Mobile robot and robot system

Abstract

A mobile robot (100) and a robot system. The mobile robot (100) comprises: an obstacle avoidance and detection assembly (160), a mobile main body (110), and an extension part (120) provided on the mobile main body (110). A detection area of the obstacle avoidance and detection assembly (160) at least partially overlaps with an operation area of the extension part (120).

Description

Mobile robot and robot system

[0001] Cross-reference to related applications

[0002] The present disclosure claims priority based on Chinese application No. 202411339746.5 and Chinese application No. 202411336979.X, filed on September 24, 2024, the entire contents of which are incorporated herein by reference. TECHNICAL FIELD

[0003] The present disclosure relates to the technical field of robots, and in particular, to a mobile robot and a robot system. BACKGROUND

[0004] With the development of intelligent hardware technology, a series of intelligent vision products with autonomous navigation and pathfinding, including but not limited to food delivery robots, sweeping robots, and delivery robots, have the need to avoid obstacles and prevent people from being injured by robot collisions. For the design of robots with external extension components such as mechanical arms and hands, the obstacle avoidance function is more important. In the related art, the obstacle avoidance function for the design of robots with external extension components such as mechanical arms and hands is relatively weak, resulting in that the mobile device may touch obstacles or people during the working process. SUMMARY

[0005] The technical problem to be solved by the present disclosure is how to provide a robot and a robot system that can optimize the obstacle avoidance function to a certain extent.

[0006] Additional aspects and advantages of the present disclosure will be set forth in part in the following description, and in part will become apparent from the description, or can be learned by practice of the present disclosure.

[0007] To achieve the above-mentioned purpose, the present disclosure adopts the following technical solutions:

[0008] The present disclosure provides a mobile robot, comprising: a mobile body and an external extension part arranged on the mobile body; and an obstacle avoidance detection assembly, a detection area of the obstacle avoidance detection assembly at least partially overlaps with an operation area of the external extension part.

[0009] According to one of the embodiments of the present disclosure, the obstacle avoidance detection assembly comprises a first obstacle avoidance detector, and the first obstacle avoidance detector is installed on the mobile body.

[0010] According to one of the embodiments of the present disclosure, the distance between the first obstacle avoidance detector and the external extension part is greater than the radius of the mobile body.

[0011] According to one of the embodiments of the present disclosure, the first obstacle detection device is arranged on a diameter of the mobile body along the advancing direction.

[0012] According to one of the embodiments of the present disclosure, the obstacle detection assembly further comprises a second obstacle detection device, and the first obstacle detection device and the second obstacle detection device are arranged on different sides of the extension portion, respectively.

[0013] According to one of the embodiments of the present disclosure, along the operation direction of the extension portion, the first obstacle detection device is located behind the extension portion, and the second obstacle detection device is located in front of the extension portion.

[0014] According to one of the embodiments of the present disclosure, the field of view angle of the first obstacle detection device is greater than the field of view angle of the second obstacle detection device.

[0015] According to one of the embodiments of the present disclosure, the detection area of the second obstacle detection device is a second detection area, and along the operation direction of the extension portion, a projection of the second detection area in a first set plane covers a projection of the operation area of the extension portion in the first set plane, wherein the first set plane is perpendicular to the operation direction and the extension portion is located between the second obstacle detection device and the first set plane.

[0016] According to one of the embodiments of the present disclosure, the second obstacle detection device is a plurality of second obstacle detection devices, and the plurality of second obstacle detection devices are arranged in a staggered manner.

[0017] According to one of the embodiments of the present disclosure, the plurality of second obstacle detection devices are all mounted on the mobile body.

[0018] According to one of the embodiments of the present disclosure, along a direction that is at an angle to the operation direction of the extension portion, the plurality of second obstacle detection devices are located on different sides of the extension portion, respectively.

[0019] According to one of the embodiments of the present disclosure, the optical axis of the second obstacle detection device is a second optical axis, and along the operation direction of the extension portion, the second optical axis is arranged to be inclined toward the extension portion.

[0020] According to one of the embodiments of the present disclosure, the inclination angle of the optical axis of the second obstacle detection device toward the extension portion is 0-45 degrees.

[0021] According to one of the embodiments of the present disclosure, the optical axis of the second obstacle detection device is a second optical axis, and the second optical axis is directed toward the operation direction of the extension portion.

[0022] According to one of the embodiments of the present disclosure, the optical axis of the second obstacle detector is a second optical axis, and the second optical axis is perpendicular to the advancing direction of the mobile body.

[0023] According to one of the embodiments of the present disclosure, the detection regions of the at least two second obstacle detectors at least partially overlap.

[0024] According to one of the embodiments of the present disclosure, in the case where the second obstacle detectors are two, one of the second obstacle detectors is installed on the mobile body, and the other second obstacle detector is installed on the extension part.

[0025] According to one of the embodiments of the present disclosure, the extension part includes an installation section, a connection section, and an operation section, the connection section connects the installation section and the operation section respectively, the installation section is installed on the mobile body, and along the operation direction of the extension part, the operation section is located in front of the installation section, and the second obstacle detector is installed on the operation section.

[0026] According to one of the embodiments of the present disclosure, the optical axis of the second obstacle detector installed on the mobile body is arranged obliquely upward, and the optical axis of the second obstacle detector installed on the installation section is arranged horizontally.

[0027] According to one of the embodiments of the present disclosure, the extension part includes an installation section, a connection section, and an operation section, the connection section connects the installation section and the operation section respectively, the installation section is installed on the mobile body, and along the operation direction of the extension part, the operation section is located in front of the installation section, and the second obstacle detector is installed on the operation section.

[0028] According to one of the embodiments of the present disclosure, the optical axis of the second obstacle detector installed on the mobile body is arranged obliquely upward, and the optical axis of the second obstacle detector installed on the operation section is arranged obliquely downward.

[0029] According to one of the embodiments of the present disclosure, along the operation direction of the extension part, the first obstacle detector is located in front of or behind the extension part.

[0030] According to one of the embodiments of the present disclosure, the optical axis of the first obstacle detector is arranged toward the operation direction of the extension part.

[0031] According to one of the embodiments of the present disclosure, along the operation direction of the extension part, the projection of the detection region of the first obstacle detector in a second set plane covers the projection of the operation region of the extension part in the second set plane, wherein the second set plane is perpendicular to the operation direction and the extension part is located between the first obstacle detector and the second set plane.

[0032] According to one of the embodiments of the present disclosure, the optical axis of the first obstacle detector is a first optical axis, and the first optical axis is perpendicular to the advancing direction of the mobile body.

[0033] According to one of the embodiments of the present disclosure, in the direction of the first optical axis, the projection of the detection region of the first obstacle detector on the mobile body at least partially overlaps with the projection of the operation region of the extension portion on the mobile body.

[0034] According to one of the embodiments of the present disclosure, the field of view angle of the first obstacle detector includes a first horizontal angle and a first vertical angle, the first horizontal angle is 80 degrees to 120 degrees, and the first vertical angle is 20 degrees to 60 degrees.

[0035] According to one of the embodiments of the present disclosure, the angle between the optical axis of the first obstacle detector and the horizontal direction is 30 degrees to 60 degrees.

[0036] According to one of the embodiments of the present disclosure, the field of view angle of the second obstacle detector includes a second horizontal angle and a second vertical angle, the second horizontal angle is 30 degrees to 60 degrees, and the second vertical angle is 20 degrees to 60 degrees.

[0037] According to one of the embodiments of the present disclosure, the angle between the second optical axis and the horizontal direction is 60 degrees to 90 degrees.

[0038] According to one of the embodiments of the present disclosure, the field of view angle of the first obstacle detector has a first edge and a second edge in the vertical direction, the first edge is below the second edge, and the angle between the first edge and the horizontal direction is greater than or equal to 0 degrees.

[0039] According to one of the embodiments of the present disclosure, the angle between the first edge and the horizontal direction is 15 degrees to 30 degrees.

[0040] According to one of the embodiments of the present disclosure, the field of view angle of the first obstacle detector has a first edge and a second edge in the vertical direction, the first edge is below the second edge, and the angle between the second edge and the horizontal direction is less than or equal to 90 degrees.

[0041] According to one of the embodiments of the present disclosure, the angle between the second edge and the horizontal direction is 60 degrees to 75 degrees.

[0042] According to one of the embodiments of the present disclosure, the field of view angle of the second obstacle detector has a third edge and a fourth edge in the vertical direction, the third edge is below the fourth edge, and the angle between the third edge and the horizontal direction is greater than or equal to 0 degrees.

[0043] According to one of the embodiments of the present disclosure, the third edge has an angle of 50-70 degrees with the horizontal direction.

[0044] According to one of the embodiments of the present disclosure, the second obstacle detection device has a third edge and a fourth edge in the vertical direction, the third edge is below the fourth edge, and the fourth edge has an angle of less than or equal to 180 degrees with the horizontal direction.

[0045] According to one of the embodiments of the present disclosure, the fourth edge has an angle of 90-110 degrees with the horizontal direction.

[0046] According to one of the embodiments of the present disclosure, the extension part is at least one of a mechanical arm, a mechanical hand, a clamping device, and a detection device.

[0047] According to one of the embodiments of the present disclosure, the first obstacle detection device is an iTOF sensor, and the second obstacle detection device is a dTOF sensor.

[0048] According to one of the embodiments of the present disclosure, the mobile robot further comprises a front sensor arranged on the mobile body and configured to detect a front area of the mobile body, and the detection direction of the obstacle detection assembly is arranged at an angle with the detection direction of the front sensor.

[0049] According to one of the embodiments of the present disclosure, the obstacle detection assembly comprises a first obstacle detection device and a second obstacle detection device, the first obstacle detection device and the second obstacle detection device are arranged on different sides of the extension part, the detection direction of the first obstacle detection device is arranged at an angle with the detection direction of the front sensor, and the detection direction of the second obstacle detection device is arranged at an angle with the detection direction of the front sensor.

[0050] According to one of the embodiments of the present disclosure, the angle between the detection direction of the first obstacle detection device and the detection direction of the front sensor is greater than or equal to 90 degrees.

[0051] According to one of the embodiments of the present disclosure, the angle between the detection direction of the second obstacle detection device and the detection direction of the front sensor is greater than or equal to 90 degrees.

[0052] According to one of the embodiments of the present disclosure, the extension part comprises a mounting section and a connecting section, the mounting section is connected to the mobile body and the connecting section, the first obstacle detection device is arranged on a side of the mounting section away from the connecting section, and the second obstacle detection device and the connecting section are arranged on the same side of the mounting section.

[0053] According to one of the embodiments of the present disclosure, the extension direction of the connecting section is arranged at an angle with the advancing direction of the moving body.

[0054] According to one of the embodiments of the present disclosure, the extension direction of the connecting section is opposite to the advancing direction of the moving body.

[0055] According to one of the embodiments of the present disclosure, the connecting section is located on the left side of the mounting section along the advancing direction of the moving body.

[0056] According to one of the embodiments of the present disclosure, the connecting section is located on the right side of the mounting section along the advancing direction of the moving body.

[0057] According to one of the embodiments of the present disclosure, the field of view angle of the first obstacle detector is greater than the field of view angle of the second obstacle detector.

[0058] According to one of the embodiments of the present disclosure, the field of view angle of the first obstacle detector includes a first horizontal angle and a first vertical angle, the first horizontal angle is 80-120 degrees, and the first vertical angle is 20-60 degrees.

[0059] According to one of the embodiments of the present disclosure, the angle between the optical axis of the first obstacle detector and the horizontal direction is 30-60 degrees.

[0060] According to one of the embodiments of the present disclosure, the field of view angle of the second obstacle detector includes a second horizontal angle and a second vertical angle, the second horizontal angle is 30-60 degrees, and the second vertical angle is 20-60 degrees.

[0061] According to one of the embodiments of the present disclosure, the angle between the optical axis of the second obstacle detector and the horizontal direction is 60-90 degrees.

[0062] According to one of the embodiments of the present disclosure, the field of view angle of the first obstacle detector has a first edge and a second edge in the vertical direction, the first edge is below the second edge, and the angle between the first edge and the horizontal direction is greater than or equal to 0 degree.

[0063] According to one of the embodiments of the present disclosure, the angle between the first edge and the horizontal direction is 15-30 degrees.

[0064] According to one of the embodiments of the present disclosure, the field of view angle of the first obstacle detector has a first edge and a second edge in the vertical direction, the first edge is below the second edge, and the angle between the second edge and the horizontal direction is less than or equal to 90 degrees.

[0065] According to one of the embodiments of the present disclosure, the angle between the second edge and the horizontal direction is 60-75 degrees.

[0066] According to one of the embodiments of the present disclosure, the field of view angle of the second obstacle detection device has a third edge and a fourth edge in the vertical direction, the third edge is below the fourth edge, and the angle between the third edge and the horizontal direction is greater than or equal to 0 degrees.

[0067] According to one of the embodiments of the present disclosure, the angle between the third edge and the horizontal direction is 50-70 degrees.

[0068] According to one of the embodiments of the present disclosure, the field of view angle of the second obstacle detection device has a third edge and a fourth edge in the vertical direction, the third edge is below the fourth edge, and the angle between the fourth edge and the horizontal direction is less than or equal to 180 degrees.

[0069] According to one of the embodiments of the present disclosure, the angle between the fourth edge and the horizontal direction is 90-110 degrees.

[0070] According to one of the embodiments of the present disclosure, the extension part is at least one of a mechanical arm, a mechanical hand, a clamping device, and a detection device.

[0071] According to one of the embodiments of the present disclosure, the first obstacle detection device is an iTOF sensor, and the second obstacle detection device is a dTOF sensor.

[0072] According to one of the embodiments of the present disclosure, the obstacle detection assembly comprises a first obstacle detection device mounted on the mobile body, wherein the top surface of the mobile body is provided with a groove, the first obstacle detection device is accommodated in the groove, and the detection light emitted by the first obstacle detection device can be emitted from the groove.

[0073] According to one of the embodiments of the present disclosure, the optical axis of the first obstacle detection device is a first optical axis, the angle between the first optical axis and the horizontal direction is a first angle, the groove wall opposite to the light-emitting side of the first obstacle detection device is a avoiding groove wall, the avoiding groove wall is arranged obliquely, the angle between the avoiding groove wall and the horizontal direction is a second angle, and the first angle is greater than the second angle and less than or equal to 90 degrees, so as to avoid the first optical axis being blocked by the avoiding groove wall.

[0074] According to one of the embodiments of the present disclosure, the first angle is 30-60 degrees.

[0075] According to one of the embodiments of the present disclosure, the first angle is 45 degrees.

[0076] According to one of the embodiments of the present disclosure, the first edge is located below the second edge in the vertical direction, and the first optical axis is located between the first edge and the second edge; an included angle between the first edge and the horizontal direction is a third included angle, and the third included angle is smaller than the first included angle; and the second included angle is smaller than or equal to the third included angle, so as to avoid the field of view of the first obstacle detector being blocked by the avoidance groove wall.

[0077] According to one of the embodiments of the present disclosure, the second included angle is smaller than the third included angle, and an angle difference between the third included angle and the second included angle is smaller than or equal to 5 degrees.

[0078] According to one of the embodiments of the present disclosure, the mobile body is provided with a containing bin, the containing bin is open on the top surface of the mobile body, and the extension part is arranged on the containing bin and can extend out of the containing bin when unfolded.

[0079] According to one of the embodiments of the present disclosure, a closable bin door is arranged at the bin opening of the containing bin, and the bin door is located on the top surface of the mobile body and on the side of the bin opening close to the avoidance groove when opened.

[0080] According to one of the embodiments of the present disclosure, a top end of the side of the bin door close to the avoidance groove when opened is defined as a bin door reference point, a line between the bin door reference point and the first obstacle detector is defined as a second reference line, and an included angle between the second reference line and the horizontal direction is a fourth included angle; and the second included angle is greater than or equal to the fourth included angle, so as to avoid the first optical axis being blocked by the bin door when opened.

[0081] According to one of the embodiments of the present disclosure, the first edge is located below the second edge in the vertical direction, and the first optical axis is located between the first edge and the second edge; an included angle between the first edge and the horizontal direction is a third included angle, and the third included angle is smaller than the first included angle; and the second included angle is smaller than or equal to the third included angle, and the fourth included angle is smaller than or equal to the second included angle, so as to avoid the field of view of the first obstacle detector being blocked by the avoidance groove wall and the bin door when opened.

[0082] According to one of the embodiments of the present disclosure, the obstacle detection assembly further comprises a third obstacle detector arranged on the side surface of the mobile body, and used for realizing whole-machine mapping of the mobile robot.

[0083] According to one of the embodiments of the present disclosure, the obstacle avoidance detection assembly comprises at least two third obstacle avoidance detectors, one of which is arranged at the front of the side of the mobile body, and the other is arranged at the left rear of the side of the mobile body.

[0084] According to one of the embodiments of the present disclosure, the obstacle avoidance detection assembly further comprises a fourth obstacle avoidance detector arranged at the right side of the mobile body, for measuring the distance from the wall of the mobile robot.

[0085] According to one of the embodiments of the present disclosure, the obstacle avoidance detection assembly further comprises a fifth obstacle avoidance detector arranged at the bottom surface of the mobile body, for realizing cliff fall detection.

[0086] According to one of the embodiments of the present disclosure, the movement strategy of the mobile robot is forward movement mode, and the obstacle avoidance detection assembly comprises at least three groups of fifth obstacle avoidance detectors, which are respectively arranged at the front and left and right sides of the bottom surface of the mobile body; or the movement strategy of the mobile robot is forward and backward movement mode, and the obstacle avoidance detection assembly comprises at least four groups of fifth obstacle avoidance detectors, which are respectively arranged at the front and rear and left and right sides of the bottom surface of the mobile body.

