Mobile robot and robot system

Abstract

A mobile robot and a robot system. The mobile robot (100) comprises: a mobile main body (110), an extension part (120) arranged on the mobile main body (110), and an obstacle avoidance detection assembly (160). The obstacle avoidance detection assembly (160) is movably mounted on the mobile main body (110), and can adjust a detection area of the obstacle avoidance detection assembly (160). The robot can solve the problem of relatively weak obstacle avoidance function to a certain extent.

Description

Mobile robot and robot system Cross-reference to related applications

[0001] This application claims priority to Chinese Patent Application No. 2024113371677, filed on September 24, 2024, and Chinese Patent Application No. 2024223391808, filed on September 24, 2024, the contents of which are incorporated herein by reference in their entirety. TECHNICAL FIELD

[0002] The present disclosure relates to the technical field of robots, and in particular, to a mobile robot and a robot system. BACKGROUND

[0003] 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 mobile robots with external extension components such as mechanical arms and hands, the obstacle avoidance function is more important. In related technologies, the obstacle avoidance function of the design of mobile robots with external extension components such as mechanical arms and hands is relatively weak, which causes the mobile device to touch obstacles or people during work. SUMMARY

[0004] The present disclosure aims to at least be able to solve the technical problem of weak obstacle avoidance function to some extent. To this end, the present disclosure provides a mobile robot and a robot system.

[0005] In a first aspect, the embodiments of the present disclosure provide a mobile robot, comprising: a mobile body and an external extension part arranged on the mobile body; and an obstacle avoidance detection assembly movably installed on the mobile body and capable of adjusting a detection area of the obstacle avoidance detection assembly.

[0006] In a second aspect, the embodiments of the present disclosure further provide a robot system, comprising a base station and the mobile robot described above, wherein the mobile robot and the base station are detachably connected. BRIEF DESCRIPTION OF DRAWINGS

[0007] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the drawings needed in the embodiment description will be briefly introduced as follows. Obviously, the drawings in the following description are some embodiments of the present disclosure, and other drawings can also be obtained by those skilled in the art without creative labor on the basis of these drawings.

[0008] FIG. 1 shows a structural schematic diagram of a mobile robot obstacle avoidance detection assembly in a first position according to an embodiment of the present disclosure.

[0009] FIG. 2 shows a structure diagram of a mobile robot obstacle avoidance detection component in a second position according to an embodiment of the present disclosure.

[0010] FIG. 3 shows an active range of a mobile robot obstacle avoidance detection component according to an embodiment of the present disclosure.

[0011] FIG. 4 shows a structure diagram of a first obstacle avoidance detector of a mobile robot according to an embodiment of the present disclosure.

[0012] FIG. 5 shows a top view of the mobile robot in FIG. 4.

[0013] FIG. 6 shows a structure diagram of a first obstacle avoidance detector of a mobile robot according to an embodiment of the present disclosure.

[0014] FIG. 7 shows a structure diagram of a first obstacle avoidance detector of a mobile robot according to an embodiment of the present disclosure.

[0015] FIG. 8 shows a top view of a mobile robot according to an embodiment of the present disclosure.

[0016] FIG. 9 shows a side view of the mobile robot in FIG. 8.

[0017] FIG. 10 shows a front view of the mobile robot in FIG. 8.

[0018] FIG. 11 shows a structure diagram of a front sensor having a detection direction opposite to those of a first obstacle avoidance detector and a second obstacle avoidance detector according to an embodiment of the present disclosure.

[0019] FIG. 12 shows a side view of a structure of a front sensor having a detection direction opposite to those of a first obstacle avoidance detector and a second obstacle avoidance detector in FIG. 11.

[0020] FIG. 13 shows a structure diagram of a mobile robot with an extension on the right side according to an embodiment of the present disclosure.

[0021] FIG. 14 shows a structure diagram of a mobile robot with an extension on the left side according to an embodiment of the present disclosure.

[0022] FIG. 15 shows a top view of a mobile robot with a second obstacle avoidance detector in front according to an embodiment of the present disclosure.

[0023] FIG. 16 shows a side view of the mobile robot in FIG. 15.

[0024] FIG. 17 shows a front view of the mobile robot in FIG. 15.

[0025] FIG. 18 shows a structure diagram of an embodiment of the mobile robot in which the first obstacle avoidance detector is disposed on the side of the extension portion according to an embodiment of the present disclosure.

[0026] FIG. 19 shows a top view of the mobile robot in which the second obstacle avoidance detector is disposed obliquely according to an embodiment of the present disclosure.

[0027] FIG. 20 shows a side view of the mobile robot in FIG. 19.

[0028] FIG. 21 shows a front view of the mobile robot in FIG. 19.

[0029] FIG. 22 shows a top view of the mobile robot in which the second obstacle avoidance detector is disposed vertically upward according to an embodiment of the present disclosure.

[0030] FIG. 23 shows a side view of the mobile robot in FIG. 22.

[0031] FIG. 24 shows a front view of the mobile robot in FIG. 22.

[0032] FIG. 25 shows a top view of the mobile robot in which the second obstacle avoidance detector is disposed on the mounting portion according to an embodiment of the present disclosure.

[0033] FIG. 26 shows a side view of the mobile robot in FIG. 25.

[0034] FIG. 27 shows a front view of the mobile robot in FIG. 25.

[0035] FIG. 28 shows a top view of the mobile robot in which the second obstacle avoidance detector is disposed on the operation portion according to an embodiment of the present disclosure.

[0036] FIG. 29 shows a side view of the mobile robot in FIG. 28.

[0037] FIG. 30 shows a front view of the mobile robot in FIG. 28.

[0038] FIG. 31 shows a structure diagram of a robot system according to an embodiment of the present disclosure.

