 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 second detection area 122b, or below the second lower edge 1229b. This arrangement allows the receiver 128 to receive detection signals from all transmitters, thereby improving the obstacle avoidance capability of the mobile robot 100.

[0076] 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.

[0077] Figure 12 A schematic diagram of the structure of the receiving area 129 of the receiver 128 and the first detection area 122a and the second detection area 122b is shown, as follows. Figure 12 As shown, in some embodiments, receiver 128 has a receiving area 129 along the height direction Z of 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's detection signal has a detection area 122, and the detection area 122 forms a detection projection area on the plane 112a where the top surface 112 is located.

[0078] The transmitters 124 include 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 area, and the projection of the second detection area 122b onto the plane 112a is the second detection projection area). The receiver 128 receives detection signals from the multiple transmitters. The receiving projection area of ​​a transmitter can be larger than all the detection projection areas, allowing the receiver 128 to receive as many detection signals as possible from all transmitters 124, thus improving the obstacle avoidance capability of the mobile robot 100. In some other embodiments, the receiving projection area can be smaller than the largest detection projection area. This configuration can reduce the cost of the receiver 128, thereby reducing the overall cost of the mobile robot 100.

[0079] Figure 13 A schematic diagram of a detection region 122 and a receiving region 129 is shown. In some embodiments, the detection signal has a detection region 122, the receiver 128 has a receiving region 129, and the central axis 1221 of the detection region forms an angle with the central axis 1291 of the receiving region (e.g., ...). Figure 13 (As shown in the middle W) settings.

[0080] In this design, 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 axis 1221 of the transmitter and the central axis 1291 of the receiver 128 are not parallel. That is, there is a certain angle between the central axis 1221 of the transmitter and the central axis 1291 of the receiver 128. This causes 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. The distance between the detection module 120 and the obstacle is then calculated using the triangulation principle. 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 triangulation principle.

[0081] 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.

[0082] The distance between the transmitter 124 and the obstacle is determined using the principle of triangulation. Figure 14 As shown, Figure 14 The direction indicated by the hollow arrow is the flight direction of the detection signal, where AB is the baseline distance between transmitter 124 and receiver 128 (e.g., ...). Figure 14 Distance shown in L), baseline distance (as shown in L) Figure 14 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 14 In 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 transmitter 124 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 14 The distance shown in H). Where AB ( Figure 14 The distance shown by L in the figure), BF ( Figure 14 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 124 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 124 and the obstacle can be calculated. For ease of description, the distance between the transmitter 124 and the obstacle calculated using the triangulation principle is referred to as the first measurement distance.

[0083] 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 1221 of the transmitter 124 and the central axis 1291 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 (the first measurement distance) calculated using the triangulation principle.

[0084] The following section will detail the parameters of the receiver 128 in triangulation, such as focal length and baseline distance.

[0085] In some embodiments, the focal length of receiver 128 ( Figure 14 The 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.

[0086] Figure 15 A schematic diagram of the optical axis between the planar projection area and the receiving area is shown, as follows: Figure 15 As shown, in some embodiments, along the central axis 1221 of the detection area, the detection area 122 forms a planar projection area on the plane where the transmitting surface of the transmitter is located, and the central axis 1291 of the receiving area is spaced apart from the planar projection area.

[0087] 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.

[0088] 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.

[0089] The baseline distance between transmitter 124 and receiver 128 ( Figure 14 The distance (as shown by L in the figure) is 5mm to 50mm. The 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.

[0090] 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 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 if the distance between the transmitting surface 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 and the receiver 128.

[0091] 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 and 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 ensures both the accuracy of the first measurement distance and the compactness of the detection module 120, enabling its miniaturization.

[0092] 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.

[0093] 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.

[0094] When there are multiple transmitters, 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. This allows the detection signal emitted by each transmitter 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.

[0095] In some embodiments, the multiple transmitters 124 are at the same baseline distance from the receiver 128.

[0096] 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 some other embodiments, at least two transmitters 124 have different baseline distances from the receiver 128. This allows different transmitters to detect obstacles at different distances, thereby improving the obstacle avoidance capability of the mobile robot 100.