[0087] According to one of the embodiments of the present disclosure, each group of the fifth obstacle avoidance detectors comprises at least two fifth obstacle avoidance detectors, and the at least two fifth obstacle avoidance detectors in the same group are arranged at intervals along the circumference of the mobile body.

[0088] The robot system provided by the embodiments of the present disclosure comprises a base station and the mobile robot provided by the present disclosure and described in the above embodiments.

[0089] From the above technical solutions, the mobile robot and the robot system provided by the embodiments of the present disclosure have at least the following advantages and positive effects:

[0090] The mobile robot provided by the embodiments of the present disclosure is provided with an obstacle avoidance detection assembly, and the detection area of the obstacle avoidance detection assembly at least partially overlaps the operation area of the extension part, so that the obstacle avoidance detection assembly can detect the activity range of the extension part in real time during the operation of the extension part, and can avoid obstacles in the operation area of the extension part as much as possible, so that damage to the extension part can be avoided, and the extension part can also avoid touching people as much as possible, so as to avoid causing injury to people. BRIEF DESCRIPTION OF DRAWINGS

[0091] FIG. 1 shows a structure schematic diagram of one embodiment of the first obstacle avoidance detector of the mobile robot provided by the embodiments of the present disclosure arranged at the rear of the extension part.

[0092] Fig. 2 shows a top view of Fig. 1.

[0093] Fig. 3 shows a structure schematic diagram of another embodiment of the mobile robot provided by the embodiment of the present application, in which the first obstacle detector is arranged behind the extension part.

[0094] Fig. 4 shows a structure schematic diagram of an embodiment of the mobile robot provided by the embodiment of the present application, in which the first obstacle detector is arranged in front of the extension part.

[0095] Fig. 5 shows a top view of an embodiment of the mobile robot provided by the embodiment of the present application.

[0096] Fig. 6 shows a side view of Fig. 5.

[0097] Fig. 7 shows a front view of Fig. 5.

[0098] Fig. 8 shows a structure schematic diagram in which the detection direction of the front sensor is opposite to that of the first and second obstacle detectors.

[0099] Fig. 9 shows a side view of Fig. 8.

[0100] Fig. 10 shows a structure schematic diagram in which the extension part is located on the right side.

[0101] Fig. 11 shows a structure schematic diagram in which the extension part is located on the left side.

[0102] Fig. 12 shows a top view of the mobile robot provided by the embodiment of the present application, in which the second obstacle detector is located in front.

[0103] Fig. 13 shows a side view of Fig. 12.

[0104] Fig. 14 shows a front view of Fig. 12.

[0105] Fig. 15 shows a structure schematic diagram of an embodiment of the mobile robot provided by the embodiment of the present application, in which the first obstacle detector is arranged on the side of the extension part.

[0106] Fig. 16 shows a top view of the mobile robot provided by the embodiment of the present application, in which the second obstacle detector is arranged obliquely.

[0107] Fig. 17 shows a side view of Fig. 16.

[0108] Fig. 18 shows a front view of Fig. 16.

[0109] Fig. 19 shows a top view of the mobile robot provided by the embodiment of the present application, in which the second obstacle detector is arranged vertically upward.

[0110] Fig. 20 shows a side view of Fig. 19.

[0111] Fig. 21 shows a front view of Fig. 19.

[0112] Fig. 22 shows a top view of a mobile robot according to an embodiment of the present application, in which a second obstacle detection device is located at a mounting section.

[0113] Fig. 23 shows a side view of Fig. 22.

[0114] Fig. 24 shows a front view of Fig. 22.

[0115] Fig. 25 shows a top view of a mobile robot according to an embodiment of the present application, in which a second obstacle detection device is located at an operating section.

[0116] Fig. 26 shows a side view of Fig. 25.

[0117] Fig. 27 shows a front view of Fig. 25.

[0118] Fig. 28 shows a structure diagram of a mobile robot obstacle detection assembly according to an embodiment of the present application, in which the obstacle detection assembly is located at a first position.

[0119] Fig. 29 shows a structure diagram of a mobile robot obstacle detection assembly according to an embodiment of the present application, in which the obstacle detection assembly is located at a second position.

[0120] Fig. 30 shows a range of movement of a mobile robot obstacle detection assembly according to an embodiment of the present application.

[0121] Fig. 31 shows a top perspective view of another embodiment of a mobile robot according to an embodiment of the present application;

[0122] Fig. 32 and Fig. 33 respectively show perspective views of the mobile robot shown in Fig. 31 in two different views when an extension section is deployed;

[0123] Fig. 34 shows a partial cross-sectional view of the mobile robot shown in Fig. 31;

[0124] Fig. 35 shows an enlarged view of portion A of Fig. 34;

[0125] Fig. 36 shows a top view of the mobile robot shown in Fig. 31;

[0126] Fig. 37 shows a bottom view of the mobile robot shown in Fig. 31.

[0127] Wherein, the reference signs are as follows: 100-mobile robot, 110-mobile body, 111-groove, 1111-avoidance groove wall; 112-receiving bin, 113.bin door, 120-outer extension part, 121-mounting section, 123-connection section, 124-operation section, 130-first obstacle avoidance detector, 131-first detection area, 131a-long side, 131b-short side, a1-first transverse angle, b1-first vertical angle, 131c-first edge, 131d-second edge, 132-first optical axis, 140-second obstacle avoidance detector, 141-second detection area, a2-second transverse angle, b2-second vertical angle, 141c-third edge, 141d-fourth edge, 142-second optical axis, 150-forward sensor, 160-obstacle avoidance detection assembly, 162-bracket, 164-obstacle avoidance detector, 164-detection area of the obstacle avoidance detector, 170-third obstacle avoidance detector, 180-fourth obstacle avoidance detector, 190-fifth obstacle avoidance detector, 21-detection area of the first position, 22-detection area of the intermediate position, 23-detection area of the second position, c1-first included angle, c2-second included angle, c3-third included angle, c4-fourth included angle, D0.straight line, L1-first reference line, L2-second reference line, O1-bin door reference point. DETAILED DESCRIPTION

[0128] Example embodiments now will be described more fully hereinafter with reference to the accompanying drawings; however, the example embodiments can be implemented in many different forms and should not be construed as limited to the implementations set forth herein; rather, these implementations are provided so that this disclosure will be thorough and complete, and will fully convey the concept of the example embodiments to those skilled in the art. Like reference numerals refer to like elements throughout the figures, and thus a detailed description of them will not be repeated.

[0129] With the development of intelligent hardware technology, a series of intelligent visual products with autonomous navigation and pathfinding, including but not limited to food delivery robots, sweeping robots, and delivery robots, have the need to avoid obstacles to prevent people from being injured by robot collisions. For the design of robots with mechanical arms, mechanical hands and other extended components, the obstacle avoidance function is more important. In the related art, the obstacle avoidance function of the design of robots with mechanical arms, mechanical hands and other extended components is relatively weak, resulting in the mobile device touching obstacles or people during work. The mobile robot provided by the embodiments of the present application can improve the obstacle avoidance function, reduce the situation that the extended part of the mobile device touches obstacles during work, and avoid the overall touching of the mobile robot to obstacles as much as possible.

[0130] The present application will be described below in conjunction with the accompanying drawings and specific embodiments:

[0131] Please refer to FIG. 1 and FIG. 2, the embodiment of the present application provides a mobile robot 100, the mobile robot 100 provided by the embodiment of the present application can reduce the situation that the extension part 120 touches the obstacle during the working process, and avoid the situation that the whole mobile robot 100 touches the obstacle as far as possible.

[0132] In the embodiment of the present application, the mobile robot 100 comprises an obstacle avoidance detection assembly 160, a mobile body 110 and an extension part 120 arranged on the mobile body 110, and the detection area of the obstacle avoidance detection assembly 160 at least partially overlaps the operation area of the extension part 120.

[0133] The extension part 120 is arranged on the mobile body 110, and in the working state, the extension part 120 can protrude from the mobile body 110. The protruding from the mobile body 110 means that the extension part 120 is arranged outside the mobile body 110, and the extension part 120 can protrude from the top of the mobile body 110, that is, the extension part 120 is arranged outside the mobile body 110, and the end of the extension part 120 away from the mobile body 110 has a certain distance from the outer surface of the mobile body 110, so that the extension part 120 can operate in other space outside the mobile body 110, thereby improving the working range of the whole mobile robot 100.

[0134] Specifically, the extension part 120 can be fixed outside the mobile body 110, or arranged outside the mobile body 110 by a telescopic manner. The telescopic means that the extension part 120 can change the mechanical structure to change the shape of the body volume, so as to realize the action process with larger activity range and / or smaller occupied volume. That is, in the working state, the extension part 110 can be stretched out of the mobile body 110, or can adjust the structure of itself to obtain a larger operation area in the working state. In the non-working state, the extension part 110 can be shrunk to a smaller volume or into the mobile body 110, which is convenient for the storage of the extension part 120.

[0135] As for the specific form of the extension part 120, the extension part 120 can be a single-joint or multi-joint mechanical claw, a mechanical clamp, a mechanical arm, a mechanical hand, etc., or can be a clamping device, a detection device, etc.

[0136] For example, when the mobile robot 100 is a cleaning device, the mobile body 110 can be a robot body, and the extension part 120 can be a cleaning mechanical arm. The robot body can clean the ground, and the cleaning mechanical arm can clean the wall surface, the ground of other areas or other surfaces to be cleaned higher than the ground at the same time as the robot body cleans the ground, thereby improving the cleaning range of the whole mobile robot 100 and improving the overall work efficiency.

[0137] The operating area of the extension part 120 refers to the range of movement of the extension part 120 during operation. The operating area can be a fixed area or a variable area. In the case where the extension part 120 is a robot arm, the robot arm can have only one degree of freedom, in which case the range of movement of the robot arm (operating area) can be considered fixed. In addition, the robot arm can have multiple degrees of freedom, and the range of movement of the robot arm (operating area) can be a variable area due to the movement of the robot arm during operation.

[0138] The detection area of the obstacle detection assembly 160 refers to the area that can be detected by the obstacle detection assembly 160. If an obstacle appears in the detection area of the obstacle detection assembly 160, the obstacle detection assembly 160 will feed back to the controller, and the position or attitude of the extension part 120 can be adjusted in advance to avoid collision with the obstacle.

[0139] In addition, the obstacle detection assembly 160 can detect the range of movement of the extension part 120 in real time without the need for any external equipment, thereby achieving protection of the operating area of the extension part 120.

[0140] The detection area of the obstacle detection assembly 160 at least partially overlaps the operating area of the extension part 120. The detection area of the obstacle detection assembly 160 can completely overlap the operating area of the extension part 120, i.e., the obstacle detection assembly 160 can detect all the operating areas of the extension part 120. Alternatively, the detection area of the obstacle detection assembly 160 can partially overlap the operating area of the extension part 120, i.e., the obstacle detection assembly 160 can detect part of the operating area of the extension part 120.

[0141] The detection area of the obstacle detection assembly 160 at least partially overlaps the operating area of the extension part 120, so that the obstacle detection assembly 160 can detect the range of movement of the extension part 120 in real time during operation of the extension part 120. This can avoid obstacles appearing in the operating area of the extension part 120 as much as possible, so that damage to the extension part 120 can be avoided as much as possible, and the extension part 120 can avoid touching people as much as possible, thereby avoiding injury to people.

[0142] In addition, the obstacle detection assembly 160 can detect the range of movement of the extension part 120 in real time without the need for any external equipment, thereby achieving protection of the operating area of the extension part 120.

[0143] In some embodiments, the obstacle detection assembly 160 can include a first obstacle detector 130, and the first obstacle detector 130 is installed on the mobile body 110.

[0144] Please refer to FIG. 6 and FIG. 7, in some embodiments, the obstacle detection assembly 160 comprises a first obstacle detector 130 and a second obstacle detector 140, the first obstacle detector 130 and the second obstacle detector 140 are respectively located at different sides of the extension part 120, the detection direction of the first obstacle detector 130 is arranged at an angle with the detection direction of the front sensor 150, and the detection direction of the second obstacle detector 140 is arranged at an angle with the detection direction of the front sensor 150. Wherein, 131 in FIG. 3 is the detection area (first detection area 131) of the first obstacle detector 130, and 141 is the detection area (second detection area 141) of the second obstacle detector.

[0145] The first obstacle detector 130 mounted on the mobile body 110 can be fixedly mounted on the mobile body 110, or movably mounted on the mobile body 110, and the specific mode can not be limited.

[0146] Wherein, the first obstacle detector 130 can be a TOF sensor (Time of Flight), specifically, it can be an iToF sensor (Indirect Time of Flight), the detection direction of the first obstacle detector 130 refers to the direction of the optical axis of the iToF sensor, and the first detection area 131 refers to the detection area of the iToF sensor.

[0147] In order to facilitate description, the detection area 131 of the first obstacle detector 130 is defined as the first detection area 131, since the first obstacle detector 130 basically needs to detect all areas around the extension part 120, that is, the first obstacle detector 130 needs to detect a larger area, the iToF sensor can achieve a larger field of view angle and a larger detection area.

[0148] The first detection area 131 is arranged towards the extension part 120, so that the detection area of the first obstacle detector 130 can at least partially coincide with the operation area of the extension part 120. The first detection area 131 comprises a field of view angle and a detection distance (as shown by h1 in FIG. 2, h1 in each figure represents the detection distance of the first detection area 131), so that the first detection area 131 is approximately conical or pyramidal. The first obstacle detector 130 also has an optical axis, for the convenience of description, the optical axis of the first obstacle detector 130 is defined as the first optical axis 132, and the first optical axis 132 is approximately the center of the first detection area 131.

[0149] Since in the working state, the extension part 120 protrudes outside the mobile body 110, and the first obstacle detector 130 is arranged on the mobile body 110, so that there is a certain height difference between the first obstacle detector 130 and the extension part 120, in order to enable the first detection area 131 to cover the operation area of the extension part 120, the first optical axis 132 can be arranged obliquely upward or vertically upward.

[0150] Specifically, the optical axis of the first obstacle detector 130 can be arranged towards the operation direction of the extension part 120. This arrangement does not mean that the first optical axis 132 is arranged parallel to the operation direction of the extension part 120, but means that the projection of the first optical axis 132 in the horizontal direction can be the same as the projection of the operation direction of the extension part 120 (such as the direction indicated by the arrow Y in the figure) in the horizontal direction, that is, the first optical axis 132 can be inclined forward.

[0151] It should be noted that the operation direction of the extension part 120 and the operation area are not the same concept. The operation area refers to the activity range of the extension part 120, and the operation direction refers to the action direction of the extension part 120 in the working process. For example, when the extension part 120 is a mechanical arm, the operation area refers to the activity range of the mechanical arm in space, and the operation direction can be considered as the extension direction of the mechanical arm.

[0152] Along the advancing direction of the mobile body 110, the first obstacle detector 130 can be arranged in front of the extension part 120, or arranged behind the extension part 110, or arranged on the side of the extension part 120.

[0153] Similarly, the first obstacle detector 130 can also be arranged in multiple, and multiple first obstacle detectors 130 can be arranged on different sides of the extension part 120. The arrangement of the optical axes of the first obstacle detectors 130 at different positions can be the same or different.

[0154] The different positions of the first obstacle detector 130 relative to the extension part 120, the different distances, and the different numbers of the first obstacle detector 130 will make the optical axes of the first obstacle detector 130 arranged in different directions. The following will specifically introduce several arrangement modes of the first obstacle detector 130.

[0155] In some embodiments, the first obstacle detector 130 can be arranged only one. Along the operation direction of the extension part 120, the first obstacle detector 130 is arranged behind the extension part 120, and the first obstacle detector 130 can be arranged far away from the extension part 120.

[0156] If the mobile body 110 is substantially cylindrical, the extension part 120 is substantially arranged in front of the mobile body 110, and the first obstacle detector 130 is substantially arranged at the rear of the mobile body 110, the distance between the first obstacle detector 130 and the extension part 120 being far means that the distance between the first obstacle detector 130 and the extension part 120 is greater than the radius of the mobile body 110. Since the first detection area 131 is substantially conical, the farther the distance, the larger the detection range of the first obstacle detector 130 around the extension part 120, thereby improving the obstacle avoidance area of the extension part 120 and improving the obstacle avoidance capability of the extension part 120.

[0157] The optical axis (first optical axis 132) of the first obstacle detector 130 is inclined upward, which means that the optical axis (first optical axis 132) of the first obstacle detector 130 has a certain angle with the horizontal plane, so that the first detection area 131 is substantially inclined upward, and the area above the extension part 120 can be detected.

[0158] During the advancement of the mobile body 110, obstacles are more likely to be encountered in front of or above the mobile robot 100. The optical axis (first optical axis 132) of the first obstacle detector 130 is inclined upward, so that the first obstacle detector 130 can detect the area in front of and above the extension part 120, thereby enabling the mobile robot 100 to avoid obstacles and reduce the risk of contact.

[0159] In some embodiments, the projection of the first detection area 131 in the second set plane covers the projection of the operation area of the extension part 120 in the second set plane along the operation direction of the extension part 120. The second set plane is perpendicular to the operation direction and the extension part 120 is located between the first obstacle detector and the second set plane.

[0160] The second set plane is a virtual plane, not the entire physical plane of the mobile robot 100. The second set plane is located on the side of the extension part 120 away from the first obstacle detector 130. The projection of the first detection area 131 in the second set plane covers the projection of the operation area of the extension part 120 in the second set plane, which means that the first obstacle detector 130 can cover all areas behind the extension part 120 (directly behind, laterally behind, and above behind), and the detection area 131 of the first obstacle detector 131 can completely cover the extension part 120, so that there is no detection blind area in front of the extension part 120, reducing the risk of the extension part 120 contacting obstacles.

[0161] Wherein, if the first obstacle detector 130 is multiple, the projection of the detection region 131 of the first obstacle detector 1300 in the second setting plane covers the projection of the operation region of the extension part 120 in the second setting plane refers to the sum of the projections of the multiple first detection regions 131 in the second setting plane covers the projection of the operation region of the extension part 120 in the second setting plane.