[0039] Reference Signs:

[0040] 100 - mobile robot, 110 - mobile body, 120 - extension part, 121 - mounting section, 123 - connecting section, 124 - operation section, 130 - first obstacle detection sensor, 131 - first detection area, 131a - long side, 131b - short side, a1 - first horizontal angle, b1 - first vertical angle, 131c - first edge, 131d - second edge, 132 - first optical axis, 140 - second obstacle detection sensor, 141 - second detection area, a2 - second horizontal angle, b2 - second vertical angle, 141c - third edge, 141d - fourth edge, 142 - second optical axis, 150 - front sensor, 160 - obstacle detection assembly, 162 - bracket, 164 - obstacle detection sensor, 164 - detection area of obstacle detection sensor, 21 - detection area of first position, 22 - detection area of intermediate position, 23 - detection area of second position, 1000 - robot system, 300 - base station. DETAILED DESCRIPTION

[0041] The technical solutions in the embodiments of the present disclosure will be described clearly and completely below in combination with the drawings in the embodiments of the present disclosure. Obviously, the described embodiments are only part of the embodiments of the present disclosure, rather than all the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by those skilled in the art without creative work under the premise that the embodiments in the present disclosure fall within the scope of protection of the present disclosure.

[0042] It should be noted that all directionality indications in the embodiments of the present disclosure are only used to explain the relative position relationship, motion condition, etc. between components in a certain posture, and if the certain posture changes, the directionality indications also change accordingly.

[0043] In the present disclosure, unless otherwise explicitly specified and limited, the terms "connection", "fixation", etc. should be understood in a broad sense, for example, "fixation" can be fixed connection, or detachable connection, or integral; can be mechanical connection, or electrical connection; can be direct connection, or indirect connection through an intermediate medium; can be internal connection of two elements or interaction relationship between two elements, unless otherwise explicitly limited. For those skilled in the art, the specific meanings of the above terms in the present disclosure can be understood according to the specific circumstances.

[0044] In addition, the descriptions such as "first", "second" and the like in the present disclosure are only for the purpose of description, and cannot be understood as indicating or implying the relative importance of the technical features indicated, or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first", "second" can explicitly or implicitly include at least one of the features. In addition, the technical solutions of various embodiments can be combined with each other, but it must be based on the realization of ordinary skilled in the art, when the combination of technical solutions appears contradictory or unachievable, it should be considered that the combination of technical solutions does not exist, nor within the protection scope required by the present disclosure.

[0045] 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 and prevent people from being injured by robot collisions. For the design of robots with external extension components such as mechanical arms and mechanical hands, the obstacle avoidance function is more important. In the related art, the obstacle avoidance function of the design of robots with external extension components such as mechanical arms and mechanical hands is relatively weak, resulting in the mobile device touching obstacles or people during work. The mobile robot of the embodiment of the present disclosure can improve the obstacle avoidance function, reduce the situation that the external extension of the mobile device touches obstacles during work, and avoid the overall touching of the mobile robot to obstacles as much as possible.

[0046] The technical solutions of the present disclosure will be described below in conjunction with the drawings and specific embodiments.

[0047] The embodiment of the present disclosure provides a mobile robot 100, and the mobile robot 100 of the embodiment of the present disclosure can increase the detection range of the obstacle avoidance detection interval, so that the detection range of the obstacle avoidance detection assembly 160 can cover the four sides of the external extension 120 as much as possible, improve the accuracy of obstacle avoidance detection, and reduce the risk of the external extension 120 touching obstacles during work.

[0048] Please refer to FIG. 1 and FIG. 2, the mobile robot 100 includes: a mobile body 110, an external extension 120 and an obstacle avoidance detection assembly 160 arranged on the mobile body 110, the obstacle avoidance detection assembly 160 is movably installed on the mobile body 110, and the detection area of the obstacle avoidance detection assembly 160 can be adjusted.

[0049] In some embodiments, the extension part 120 is arranged on the moving body 110, and in the working state, the extension part 120 can protrude from the moving body 110. The arrangement of protruding from the moving body 110 means that the extension part 120 is arranged outside the moving body 110, that is, the extension part 120 protrudes from the top of the moving body 110. In this way, the extension part 120 is arranged outside the moving body 110, and the end of the extension part 120 away from the moving body 110 is away from the outer surface of the moving body 110, so that the extension part 120 can operate in the space outside the moving body 110, thereby improving the working range of the entire mobile robot 100.

[0050] In some embodiments, the extension part 120 can be fixed outside the moving body 110, or can be arranged outside the moving body 110 in a telescopic manner. Telescopic means that the extension part 120 can change its mechanical structure to change its size, so as to realize a motion process with a larger activity range or a smaller occupied volume. That is, in the working state, the extension part 110 can protrude outside the moving body 110, or in the working state, the structure of the extension part 110 can be adjusted by telescoping to obtain a larger operation area. In the non-working state, the extension part 110 can be shrunk to a smaller volume or into the moving body 110, facilitating the storage of the extension part 120.

[0051] 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.

[0052] For example, when the mobile robot 100 is a cleaning device, the moving 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 higher than the ground to be cleaned at the same time as the robot body cleans the ground, thereby improving the cleaning range of the entire mobile robot 100 and improving the overall work efficiency.

[0053] The operation area of the extension part 120 refers to the activity range of the extension part 120 in the working process. The operation area can be a fixed area or a variable area. In the case of the extension part 120 being a mechanical arm, the mechanical arm can have only one degree of freedom. In this case, the activity range (operation area) of the mechanical arm can be considered fixed. In addition, the mechanical arm can have multiple degrees of freedom, and since the mechanical arm can move in the working process, the activity range (operation area) of the mechanical arm is a variable area.