[0097] In some embodiments, the receiver 128 is a time-of-flight sensor. Specifically, the receiving chip of the receiver 128 can be a time-of-flight chip, enabling the 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 the 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 the detection module 120 more compact and reducing its cost. As for the transmitter, the transmitter is a laser sensor, specifically a point laser sensor, a line laser sensor, or a sensor surface laser sensor. The type of transmitter is not limited.

[0098] In other words, the distance between the obstacle and the transmitter can also be calculated based on the flight time of the detection signal. Specifically, the transmitter is mainly used to emit the detection signal, and the flight path of the detection signal is as follows: Figure 14 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 the transmitter and receiver 128 can be calculated based on the flight time and speed of the detection signal. Specifically, the flight distance = flight time * flight speed. Since the detection signal is in reciprocating motion, the distance between the transmitter and the obstacle is half of the flight distance. For ease of description, the distance between the transmitter and the obstacle calculated using the flight time of the detection signal is defined as the second measurement distance.

[0099] 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.

[0100] Because the central axis 1221 of transmitter 124 and the central axis 1291 of receiver 128 have a certain angle, the distance between the transmitter and the obstacle calculated using the time-of-flight of the detected signal will have some error, especially when the obstacle is close to transmitter 124. However, the greater the distance between the obstacle and transmitter 124, the smaller the impact of the angle between the central axis of transmitter and receiver 128 on the time-of-flight calculation method becomes. Especially when the distance between the obstacle and transmitter 124 is infinite, the central axis 1221 of transmitter 124 and the central axis 1291 of 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 and obstacle (the second measurement distance) calculated using the time-of-flight of the detected signal.

[0101] 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.

[0102] 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.

[0103] 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, namely the first detection distance between the mobile robot 100 and the obstacle determined by the detection module 120. This improves the accuracy of obstacle measurement and, consequently, enhances the obstacle avoidance capability of the mobile robot 100.

[0104] In some embodiments, the set distance can be any value between 150mm and 300mm, such as 150mm, 180mm, 200mm, 220mm, 250mm, 280mm, etc.

[0105] 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.

[0106] 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 first detection distance between the mobile robot 100 and the obstacle is determined based on the detection module 120.

[0107] Figure 16 It shows Figure 3 A magnified view of a section at point I, as shown below. Figure 16As shown, regarding the installation position of the image acquisition device 130, in some embodiments, the top surface 112 has a mounting hole 118, and the image acquisition device 130 is disposed in the mounting hole 118. The image acquisition device 130 is installed in the mounting hole 118, such that at least a portion of the image acquisition device 130 is disposed inside the device body 110, and at least a portion of the image acquisition device 130 is embedded inside the device body 110. This reduces the space occupied by the image acquisition device in the height direction Z of the device body 110, thereby reducing the overall height of the machine. This allows the mobile robot 100 to enter low-ceilinged spaces and increases the operating range of the mobile robot 100.

[0108] In some embodiments, the image acquisition device 130 can be completely housed within the mounting hole 118, meaning the image acquisition device 130 can be completely housed inside the main body 110 of the device, with the imaging surface of the image acquisition device 130 exposed through the mounting hole 118. This arrangement ensures that the image acquisition device 130 does not increase the overall height of the device in the height direction Z of the main body 110, thereby reducing the overall height of the device. This allows the mobile robot 100 to enter low-ceilinged spaces and increases its operating range.

[0109] In some embodiments, along the height direction Z of the device body 110, the highest point of the image acquisition device 130 is lower than or flush with the top surface 112. The highest point of the image acquisition device 130 is the uppermost point within the device 130. If the highest point is lower than the top surface 112, it means that any point within the entire image acquisition device 130 is lower than the top surface 112. If the highest point of the image acquisition device 130 is flush with the top surface 112, it means that the highest point of the image acquisition device 130 is at the same height as the top surface 112. This means the entire image acquisition device 130 does not protrude from the top surface 112, and the image acquisition device 130 does not increase the overall height of the device body 110 along the height direction Z. This reduces the overall height of the device, allowing the mobile robot 100 to enter low-ceilinged spaces and increasing its operating range.