[0162] Please refer to FIG. 3 and FIG. 4, in some other embodiments, the first obstacle detector 130 can be set closer to the extension part 120, and be arranged close to the extension part 120. Specifically, if the extension part 120 is a mechanical arm or a mechanical claw, the mechanical arm or the mechanical claw can be arranged near the geometric center of the moving body 110, and the first obstacle detector 130 is also arranged near the geometric center of the moving body 110, so that the distance between the first obstacle detector 130 and the extension part 120 is closer.

[0163] Since the first obstacle detector 130 is installed on the moving body 110, and the extension part 120 is protruded from the moving body 110 in the working state, and the moving body 110 is generally moving on the ground during the whole working process of the mobile robot 100, so that the overall height of the extension part 120 is relatively low. Since the probability of the obstacle appearing on the top of the extension part 120 is relatively large, therefore, the optical axis of the first obstacle detector 130 can be perpendicular to the advancing direction of the moving body 110 (i.e. generally vertically arranged), and has an overlapping relationship with the extension part 120 in space, so that the first detection region 131 can detect the region above the extension part 120.

[0164] Specifically, in the advancing direction of the moving body 110, the first obstacle detector 130 can be arranged in front of the moving body 110 (as shown in FIG. 4) or arranged behind the moving body 110 (as shown in FIG. 3). Whether the first obstacle detector 130 is arranged in front of the moving body 110 or arranged behind the moving body 110. The first detection region 131 is generally conical, so that the cross section of the first detection region 131 in the plane perpendicular to the first optical axis 132 (the cross section of the horizontal plane) is generally rectangular, and the short side 131b of the rectangle is parallel to the operation direction of the extension part 120. The long side 131a is perpendicular to the operation direction of the extension part 120.

[0165] Whether the first obstacle detector 130 is arranged in front of the extension part 120 or arranged behind the extension part 120, the long side 131a is perpendicular to the operation direction of the extension part 120, so that the first obstacle detector 130 can have a larger detection region on the left and right sides of the extension part 120, and the obstacle avoidance ability of the extension part 120 on the left and right sides can be improved.

[0166] In the above, the case that the obstacle detection assembly 160 only includes the first obstacle detector 130 is introduced, and the case that the obstacle detection assembly 160 includes multiple obstacle detectors will be introduced below. Referring to FIG. 5, the arrow X represents the advancing direction of the mobile body 110, and the arrow Y represents the operating direction of the extension part 120. In some other embodiments, the obstacle detection assembly 160 can further include the second obstacle detector 140, and the first obstacle detector 130 and the second obstacle detector 140 are respectively arranged on different sides of the extension part 120.

[0167] The first obstacle detector 130 and the second obstacle detector 140 are used to detect the surrounding area of the extension part 120, and can detect whether there is an obstacle around the extension part 120 during the operation of the extension part 120, so as to avoid the risk of the extension part 120 touching the obstacle as much as possible during the operation of the extension part 120.

[0168] Since the extension part 120 can extend into other areas during the operation, the thickness or length of the extension part 120 can be large, and if only one sensor is used to detect the surrounding area of the extension part 120, since the extension part 120 has a certain volume, the extension part 120 will block part of the area on the side of the extension part 120 away from the sensor, so that the single sensor detection will have a certain blind area. It is impossible to comprehensively detect all areas around the extension part 120.

[0169] In the embodiments of the present application, the first obstacle detector 130 and the second obstacle detector 140 are respectively arranged on the two sides of the extension part 120, so that the two sides of the extension part 120 can be detected, and the area around the extension part 120 can be detected under the cooperation of the first obstacle detector 130 and the first obstacle detector 140, so as to avoid the existence of blind area around the extension part 120 as much as possible, thereby improving the accuracy of obstacle detection and reducing the risk of the extension part 120 touching the obstacle during the operation of the extension part 120.

[0170] Since the mobile robot 100 will work while advancing or advance to a certain position and then work during the entire operation of the mobile robot 100, the mobile robot 100 mainly detects whether there is an obstacle in the front area, wherein the front area includes the front, the upper front, the side front, and the like.

[0171] Referring to FIGS. 6 and 7, the arrow X represents the advancing direction of the mobile body 110, and the arrow Y represents the operating direction of the extension part 120. In some embodiments, along the operating direction of the extension part 120, the first obstacle detector 130 is located at the rear of the extension part 120, and the second obstacle detector 140 is located at the front of the extension part 120.

[0172] The second obstacle detection device 140 can be a TOF sensor (Time of Flight), specifically, a dToF sensor (Direct Time of Flight). The detection direction of the second obstacle detection device 140 refers to the direction of the optical axis of the dToF sensor, and the detection area refers to the detection area of the dToF sensor. For ease of description, the optical axis of the second obstacle detection device 140 is defined as the second optical axis 142, and the detection area of the second obstacle detection device 140 is defined as the second detection area 141. The second detection area 141 also includes a field of view angle and a detection distance (h2 in the figures represents the detection distance of the second detection area 141)

[0173] The second obstacle detection device 140 is arranged in front of the extension part 120 and mainly detects the area in front, side and upper front of the extension part 120. The second obstacle detection device 140 detects whether there is an obstacle earlier than the first obstacle detection device 130. Since it is uncertain whether there is an obstacle in front of the extension part 120, it may be necessary to detect a long distance. The detection accuracy of the dToF sensor does not decrease with the increase of the detection distance, which can improve the detection accuracy so that the second obstacle detection device 140 can detect a long distance and provide more obstacle avoidance time for the extension part 120.

[0174] During the operation of the extension part 120, obstacles are more likely to be touched in front or above the extension part 120. The first obstacle detection device 130 is arranged at the rear of the extension part 120 and mainly detects all areas of the extension part 120, including the rear, side, front, side front and upper front of the extension part 120. The second obstacle detection device 140 is arranged in front of the extension part 120 and mainly detects the front and upper front of the extension part 120. It is mainly used to detect the blind area of the first obstacle detection device 130, so that the surrounding of the extension part 120 has no blind area, thereby enabling the extension part 120 to detect all directions of the operation area and improving the accuracy of obstacle detection.

[0175] The operation direction of the extension part 120 can be the same as the advancing direction of the mobile body 110 (as shown by arrow X in FIGS. 6 and 7), that is, in the advancing direction of the mobile body 110, the first obstacle detection device 130 is located behind the extension part 120, and the second obstacle detection device 140 is located in front of the extension part 120. In this case, the detection direction of the first obstacle detection device 130 (the direction of the first optical axis 132) is arranged toward the advancing direction of the mobile body 110. Similarly, the detection direction of the second obstacle detection device 140 (the direction of the second optical axis 142) is arranged toward the advancing direction of the mobile body 110 or vertically. That is, in this case, the angle between the detection direction of the first obstacle detection device 130 (the direction of the first optical axis 132) and the advancing direction of the mobile body 110 is not greater than 90 degrees. The angle between the detection direction of the second obstacle detection device 140 (the direction of the second optical axis 142) and the advancing direction of the mobile body 110 is not greater than 90 degrees.

[0176] In other embodiments, the operation direction of the extension part 120 can not be the same as the advancing direction of the mobile body 110, specifically as follows:

[0177] Referring to FIGS. 8 and 9, the front sensor 150 is arranged in front of the mobile body 110 in the advancing direction, and is mainly used to detect whether there is an obstacle in front of the mobile body 110. The obstacle detection assembly 160 (at least one of the first obstacle detection device 130 and the second obstacle detection device 140) is mainly used to detect the area around the extension part 120. Of course, the obstacle detection assembly 160 can also detect part of the area around the mobile body 110, which can be the side area of the mobile body 110 or the rear area of the mobile body 110. The detection direction of the obstacle detection assembly 160 is arranged at an angle with the detection direction of the front sensor 150, that is, the detection direction of the obstacle detection assembly 160 is different from the detection direction of the front sensor 150, which can avoid the accumulation of sensors or structural components in a certain direction as much as possible, and further avoid the interference between the obstacle detection assembly 160 and the front sensor 150 and the performance sacrifice.

[0178] The front sensor 150 can be an optical device with a camera field of view and a camera optical axis, specifically a standard camera, a volumetric point cloud imaging camera, a three-dimensional (3D) imaging camera, a camera with a depth map sensor, a visible light camera and / or an infrared camera, a TOF (Time of Flight) sensor, and the detection direction of the front sensor 150 is the optical axis of the front sensor 150.

[0179] The obstacle detection component 160 can also be a TOF (Time of Flight) sensor. The detection direction of the obstacle detection component 160 is different from the detection direction of the forward sensor 150 means that the optical axis direction of the obstacle detection component 160 is different from the optical axis direction of the forward sensor 150.

[0180] Specifically, the optical axis of the obstacle detection component 160 is a ray, and the optical axis direction is a vector. The optical axis of the forward sensor 150 is a ray, and the optical axis direction is a vector. The included angle between the optical axis of the obstacle detection component 160 and the optical axis of the forward sensor 150 is 180 degrees, which also means that the optical axis direction of the obstacle detection component 160 is different from the optical axis direction of the forward sensor 150. For example, the optical axis of the forward sensor 150 is horizontally forward, and the optical axis direction of the obstacle detection component 160 is horizontally backward, and the optical axis directions of the two are also different, that is, the detection direction of the obstacle detection component 160 is also different from the detection direction of the forward sensor 150, and also presents an included angle arrangement.

[0181] The optical axis of the forward sensor 150 is horizontally forward, and the optical axis direction of the obstacle detection component 160 is obliquely forward, and the included angle between the two is less than 90 degrees, which means that the optical axis direction of the obstacle detection component 160 is different from the optical axis direction of the forward sensor 150.

[0182] The optical axis of the forward sensor 150 is horizontally forward, and the optical axis direction of the obstacle detection component 160 is obliquely backward, and the included angle between the two is greater than 90 degrees, which means that the optical axis direction of the obstacle detection component 160 is different from the optical axis direction of the forward sensor 150.

[0183] The optical axis of the forward sensor 150 is horizontally forward, and the optical axis direction of the obstacle detection component 160 is also horizontally forward, (the two are parallel), which means that the optical axis direction of the forward sensor 150 is the same as the optical axis direction of the obstacle detection component 160.

[0184] Since the operation direction of the extension part 120 and the advancing direction of the mobile body 110 are arranged at an included angle (the directions of the two are different), the first obstacle detector 130 and the second obstacle detector 140 mainly detect the operation area of the extension part 120, so that the detection direction of the first obstacle detector 130 and the second obstacle detector 140 is approximately the same as the operation direction of the extension part 120. That is, the detection direction of the first obstacle detector 130 and the detection direction of the forward sensor 150 also present an included angle arrangement, and the detection direction of the second obstacle detector 140 and the detection direction of the forward sensor 150 also present an included angle arrangement.

[0185] The first obstacle detector 130 and the second obstacle detector 140 are respectively located at different sides of the extension part 120, so that the first obstacle detector 130 and the second obstacle detector 140 can respectively detect different areas around the extension part 120, so that the cooperation of the first obstacle detector 130 and the second obstacle detector 140 can make the area around the extension part 120 as few as possible to have a detection blind area, improve the detection effect of the extension part 120, and further reduce the case that the extension part 120 touches an obstacle during work.

[0186] The detection direction of the first obstacle detector 130 is arranged at an angle with the detection direction of the front sensor 150, which means that the detection direction of the first obstacle detector 130 is different from the detection direction of the front sensor. The detection directions of the two are different, which can avoid the accumulation of sensors or structural components in a certain direction as much as possible, and further avoid the interference between the first obstacle detector 130 and the front sensor and the performance sacrifice.

[0187] Specifically, the optical axis of the first obstacle detector 130 is a ray, and the optical axis direction is a vector. The optical axis of the front sensor 150 is a ray, and the optical axis direction is a vector. The angle between the optical axis of the first obstacle detector 130 and the optical axis of the front sensor 150 is 180 degrees, which also means that the optical axis direction of the first obstacle detector 130 is different from the optical axis direction of the front sensor 150. For example, the optical axis of the front sensor 150 is horizontally forward, and the optical axis direction of the first obstacle detector 130 is horizontally backward, and the optical axis directions of the two are also different, that is, the detection direction of the first obstacle detector 130 is also different from the detection direction of the front sensor 150, and is also arranged at an angle.

[0188] The optical axis of the front sensor 150 is horizontally forward, and the optical axis direction of the first obstacle detector 130 is obliquely forward, and the angle between the two is less than 90 degrees, which means that the optical axis direction of the first obstacle detector 130 is different from the optical axis direction of the front sensor 150.

[0189] The optical axis of the front sensor 150 is horizontally forward, and the optical axis direction of the first obstacle detector 130 is obliquely backward, and the angle between the two is greater than 90 degrees, which means that the optical axis direction of the first obstacle detector 130 is different from the optical axis direction of the front sensor 150.

[0190] The optical axis of the front sensor 150 is horizontally forward, and the optical axis direction of the first obstacle detector 130 is also horizontally forward, (the two are parallel), which means that the optical axis direction of the front sensor 150 is the same as the optical axis direction of the first obstacle detector 130.

[0191] The second obstacle detector 140 is arranged at an angle with the detection direction of the front sensor 150, that is, the detection direction of the second obstacle detector 140 is different from the detection direction of the front sensor 150, the detection directions of the two are different, which can avoid the accumulation of sensors or structural components in a certain direction as much as possible, and further avoid the interference between the second obstacle detector 140 and the front sensor and the performance sacrifice as much as possible.

[0192] Specifically, the optical axis of the second obstacle detector 140 is a ray, and the optical axis direction is a vector. The optical axis of the front sensor 150 is a ray, and the optical axis direction is a vector. The angle between the optical axis of the second obstacle detector 140 and the optical axis of the front sensor 150 is 180 degrees, which also indicates that the optical axis direction of the second obstacle detector 140 is different from the optical axis direction of the front sensor 150. For example, the optical axis of the front sensor 150 is horizontally forward, and the optical axis direction of the second obstacle detector 140 is horizontally backward, and the optical axis directions of the two are also different, that is, the detection direction of the second obstacle detector 140 is also different from the detection direction of the front sensor 150, and is arranged at an angle.

[0193] The optical axis of the front sensor 150 is horizontally forward, and the optical axis direction of the second obstacle detector 140 is obliquely forward, and the angle between the two is less than 90 degrees, which indicates that the optical axis direction of the second obstacle detector 140 is different from the optical axis direction of the front sensor 150.

[0194] The optical axis of the front sensor 150 is horizontally forward, and the optical axis direction of the second obstacle detector 140 is obliquely backward, and the angle between the two is greater than 90 degrees, which indicates that the optical axis direction of the second obstacle detector 140 is different from the optical axis direction of the front sensor 150.

[0195] The optical axis of the front sensor 150 is horizontally forward, and the optical axis direction of the second obstacle detector 140 is also horizontally forward, (the two are parallel), which indicates that the optical axis direction of the front sensor 150 is the same as the optical axis direction of the second obstacle detector 140.

[0196] In some embodiments, the angle between the detection direction of the first obstacle detector 130 and the detection direction of the front sensor 150 is greater than or equal to 90 degrees.

[0197] In some embodiments, the first obstacle detector 130 is arranged on the extension 120, and the second obstacle detector 140 is arranged on the extension 120.

[0198] In some embodiments, the second obstacle detector 140 is arranged on the extension 120, and the first obstacle detector 130 is arranged on the extension 120.

[0199] In some embodiments, the second obstacle detector 140 is arranged on the extension 120, and the first obstacle detector 130 is arranged on the extension 120.

[0200] As shown in FIG. 8 and FIG. 9, in some embodiments, the extension 120 includes a mounting segment 121 and a connecting segment 123, the mounting segment 121 is connected to the mobile body 110 and the connecting segment 123 respectively, the first obstacle detector 130 is located on the side of the mounting segment 121 away from the connecting segment 123, and the second obstacle detector 140 is located on the same side of the mounting segment 121 as the connecting segment 123.

[0201] In some embodiments, the extension 120 only includes the mounting segment 121 and the connecting segment 123. The connecting segment 123 is the outermost structure of the entire extension 120, which can be the entire connecting segment 123 as the working position (which can be the entire cleaning part), or only a segment of the connecting segment 123 away from the mounting segment 121 as the working position (which can be the mechanical gripper).

[0202] In addition, in some other embodiments, the extension part 120 can include a mounting section 121, a connecting section 123, and an operating section 124 (as shown in FIGS. 5-7), the connecting section 123 connects the mounting section 121 and the operating section 124, respectively, the mounting section 121 is mounted to the mobile body 110, and the operating section 124 is located in front of the mounting section 121 along the operating direction of the extension part 120, and the second obstacle detector 140 is mounted to the mounting section 121.

[0203] In the case where the extension part 120 includes the mounting section 121, the connecting section 123, and the operating section 124, the operating section 124 can be located at the outermost part of the entire extension part 120, and the operating section 124 can be used as the working part of the entire extension part 120. In this case, the entire operating section 124 can be the working position (the entire cleaning part can be provided), or only a part of the operating section 124 away from the connecting section 123 can be the working position (the mechanical gripper can be provided).

[0204] The extension part 120 can be a mechanical arm, which can include multiple sections, such as two sections (the mounting section 121 and the connecting section 123), three sections (the mounting section 121, the connecting section 123, and the operating section 124), four sections, five sections, or the like. Regardless of the number of sections included in the extension part 120, the outermost part of the extension part 120 can be used as the working part of the entire extension part 120 (in the case of two sections, the connecting section 123 is the outermost part, and the connecting section 123 is used as the working part; in the case of three sections, the operating section 124 is the outermost part, and the operating section 124 is used as the working part).