[0054] The detection area of the obstacle avoidance detection assembly 160 refers to an area that can be detected by the obstacle avoidance detection assembly 160. If an obstacle appears in the detection area of the obstacle avoidance detection assembly 160, the obstacle avoidance detection assembly 160 will feed back to the controller, and the position or posture of the extension part 120 can be adjusted in advance to avoid collision with the obstacle.

[0055] The detection area of the obstacle avoidance detection assembly 160 at least partially overlaps with the operation area of the extension part 120. It can be that the detection area of the obstacle avoidance detection assembly 160 completely overlaps with the operation area of the extension part 120, that is, the obstacle avoidance detection assembly 160 can detect all the operation areas of the extension part 120. It can also be that the detection area of the obstacle avoidance detection assembly 160 partially overlaps with the operation area of the extension part 120, and the detection area of the obstacle avoidance detection assembly 160 can detect part of the operation area of the extension part 120.

[0056] The detection area of the obstacle avoidance detection assembly 160 at least partially overlaps with the operation area of the extension part 120, so that the obstacle avoidance detection assembly 160 can detect the activity range of the extension part 120 in real time during the operation of the extension part 120, and can avoid the appearance of obstacles in the operation area of the extension part 120 as much as possible, so that the extension part 120 is damaged. The situation can also be avoided as much as possible that the extension part 120 touches the personnel, causing personal injury.

[0057] In some embodiments, the obstacle avoidance detection assembly 160 can detect the activity range of the extension part 120 in real time, without the need to install any external equipment, so as to complete the protection of the operation area of the extension part 120.

[0058] In some embodiments, the obstacle avoidance detection assembly 160 is movably connected to the mobile body 110. It can be that the obstacle avoidance detection assembly 160 can rotate relative to the mobile body 110, or the obstacle avoidance detection assembly 160 can move relative to the mobile body 110, or the obstacle avoidance detection assembly 160 can both rotate relative to the mobile body 110 and move relative to the mobile body 110.

[0059] The obstacle avoidance detection assembly 160 is mainly used to detect whether there is an obstacle around the extension part 120. Since the extension part 120 is arranged outside the mobile body 110 in the working state, the extension part 120 can touch the obstacle around it. However, the detection area of the obstacle avoidance detection assembly 160 is limited, so that the fixed obstacle avoidance detection assembly 160 can only detect a limited area. In some embodiments of the present disclosure, the obstacle avoidance detection assembly 160 is movably arranged on the mobile body 110, so that the position of the obstacle avoidance detection assembly 160 relative to the mobile body 110 can be adjusted, that is, the position between the obstacle avoidance detection assembly 160 and the extension part 120 can be adjusted, so that the detection area of the obstacle avoidance detection assembly 160 can be moved relative to the extension part 120. Therefore, the detection area of the obstacle avoidance detection assembly 160 can be movable, which can increase the detection range of the obstacle avoidance detection assembly 160, so that the detection range of the obstacle avoidance detection assembly 160 can cover the periphery of the extension part 120 as much as possible, improve the accuracy of obstacle avoidance detection, and reduce the risk of the extension part 120 touching the obstacle during the working process.

[0060] In some embodiments, the mobile body 110 has a mounting groove, and the obstacle avoidance detection assembly 160 can be arranged in the mounting groove. The obstacle avoidance detection assembly 160 is arranged in the mounting groove, so that the obstacle avoidance detection assembly 160 can be accommodated in the mounting groove, that is, the obstacle avoidance detection assembly 160 can be considered to be accommodated inside the mobile body 110, and the mounting groove can protect the obstacle avoidance detection assembly 160 to a certain extent. In some embodiments, the obstacle avoidance detection assembly 160 can be accommodated in the mounting groove, so that the obstacle avoidance detection assembly 160 can avoid interfering with the base station when the mobile robot 100 returns to the base station.

[0061] In some embodiments, the obstacle avoidance detection assembly 160 is arranged in the mounting groove, and in the working state, the obstacle avoidance detection assembly 160 can be arranged in the mounting groove or can be arranged outside the mounting groove. The movable obstacle avoidance detection assembly 160 relative to the mobile body 110 can mean that the obstacle avoidance detection assembly 160 is movable relative to the mobile body 110 in the mounting groove, or is movable relative to the mobile body 110 outside the mounting groove.

[0062] In some embodiments, when the obstacle avoidance detection assembly 160 is arranged outside the mounting groove, the obstacle avoidance detection assembly 160 can detect the peripheral environment of the extension part 120.

[0063] When the obstacle avoidance detection assembly 160 is arranged outside the mounting groove, the obstacle avoidance detection assembly 160 can be rotatable or non-rotatable relative to the mobile body 110. Since the position of the extension part 120 on the mobile body 110 is fixed, the obstacle avoidance detection assembly 160 can detect the peripheral environment of the extension part 120, so as to avoid the extension part 120 from touching the obstacle during the working process.

[0064] When the obstacle detection assembly 160 is located outside the installation slot, the obstacle detection assembly 160 can stay in a fixed position, can move within a certain range, that is, the detection area of the obstacle detection assembly 160 can be fixed or mobile. The obstacle detection assembly 160 can detect the peripheral environment of the extension part 120, which can be the area above the extension part 120 or the area on the left side, right side and back side of the extension part 120. The obstacle detection assembly 160 can detect the peripheral environment of the extension part 120 in a fixed position or can rotate to detect the peripheral environment of the extension part 120.

[0065] Referring to FIG. 1, in some embodiments, when the obstacle detection assembly 160 is located outside the installation slot, at least part of the detection area of the obstacle detection assembly 160 at least partially overlaps at least part of the extension part 120.