[0110] In some embodiments, the detection module 120 is disposed on the front side along the moving direction X of the device body 110, and the image acquisition device 130 can also be disposed on the front side of the device body 110, that is, the image acquisition device 130 can be disposed close to the detection module 120, so that the detection module 120 and the image acquisition device 130 can acquire all areas in front, upper front, directly above and lower front of the device body 110, which can improve the obstacle avoidance capability of the mobile robot 100.

[0111] Figure 17 Schematic diagrams of the structure of a mobile robot 100 provided in other embodiments are shown, such as Figure 17As shown, in some embodiments, the mobile robot 100 also includes a motherboard 170, which is mounted on the device body 110. The image acquisition device 130 is electrically connected to the motherboard 170 and / or the detection module 120 is electrically connected to the motherboard 170.

[0112] The motherboard 170 can be a main control board or an adapter board. At least one of the image acquisition device 130 and the detection module 120 is electrically connected to the motherboard 170. The motherboard 170 is located near the top surface 112 and is positioned on the front side of the device body 110. In some embodiments, along the height direction Z of the device body 110, the projection of the image acquisition device 130 onto the device body 110 coincides with the projection of the motherboard 170 onto the device body 110.

[0113] The image acquisition device 130 can be set above the motherboard 170. The space above the motherboard 170 can be used to arrange the image acquisition device 130 without increasing the circumferential space of the main body 110. This allows the internal structure of the main body 110 to be arranged as compactly as possible, making the entire mobile robot 100 more compact and miniaturized.

[0114] Figure 18 A schematic diagram of the structure of the image acquisition device 130 in some embodiments is shown, such as... Figure 18 As shown, regarding the specific structure of the image acquisition device 130, in some embodiments, the image acquisition device 130 includes one or at least two cameras 132. That is, the image acquisition device 130 can have one or more cameras 132. Specifically, the cameras 132 can be two, three, four, etc., and the specific number is not limited.

[0115] The image acquisition device 130 may also include a base 134, on which one or more cameras 132 may be mounted. When there is only one camera 132, it may be positioned along the diameter of the device body 110 in the direction of movement X, i.e., at the center of symmetry in the direction of movement X. When there are multiple cameras 132, in some embodiments, the multiple cameras 132 are spaced apart or symmetrically arranged relative to the detection module 120 along the direction of movement X of the device body 110.

[0116] Along the moving direction X of the device body 110, multiple cameras 132 are spaced apart. These cameras can be spaced apart along the diameter of the device body 110 along the moving direction X, or they can be symmetrically arranged relative to the detection module 120.

[0117] With only one camera 132, the number of cameras 132 is small, which reduces the cost of the mobile robot 100, as it can capture image information above the main body 110. With two or more cameras 132, the presence of multiple cameras 132, with a certain distance between adjacent cameras, allows for the acquisition of three-dimensional spatial information, resulting in more accurate spatial information. This improves the obstacle recognition capability of the mobile robot 100, thereby enhancing its obstacle avoidance ability.

[0118] In some embodiments, the camera 132 may be an infrared camera 132 or an RGB camera 132, and the type of camera 132 is not limited.

[0119] The angle of the acquisition area of ​​camera 132 can be 100°~200°, specifically 100°, 120°, 140°, 150°, 160°, 180°, 200°, etc., and there is no specific limitation.

[0120] In some embodiments, the distance between two adjacent cameras 132 (e.g.) Figure 17 The distance shown in d is 10mm-100mm. Specifically, the interval between two adjacent cameras 132 can be any distance between 10mm and 100mm, allowing the two cameras 132 to capture information about the same space from different positions, thus obtaining more three-dimensional spatial information and improving the accuracy of the spatial information. Within the 10mm-100mm range, the interval is not large and will not occupy too much space on the main body 110, allowing for a more compact internal structure of the main body 110, making the entire mobile robot 100 more compact and miniaturized.