[0205] For convenience of description, the case where the extension part 120 includes the mounting section 121 and the connecting section 123 (as shown in FIGS. 4 and 5) is taken as an example for the following description. Since the connecting section 123 is the working part of the entire extension part 120, one side of the connecting section 123 is defined as the front of the entire extension part 120, and the other side of the connecting section 123 is defined as the rear of the entire extension part 120, i.e., the first obstacle detector 130 is located at the rear of the entire extension part 120, and the second obstacle detector 140 is located at the front of the entire extension part 120.

[0206] During the operation of the extension part 120, obstacles are more likely to be encountered in front of or above the extension part 120. The first obstacle detector 130 is arranged at the rear of the extension part 120 and is mainly used to detect the area at the rear, the side, the front, the side front, and the upper front of the extension part 120. The second obstacle detector 140 is arranged at the front of the extension part 120 and is mainly used to detect the area at the front and the upper front of the extension part 120, and is mainly used to detect the blind area of the first obstacle detector 130, so that there is basically no blind area around the extension part 120, and the area around the extension part 120 can be detected in all directions, thereby improving the accuracy of obstacle detection.

[0207] In some embodiments, the extension direction of the connecting section 123 is arranged at an angle with the advancing direction of the moving body 110.

[0208] In some embodiments, the extension direction of the connecting section 123 is arranged at an angle with the advancing direction of the moving body 110.

[0209] Specifically, the extension direction of the connecting section 123 can be arranged at the following positions with the advancing direction of the moving body 110. The extension direction of the connecting section 123 can be opposite to the advancing direction of the moving body 110 (as shown in FIGS. 8 and 9). That is, the operation direction of the connecting section 123 is located at the rear of the entire moving body 110, so that the extension section 120 can clean the area behind the moving body 110.

[0210] In addition, the connecting section 123 can be located at the left side of the mounting section 121 along the advancing direction of the moving body 110 (as shown in FIG. 10). That is, during the wall-following operation of the moving body 110, if the wall is located at the left side of the moving body 110, the connecting section 123 can clean the wall side. In addition, the connecting section 123 can be located at the right side of the mounting section 121 (as shown in FIG. 11). That is, during the wall-following operation of the moving body 110, if the wall is located at the right side of the moving body 110, the connecting section 123 can clean the other side of the wall side.

[0211] It should be noted that the position between the connecting section 123 and the moving body 110 can be fixed, that is, in the case that the connecting section 123 protrudes out of the moving body 110, the connecting section 123 can be fixed at the rear of the moving body 110, or at the left side or the right side of the moving body 110. In addition, the position between the connecting section 123 and the moving body 110 can also be movable, and the relative position between the connecting section 123 and the moving body 110 can be adjusted according to the position to be cleaned.

[0212] That is, the above lists different connection modes between the extension section 120 and the moving body 110. The connection mode can be fixed or movable. If the position of the connecting section 123 on the moving body 110 is fixed, the position of the connecting section 123 relative to the moving body 110 will not change after the extension section 120 protrudes out of the moving body 110.

[0213] Specifically, if the extension part 120 extends to the rear of the mobile body 110, the connecting section 123 is located at the rear of the mounting section 121, and during the entire working process, the connecting section 123 is located at the rear of the mounting section 121, and the position of the connecting section 123 relative to the mobile body 110 does not change. If the extension part 120 extends to the left of the mobile body 110, the connecting section 123 is located at the left of the mounting section 121, and during the entire working process, the connecting section 123 is located at the left of the mobile body 110, and the position of the connecting section 123 relative to the mobile body 110 does not change. If the extension part 120 extends to the right of the mobile body 110, the connecting section 123 is located at the right of the mounting section 121, and during the entire working process, the connecting section 123 is located at the right of the mobile body 110, and the position of the connecting section 123 relative to the mobile body 110 does not change.

[0214] If the entire extension part 120 can move relative to the mobile body 110, so that the connecting section 123 can be located in different directions of the mounting section 121, that is, during the entire working process, the position of the connecting section 123 relative to the mobile body 110 can be adjusted. The position of the connecting section 123 can be adjusted according to different cleaning positions. Specifically, if the area to the left of the mobile body 110 needs to be cleaned, the connecting section 123 can be located to the left of the mounting section 121. If the area to the right of the mobile body 110 needs to be cleaned, the connecting section 123 can be located to the right of the mounting section 121. Wherein, the position of the connecting section 123 relative to the mobile body 110 changes, which can be that the mounting section 121 and the mobile body 110 are fixed relative to each other, and the connecting section 123 rotates relative to the mounting section 121, or the mounting section 121 rotates relative to the mobile body 110, and drives the mounting section 121 to rotate relative to the mobile body 110.

[0215] Since the detection direction of the first obstacle detector 130 and the detection direction of the second obstacle detector 130 are towards the operating direction of the extension part 120, and the detection direction of the front sensor 150 is towards the advancing direction of the mobile body 110. The operating direction of the extension part 120 is arranged at an angle with the advancing direction of the mobile body 110, so that the detection direction of the first obstacle detector 130 and the detection direction of the second obstacle detector 130 are arranged at an angle with the advancing direction of the front sensor 150 (as shown in FIGS. 8-11). When the operating direction of the extension part 120 is the same as the advancing direction of the mobile body 110, the detection direction of the first obstacle detector 130 and the detection direction of the second obstacle detector 130 are also arranged at an angle with the detection direction of the front sensor 150 (as shown in FIGS. 5-7).

[0216] For example, as shown in FIGS. 5-7, the mobile body 110 moves horizontally forward, and the detection direction of the front sensor 150 is also horizontally forward. The operation direction of the extension part 120 is also horizontally forward, and the first obstacle detector 130 is also forward but is inclined upward, so that the detection direction of the first obstacle detector 130 is arranged (different) at an angle with the detection direction of the front sensor 150. The second obstacle detector 140 is also arranged upwardly inclined, so that the detection direction of the second obstacle detector 140 is arranged (different) at an angle with the detection direction of the front sensor 150.

[0217] Regardless of whether the operation direction of the extension part 120 is the same as the forward direction of the mobile body 110, the related positions and parameters of the first obstacle detector 130 and the second obstacle detector 140 need to meet the following requirements, which are as follows:

[0218] Please refer to FIGS. 12, 13 and 14, the arrows in each figure represent the forward direction of the mobile body. In order to make the description simple, the operation direction of the extension part 120 is the same as the forward direction of the mobile body 110 in the embodiments of the present application, and when they are not the same, the same can be deduced. In some embodiments, along the operation direction of the extension part 120, the first obstacle detector 130 is located behind the extension part 120, and the second obstacle detector 140 is located in front of the extension part 120.

[0219] Please refer to FIGS. 12, 13 and 14, in some embodiments, the field of view angle of the first obstacle detector 130 is greater than the field of view angle of the second obstacle detector 140.

[0220] Wherein, the detection region includes the field of view angle and the detection distance, wherein the field of view angle can be considered as the opening angle of the first obstacle detector 130 or the second detection region, or can be considered as the width of the first obstacle detector 130 or the second detection region, and the detection distance can be considered as the length of the first obstacle detector 130 or the second detection region.

[0221] The first detection region 131 is the width of the first detection region 131, i.e. the detection region 131, the greater the field of view angle of the first obstacle detector 130 is, the greater the width of the first detection region 131 is, i.e. the greater the detection region 131 is, under the condition that the detection distance of the first obstacle detector 130 is unchanged. The smaller the field of view angle is, the smaller the width of the detection region of the first obstacle detector is, i.e. the smaller the detection region 131 is. Similarly, the second detection region 141 is the width of the second detection region 141, i.e. the second detection region 141, the greater the field of view angle of the second obstacle detector 140 is, the greater the width of the second detection region 141 is, i.e. the greater the second detection region 141 is, under the condition that the detection distance of the second obstacle detector 140 is unchanged. The smaller the field of view angle of the second obstacle detector 140 is, the smaller the width of the second detection region 141 is, i.e. the smaller the second detection region 141 is.

[0222] The field of view angle of the first obstacle avoidance detector 130 is greater than that of the second obstacle avoidance detector 140, which means that the first detection area 131 is greater than the second detection area 141 under the same detection distance. Since the first obstacle avoidance detector 130 is arranged at the rear of the extension part 120, and the second obstacle avoidance detector 140 is arranged at the front of the extension part 120, the first detection area 131 is relatively large, and can detect most of the rear, side front, front and upper front of the extension part 120, so that most of the area can be detected by one sensor, thereby reducing the number of sensors. Since the second obstacle avoidance detector 140 is located at the front of the extension part 120, it is mainly used to detect the front and upper front of the extension part 120 and the blind area of the first obstacle avoidance detector 130, and the detection area is relatively small, so a sensor with a smaller field of view angle can be selected.

[0223] For obstacle avoidance detectors, the size of the field of view angle is positively correlated with the cost, that is, the larger the field of view angle, the higher the cost, and the smaller the field of view angle, the lower the cost. The field of view angle of the first obstacle avoidance detector 130 is relatively large, and the field of view angle of the second obstacle avoidance detector 140 is relatively small. By using sensors with different field of view angles, the overall cost can be reduced while ensuring that there is no blind area around the extension part 120.

[0224] Since the first detection area 131 is conical or conical, the field of view angle of the first obstacle avoidance detector 130 is not an angle in a certain direction, but a three-dimensional angle. Taking the case where the first detection area 131 is conical as an example, the field of view angle of the first obstacle avoidance detector 130 includes a first horizontal angle a1 and a first vertical angle b1. Similarly, taking the case where the second detection area 141 is conical as an example, the field of view angle of the second obstacle avoidance detector 140 includes a second horizontal angle a2 and a second vertical angle b2.

[0225] The first horizontal angle a1 can be considered as the detection range of the first obstacle avoidance detector 130 in the horizontal direction, and the first vertical angle b1 can be considered as the detection range of the first obstacle avoidance detector 130 in the vertical direction. The second horizontal angle a2 can be considered as the detection range of the second obstacle avoidance detector 140 in the horizontal direction, and the second vertical angle b2 can be considered as the detection range of the second obstacle avoidance detector 140 in the vertical direction.

[0226] The field of view angle of the first obstacle avoidance detector 130 is greater than that of the second obstacle avoidance detector 140, at least the first horizontal angle a1 is greater than the second horizontal angle a2, that is, the first horizontal angle a1 can be greater than the second horizontal angle a2, or the first horizontal angle a1 can be greater than the second horizontal angle a2 and the first vertical angle b1 can be greater than the second vertical angle b2.

[0227] Since the first obstacle avoidance detector 130 is arranged at the rear of the extension part 120, the second obstacle avoidance detector 140 is arranged at the front of the extension part 140, and the first lateral angle a1 is greater than the second lateral angle a2, the first obstacle avoidance detector 130 can have a larger detection range in the horizontal direction, and can detect the area at the rear, side, and top of the extension part 120, thereby improving the obstacle avoidance capability of the extension part 120.

[0228] In some embodiments, the field of view angle of the first obstacle avoidance detector 130 includes the first lateral angle a1 and the first vertical angle b1, the first lateral angle a1 is 80-120 degrees, and the first vertical angle b1 is 20-60 degrees.

[0229] The first lateral angle a1 can be considered as the detection range of the first obstacle avoidance detector 130 in the horizontal direction, and the first vertical angle b1 can be considered as the detection range of the first obstacle avoidance detector 130 in the vertical direction, so that the field of view angle of the first obstacle avoidance detector 130 is approximately conical, the first lateral angle a1 is 80-120 degrees, so that the detection angle of the first obstacle avoidance detector 130 in the horizontal direction is larger, and basically covers the area at the rear, side, and front of the extension part 120, without the need to arrange or install another sensor for detecting the area at the side of the front, thereby reducing the number of sensors and reducing the cost.

[0230] Specifically, the first lateral angle a1 can be 80 degrees, 90 degrees, 100 degrees, 110 degrees, 118 degrees, etc.

[0231] The first vertical angle b1 of the first obstacle avoidance detector 130 is 20-60 degrees, so that the first obstacle avoidance detector 130 has a certain detection range in the vertical plane. Since the mobile robot 100 mostly moves on the ground and has a low overall height, the first obstacle avoidance detector 130 has a certain detection range in the vertical direction, so that the first obstacle avoidance detector 130 can detect the area above the extension part 120, thereby reducing the collision between the extension part 120 and the obstacle above during the working process and improving the accuracy of obstacle avoidance.

[0232] Specifically, the first vertical angle b1 can be 25 degrees, 30 degrees, 35 degrees, 40 degrees, 45 degrees, 50 degrees, 55 degrees, etc.

[0233] In addition, the position of the extension part 120 in space may change during the working process, so that the position of part of the extension part 120 in the vertical direction changes. The first obstacle avoidance detector 130 has a certain detection area in the vertical direction, which can detect whether there is an obstacle in the area above the extension part 120, thereby avoiding the extension part 120 from touching the obstacle as much as possible during the working process.

[0234] In some embodiments, the optical axis of the first obstacle detector 130 is arranged towards the operation direction of the extension part 120.

[0235] In some embodiments, the optical axis of the first obstacle detector 130 is arranged towards the operation direction of the extension part 120.

[0236] It is easy to understand that the optical axis of the first obstacle detector 130 (the first optical axis 132) arranged towards the operation direction of the extension part 120 does not mean that the optical axis of the first obstacle detector 130 is parallel to the operation direction of the extension part 120, but means that the projection of the optical axis in the horizontal direction can be the same as the extension direction of the mobile body 110, i.e., the optical axis of the first obstacle detector 130 (the first optical axis 132) can be inclined forward.

[0237] Since the first optical axis 132 is approximately the center of the entire first detection area 131, the direction of the first optical axis 132 can reflect the orientation of the entire first detection area 131, reflecting the relative positional relationship between the first detection area 131 and the operation area of the extension part 120.

[0238] Since the extension part 120 is convex on the mobile body 110 in the working state, and the first obstacle detector 130 is installed on the mobile body 110, the first obstacle detector 130 and the extension part 120 have a certain height difference, and the first obstacle detector 130 and the extension part 120 have a certain distance. In the case that the distance between the first obstacle detector 130 and the extension part 120 is unchanged, in order to be able to detect the area above and in front of the extension part 120, the higher the extension part 120 is, the larger the angle between the first obstacle detector 130 and the horizontal direction will be. The shorter the extension part 120 is, the smaller the angle between the first obstacle detector 130 and the horizontal direction will be.

[0239] Similarly, in the case that the height of the extension part 120 is unchanged, in order to be able to detect the area above and in front of the extension part 120, the smaller the distance between the first obstacle detector 130 and the extension part 120, the larger the angle between the first obstacle detector 130 and the horizontal direction will be, and the larger the distance between the first obstacle detector 130 and the extension part 120, the smaller the angle between the first obstacle detector 130 and the horizontal direction will be.

[0240] As can be seen, the angle of the first optical axis 132 with respect to the horizontal direction is related to the height of the extension portion 120 and the distance between the first obstacle detector 130 and the extension portion 120, and the angle of the first optical axis 132 (the angle with respect to the horizontal direction) can be set by comprehensively considering the height of the extension portion 120 and the distance between the first obstacle detector 130 and the extension portion 120.

[0241] Specifically, in some embodiments, the angle of the first optical axis 132 with respect to the horizontal direction can be 30 degrees to 60 degrees along the advancing direction of the mobile body 110 (the direction indicated by the arrow X in each figure). The first obstacle detector 130 is arranged behind the extension portion 120, and the distance between the first obstacle detector 130 and the extension portion 120 is relatively far, so the angle of the first optical axis 132 with respect to the horizontal direction can be relatively small.

[0242] In the case where other conditions (the height of the extension portion 120 and the distance between the first obstacle detector 130 and the extension portion 120) are unchanged, the angle of the first optical axis 132 with respect to the horizontal direction determines the size of the front and rear regions and the region above the extension portion 120 that are detected by the first detection region 131.

[0243] In the range of 0 to 45 degrees, the smaller the angle of the first optical axis 132 with respect to the horizontal direction, the more the horizontal component and the less the vertical component of the first detection region 131. In this case, the more the horizontal component of the first detection region 131, the more the detection region along the horizontal direction (the larger the detection region in the front and rear directions of the extension portion 120), and the less the detection region above the extension portion 120.

[0244] In the range of 45 to 90 degrees, the larger the angle of the first optical axis 132 with respect to the horizontal direction, the less the horizontal component and the more the vertical component of the first detection region 131. In this case, the less the horizontal component of the first detection region 131, the less the detection region along the horizontal direction (the less the detection in the front and rear directions of the extension portion 120), and the more the detection region above the extension portion 120.

[0245] The angle between the first optical axis 132 and the horizontal direction can be 30 degrees to 60 degrees. Although the components of the first detection area 131 in the horizontal direction and the vertical direction are slightly different (in the interval of 30 degrees to 45 degrees, the horizontal component of the first detection area 131 is greater than the vertical component, and in the interval of 45 degrees to 60 degrees, the horizontal component of the first detection area 131 is less than the vertical component), the difference is not large, that is, in the interval of 30 degrees to 60 degrees, it can be considered that the horizontal component and the vertical component of the first detection area 131 are basically the same, so that the front-back direction (horizontal direction) of the extension part 120 of the first detection area 131 or the area above the extension part 120 (vertical direction) is approximately the same, and further, the first barrier detection device 130 can simultaneously consider the front-back direction and the area above the extension part 120, thereby improving the barrier avoidance capability of the extension part 120.

[0246] Specifically, the angle between the first optical axis 132 and the horizontal direction can be 35 degrees, 40 degrees, 45 degrees, 50 degrees, 55 degrees, etc. When the angle between the first optical axis 132 and the horizontal direction is 45 degrees, the front-back direction (horizontal direction) of the extension part 120 of the first detection area 131 or the area above the extension part 120 (vertical direction) is the same, and further, the first barrier detection device 130 can simultaneously consider the front-back direction and the area above the extension part 120, thereby improving the barrier avoidance capability of the extension part 120.