[0066] At least part of the detection area of the obstacle detection assembly 160 at least partially overlaps at least part of the extension part 120, which can be that part of the detection area overlaps part of the extension part 120, or that part of the detection area overlaps all of the extension part 120, or that all of the detection area overlaps part of the extension part 120, or that all of the detection area overlaps all of the extension part 120.

[0067] At least part of the detection area of the obstacle detection assembly 160 at least partially overlaps at least part of the extension part 120, so that the obstacle detection assembly 160 can detect the area around the extension part 120, thereby avoiding the extension part 120 encountering obstacles during operation.

[0068] Referring to FIG. 2, in some embodiments, when the obstacle detection assembly 160 is located inside the installation slot, the obstacle detection assembly 160 can detect the peripheral environment of the mobile body 110.

[0069] When the obstacle detection assembly 160 is located inside the installation slot, the obstacle detection assembly 160 can be approximately in the same plane as the mobile body 110, thereby detecting the peripheral environment of the mobile body 110. If the obstacle detection assembly 160 is arranged in front of the mobile body 110 in 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 on the left side of the mobile body 110 in the forward direction, the obstacle detection assembly 160 can detect the area on the left side of the mobile body 110. If the obstacle detection assembly 160 is arranged on the right side of the mobile body 110 in the forward direction, the obstacle detection assembly 160 can detect the area on the right side of the mobile body 110.

[0070] When the obstacle avoidance detection assembly 160 is located in the installation slot, it indicates that the obstacle avoidance detection assembly 160 does not need to detect the peripheral environment of the extension part 120, and the obstacle avoidance detection assembly 160 can detect the peripheral environment of the mobile body 110. The obstacle avoidance detection assembly 160 can cooperate with the sensor of the mobile body 110 to detect the environment around the mobile body 110, thereby improving the utilization rate of the obstacle avoidance detection assembly 160.

[0071] Please refer to FIG. 1 and FIG. 2, in some embodiments, the obstacle avoidance detection assembly 160 includes a lifting member, a bracket 162 and an obstacle avoidance detector 164 installed on the bracket 162. The lifting member is connected with the bracket 162 and can drive the bracket 162 to be accommodated in the installation slot or to be extended out of the installation slot.

[0072] In some embodiments, 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. In some embodiments, the worm gear is connected with the bracket 162, and the driving motor and the worm gear can realize the lifting of the bracket 162, so that the obstacle avoidance detector 164 can be extended out of the installation slot or can be accommodated in the installation slot. It can also be a gear and rack mechanism, the gear is drivingly connected 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 driving the motor and the ball screw structure, the screw rod is connected with the bracket 162, and the driving motor is connected with the ball screw.

[0073] In addition, the lifting member can also be a folding suspension structure, which realizes the lifting of the bracket 162 and the obstacle avoidance detector 164.

[0074] The lifting member driving the bracket 162 and the obstacle avoidance detector 164 to rise or fall refers to rising or falling in the vertical direction. Therefore, the lifting member can not only drive the obstacle avoidance detector 164 to move out of the installation slot, but also can adjust the position of the obstacle avoidance detector 164 in the vertical direction, and further can adjust the detection area of the obstacle avoidance detector 164 in the vertical direction. The height of the obstacle avoidance detector 164 can be adjusted according to the height of the extension part 120, so that the obstacle avoidance detector 164 can detect the area around the extension part 120.

[0075] In some embodiments, the obstacle avoidance detection assembly 160 includes a turning member, a bracket 162 and an obstacle avoidance detector 164 installed on the bracket 162. The bracket 162 can rotate relative to the mobile body 110. The turning member is drivingly connected with the bracket 162 and can drive the bracket 162 to rotate relative to the mobile body 110.

[0076] The turnover member is mainly used to drive the support 162 to rotate. The rotating mode of the support 162 can be that the turnover member directly drives the support 162 to rotate from inside the mounting slot to outside the mounting slot, or the turnover member drives the support 162 to rotate after the lifting member drives the support 162 to move to outside the mounting slot.

[0077] The specific structure of the turnover member can include a driving motor and a rotating shaft. The rotating shaft is connected with the support 162. The driving motor drives the rotating shaft to rotate, thereby realizing the rotation of the support and the turnover of the obstacle detection device 164.

[0078] That is, in some embodiments, the obstacle detection assembly 160 can include a lifting member, a turnover member, a support 162, and an obstacle detection device 164 mounted on the support 162. The lifting member drives the support 162 to move to outside the mounting slot first, and then the turnover member drives the support 162 to rotate. In other embodiments, the obstacle detection assembly 160 can include a turnover member, a support 162, and an obstacle detection device 164 mounted on the support 162. The lifting member is not provided, and the turnover member directly drives the support 162 to rotate from inside the mounting slot to outside the mounting slot.

[0079] Since the extension part 120 can change its position in some parts during operation, the turnover member can drive the support 162 to rotate relative to the mobile body 110, thereby adjusting the angle of the support 162 relative to the mobile body 110, and further adjusting the angle of the obstacle detection device 164 relative to the extension part 120, so that the obstacle detection device 164 can always detect the area around the extension part 120.

[0080] In some embodiments, compared with the case where the obstacle detection device 164 is fixed, the obstacle detection device 164 can rotate relative to the mobile body 110, which can increase the detection range of the obstacle detection device 164 and improve the utilization rate of the obstacle detection device 164.