[0121] Figure 19 A schematic diagram of the structure of the robot system 10 is shown, as follows: Figure 19 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, which can dock 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.

[0122] 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.

[0123] 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.

[0124] 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) located between the top surface (112) and the bottom surface (114). A detection module (120) is installed on the outer peripheral surface (116). The detection module (120) has a first detection area (122a) and a second detection area (122b). The first detection area (122a) is set parallel to the moving direction (X) of the device body (110) or the first detection area (122a) is set in the direction of the plane where the top surface (112) is located. The second detection area (122b) is set in the direction of the plane where the bottom surface (114) is located. An image acquisition device (130) is disposed on the side of the main body (110) near the top surface (112); A walking wheel assembly (140) is disposed on the bottom surface (114).

2. The mobile robot according to claim 1, characterized in that, The detection module (120) includes a first transmitter (124a) and a second transmitter (124b), the first transmitter (124a) having a first detection area (122a) and the second transmitter (124b) having a second detection area (122b).

3. The mobile robot according to claim 2, characterized in that, Along the height direction (Z) of the device body (110), the first transmitter (124a) is positioned above the second transmitter (124b).

4. The mobile robot according to claim 2, characterized in that, Along the horizontal direction (Y) of the device body (110), the first transmitter (124a) and the second transmitter (124b) are arranged at intervals.

5. The mobile robot according to claim 2, characterized in that, The detection module (120) further includes a receiver (128), which is used to receive a first detection signal transmitted by the first transmitter (124a) and a second detection signal transmitted by the second transmitter (124b).

6. The mobile robot according to claim 1, characterized in that, The angle between the first detection area (122a) and the plane containing the top surface (112) is 0°~10°.

7. The mobile robot according to claim 6, characterized in that, Along the height direction (Z) of the device body (110), the first detection area (122a) forms a first detection projection (1222a) on the plane where the top surface (112) is located. The first detection projection (1222a) has a first edge (1224a) and a second edge (1226a). The included angle between the first edge (1224a) and the second edge (1226a) is 80°~150°.

8. The mobile robot according to claim 1, characterized in that, The angle between the second detection area (122b) and the plane containing the top surface (112) is 5°~25°.

9. The mobile robot according to claim 8, characterized in that, Along the height direction (Z) of the device body (110), the second detection area (122b) forms a second detection projection (1222b) on the plane where the top surface (112) is located. The second detection projection (1222b) 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 80°~150°.

10. The mobile robot according to any one of claims 1-9, characterized in that, The top surface (112) has a mounting hole (118), and the image acquisition device (130) is disposed in the mounting hole (118).

11. The mobile robot according to claim 10, characterized in that, Along the height direction (Z) of the main body of the device (110), the highest point of the image acquisition device (130) is lower than the bottom surface (114) or flush with the top surface (112).

12. The mobile robot according to any one of claims 1-9, characterized in that, The mobile robot (100) also includes a motherboard (170), which is installed on the main body of the device (110). The image acquisition device (130) is electrically connected to the motherboard (170) and / or the detection module (120) is electrically connected to the motherboard (170).

13. The mobile robot according to claim 12, characterized in that, Along the height direction (Z) of the device body (110), the projection of the image acquisition device (130) on the device body (110) coincides with the projection of the motherboard (170) on the device body (110).

14. The mobile robot according to any one of claims 1-9, characterized in that, The image acquisition device (130) includes one or at least two cameras (132).

15. The mobile robot according to claim 14, characterized in that, Along the moving direction (X) of the device body (110), a plurality of cameras (132) are arranged at intervals or symmetrically with respect to the detection module (120).

16. The mobile robot according to claim 14, characterized in that, The distance between two adjacent cameras (132) is 10mm-100mm.

17. The mobile robot according to any one of claims 1-9, characterized in that, The image acquisition device (130) is used to acquire image information above the main body (110) of the device.

18. A robot system, characterized in that, Includes a base station (200) and a mobile robot (100) as described in any one of claims 1-17, wherein the mobile robot (100) is capable of docking with the base station (200).

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