[0247] In some embodiments, the field of view angle of the first barrier detection device 130 has a first edge 131c and a second edge 131d in the vertical direction, the first edge 131c is below the second edge 131d, and the angle between the first edge 131c and the horizontal direction is greater than or equal to 0 degrees.

[0248] The area between the first edge 131c and the second edge 131d is the detection range of the first barrier detection device 130 in the vertical direction, that is, the first vertical angle b1. The angle between the first edge 131c below and the horizontal direction is greater than or equal to 0 degrees, which means that the first edge 131c is horizontally arranged or is arranged obliquely upward. If the first edge 131c is arranged obliquely downward, part of the first vertical angle b1 will hit the mobile body 110, and further, part of the first vertical angle b1 cannot detect the front area, resulting in waste of the detection area of the first vertical angle b1.

[0249] In some embodiments, the first edge 131c can form an angle of 15-30 degrees with the horizontal direction. Since the first obstacle detector 130 is arranged behind the extension part 120, the distance between the first edge 131c and the extension part 120 is far, and the angle between the first edge 131c and the horizontal direction can be set to be small, so that the first detection area 131 can cover the space above and in front of and behind the extension part 120 when projected to the operation area of the extension part 120, so that the first obstacle detector 130 can detect the area above and in front of and behind the extension part 120.

[0250] Specifically, the first edge 131c can form an angle of 18 degrees, 20 degrees, 22.5 degrees, 25 degrees, 27.5 degrees, 28 degrees, etc. with the horizontal direction.

[0251] In some embodiments, the second edge 131d can form an angle of less than or equal to 90 degrees with the horizontal direction.

[0252] The second edge 131d forms an angle of less than or equal to 90 degrees with the horizontal direction, which means that the second edge 131d is arranged vertically or inclined upward, so that the first vertical angle b1 is arranged entirely forward, and the first detection area 131 is arranged behind the extension part 120 due to the arrangement of the first obstacle detector 130. The first vertical angle b1 is arranged entirely forward, so that the first obstacle detector 130 can be arranged as much as possible in the direction of the extension part 120, so that the first detection area 131 is arranged as much as possible overlapping the extension part 120, thereby improving the utilization rate of the first obstacle detector 130 and reducing the waste of the detection area 131 of the first obstacle detector 30.

[0253] The first edge 131c forms an angle of greater than or equal to 0 degrees with the horizontal direction, and the second edge 131d forms an angle of less than or equal to 90 degrees with the horizontal direction. The detection area of the first vertical angle b1 of the first obstacle detector is arranged horizontally or inclined, which can overlap as much as possible with the area in front of, above and to the side of the extension part 120, thereby improving the utilization rate of the first detection area 131.

[0254] Specifically, the second edge 131d can form an angle of 60-75 degrees with the horizontal direction. The second edge 131d is the upper limit of the first detection area 131 in the vertical direction. If the second edge 131d is too high, most or all of the first detection area 131 will be used to detect the space above the extension part 120, so that the detection distance of the first obstacle detector 130 in front of the extension part 120 is short. The second edge 131d can form an angle of 60-75 degrees with the horizontal direction, which can ensure the detection distance above while also having a certain detection distance in the operation direction of the extension part 120, thereby providing more time for obstacle avoidance of the extension part 120.

[0255] Specifically, the included angle between the second edge 131d and the horizontal direction can be 62.5 degrees, 65 degrees, 67.5 degrees, 70 degrees, 72.5 degrees, etc.

[0256] In some embodiments, the distance between the first obstacle detector 130 and the extension part 120 is greater than the radius of the moving body 110.

[0257] The moving body 110 is substantially cylindrical, the extension part 120 is substantially arranged in front of the moving body 110, the first obstacle detector 130 is substantially arranged at the rear of the moving body 110, and the distance between the first obstacle detector 130 and the extension part 120 is greater than the radius of the moving body 110. It can be considered that the distance between the first obstacle detector 130 and the extension part 120 is far away. Since the first detection area 131 is substantially conical, the farther the distance, the larger the detection range of the first obstacle detector 130 around the extension part 120, thereby improving the obstacle avoidance area of the extension part 120, thereby improving the obstacle avoidance effect.

[0258] In some embodiments, the first obstacle detector 130 is arranged on the diameter of the moving body 110 in the forward direction.

[0259] Since the moving body 110 is cylindrical, the diameter in the forward direction is the longest distance in the forward direction, and the first obstacle detector 130 can be arranged at the end of the diameter, so that the first obstacle detector 130 is located at the rear of the moving body 110. While detecting the area around the extension part 120, it can also detect the area on the left and right sides of the moving body 110 (the area in front of the side), so that the first obstacle detector can detect the area around the extension part 120 and the area around the moving body 110, and the utilization rate of the first obstacle detector 130.

[0260] It should be noted that in some embodiments, only one first obstacle detector 130 is arranged, and the first obstacle detector 130 can be arranged on the diameter of the moving body 110 in the forward direction. In addition, in other embodiments, two, three, etc. The first obstacle detector 130 can be arranged in a number, and the number of first obstacle detectors 130 can not be limited.

[0261] As shown in FIG. 15, when two first obstacle detectors 130 are arranged, the two first obstacle detectors 130 can be symmetrically arranged along the diameter of the moving body 110 in the forward direction. Since the first obstacle detector 130 is not arranged on the diameter of the moving body 110 in the forward direction, the first obstacle detector 130 is not arranged directly behind the extension part 120, i.e. along the forward direction of the moving body 110, the two first obstacle detectors 130 are arranged staggered with the extension part 120.

[0262] The optical axis (first optical axis 132) of the first obstacle detector 130 can be obliquely arranged towards the extension part 120. That is, the optical axis (first optical axis 132) of the two first obstacle detectors 130 each has an included angle with the operation direction of the extension part 120, so that the first detection area 131 can be arranged towards the extension part 120, and thus more areas of the first detection area 131 can overlap with the operation area of the extension part 120, improving the utilization rate of the first obstacle detector 130.

[0263] Of course, in some other embodiments, the first obstacle detector 130 is arranged in two, and the optical axis of the first obstacle detector 130 can also be arranged towards the operation direction of the extension part 120.

[0264] When the first obstacle detector 130 is arranged in three, one can be arranged along the diameter of the forward direction of the mobile body 110, and the other two can be symmetrically arranged along the diameter of the forward direction of the mobile body 110. When the first obstacle detector 130 is arranged in other quantities, even numbers can refer to the arrangement when arranged in two, and odd numbers can refer to the arrangement when arranged in three.

[0265] Please refer to FIGS. 12-14, the above introduces the arrangement position and the parameters of the first obstacle detector 130, and the following introduces the arrangement position and the parameters of the second obstacle detector.

[0266] In some embodiments, the field of view angle of the second obstacle detector 140 includes a second horizontal angle a2 and a second vertical angle b2, the second horizontal angle a2 is 30-60 degrees, and the second vertical angle b2 is 20-60 degrees.

[0267] Among them, the second horizontal angle a2 can be considered as the detection range of the second obstacle detector 140 in the horizontal direction, and the second vertical angle b2 can be considered as the detection range of the second obstacle detector 140 in the vertical direction, so that the field of view angle of the second obstacle detector 140 is approximately conical.

[0268] Since the second obstacle detector 140 is arranged in front of the extension part 120, the second obstacle detector 140 mainly detects the front and upper of the extension part 120, and the detection blind area of the first obstacle detector 130, that is, the field of view angle of the second obstacle detector 140 can not be too large, and the second horizontal angle a2 is 30-60 degrees, so that the detection angle of the first obstacle detector 130 in the horizontal direction can basically cover the upper front and front area of the extension part 120, and basically cover the detection blind area of the first obstacle detector 130, in the case of being able to cover the whole around of the extension part 120, reduce the cost (the larger the field of view angle, the higher the cost of the second obstacle detector 140).

[0269] The second vertical angle b2 of the second obstacle avoidance detector 140 is 20-60 degrees, so that the second obstacle avoidance detector 140 has a certain detection range in the vertical plane. Since the mobile robot 100 mostly moves on the ground, the overall height is low, and the second obstacle avoidance detector 140 has a certain detection range in the vertical direction, so that the second obstacle avoidance detector 140 can detect the area above the extension part 120, thereby reducing the collision between the extension part 120 and the obstacle above during the working process, and improving the accuracy of obstacle avoidance.

[0270] In addition, during the working process of the extension part 120, the position of the extension part 120 in space may change, so that the position of part of the extension part 120 in the vertical direction changes. The second obstacle avoidance detector 140 has a certain detection area in the vertical direction, which can detect whether there is an obstacle in the area above the extension part 120, thereby avoiding the extension part 120 from touching the obstacle as much as possible during the working process.

[0271] It should be noted that the field of view angle of the first obstacle avoidance detector 130 and the field of view angle of the second obstacle avoidance detector 140 have an overlapping area, which is approximately in the front and upper front of the extension part 120. Since the overall mobile robot 100 moves forward, the overlapping area of the first obstacle avoidance detector 130 and the second obstacle avoidance detector 140 in the front can make the first obstacle avoidance detector 130 and the second obstacle avoidance detector 140 both detect obstacles during the forward movement of the mobile robot 100, thereby improving the detection accuracy under the cooperation of the first obstacle avoidance detector 130 and the second obstacle avoidance detector 140.

[0272] Since the second optical axis 142 is approximately the center of the entire second detection area 141, the direction of the second optical axis 142 can reflect the orientation of the entire second detection area 141, reflecting the relative position relationship between the second detection area 141 and the operation area of the extension part 120.

[0273] Since the extension part 120 is convex on the mobile body 110 in the working state, and the second obstacle avoidance detector 140 is installed on the mobile body 110, the second obstacle avoidance detector 140 has a certain height difference with the extension part 120, and the second obstacle avoidance detector 140 has a certain distance with the extension part 120. In the case that the distance between the second obstacle avoidance detector 140 and the extension part 120 is unchanged, in order to detect the area above and in front of the extension part 120, the higher the extension part 120 is, the larger the angle between the second obstacle avoidance detector 140 and the horizontal direction is. The shorter the extension part 120 is, the smaller the angle between the second obstacle avoidance detector 140 and the horizontal direction is.

[0274] Similarly, in the case where the height of the extension portion 120 is constant, in order to be able to detect the area above and in front of the extension portion 120, the smaller the distance between the second obstacle detection sensor 140 and the extension portion 120, the larger the angle between the second optical axis 142 and the horizontal direction, and the larger the distance between the second obstacle detection sensor 140 and the extension portion 120, the smaller the angle between the second optical axis 142 and the horizontal direction.

[0275] As can be seen, the angle between the second optical axis 142 and the horizontal direction is related to both the height of the extension portion 120 and the distance between the second obstacle detection sensor 140 and the extension portion 120, and the angle of the second optical axis 142 can be set by comprehensively considering the height of the extension portion 120 and the distance between the second obstacle detection sensor 140 and the extension portion 120.

[0276] Specifically, in some embodiments, the angle between the second optical axis 142 and the horizontal direction can be 60 degrees to 90 degrees in the advancing direction of the mobile body 110 (the direction indicated by the arrow X in the figures). The second obstacle detection sensor 140 is arranged in front of the extension portion 120 and relatively close to the extension portion 120, and thus the angle between the second optical axis 142 and the horizontal direction can be relatively large.

[0277] In the case where other conditions (the height of the extension portion 120 and the distance between the second obstacle detection sensor 140 and the extension portion 120) are constant, the angle between the second optical axis 142 and the horizontal direction determines whether the second detection area 141 detects the area above the extension portion 120 or the front and rear areas.

[0278] In the interval of 0 to 45 degrees, the smaller the angle between the second optical axis 142 and the horizontal direction, the more the horizontal component of the second detection area 141 and the less the vertical component. In this case, the more the horizontal component of the second detection area 141, the more the detection area in the horizontal direction (the larger the detection distance in front of the extension portion 120) and the less the detection area above the extension portion 120.

[0279] In the interval of 45 to 90 degrees, the larger the angle between the second optical axis 142 and the horizontal direction, the less the horizontal component of the second detection area 141 and the more the vertical component. In this case, the less the horizontal component of the second detection area 141, the less the detection area in the horizontal direction (the less the detection in front of the extension portion 120) and the more the detection area above the extension portion 120.

[0280] Since the second obstacle avoidance detector 140 is very close to the extension part 120, in order to enable the second obstacle avoidance detector 140 to detect the area above the extension part 120, the second optical axis 142 needs to be set as much as possible upward, and the included angle with the horizontal direction needs to be close to 90 degrees, that is, the second optical axis 142 needs to be close to the vertical direction. Such a setting can enable the second detection area 141 to be set as much as possible upward, thereby being able to detect the area above the extension part 120.

[0281] In addition, since the mobile robot 100 basically walks on the ground, the height of the entire mobile robot 100 cannot be too high, and the probability of obstacles appearing in front of and above the extension part 120 is relatively large. The larger the included angle between the second optical axis 142 and the horizontal direction, the more the entire second detection area 141 can be set along the vertical direction, so that the second obstacle avoidance detector 140 can detect a higher position (not ground detection), thereby improving the obstacle avoidance capability of the extension part 120.

[0282] The included angle between the second optical axis 142 and the horizontal direction can be 60 degrees to 90 degrees, so that the second detection area 142 can detect the area above the extension part 120 while also considering the area in front of the second extension part 120, thereby improving the obstacle avoidance capability of the extension part 120. Specifically, the included angle between the second optical axis 142 and the horizontal direction can be 65 degrees, 70 degrees, 75 degrees, 80 degrees, 85 degrees, etc.

[0283] In some embodiments, the field of view angle of the second obstacle avoidance detector 140 has a third edge 141c and a fourth edge 141d in the vertical direction, the third edge 141c is below the fourth edge 141d, and the included angle between the third edge 141c and the horizontal direction is greater than or equal to 0 degrees.

[0284] The area between the third edge 141c and the fourth edge 141d is the detection range of the second obstacle avoidance detector 140 in the vertical direction, that is, the second vertical angle b2. The third edge 141c below has an included angle with the horizontal direction greater than or equal to 0 degrees, which means that the third edge 141c is set horizontally or is set obliquely upward. If the third edge 141c is set obliquely downward, part of the second vertical angle b2 will hit the mobile body 110, thereby causing part of the second vertical angle b2 to be unable to detect the front area, resulting in waste of the detection area of the second vertical angle b2.

[0285] In some embodiments, the angle between the third edge 141c and the horizontal direction is 50 degrees to 70 degrees. The third edge 141c is the lower limit of the entire second detection area 141. Since the distance between the second obstacle avoidance detector 140 and the extension 120 is relatively small, and the second vertical angle b2 is relatively small, in order to detect the area above the extension 120, the angle between the third edge 141c and the horizontal direction cannot be too small. If the angle is too small, the second detection area 141 will not be able to detect the area above the extension 120. The angle between the third edge 141c and the horizontal direction is 50 degrees to 70 degrees, so that the second obstacle avoidance detector 140 can detect the area above the extension 120 while detecting the area in front of the extension 120, thereby improving the obstacle avoidance capability of the extension 120.

[0286] Specifically, the angle between the third edge 141c and the horizontal direction can be 53 degrees, 56 degrees, 60 degrees, 63 degrees, 68 degrees, etc.

[0287] In some embodiments, the angle between the fourth edge 141d and the horizontal direction is less than or equal to 180 degrees.

[0288] The fourth edge 141d is the upper limit of the second detection area 141. The angle between the fourth edge 141d and the horizontal direction is less than or equal to 180 degrees, which means that the fourth edge 141d is set vertically, tilted upwards, or tilted backwards. Since the second obstacle avoidance detector 140 is set in front of the extension 120, the tilted backwards setting of the fourth edge 141d allows the second detection area 141 to also detect the area behind the extension 120. This enables the second obstacle avoidance detector 140 to detect the area in front of, above, and behind the extension 120, thereby improving the utilization rate of the first obstacle avoidance detector 130 and reducing the waste of the detection area 131 of the first obstacle avoidance detector 30.

[0289] The angle between the third edge 141c and the horizontal direction is greater than or equal to 0 degrees, and the angle between the fourth edge 141d and the horizontal direction is less than or equal to 180 degrees. This makes the detection area of ​​the second vertical angle b2 of the second obstacle avoidance detector approximately horizontal or inclined, enabling it to detect the areas directly in front of, above, to the side, and behind the extension 120, thereby improving the utilization rate of the detection area 141 of the second obstacle avoidance detector.

[0290] In some embodiments, the angle between the fourth edge 141d and the horizontal direction is 90 degrees to 110 degrees.

[0291] Since the fourth edge 141d is the upper limit of the second detection area 141, and the front and upper part of the extension part 120 is most likely to encounter obstacles, the angle between the fourth edge 141d and the horizontal direction is 90-110 degrees, so that the second obstacle avoidance detector 140 can mainly detect the area in front of and above the extension part 120, thereby improving the utilization rate of the first obstacle avoidance detector 130 and reducing the waste of the detection area 131 of the first obstacle avoidance detector 30.

[0292] Specifically, the angle between the fourth edge 141d and the horizontal direction can be 95 degrees, 98 degrees, 100 degrees, 105 degrees, or 108 degrees.

[0293] In some embodiments, along the operation direction of the extension part 120, the projection of the second detection area 141 in the first set plane covers the projection of the operation area of the extension part 120 in the first set plane, wherein the first set plane is perpendicular to the operation direction and the extension part 120 is located between the second obstacle avoidance detector 140 and the first set plane.

[0294] It should be noted that the first set plane is a virtual plane, not the entire physical plane of the mobile robot 100, and the first set plane is located on the side of the extension part 120 away from the second obstacle avoidance detector 140. The projection of the second detection area 141 in the first set plane covers the projection of the operation area of the extension part 120 in the first set plane means that the second obstacle avoidance detector 140 can cover all areas in front of the extension part 120 (front, side, and upper front), and the detection area 141 of the second obstacle avoidance detector can completely cover the extension part 120, so that there is no detection blind area in front of the extension part 120, reducing the risk of the extension part 120 touching obstacles.