[0081] In some embodiments, the turnover member can drive the obstacle detection device 164 to rotate in a non-horizontal plane through the support 162. The non-horizontal plane refers to a vertical plane or an inclined plane between a vertical plane and a horizontal plane. The turnover member can drive the obstacle detection device 164 to rotate in a vertical plane or an inclined plane between a vertical plane and a horizontal plane through the support 162, which can adjust the angle of the obstacle detection device 164 in space, so that the optical axis of the obstacle detection device 164 can be adjusted in space. The optical axis of the obstacle detection device 164 can be located in different inclined planes, thereby adjusting the detection area of the obstacle detection device 164 above the extension part 120, and using the detection area above and in front of the extension part 120 as much as possible to reduce the case where there is an obstacle above and in front of the extension part 120.

[0082] Please refer to FIG. 3, which shows the detection area 21 of the obstacle 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 detector 164 to rotate between the first position and the second position. The obstacle detector 164 can hover in the first position, the second position, or any position between the first position and the second position.

[0083] In some embodiments, the first position and the second position are the two limit positions of the bracket 162, and the bracket 162 can swing between the first position and the second position, so that the obstacle detector 164 detects back and forth between the first position and the second position. The obstacle detector 164 can also hover in the first position, the second position, or any position between the first position and the second position (intermediate position), and the obstacle detector 164 can be fixed in a certain position to detect the corresponding area of the certain position.

[0084] In some embodiments, the first position is outside the mounting groove, and the second position is inside the mounting groove. When the obstacle detector 164 is outside the mounting groove (second position), it can be considered that the obstacle 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 detector 164 can be fixed in the second position in the working state, that is, in the working state, the detection area of the obstacle detector 164 is a fixed area, not a variable area.

[0085] The above describes how the obstacle detector 164 moves relative to the mobile bracket 162 and how to adjust the angle between the obstacle detector 164 and the extension part 120. The following describes the installation position of the entire obstacle detection assembly 160 on the mobile body 110 and the parameters of the obstacle detector 164.

[0086] In some embodiments, the obstacle detector 164 can be multiple, which can include a first obstacle detector 130 and a second obstacle detector 140. When the number of obstacle detectors 164 is two or more, each obstacle detector 164 sensor can be movable relative to the mobile body 110, or only the second obstacle detector 140 can be movable relative to the mobile body 110, or only the first obstacle detector can be movable relative to the mobile body. The activity mode of the first obstacle detector 130 and / or the second obstacle detector 140 is the same as that of the obstacle detector 164 described above, which can be achieved by the bracket 162, the turnover piece, the lifting piece, etc. described above. The rotating mode can refer to the rotating mode of the obstacle detector 164 described above, and will not be described again.

[0087] Referring to FIGS. 4 and 5, in some embodiments, the obstacle avoidance detection assembly 160 can include a first obstacle avoidance detector 130, which is mounted on the mobile body 110.

[0088] The first obstacle avoidance 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 manner can not be limited.

[0089] In some embodiments, the first obstacle avoidance detector 130 can be a TOF sensor (Time of Flight), and in some embodiments, can be an iToF sensor (Indirect Time of Flight). The detection direction of the first obstacle avoidance 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.

[0090] For the convenience of description, the detection area 131 of the first obstacle avoidance detector 130 is defined as the first detection area 131. Since the first obstacle avoidance detector 130 basically needs to detect all areas around the extension part 120, i.e., the area to be detected by the first obstacle avoidance detector 130 is large, the iToF sensor can achieve a large field of view angle and a large detection area.

[0091] The first detection area 131 is arranged towards the extension part 120, so that the detection area of the first obstacle avoidance detector 130 can at least partially coincide with the operation area of the extension part 120. The first detection area 131 includes a field of view angle and a detection distance (as shown by h1 in FIG. 5, and 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 avoidance detector 130 also has an optical axis, which is defined as the first optical axis 132 for the convenience of description. The first optical axis 132 is approximately the center of the first detection area 131.

[0092] Since in the working state, the extension part 120 is protruded outside the mobile body 110, and the first obstacle avoidance detector 130 is arranged on the mobile body 110, there is a certain height difference between the first obstacle avoidance 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 upwardly inclined or vertically upwardly.

[0093] In some embodiments, 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. Instead, 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 in the horizontal direction. In other words, the first optical axis 132 can be inclined forward.

[0094] 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, while the operation direction refers to the action direction of the extension part 120 during operation. 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.

[0095] Along the advancing direction of the moving 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.

[0096] In some embodiments, the first obstacle detector 130 can also be arranged in multiple numbers. The multiple first obstacle detectors 130 can be arranged on different sides of the extension part 120. The optical axes of the first obstacle detectors 130 arranged at different positions can be arranged in the same way or in different ways.

[0097] The different positions and distances of the first obstacle detector 130 relative to the extension part 120, as well as the different numbers of the first obstacle detector 130, can cause the optical axes of the first obstacle detector 130 to be arranged in different directions. The following will specifically introduce several arrangement ways of the first obstacle detector 130.

[0098] As shown in FIG. 4 and FIG. 5, in some embodiments, the first obstacle detector 130 can be arranged in one number. 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.

[0099] If the mobile body 110 is substantially cylindrical, the extension portion 120 is substantially arranged in front of the mobile body 110, and the first obstacle detection sensor 130 is substantially arranged at the rear of the mobile body 110, the distance between the first obstacle detection sensor 130 and the extension portion 120 being far away means that the distance between the first obstacle detection sensor 130 and the extension portion 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 detection sensor 130 around the extension portion 120, thereby improving the obstacle avoidance area of the extension portion 120, thereby improving the obstacle avoidance capability of the extension portion 120.

[0100] In some embodiments, the optical axis (first optical axis 132) of the first obstacle detection sensor 130 is arranged obliquely upward, that is, the optical axis (first optical axis 132) of the first obstacle detection sensor 130 has a certain angle with the horizontal plane, so that the first detection area 131 is arranged obliquely upward, and the area above the extension portion 120 can be detected.

[0101] During the advancement of the mobile body 110, obstacles are more likely to be encountered in front of or above the mobile robot 100, and the optical axis (first optical axis 132) of the first obstacle detection sensor 130 is arranged obliquely upward, so that the first obstacle detection sensor 130 can detect the area in front of and above the extension portion 120, thereby enabling the mobile robot 100 to avoid obstacles and reduce the risk of contact.

[0102] In some embodiments, along the operation direction of the extension portion 120, the projection of the first detection area 131 in the second set plane covers the projection of the operation area of the extension portion 120 in the second set plane. In some embodiments, the second set plane is perpendicular to the operation direction and the extension portion 120 is located between the first obstacle detection sensor and the second set plane.

[0103] In some embodiments, the second set plane is a virtual plane, not the entire physical plane of the mobile robot 100, and the second set plane is located on the side of the extension portion 120 away from the first obstacle detection sensor 130. The projection of the first detection area 131 in the second set plane covers the projection of the operation area of the extension portion 120 in the second set plane means that the first obstacle detection sensor 130 can cover all areas behind the extension portion 120 (directly behind, laterally behind, and above behind), and the detection area 131 of the first obstacle detection sensor 131 can completely cover the extension portion 120, so that there is no detection blind area in front of the extension portion 120, reducing the risk of the extension portion 120 touching obstacles.

[0104] In some embodiments, if the first obstacle detector 130 is multiple, the projection of the detection region 131 of the first obstacle detector 1300 in the second set plane covers the projection of the operation region of the extension part 120 in the second set plane refers to the sum of the projections of the multiple first detection regions 131 in the second set plane covers the projection of the operation region of the extension part 120 in the second set plane.

[0105] Please refer to FIG. 6 and FIG. 7, 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. In some embodiments, 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.

[0106] Since the first obstacle detector 130 is installed on the moving body 110, and the extension part 120 is protruding from the moving body 110 in the working state, and the moving body 110 is 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 obstacles appearing on the top of the extension part 120 is relatively high. Therefore, the optical axis of the first obstacle detector 130 can be perpendicular to the advancing direction of the moving body 110 (i.e. arranged substantially vertically), 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.

[0107] In some embodiments, 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. 7) or arranged behind the moving body 110 (as shown in FIG. 6). 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 substantially 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 substantially 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.

[0108] 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.

[0109] 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. 8, 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 other embodiments, the obstacle detection assembly 160 can also 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.

[0110] 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.

[0111] 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, which cannot comprehensively detect all the areas around the extension part 120.

[0112] In some embodiments of the present disclosure, the first obstacle detector 130 and the second obstacle detector 140 are respectively arranged on both sides of the extension part 120, so that both sides of the extension part 120 can be detected, and under the cooperation of the first obstacle detector 130 and the first obstacle detector 140, the area around the extension part 120 can be detected, so as to avoid the existence of a 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.

[0113] 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, no matter which case, the mobile robot 100 mainly detects whether there is an obstacle in the front area, and in some embodiments, the front area includes the front, the upper front, the side front, and the like.

[0114] Referring to FIG. 9 and FIG. 10, 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.

[0115] In some embodiments, the second obstacle detector 140 can be a TOF sensor (Time of Flight), i.e., a dToF sensor (Direct Time of Flight). The detection direction of the second obstacle detector 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 convenience of description, the optical axis of the second obstacle detector 140 is defined as the second optical axis 142, and the detection area of the second obstacle detector 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)

[0116] The second obstacle detector 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 detector 140 detects whether there is an obstacle earlier than the first obstacle detector 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, and the detection accuracy of the dToF sensor basically does not decrease with the increase of the detection distance, which can improve the detection accuracy, so that the second obstacle detector 140 can detect a long distance and provide more obstacle avoidance time for the extension part 120.

[0117] 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 detector 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 detector 140 is arranged in front of the extension part 120 and mainly detects the front and upper front of the extension part 120, and is mainly used to detect the blind area of the first obstacle detector 130, so that the surrounding of the extension part 120 has no blind area, thereby enabling the extension part 120 to be detected in all directions and improving the accuracy of obstacle detection.

[0118] In some embodiments, 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. 9 and 10), i.e. in the advancing direction of the mobile body 110, the first obstacle detection sensor 130 is located at the rear of the extension part 120, and the second obstacle detection sensor 140 is located at the front of the extension part 120. In this case, the detection direction of the first obstacle detection sensor 130 (the direction of the first optical axis 132) is arranged towards the advancing direction of the mobile body 110. Similarly, the detection direction of the second obstacle detection sensor 140 (the direction of the second optical axis 142) is arranged towards 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 sensor 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 sensor 140 (the direction of the second optical axis 142) and the advancing direction of the mobile body 110 is not greater than 90 degrees.

[0119] 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.

[0120] Referring to FIGS. 11 and 12, the front sensor 150 is arranged at the 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 sensor 130 and the second obstacle detection sensor 140) is mainly used to detect the area around the extension part 120. In some embodiments, 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, which means that the detection direction of the obstacle detection assembly 160 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 sensor or structural components in a certain direction as much as possible, and thus can avoid the interference between the obstacle detection assembly 160 and the front sensor 150 and the performance sacrifice as much as possible.

[0121] The detection direction of the obstacle detection assembly 160 (the first obstacle detection sensor 130 and the second obstacle detection sensor 140) is different from the detection direction of the front sensor 150, which means that the direction of the optical axis of the obstacle detection assembly 160 is different from the direction of the optical axis of the front sensor 150.