[0295] If there are multiple second obstacle avoidance detectors 140, the projection of the second detection area 141 in the first set plane covering the projection of the operation area of the extension part 120 in the first set plane means that the sum of the projections of the multiple second detection areas 141 in the first set plane covers the projection of the operation area of the extension part 120 in the first set plane.

[0296] The above describes the setting positions and various parameters of the first obstacle avoidance detector 130 and the second obstacle avoidance detector 140. Different embodiments will be described below in combination with the number, setting position, and optical axis orientation of the second obstacle avoidance detector 140.

[0297] In some embodiments, the second obstacle detector 140 can be provided with one, and when the second obstacle detector 140 is provided with one, the second obstacle detector 140 can be provided in front of the extension part 120 (as shown in FIGS. 12, 13 and 14), and the optical axis of the second obstacle detector 140 is provided along the operation direction of the extension part 120. For the convenience of description, the optical axis of the second obstacle detector 140 is defined as the second optical axis 142.

[0298] Since the second obstacle detector 140 is provided with one, the second obstacle detector 140 provided in front of the extension part 120 can make the second detection area 141 as much as possible to take into account the surrounding area of the left front and right front of the extension part 120, and can improve the obstacle avoidance ability of the extension part 120.

[0299] As shown in FIGS. 15, 16 and 17, in some other embodiments, the second obstacle detector 140 is provided with a plurality of second obstacle detectors 140, and the plurality of second obstacle detectors 140 are provided in a staggered manner.

[0300] Since the second obstacle detector 140 has a small field of view angle, a plurality of second obstacle detectors 140 can be provided in front of the extension part 120, and the plurality of second obstacle detectors 140 are provided in a staggered manner, that is, the plurality of second obstacle detectors 140 are provided at different positions, so that the detection areas 141 of the plurality of second obstacle detectors are at least partially non-overlapping, thereby increasing the detection range in front of the extension part 120 and improving the detection accuracy.

[0301] Among them, the detection areas 141 of the plurality of second obstacle detectors can overlap or not overlap. That is, the plurality of second optical axes 142 can be in the same direction or in different directions. No specific limitation can be made.

[0302] In some embodiments, the plurality of second obstacle detectors 140 are all mounted on the mobile body 110.

[0303] In the working state, the extension part 120 is provided on the mobile body 110, and in the non-working state, the extension part 120 can be recycled into the mobile body 110. The plurality of second obstacle detectors 140 can be all mounted on the mobile body 110, and the second obstacle detector 140 will not move with the extension part 120, so that the extension part 120 and the second obstacle detector 140 are independent of each other, thereby reducing the influence of the extension part 120 on the second obstacle detector 140 during operation.

[0304] In some embodiments, in the direction at an angle to the operation direction of the extension part 120, the plurality of second obstacle detectors 140 are respectively located on different sides of the extension part 120 (as shown in FIGS. 15, 16 and 17).

[0305] The plurality of second obstacle avoidance detectors 140 can be arranged at different sides of the extension part 120, for example, when the number of second obstacle avoidance detectors 140 is two, the second obstacle avoidance detectors 140 can be arranged at the left and right sides of the extension part 120 respectively, and when the number of second obstacle avoidance detectors 140 is three, one can be arranged at the left side of the extension part 120, one at the right side of the extension part 120, and the other at the front side of the extension part 120.

[0306] The plurality of second obstacle avoidance detectors 140 arranged at different sides of the extension part 120 can detect different areas in front of the extension part 120, and can cover all areas in front of the extension part 120 as much as possible, so as to avoid detection blind area and improve the detection accuracy of the surrounding of the extension part 120.

[0307] In some embodiments, the second optical axis 142 is parallel to the operation direction of the extension part 120.

[0308] When the number of second obstacle avoidance detectors 140 is one (as shown in FIGS. 12, 13 and 14), the second obstacle avoidance detector 140 can be arranged at the front of the extension part 120, and the second optical axis 142 can be arranged towards the operation direction of the extension part 120, so that the detection areas of the second obstacle avoidance detector 140 at the left and right sides of the extension part 120 are approximately the same, and the second detection area 141 can cover the surrounding areas at the left and right front of the extension part 120 as much as possible, so as to improve the obstacle avoidance ability of the extension part 120.

[0309] Of course, in addition to this, when the number of second obstacle avoidance detectors 140 is more than one (as shown in FIGS. 8, 9 and 10), the plurality of second optical axes 142 can be arranged towards the operation direction of the extension part 120, so that the second obstacle avoidance detectors 140 can detect the areas in front of the extension part 120. The plurality of second optical axes 142 are parallel, but the detection areas of the adjacent two second detection areas 141 can partially overlap or not overlap.

[0310] The partial overlap of the detection areas of the adjacent two second detection areas 141 allows two second obstacle avoidance detectors 140 to detect the partial areas in front of the extension part 120 at the same time, and through the cooperation of the two second obstacle avoidance detectors 140, the obstacle avoidance ability of the areas in front of the extension part 120 can be improved.

[0311] For example, in the case of two second obstacle detectors 140 (as shown in FIG. 8, FIG. 9 and FIG. 10), the two second obstacle detectors 140 are symmetrically arranged along the operation direction of the extension part 120. Since the field of view angles of the two second obstacle detectors 140 are the same, the overlapping area of the two second detection areas 141 is in the front of the extension part 120. During the process of the extension part 120 following the mobile body 110 to move forward, the front is most likely to touch the obstacle. The area in the front is detected by the two second obstacle detectors 140 simultaneously, which can improve the obstacle avoidance ability of the extension part 120.

[0312] Please refer to FIG. 16, FIG. 17 and FIG. 18. In some embodiments, the second optical axis 142 is arranged obliquely towards the extension part 120.

[0313] In the case of multiple second obstacle detectors 140, the multiple second optical axes 142 are all arranged obliquely towards the extension part 120. That is, if the second obstacle detector 140 is arranged on the left side of the extension part 120, the optical axis is arranged obliquely towards the right. If the second obstacle detector 140 is arranged on the right side of the extension part 120, the optical axis is arranged obliquely towards the left.

[0314] The second obstacle detectors 140 are arranged on the side edges of the extension part 120 respectively, and the second optical axes 142 are arranged obliquely towards the extension part 120, so that the second optical axes 142 can be arranged towards the extension part 120 and can detect the area in front of the extension part 120. The multiple second optical axes 142 are all arranged obliquely towards the extension part 120, so that the detection areas 164 of the multiple obstacle detectors can coincide in front of the extension part 120, and thus the multiple second obstacle detectors 140 can all detect the area in front of the extension part 120. In the case of failure of one of the second obstacle detectors 140, the other second obstacle detectors 140 can also work, which improves the overall obstacle avoidance effect.

[0315] In addition, since the second optical axis 142 is arranged obliquely relative to the extension part 120, the detection area 141 of the second obstacle detector can extend through both sides of the extension part 120. For example, the second obstacle detector 140 is arranged on the left side of the extension part 120. Since the optical axis is arranged obliquely, the detection area 141 of the second obstacle detector can extend from the left side of the second obstacle detector 140 to the right side of the extension part 120. Similarly, the second obstacle detector 140 is arranged on the right side of the extension part 120. Since the optical axis is arranged obliquely, the detection area 141 of the second obstacle detector can extend from the right side of the second obstacle detector 140 to the left side of the extension part 120.

[0316] In this way, the area in front of the extension part 120 (left front and right front) can be detected by the cooperation of the plurality of second obstacle avoidance detectors 140, the plurality of second detection areas 141 are increased, and the detection range of the plurality of second obstacle avoidance detectors 140 on the extension part 120 is improved, and the obstacle avoidance capability of the extension part 120 during operation is improved.

[0317] In some embodiments, the second optical axis 142 is inclined to the extension part 120 at an angle C of 0-45 degrees.

[0318] Wherein, the inclination angle C refers to the inclination angle of the optical axis relative to the forward direction of the mobile body 110, since the detection area 141 of the second obstacle avoidance detector is certain, the second optical axis 142 is inclined to the extension part 120, so that the detection area 141 of the second obstacle avoidance detector has components in the forward direction and the direction perpendicular to the forward direction. If the inclination angle of the second optical axis 142 to the extension part 120 is smaller, it means that the detection distance of the second obstacle avoidance detector 140 in the operation direction of the extension part 120 is longer, and if the inclination angle of the second optical axis 142 to the extension part 120 is larger, it means that the detection distance of the second obstacle avoidance detector 140 in the operation direction of the extension part 120 is shorter.

[0319] If the detection distance of the second obstacle avoidance detector 140 in the operation direction of the extension part 120 is shorter, the obstacle avoidance time of the extension part 120 is shorter, and it is easy to appear the situation of not avoiding obstacles in time, the inclination angle of the second obstacle avoidance detector 140 is between 0-45 degrees, so that the detection length in the forward direction can be longer, and the main detection area of the second obstacle avoidance detector 140 is in front of the extension part 120, which can ensure the detection distance of the second obstacle avoidance detector 140 in front of the extension part 120, and thus increase the obstacle avoidance time of the extension part 120, and avoid touching obstacles as much as possible.

[0320] In some other embodiments, the second optical axis 142 is perpendicular to the operation direction of the extension part 120, as shown in FIGS. 19, 20 and 21.

[0321] The operation direction can be arranged along the horizontal direction, in which case the second optical axis 142 can be arranged vertically, so that the second obstacle avoidance detector 140 mainly detects the space above the extension part 120, and the number of second obstacle avoidance detectors 140 can be arranged in multiple, and the plurality of second obstacle avoidance detectors 140 are arranged at different positions of the extension part 120, which can detect different areas of the extension part 120.

[0322] During the advancing of the mobile body 110, it is easy to touch the obstacles in front of or above the mobile robot 100. The upward arrangement of the second obstacle avoidance detector 140 enables the second obstacle avoidance detector 140 to detect the area in front of and above the extension part 120, so that the extension part 129 can avoid the obstacles and reduce the risk of touching.

[0323] Please refer to FIG. 22-FIG. 27, in some embodiments, in the case of two second obstacle avoidance detectors 140, one of the second obstacle avoidance detectors 140 is installed on the mobile body 110, and the other second obstacle avoidance detector 140 is installed on the extension part 120.

[0324] Since the second obstacle avoidance detectors 140 are arranged in front of the extension part 120, the second obstacle avoidance detectors 140 can be arranged on the mobile body 110 or on the extension part 120, and can detect the area in front of the extension part 120. When the second obstacle avoidance detectors 140 are arranged on the extension part 120, the second obstacle avoidance detectors 140 can be arranged at different positions on the extension part 120. Specifically, the arrangement of the optical axis of the second obstacle avoidance detectors 140 at different positions on the extension part 120 will be introduced below.

[0325] Please refer to FIG. 22, FIG. 23 and FIG. 24, in some embodiments, the extension part 120 includes a mounting section 121, a connecting section 123 and an operating section 124, the connecting section 123 connects the mounting section 121 and the operating section 124 respectively, the mounting section 121 is installed on the mobile body 110, along the operating direction of the extension part 120, the operating section 124 is located in front of the mounting section 121, and the second obstacle avoidance detector 140 is installed on the mounting section 121. The optical axis (second optical axis 142) of the second obstacle avoidance detector 140 installed on the mobile body 110 is arranged obliquely upward, and the optical axis (second optical axis 142) of the second obstacle avoidance detector 140 installed on the mounting section 121 is arranged horizontally.

[0326] The operating direction refers to the extension direction of the connecting section 123, that is, the operating direction can be considered as the direction from the mounting section 121 to the operating section 124. Since the mounting section 121, the connecting section 123 and the operating section 124 can be fixedly connected or movably connected, and the operating direction can be a fixed direction or not, the operating direction can be a horizontal direction, an oblique direction with a certain angle with the horizontal plane, or any other direction.

[0327] In some embodiments, the extension part 120 can be accommodated inside the mobile body 110, and the second obstacle avoidance detector 140 is installed on the mounting section 121. Whether the extension part 120 encounters obstacles during the process of being accommodated or being taken out does not need to be detected by other sensors.

[0328] The operation section 124 is connected to the upper side of the connecting section 123, so that the area below the mounting section 121 is not blocked by the operation section 124, and the second obstacle detector 140 can be arranged below the mounting section 121, so that the detection area 141 of the second obstacle detector 140 is not blocked by the operation section 124.

[0329] The optical axis (second optical axis 142) of the second obstacle detector 140 arranged on the mobile body 110 is arranged upwardly inclined, so that the second obstacle detector 140 can mainly detect the area in front of the extension section 120, and the second optical axis 142 arranged on the mounting section 121 is arranged horizontally, so that the second obstacle detector 140 can detect the area directly in front of the extension section 120. In this way, the blind area in front of the extension section 120 can be avoided as much as possible.

[0330] Taking the extension section 120 as a mechanical arm and the mechanical arm including three sections as an example, the operation section 124 is located at the outermost part of the entire extension section 120, so that the operation section 124 is the working position of the entire mechanical arm, and the entire operation section 124 can be the working position (a cleaning part can be arranged), or only the operation section 124 far away from the connecting section 123 can be the working position (a mechanical gripper can be arranged). The mounting section 121 and the connecting section 123 are connecting arms of the mechanical arm, and the mounting section 121 and the connecting section 123 can have a certain degree of freedom. The second obstacle detector 140 can be arranged below the mounting section 121, so that the detection area 141 of the second obstacle detector 140 is not blocked by the working position of the operation section 124, and the second detection area 141 can be maximally utilized.

[0331] Please refer to FIG. 25, FIG. 26 and FIG. 27. In some other embodiments, the extension section 120 includes a mounting section 121, a connecting section 123 and an operation section 124, the connecting section 123 connects the mounting section 121 and the operation section 124 respectively, the mounting section 121 is arranged on the mobile body 110, along the operation direction of the extension section 120, the operation section 124 is located in front of the mounting section 121, and the second obstacle detector 140 is arranged on the operation section 124. The optical axis (second optical axis 142) of the second obstacle detector 140 arranged on the mobile body 110 is arranged upwardly inclined, and the optical axis (second optical axis 142) of the second obstacle detector 140 arranged on the operation section 124 is arranged downwardly inclined.

[0332] As the operation section 124 is arranged in front of the mounting section 121, mounting the second obstacle detector 140 on the operation section 124 can reduce the case that the detection area 141 of the second obstacle detector is blocked by the operation section 124. As the operation section 124 is arranged above the mounting section 121, the second obstacle detector 140 can be arranged obliquely downward, and can detect the area in front of the operation section 124.

[0333] Taking the extension part 120 as an example of a mechanical arm: the operation section 124 is the working position of the whole mechanical arm, and can be the whole operation section 124 (which can be the whole cleaning part), or can be only a section of the operation section 124 away from the connecting section 123 (which can be a mechanical gripper). The mounting section 121 and the connecting section 123 are connecting arms of the mechanical arm, and the mounting section 121 and the connecting section 123 can have a certain degree of freedom therebetween. The second obstacle detector 140 can be arranged obliquely downward, and can detect the area in front of the operation section 124.

[0334] During the process of advancing the mobile body 110, obstacles are more likely to be encountered in front of or above the mobile robot 100. The upward arrangement of the second obstacle detector 140 enables the second obstacle detector 140 to detect the area in front of and above the extension part 120, so that the extension part 129 can avoid obstacles and reduce the risk of collision.

[0335] In the above structure, the first obstacle detector 130 and the second obstacle detector 140 are fixedly mounted on the mobile body 110 or the extension part 120. In the following, a scheme in which the first obstacle detector 130 and the second obstacle detector 140 are movably mounted on the mobile body 110 will be introduced. For the convenience of description, the first obstacle detector 130 and the second obstacle detector 140 can be defined as an obstacle detector 164, and the specific scheme is as follows:

[0336] Referring to FIGS. 28 and 29, the mobile robot 100 includes a mobile body 110, an extension part 120 arranged on the mobile body 110, and an obstacle detection assembly 160 movably mounted on the mobile body 110 and capable of adjusting the detection area of the obstacle detection assembly 160.

[0337] The obstacle detection assembly 160 is movably connected to the mobile body 110, and can be capable of rotating relative to the mobile body 110, can be capable of moving relative to the mobile body 110, or can be capable of both rotating and moving relative to the mobile body 110.

[0338] In some embodiments, the mobile body 110 has a mounting slot, and the obstacle avoidance detection assembly 160 can be mounted in the mounting slot. The obstacle avoidance detection assembly 160 is arranged in the mounting slot, so that the obstacle avoidance detection assembly 160 can be accommodated in the mounting slot, i.e., it can be considered that the obstacle avoidance detection assembly 160 can be accommodated inside the mobile body 110, and the mounting slot can provide a certain protection for the obstacle avoidance detection assembly 160. In addition, the obstacle avoidance detection assembly 160 can be accommodated in the mounting slot, so as to avoid interference between the obstacle avoidance detection assembly 160 and the base station when the mobile robot 100 returns to the base station.

[0339] In addition, the obstacle avoidance detection assembly 160 is mounted in the mounting slot, and in the working state, the obstacle avoidance detection assembly 160 can be located in the mounting slot or can extend out of the mounting slot. The obstacle avoidance detection assembly 160 can move relative to the mobile body 110, which means that the obstacle avoidance detection assembly 160 can move relative to the mobile body 110 in the mounting slot or can move relative to the mobile body 110 outside the mounting slot.

[0340] In some embodiments, when the obstacle avoidance detection assembly 160 is located outside the mounting slot, the obstacle avoidance detection assembly 160 can detect the peripheral environment of the extension part 120.

[0341] When the obstacle avoidance detection assembly 160 is located outside the mounting slot, the obstacle avoidance detection assembly 160 can rotate or not rotate relative to the mobile body 110. Since the position of the extension part 120 on the mobile body 110 is certain, the obstacle avoidance detection assembly 160 can detect the peripheral environment of the extension part 120, so as to avoid the extension part 120 encountering obstacles during the working process.