[0122] In some embodiments, 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 angle between the optical axis of the obstacle detection component 160 (the first obstacle detector 130 or the second obstacle detector 140) and the optical axis of the forward sensor 150 is 180 degrees, which also indicates that the optical axis direction of the obstacle detection component 160 (the first obstacle detector 130 or the second obstacle detector 140) 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 (the first obstacle detector 130 or 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 obstacle detection component 160 (the first obstacle detector 130 or the second obstacle detector 140) and the detection direction of the forward sensor 150 are also at an angle.

[0123] The following takes the optical axis direction of the first obstacle detector 130 and the optical axis direction of the forward sensor 150 as an example to illustrate whether the directions are the same, and the judgment method of the second obstacle detector 140 is the same, which can be inferred by analogy, and will not be repeated here.

[0124] The optical axis of the forward 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 indicates that the optical axis direction of the first obstacle detector 130 is different from the optical axis direction of the forward sensor 150.

[0125] The optical axis of the forward 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 indicates that the optical axis direction of the first obstacle detector 130 is different from the optical axis direction of the forward sensor 150.

[0126] The optical axis of the forward 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 indicates that the optical axis direction of the forward sensor 150 is the same as the optical axis direction of the first obstacle detector 130.

[0127] Since the operation direction of the extension part 120 and the forward direction of the mobile body 110 are at an angle (the directions 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 are also at an angle, and the detection direction of the second obstacle detector 140 and the detection direction of the forward sensor 150 are also at an angle.

[0128] 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 much as possible without detection blind area, improve the detection effect of the extension part 120, and further reduce the case that the extension part 120 touches obstacles during work.

[0129] The detection direction of the first obstacle detector 130 is set 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 150. The detection directions of the two are different, which can as much as possible avoid the accumulation of sensors or structural components in a certain direction, and further as much as possible avoid the interference and performance sacrifice between the first obstacle detector 130 and the front sensor.

[0130] The detection direction of the second obstacle detector 140 is set at an angle with the detection direction of the front sensor 150, which means that 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 as much as possible avoid the accumulation of sensors or structural components in a certain direction, and further as much as possible avoid the interference and performance sacrifice between the second obstacle detector 140 and the front sensor.

[0131] 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.

[0132] In some embodiments, since the detection direction of the front sensor 150 is towards the advancing direction of the mobile body 110, that is, the front sensor 150 can be horizontally forward, can be inclined upward, or can be inclined downward. No matter which way is used, it can be considered that the detection direction of the front sensor 150 is forward. 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, which means that the detection direction of the first obstacle detector 130 is not along the advancing direction of the mobile body 110 or has no component along the advancing direction of the mobile body 110. Since the detection directions of the two are different, the accumulation of sensors or structural components in a certain direction can be as much as possible avoided, and further the interference and performance sacrifice between the obstacle detection assembly 160 and the front sensor can be as much as possible avoided.

[0133] In some embodiments, the first obstacle detector 130 can rotate relative to the extension part 120 under the driving of the bracket 162, and the angle between the detection direction of the first obstacle detector 130 and the detection direction of the front sensor 150 can be greater than or equal to 90 degrees. The angle between the detection direction of the first obstacle detector 130 and the detection direction of the front sensor 150 can be greater than or equal to 90 degrees when the first obstacle detector 130 is in the second position. The angle between the detection direction of the first obstacle detector 130 and the detection direction of the front sensor 150 can be greater than or equal to 90 degrees when the first obstacle detector 130 is in the first position, the second position, or any position between the first position and the second position.

[0134] In some embodiments, the angle between the detection direction of the second obstacle detector 140 and the detection direction of the front sensor 150 can be greater than or equal to 90 degrees.

[0135] In some embodiments, since the detection direction of the front sensor 150 is along the advancing direction of the mobile body 110, the detection direction of the front sensor 150 can be considered as forward. When the angle between the detection direction of the second obstacle detector 140 and the detection direction of the front sensor 150 is greater than or equal to 90 degrees, it means that the detection direction of the second obstacle detector 140 is not along the advancing direction of the mobile body 110 or has no component along the advancing direction of the mobile body 110. Since the detection directions of the two are different, the accumulation of sensors or structural components in a certain direction can be avoided as much as possible, and the interference between the obstacle detection assembly 160 and the front sensor and the performance sacrifice can be avoided as much as possible.

[0136] Similarly, since the second obstacle detector 140 can also rotate relative to the extension part 120 under the driving of the bracket 162 in some embodiments, the angle between the detection direction of the second obstacle detector 140 and the detection direction of the front sensor 150 can be greater than or equal to 90 degrees. The angle between the detection direction of the second obstacle detector 140 and the detection direction of the front sensor 150 can be greater than or equal to 90 degrees when the second obstacle detector 130 is in the second position. The angle between the detection direction of the second obstacle detector 140 and the detection direction of the front sensor 150 can be greater than or equal to 90 degrees when the second obstacle detector 140 is in the first position, the second position, or any position between the first position and the second position.

[0137] It should be noted that the first position of the first obstacle detector 130 and the first position of the second obstacle detector 140 are not the same position, and the second position of the first obstacle detector 130 and the second position of the second obstacle detector 140 are not the same position.

[0138] As shown in FIG. 11 and FIG. 12, in some embodiments, the extension part 120 includes a mounting section 121 and a connecting section 123, the mounting section 121 is connected to the mobile body 110 and the connecting section 123 respectively, the first obstacle detector 130 is located on the side of the mounting section 121 away from the connecting section 123, and the second obstacle detector 140 is located on the same side of the mounting section 121 as the connecting section 123. In some embodiments, the extension part 120 only includes the mounting section 121 and the connecting section 123, and the connecting section 123 is the outermost structure of the entire extension part 120, and the connecting section 123 can be the working part of the entire extension part 120, which can be the entire connecting section 123 as the working position (which can be the entire cleaning part), or only a part of the connecting section 123 away from the mounting section 121 as the working position (which can be the mechanical claw).