[0342] When the obstacle avoidance detection assembly 160 is located outside the mounting slot, the obstacle avoidance detection assembly 160 can stay at a fixed position or can move within a certain range, i.e., the detection area of the obstacle avoidance detection assembly 160 can be fixed or can move. The obstacle avoidance detection assembly 160 can detect the peripheral environment of the extension part 120, which can mean that the obstacle avoidance detection assembly 160 can detect the area above the extension part 120 or the area on the left side, the right side and the rear side. It can mean that the obstacle avoidance detection assembly 160 stays at a fixed position to detect the peripheral environment of the extension part 120, or it can mean that the obstacle avoidance detection assembly 160 can rotate to detect the peripheral environment of the extension part 120.

[0343] In some embodiments, when the obstacle avoidance detection assembly 160 is located outside the mounting slot, the detection area of the obstacle avoidance detection assembly 160 at least partially overlaps with at least part of the extension part 120.

[0344] The at least part of the detection area of the obstacle detection assembly 160 coincides with at least part of the extension portion 120, which can be that part of the detection area coincides with part of the extension portion 120, or that part of the detection area coincides with all of the extension portion 120, or that all of the detection area coincides with part of the extension portion 120, or that all of the detection area coincides with all of the extension portion 120.

[0345] The at least part of the detection area of the obstacle detection assembly 160 coincides with at least part of the extension portion 120, which can be that part of the detection area coincides with part of the extension portion 120, or that part of the detection area coincides with all of the extension portion 120, or that all of the detection area coincides with part of the extension portion 120, or that all of the detection area coincides with all of the extension portion 120.

[0346] In some embodiments, when the obstacle detection assembly 160 is located in the mounting slot, the obstacle detection assembly 160 can detect the peripheral environment of the mobile body 110.

[0347] When the obstacle detection assembly 160 is located in the mounting slot, the obstacle detection assembly 160 can be substantially in the same plane as the mobile body 110, and thus can detect the peripheral environment of the mobile body 110. If the obstacle detection assembly 160 is arranged in front of the mobile body 110 along the forward direction, the obstacle detection assembly 160 can detect the area in front of the mobile body 110. If the obstacle detection assembly 160 is arranged to the left of the mobile body 110 along the forward direction, the obstacle detection assembly 160 can detect the area to the left of the mobile body 110. If the obstacle detection assembly 160 is arranged to the right of the mobile body 110 along the forward direction, the obstacle detection assembly 160 can detect the area to the right of the mobile body 110.

[0348] When the obstacle detection assembly 160 is located in the mounting slot, it means that the obstacle detection assembly does not need to detect the peripheral environment of the extension portion 120, and the obstacle detection assembly 160 can detect the peripheral environment of the mobile body 110, which can cooperate with the sensors of the mobile body 110 to detect the environment around the mobile body 110, thereby improving the utilization rate of the obstacle detection assembly 160.

[0349] In some embodiments, the obstacle detection assembly 160 includes a lifting member, a bracket 162, and an obstacle detector 164 mounted on the bracket 162. The lifting member is connected with the bracket 162 and can drive the bracket 162 to be accommodated in the mounting slot or to extend out of the mounting slot.

[0350] The lifting member can be a worm gear structure, and the lifting function is realized by cooperation of the driving motor and the worm gear. Specifically, the worm gear is connected with the bracket 162, and the driving motor can realize the lifting of the bracket 162 under cooperation of the worm gear, so that the obstacle detector 164 can be extended out of the mounting groove or can be accommodated in the mounting groove. It can also be a gear and rack mechanism, the gear is in driving connection with the driving motor, the rack is connected with the bracket 162, and the lifting of the bracket 162 is realized by driving the gear and rack mechanism by the driving motor. It can also be realized by cooperation of the driving motor and the ball screw structure, the screw rod is connected with the bracket 162, and the driving motor is in driving connection with the ball.

[0351] In addition, the lifting member can also be a folding suspension structure, and the lifting of the bracket 162 and the obstacle detector 164 is realized by the folding suspension structure.

[0352] The lifting of the bracket 162 and the obstacle detector 164 by the lifting member refers to the lifting or lowering in the vertical direction. Therefore, the lifting member can move the obstacle detector 164 out of the mounting groove, and can also adjust the position of the obstacle detector 164 in the vertical direction, and further can also adjust the detection area of the obstacle detector 164 in the vertical direction. The height of the obstacle detector 164 can be adjusted according to the height of the extension part 120, so that the obstacle detector 164 can detect the area around the extension part 120.

[0353] In some embodiments, the obstacle detection assembly 160 includes a turnover member, a bracket 162, and an obstacle detector 164 mounted on the bracket 162, and the bracket 162 can rotate relative to the mobile body 110. The turnover member is in driving connection with the bracket 162, and can drive the bracket 162 to rotate relative to the mobile body 110.

[0354] The turnover member is mainly used to drive the bracket 162 to rotate. As for the rotating mode of the bracket 162, the turnover member can drive the bracket 162 to rotate from inside the mounting groove to outside the mounting groove, or the lifting member can first drive the bracket 162 to move to outside the mounting groove, and then the turnover member drives the bracket 162 to rotate.

[0355] As for the specific structure of the turnover member, the turnover member can include a driving motor and a rotating shaft, the rotating shaft is connected with the bracket 162, and the driving motor drives the rotating shaft to rotate, thereby realizing the rotation of the bracket and the turnover of the obstacle detector 164.

[0356] That is, in some embodiments, the obstacle avoidance detection assembly 160 can include a lifting member, a turning member, a bracket 162, and an obstacle avoidance detector 164 mounted on the bracket 162, the lifting member first drives the bracket 162 to move out of the mounting slot, and then the turning member drives the bracket 162 to rotate. In other embodiments, the obstacle avoidance detection assembly 160 can include a turning member, a bracket 162, and an obstacle avoidance detector 164 mounted on the bracket 162, without a lifting member, and the turning member directly drives the bracket 162 to rotate from inside the mounting slot to outside the mounting slot.

[0357] Since the extension part 120 may change its position in some parts during operation, the turning member can drive the bracket 162 to rotate relative to the moving body 110, so as to adjust the angle of the bracket 162 relative to the moving body 110, and further adjust the angle of the obstacle avoidance detector 164 relative to the extension part 120, so that the obstacle avoidance detector 164 can always detect the area around the extension part 120.

[0358] In addition, compared with the case where the obstacle avoidance detector 164 is fixed, the obstacle avoidance detector 164 can rotate relative to the moving body 110, which can increase the detection range of the obstacle avoidance detector 164 and improve the utilization rate of the obstacle avoidance detector 164.

[0359] In some embodiments, the turning member can drive the obstacle avoidance detector 164 to rotate in a non-horizontal plane through the bracket 162. The non-horizontal plane refers to a vertical plane or an inclined plane between the vertical plane and the horizontal plane. The turning member can drive the obstacle avoidance detector 164 to rotate in a vertical plane or an inclined plane between the vertical plane and the horizontal plane, which can adjust the angle of the obstacle avoidance detector 164 in space, so that the angle of the optical axis of the obstacle avoidance detector 164 in space can be adjusted, so that the optical axis of the obstacle avoidance detector 164 can be located in different inclined planes, and further the detection area of the obstacle avoidance detector 164 above the extension part 120 can be adjusted, so as to use the area above and in front of the extension part 120 as much as possible, and reduce the case where there is an obstacle above and in front of the extension part 120.

[0360] Please refer to FIG. 30, which shows the detection area 21 of the obstacle avoidance detector 164 in the first position, the detection area 23 in the second position, and the detection area 22 in the intermediate position. In some embodiments, the bracket 162 can drive the obstacle avoidance detector 164 to rotate between the first position and the second position. The obstacle avoidance detector 164 can hover in the first position, the second position, or any position between the first position and the second position.

[0361] The first position and the second position are two limit positions in which the bracket 162 can be flipped, and the bracket 162 can swing between the first position and the second position, so that the obstacle avoidance detector 164 detects back and forth between the first position and the second position. The obstacle avoidance detector 164 can also hover at the first position, the second position, or any position (intermediate position) between the first position and the second position, and the obstacle avoidance detector 164 is fixed at a certain position to detect a corresponding area at the certain position.

[0362] The first position is outside the mounting groove, and the second position is inside the mounting groove. When the obstacle avoidance detector 164 is outside the mounting groove (the second position), it can be considered that the obstacle avoidance detector 164 is in a working state and can detect the working area of the extension part 120. That is, in some embodiments, the obstacle avoidance detector 164 can be fixed at the second position in the working state, that is, in the working state, the detection area of the obstacle avoidance detector 164 is a fixed area, not a variable area.

[0363] Please refer to FIGS. 31-35. In an embodiment of the present disclosure, the obstacle avoidance detection assembly 160 includes a first obstacle avoidance detector 130 mounted on the mobile body 110. On this basis, the top surface of the mobile body 110 can be provided with a groove 111, and the first obstacle avoidance detector 130 is accommodated in the groove 111, and the detection light emitted by the first obstacle avoidance detector 130 can be emitted from the slot of the groove 111. Through the above design, the first obstacle avoidance detector 130 is installed in the groove 111, which avoids increasing the height of the whole machine when it is directly installed on the top surface of the mobile body 110, so that the mobile robot 100 has a smaller height when the extension part 120 is folded, and is more suitable for use in low space, and has a wider application range.

[0364] As shown in FIGS. 34 and 35, based on the design that the first obstacle avoidance detector 130 is accommodated in the groove 111, in an embodiment of the present disclosure, the optical axis of the first obstacle avoidance detector 130 is a first optical axis 132, and the included angle between the first optical axis 132 and the horizontal direction is a first included angle c1. Here, the horizontal direction can be referred to the straight line DO in FIGS. 34 and 35, so as to embody the included angles based on the horizontal direction represented by the straight line DO in the above-mentioned drawings. The groove wall opposite to the light exit side of the first obstacle avoidance detector 130 is a avoiding groove wall 1111, the avoiding groove wall 1111 is arranged obliquely, and the included angle between the avoiding groove wall 1111 and the horizontal direction (for example, the included angle between the first reference line L1 representing the plane where the avoiding groove wall 1111 is located and the horizontal direction is shown in FIGS. 34 and 35) is a second included angle c2. On this basis, the first included angle c1 is greater than the second included angle c2 and less than or equal to 90 degrees. Through the above-mentioned design, the present disclosure can avoid the first optical axis 132 being blocked by the avoiding groove wall 1111, so as to reduce the obstruction of the detection field of view of the first obstacle avoidance detector 130 caused by being arranged in the groove 111 to a certain extent, and is beneficial to optimizing the detection effect.

[0365] Specifically, in an embodiment of the present disclosure, the first included angle c1 can be 30 degrees to 60 degrees, for example, 30 degrees, 40 degrees, 50 degrees, 60 degrees, etc.

[0366] Further, in an embodiment of the present disclosure, the first included angle c1 can be 45 degrees.

[0367] As shown in FIGS. 34 and 35, based on the design that the first included angle c1 is greater than the second included angle c2, in an embodiment of the present disclosure, the field of view angle of the first obstacle avoidance detector 130 has a first edge 131c and a second edge 131d in the vertical direction, the first edge 131c is located below the second edge 131d, and the first optical axis 132 is located between the first edge 131c and the second edge 131d. Here, the included angle between the first edge 131c and the horizontal direction is a third included angle c3, and the third included angle c3 is less than the first included angle c1 mentioned above. On this basis, the second included angle c2 can be less than or equal to the third included angle c3. Through the above-mentioned design, the present disclosure can avoid the field of view of the first obstacle avoidance detector 130 being blocked by the avoiding groove wall 1111, so as to further reduce the obstruction of the detection field of view of the first obstacle avoidance detector 130 caused by being arranged in the groove 111, and further optimize the detection effect.

[0368] It should be noted that the first optical axis 132 extends along the center line of the field of view angle in the embodiment, the field of view angle of the first obstacle detector 130 includes a first vertical angle b1, and the first optical axis 132 bisects the first vertical angle b1. On this basis, the second included angle c2 is less than or equal to the third included angle c3, that is, the second included angle c2 is less than or equal to the angle difference between the first included angle c1 and half of the first vertical angle b1. Specifically, taking the first included angle c1 as 45 degrees, the first vertical angle b1 of the first obstacle detector 130 as 40 degrees, and the first optical axis 132 bisecting the first vertical angle b1 as an example, the included angle between the first edge 131c and the second edge 131d is 40 degrees, and the included angle between the first optical axis 132 and the first edge 131c and the included angle between the first optical axis 132 and the second edge 131d are both 20 degrees. At this time, the third included angle c3 between the first edge 131c below the first optical axis 132 and the horizontal direction is 25 degrees, and the inclination of the avoidance groove wall 1111 (that is, the second included angle c2) can be 25 degrees or less, such as 25 degrees, 24 degrees, 22 degrees, 20 degrees, 19 degrees, etc.

[0369] Further, in an embodiment of the present disclosure, when the second included angle c2 is less than the third included angle c3, the angle difference between the third included angle c3 and the second included angle c2 can be less than or equal to 5 degrees, such as 0.5 degrees, 1 degree, 3 degrees, 5 degrees, etc. Through the above design, the present disclosure adopts a reasonable value for the above angle difference, which can provide a sufficient angle difference margin for the possible shielding of the avoidance groove wall 1111 to the first edge 131c caused by factors such as machining tolerance. At the same time, the present disclosure can avoid the above angle difference being too large, because the larger the angle difference, the larger the space occupied by the avoidance groove wall 1111 (the groove 111) on the bottom surface of the moving body 110. Accordingly, the present disclosure can reduce the space occupation of the groove 111 and avoid affecting the normal arrangement of other functional components.

[0370] As shown in FIGS. 32-35, based on the design that the first obstacle detector 130 is accommodated in the groove 111, in an embodiment of the present disclosure, the moving body 110 is provided with an accommodation bin 112 which is open on the top surface of the moving body 110, and the extension part 120 is arranged in the accommodation bin 112 and can extend out of the accommodation bin 112 when unfolded. Through the above design, the present disclosure arranges the extension part 120 in the moving body 110, so that the extension part 120 is at least partially accommodated in the accommodation bin 112 in the folded state, so that the mobile robot 100 has a smaller height when the extension part 120 is folded. Accordingly, the present disclosure can be more suitable for use in low spaces on the basis of realizing the extension function by the extension part 120, and has a wider range of applications.

[0371] As shown in FIGS. 32-35, based on the design that the accommodation bin 112 is arranged on the mobile body 110, in an embodiment of the present disclosure, a bin door 113 that can be opened and closed can be arranged at the bin opening of the accommodation bin 112, and when opened, the bin door 113 is located on the top surface of the mobile body 110 and on the side of the bin opening close to the escape groove. Through the above design, when the extension part 120 is in the folded state, the present disclosure can use the bin door 113 to close the bin opening of the accommodation bin 112, avoid dust, water vapor, and sundries from falling into the accommodation bin 112, prolong the service life of the extension part 120, and at the same time, avoid affecting other functional components in the mobile body 110.

[0372] As shown in FIGS. 34 and 35, based on the design that the accommodation bin 112 is arranged on the mobile body 110, in an embodiment of the present disclosure, the top end of the side of the bin door 113 close to the escape groove when opened is defined as a bin door reference point O1, and the line between the bin door reference point O1 and the first obstacle detection detector 130 is defined as a second reference line L2, and the included angle between the second reference line L2 and the horizontal direction is a fourth included angle c4. On this basis, the second included angle c2 described above can be greater than or equal to the fourth included angle c4. Through the above design, the present disclosure can avoid the first light axis 132 being blocked by the bin door 113 when opened, thereby further reducing the blocking of the detection field of view of the first obstacle detection detector 130, and further optimizing the detection effect.

[0373] As shown in FIGS. 34 and 35, based on the design that the second included angle c2 is greater than or equal to the fourth included angle c4, in an embodiment of the present disclosure, the field of view angle of the first obstacle detection detector 130 has a first edge 131c and a second edge 131d in the vertical direction, the first edge 131c is located below the second edge 131d, and the first light axis 132 is located between the first edge 131c and the second edge 131d. The included angle between the first edge 131c and the horizontal direction is a third included angle c3, which is less than the first included angle c1 described above. On this basis, the second included angle c2 can be less than or equal to the third included angle c3, and the fourth included angle c4 can be less than or equal to the second included angle c2. Through the above design, the present disclosure can avoid the field of view of the first obstacle detection detector 130 being blocked by the escape groove wall 1111 and the bin door 113 when opened, thereby further reducing the blocking of the detection field of view of the first obstacle detection detector 130, and further optimizing the detection effect.

[0374] Please refer to FIGS. 36 and 37, and refer to FIGS. 31-33 at the same time, in an embodiment of the present disclosure, the obstacle detection assembly 160 can further include a third obstacle detection detector 170, which is arranged on the side surface of the mobile body 110, and the third obstacle detection detector 170 can realize the whole machine mapping of the mobile robot 100.

[0375] Further, based on the design that the obstacle detection assembly 160 includes the third obstacle detector 170, in an embodiment of the present disclosure, the obstacle detection assembly 160 can specifically include at least two third obstacle detectors 170, one of which is arranged at the front side of the mobile body 110 (wherein, for example, the direction shown by the hollow arrow in FIGS. 31 to 33 represents the front of the mobile body 110), and the other of which is arranged at the left rear side of the mobile body 110.

[0376] Please refer to FIGS. 36 and 37, and refer to FIGS. 31 to 33 at the same time, in an embodiment of the present disclosure, the obstacle detection assembly 160 can further include a fourth obstacle detector 180, which is arranged at the right side of the mobile body 110, and the fourth obstacle detector 180 can achieve measurement of the distance from the wall of the mobile robot 100.

[0377] It should be noted that, in order to facilitate understanding of the present disclosure, the positions of the corresponding several obstacle detectors (for example, the first obstacle detector 130, the third obstacle detector 170, and the fourth obstacle detector 180) in FIGS. 36 and 37 are exemplarily shown by filling the partial detection fields formed by the detection light rays of the obstacle detectors in a diagonal manner, which are not cross-sectional lines of the physical structures, and this is hereby stated.

[0378] Please refer to FIGS. 36 and 37, and refer to FIGS. 31 to 33 at the same time, in an embodiment of the present disclosure, the obstacle detection assembly 160 can further include a fifth obstacle detector 190, which is arranged at the bottom surface of the mobile body 110, and the fifth obstacle detector 190 can achieve cliff fall detection for the cliff fall risk of the mobile robot 100 when moving.

[0379] As shown in FIG. 37, based on the design that the obstacle detection assembly 160 includes the fifth obstacle detector 190, in an embodiment of the present disclosure, the movement strategy of the mobile robot 100 is the forward movement mode. On this basis, the obstacle detection assembly 160 includes at least three groups of fifth obstacle detectors 190, which are respectively located at the front and left and right sides of the bottom surface of the mobile body 110. It should be understood that, in order to achieve cliff fall detection, the mobile robot 100 can select a proper number and arrangement form of the fifth obstacle detectors 190 according to the specific movement strategy. For example, in another embodiment of the present disclosure, when the movement strategy of the mobile robot 100 is the forward and backward movement mode, then the obstacle detection assembly 160 can include at least four groups of fifth obstacle detectors 190, which are respectively located at the front and rear and left and right sides of the bottom surface of the mobile body 110.

[0380] Furthermore, in one embodiment of this disclosure, each group of fifth obstacle avoidance detectors 190 may include at least two fifth obstacle avoidance detectors 190, such as, but not limited to, the two in each group shown in the figures, and the at least two fifth obstacle avoidance detectors 190 in the same group may be arranged at circumferential intervals along the mobile body 110. Through the above design, this disclosure can further optimize the cliff fall detection effect of the mobile robot 100.

[0381] Based on the same inventive concept, this application also provides a robot system, which includes a base station and the mobile robot 100 described above.

[0382] Although this disclosure has been described with reference to several exemplary embodiments, it should be understood that the terminology used is descriptive and exemplary, and not restrictive. Because this disclosure can be embodied in many forms without departing from the spirit or substance of the disclosure, it should be understood that the above embodiments are not limited to any of the foregoing details, but should be interpreted broadly within the spirit and scope defined by the appended claims. Therefore, all variations and modifications falling within the scope of the claims or their equivalents should be covered by the appended claims.

Claims

1. A mobile robot, characterized by The application relates to a mobile body and an extension part arranged on the mobile body. The obstacle detection assembly comprises a first obstacle detector mounted on the mobile body. The first obstacle detector is arranged on the mobile body along a diameter of the mobile body in the advancing direction.

2. The mobile robot of claim 1, wherein, The obstacle detection assembly further comprises a second obstacle detector.

3. The mobile robot of claim 2, wherein, The first obstacle detector is located behind the extension part in the operation direction of the extension part, and the second obstacle detector is located in front of the extension part in the operation direction of the extension part.

4. The mobile robot of claim 2, wherein, The field of view angle of the first obstacle detector is greater than that of the second obstacle detector.

5. The mobile robot of claim 2, wherein, The second obstacle detector is a plurality of second obstacle detectors.

6. The mobile robot of claim 5, wherein, The second obstacle detectors are arranged in a staggered manner.

7. The mobile robot of claim 6, wherein, The second obstacle detectors are mounted on the mobile body.

8. The mobile robot of claim 6, wherein, In a direction at an angle to the operation direction of the extension part, the second obstacle detectors are located on different sides of the extension part.

9. The mobile robot of claim 6, wherein, The optical axis of the second obstacle detector is a second optical axis, and the second optical axis is inclined towards the extension part in the operation direction of the extension part.

10. The mobile robot of claim 9, wherein, The inclination angle of the optical axis of the second obstacle detector towards the extension part is 0-45 degrees.

11. The mobile robot of claim 10, wherein, The optical axis of the second obstacle detector is a second optical axis, and the second optical axis is perpendicular to the advancing direction of the mobile body.

12. The mobile robot of claim 9, wherein, The detection areas of at least two second obstacle detectors at least partially overlap.

13. The mobile robot of claim 12, wherein, In the case of two second obstacle detectors, one of the second obstacle detectors is mounted on the mobile body, and the other second obstacle detector is mounted on the extension part.

14. The mobile robot of claim 9, wherein, The extension part comprises a mounting section, a connecting section and an operation section, the connecting section connects the mounting section and the operation section, the mounting section is mounted on the mobile body, the operation section is located in front of the mounting section in the operation direction of the extension part, and the second obstacle detector is mounted on the mounting section.

15. The mobile robot of claim 9, wherein, The optical axis of the second obstacle detector mounted on the mobile body is inclined upwards, and the optical axis of the second obstacle detector mounted on the mounting section is arranged horizontally.

16. The mobile robot of claim 9, wherein, ​ 17. The mobile robot of claim 9, wherein, ​ 18. The mobile robot of claim 17, wherein, ​ 19. The mobile robot of claim 18, wherein, ​ 20. The mobile robot of claim 17, wherein, The extension part includes a mounting section, a connecting section, and an operating section, the connecting section connects the mounting section and the operating section respectively, the mounting section is mounted on the mobile body, along the operating direction of the extension part, the operating section is located in front of the mounting section, and the second obstacle detector is mounted on the operating section.

21. The mobile robot of claim 20, wherein, The optical axis of the second obstacle detector mounted on the mobile body is arranged upwardly inclined, and the optical axis of the second obstacle detector mounted on the operating section is arranged downwardly inclined.

22. The mobile robot of claim 2, wherein, Along the operating direction of the extension part, the first obstacle detector is located in front of or behind the extension part.

23. The mobile robot of claim 2, wherein, The optical axis of the first obstacle detector is arranged toward the operating direction of the extension part.

24. The mobile robot of any of claims 2, 5-23, wherein, Along the operating direction of the extension part, the projection of the detection area of the first obstacle detector in a second set plane covers the projection of the operating area of the extension part in the second set plane, wherein the second set plane is perpendicular to the operating direction and the extension part is located between the first obstacle detector and the second set plane.

25. The mobile robot of claim 2, wherein, The optical axis of the first obstacle detector is a first optical axis, and the first optical axis is perpendicular to the advancing direction of the mobile body.

26. The mobile robot of claim 25, wherein, Along the first optical axis direction, the projection of the detection area of the first obstacle detector on the mobile body at least partially overlaps the projection of the operating area of the extension part on the mobile body.

27. The mobile robot of any of claims 2, 5-23, 25-26, wherein, The field of view angle of the first obstacle detector includes a first horizontal angle and a first vertical angle, the first horizontal angle is 80-120 degrees, and the first vertical angle is 20-60 degrees.

28. The mobile robot of claim 27, wherein, The included angle between the optical axis of the first obstacle detector and the horizontal direction is 30-60 degrees.

29. The mobile robot of any of claims 5-21, wherein, The field of view angle of the second obstacle detector includes a second horizontal angle and a second vertical angle, the second horizontal angle is 30-60 degrees, and the second vertical angle is 20-60 degrees.

30. The mobile robot of claim 29, wherein, The included angle between the second optical axis and the horizontal direction is 60-90 degrees.

31. The mobile robot of any of claims 2, 5-23, wherein, The field of view angle of the first obstacle detector has a first edge and a second edge in the vertical direction, the first edge is located below the second edge, and the included angle between the first edge and the horizontal direction is greater than or equal to 0 degrees.

32. The mobile robot of claim 31, wherein, The included angle between the first edge and the horizontal direction is 15-30 degrees.

33. The mobile robot of any of claims 2, 5-23, wherein, The field of view angle of the first obstacle detector has a first edge and a second edge in the vertical direction, the first edge is located below the second edge, and the included angle between the second edge and the horizontal direction is less than or equal to 90 degrees.

34. The mobile robot of claim 33, wherein, The included angle between the second edge and the horizontal direction is 60-75 degrees.

35. The mobile robot of any of claims 5-21, wherein, The field of view angle of the second obstacle detector has a third edge and a fourth edge in the vertical direction, the third edge is located below the fourth edge, and the included angle between the third edge and the horizontal direction is greater than or equal to 0 degrees.

36. The mobile robot of claim 35, wherein, The included angle between the third edge and the horizontal direction is 50-70 degrees.

37. The mobile robot of any of claims 5-21, wherein, The field of view angle of the second obstacle detector has a third edge and a fourth edge in the vertical direction, the third edge is located below the fourth edge, and the included angle between the fourth edge and the horizontal direction is less than or equal to 180 degrees.

38. The mobile robot of claim 37, wherein, The included angle between the fourth edge and the horizontal direction is 90-110 degrees.

39. The mobile robot of any of claims 1-2, 5-23, 25-26, wherein, The extension part is at least one of a mechanical arm, a mechanical hand, a clamping device, and a detection device.

40. The mobile robot of any one of claims 5-23, wherein, The first obstacle avoidance detector is an iTOF sensor, and the second obstacle avoidance detector is a dTOF sensor.

41. The mobile robot of claim 1, wherein, The mobile robot further comprises a front sensor arranged on the mobile body and configured to detect a front region of the mobile body.

42. The mobile robot of claim 41, wherein, The obstacle avoidance detection assembly comprises a first obstacle avoidance detector and a second obstacle avoidance detector, the first obstacle avoidance detector and the second obstacle avoidance detector are respectively arranged on different sides of the extension part, the detection direction of the first obstacle avoidance detector is arranged at an angle with the detection direction of the front sensor, and the detection direction of the second obstacle avoidance detector is arranged at an angle with the detection direction of the front sensor.

43. The mobile robot of claim 42, wherein, The angle between the detection direction of the first obstacle avoidance detector and the detection direction of the front sensor is greater than or equal to 90 degrees.

44. The mobile robot of claim 42, wherein, The angle between the detection direction of the second obstacle avoidance detector and the detection direction of the front sensor is greater than or equal to 90 degrees.

45. The mobile robot of claim 42, wherein, The extension part comprises a mounting section and a connecting section, the mounting section is connected to the mobile body and the connecting section, the first obstacle avoidance detector is arranged on a side of the mounting section away from the connecting section, and the second obstacle avoidance detector and the connecting section are arranged on the same side of the mounting section.

46. The mobile robot of claim 45, wherein, The extension direction of the connecting section is arranged at an angle with the advancing direction of the mobile body.

47. The mobile robot of claim 46, wherein, The extension direction of the connecting section is opposite to the advancing direction of the mobile body.

48. The mobile robot of claim 46, wherein, Along the advancing direction of the mobile body, the connecting section is located on the left side of the mounting section.

49. The mobile robot of claim 46, wherein, Along the advancing direction of the mobile body, the connecting section is located on the right side of the mounting section.

50. The mobile robot of claim 45, wherein, The field of view angle of the first obstacle avoidance detector is greater than the field of view angle of the second obstacle avoidance detector.

51. The mobile robot of claim 45, wherein, The field of view angle of the first obstacle avoidance detector comprises a first horizontal angle and a first vertical angle, the first horizontal angle is 80-120 degrees, and the first vertical angle is 20-60 degrees.

52. The mobile robot of claim 51, wherein, The angle between the optical axis of the first obstacle avoidance detector and the horizontal direction is 30-60 degrees.

53. The mobile robot of claim 45, wherein, The field of view angle of the second obstacle avoidance detector comprises a second horizontal angle and a second vertical angle, the second horizontal angle is 30-60 degrees, and the second vertical angle is 20-60 degrees.

54. The mobile robot of claim 53, wherein, The angle between the optical axis of the second obstacle avoidance detector and the horizontal direction is 60-90 degrees.

55. The mobile robot of claim 45, wherein, The field of view angle of the first obstacle avoidance detector has a first edge and a second edge in the vertical direction, the first edge is located below the second edge, and the angle between the first edge and the horizontal direction is greater than or equal to 0 degrees.

56. The mobile robot of claim 55, wherein, The angle between the first edge and the horizontal direction is 15-30 degrees.

57. The mobile robot of claim 45, wherein, The field of view angle of the first obstacle avoidance detector has a first edge and a second edge in the vertical direction, the first edge is located below the second edge, and the angle between the second edge and the horizontal direction is less than or equal to 90 degrees.

58. The mobile robot of claim 57, wherein, The angle between the second edge and the horizontal direction is 60-75 degrees.

59. The mobile robot of claim 45, wherein, The field of view angle of the second obstacle avoidance detector has a third edge and a fourth edge in the vertical direction, the third edge is below the fourth edge, and the angle between the third edge and the horizontal direction is greater than or equal to 0 degrees.

60. The mobile robot of claim 59, wherein, The angle between the third edge and the horizontal direction is 50-70 degrees.

61. The mobile robot of claim 45, wherein, The field of view angle of the second obstacle avoidance detector has a third edge and a fourth edge in the vertical direction, the third edge is below the fourth edge, and the angle between the fourth edge and the horizontal direction is less than or equal to 180 degrees.

62. The mobile robot of claim 61, wherein, The angle between the fourth edge and the horizontal direction is 90-110 degrees.

63. The mobile robot of any of claims 41-62, wherein, The extension is at least one of a mechanical arm, a mechanical hand, a clamping device, and a detection device.

64. The mobile robot of any of claims 42-62, wherein, The first obstacle avoidance detector is an iTOF sensor, and the second obstacle avoidance detector is a dTOF sensor.

65. The mobile robot of claim 1, wherein, The obstacle avoidance detection assembly includes a first obstacle avoidance detector mounted on the mobile body; wherein the top surface of the mobile body is provided with a groove, the first obstacle avoidance detector is accommodated in the groove, and the detection light emitted by the first obstacle avoidance detector can be emitted from the slot of the groove.

66. The mobile robot of claim 65, wherein, The optical axis of the first obstacle avoidance detector is a first optical axis, the angle between the first optical axis and the horizontal direction is a first angle, the groove wall opposite to the light emitting side of the first obstacle avoidance detector is a avoiding groove wall, the avoiding groove wall is inclinedly arranged, the angle between the avoiding groove wall and the horizontal direction is a second angle, and the first angle is greater than the second angle and less than or equal to 90 degrees to avoid the first optical axis being blocked by the avoiding groove wall.

67. The mobile robot of claim 66, wherein, The first angle is 30-60 degrees.

68. The mobile robot of claim 67, wherein, The first angle is 45 degrees.

69. The mobile robot of claim 66, wherein, The field of view angle of the first obstacle avoidance detector has a first edge and a second edge in the vertical direction, the first edge is below the second edge, and the first optical axis is between the first edge and the second edge; the angle between the first edge and the horizontal direction is a third angle, the third angle is less than the first angle; and the second angle is less than or equal to the third angle to avoid the field of view of the first obstacle avoidance detector being blocked by the avoiding groove wall.

70. The mobile robot of claim 69, wherein, The second angle is less than the third angle, and the angle difference between the third angle and the second angle is less than or equal to 5 degrees.

71. The mobile robot of claim 66, wherein, The mobile body is provided with a containing bin, the containing bin is open on the top surface of the mobile body, and the extension is arranged in the containing bin and can extend out of the containing bin when unfolded.

72. The mobile robot of claim 71, wherein, A bin door that can be opened and closed is arranged at the bin opening of the containing bin, the bin door is located on the top surface of the mobile body when opened, and is located on the side of the bin opening close to the avoiding groove.

73. The mobile robot of claim 72, wherein, The top end of the side of the bin door close to the avoiding groove when opened is defined as a bin door reference point, a second reference line between the bin door reference point and the first obstacle avoidance detector is defined, the angle between the second reference line and the horizontal direction is a fourth angle, the second angle is greater than or equal to the fourth angle to avoid the first optical axis being blocked by the bin door when opened.

74. The mobile robot of claim 73, wherein, The field of view of the first obstacle detection detector has a first edge and a second edge in the vertical direction, the first edge is below the second edge, and the first optical axis is between the first edge and the second edge; the first edge has a third included angle with the horizontal direction, the third included angle is smaller than the first included angle; wherein the second included angle is smaller than or equal to the third included angle, and the fourth included angle is smaller than or equal to the second included angle, so as to avoid the field of view of the first obstacle detection detector being blocked by the avoidance groove wall and the door in the open state.

75. The mobile robot of claim 1, wherein, The obstacle detection assembly further comprises a third obstacle detection detector arranged on the side of the mobile body, for realizing the whole machine mapping of the mobile robot.

76. The mobile robot of claim 75, wherein, The obstacle detection assembly comprises at least two third obstacle detection detectors, one of which is arranged in front of the side of the mobile body, and the other of which is arranged at the left rear of the side of the mobile body.

77. The mobile robot of claim 1, wherein, The obstacle detection assembly further comprises a fourth obstacle detection detector arranged on the right side of the mobile body, for measuring the distance from the wall of the mobile robot.

78. The mobile robot of claim 1, wherein, The obstacle detection assembly further comprises a fifth obstacle detection detector arranged on the bottom surface of the mobile body, for realizing cliff fall detection.

79. The mobile robot of claim 78, wherein, The movement strategy of the mobile robot is forward movement mode, and the obstacle detection assembly comprises at least three groups of fifth obstacle detection detectors, which are respectively arranged in front of and on the left and right sides of the bottom surface of the mobile body. Alternatively, the movement strategy of the mobile robot is forward and backward movement mode, and the obstacle detection assembly comprises at least four groups of fifth obstacle detection detectors, which are respectively arranged on the front and rear sides and on the left and right sides of the bottom surface of the mobile body.

80. The mobile robot of claim 79, wherein, Each group of fifth obstacle detection detectors comprises at least two fifth obstacle detection detectors, and the at least two fifth obstacle detection detectors in the same group are arranged at intervals along the circumference of the mobile body.

81. A robotic system, comprising: The mobile robot comprises a base station and any one of claims 1-80.

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