[0139] In addition, in other embodiments, the extension part 120 can include the mounting section 121, the connecting section 123, and the operation section 124 (as shown in FIG. 8 to FIG. 10), the connecting section 123 is connected to the mounting section 121 and the operation section 124 respectively, the mounting section 121 is mounted on the mobile body 110, and the operation section 124 is located in front of the mounting section 121 along the operation direction of the extension part 120, and the second obstacle detector 140 is mounted on the mounting section 121.

[0140] In the case of the extension part 120 including the mounting section 121, the connecting section 123, and the operation section 124, the operation section 124 is the outermost structure of the entire extension part 120, and the operation section 124 can be the working part of the entire extension part, which can be the entire operation section 124 as the working position (which can be the entire cleaning part), or only a part of the operation section 124 away from the connecting section 123 as the working position (which can be the mechanical claw).

[0141] 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 operation section 124), or four or five sections. Regardless of the number of sections included in the extension part 120, the outermost structure of the extension part 120 can be the working part of the entire extension part 120 (in the case of two sections, the connecting section 123 is the outermost structure, and the connecting section 123 is the working part; in the case of three sections, the operation section 124 is the outermost structure, and the operation section 124 is the working part).

[0142] For the convenience of description, the following description is taken as an example that the extension part 120 includes the mounting section 121 and the connecting section 123 (as shown in FIG. 4 and FIG. 5). In some embodiments, the connecting section 123 can be the working part of the entire extension part 120. 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 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.

[0143] During the operation of the extension part 120, obstacles are more likely to be touched in the front or above of the extension part 120. The first obstacle detector 130 is arranged at the rear of the extension part 120, and mainly detects the areas at the rear, side, front, side front and upper front of the extension part 120. The second obstacle detector 140 is arranged at the front of the extension part 120, and mainly detects the areas at the front and upper front of the extension part 120, and mainly detects the blind area of the first obstacle detector 130, so that the surrounding of the extension part 120 is basically free of blind area, thereby enabling the extension part 120 to detect the areas around the extension part 120 in all directions, and improving the accuracy of detecting obstacles.

[0144] In some embodiments, the extension direction of the connecting section 123 is arranged at an angle with the advancing direction of the mobile body 110.

[0145] In some embodiments, the extension direction of the connecting section 123 is the operation direction of the entire extension part 120, and the operation direction of the extension part 120 is arranged at an angle with the advancing direction of the mobile body 110, so that the advancing direction of the mobile body 110 and the operation direction of the extension part 120 can be separated, and the working between them is independent of each other, thereby reducing the limitation of the moving direction, limiting the operation space of the extension part 120, and improving the working range of the extension part 120.

[0146] In some embodiments, the extension direction of the connecting section 123 and the advancing direction of the mobile body 110 have the following positions. Alternatively, the extension direction of the connecting section 123 and the advancing direction of the mobile body 110 are opposite (as shown in FIG. 11 and FIG. 12). That is, the operation direction of the connecting section 123 is located at the rear of the entire mobile body 110, so that the extension part 120 can clean the area at the rear of the mobile body 110.

[0147] In some embodiments, the connecting section 123 can also be located on the left side of the mounting section 121 along the advancing direction of the mobile body 110 (as shown in FIG. 13). That is, during the wall-following operation of the mobile body 110, if the wall is located on the left side of the mobile body 110, the connecting section 123 can clean the other side of the wall. Alternatively, the connecting section 123 can be located on the right side of the mounting section 121 (as shown in FIG. 14). That is, during the wall-following operation of the mobile body 110, if the wall is located on the right side of the mobile body 110, the connecting section 123 can clean the other side of the wall.

[0148] In some embodiments, it should be noted that the position between the connecting section 123 and the mobile body 110 can be fixed, that is, in the case that the connecting section 123 protrudes out of the mobile body 110, the connecting section 123 can be fixed to the rear side or the left side or the right side of the mobile body 110. In addition, the position between the connecting section 123 and the mobile body 110 can also be movable, and the relative position between the connecting section 123 and the mobile body 110 can be adjusted according to the position to be cleaned.

[0149] In some embodiments, it is also mentioned that the above lists different connection modes between the extension part 120 and the mobile body 110. The connection can be fixed or movable. If the position of the connecting section 123 on the mobile body 110 is fixed, the position of the connecting section 123 relative to the mobile body 110 will not change after the extension part 120 protrudes out of the mobile body 110.

[0150] In some embodiments, if the extension part 120 protrudes out of the mobile body 110, the connecting section 123 is located behind the mounting section 121. During the entire operation process, the connecting section 123 will always be located behind the mounting section 121, and the position of the connecting section 123 relative to the mobile body 110 will not change. If the extension part 120 protrudes out of the mobile body 110, the connecting section 123 is located on the left side of the mounting section 121. During the entire operation process, the connecting section 123 will always be located on the left side of the mobile body 110, and the position of the connecting section 123 relative to the mobile body 110 will not change. If the extension part 120 protrudes out of the mobile body 110, the connecting section 123 is located on the right side of the mounting section 121, and during the entire operation process, the connecting section 123 will always be located on the right side of the mobile body 110, and the position of the connecting section 123 relative to the mobile body 110 will not change.

[0151] If the whole extension part 120 can move relative to the moving body 110, so that the connecting section 123 can be located in different directions of the mounting section 121, that is, the position of the connecting section 123 relative to the moving body 110 can be adjusted during the whole working process. The position of the connecting section 123 can be adjusted according to different cleaning positions. In some embodiments, if the area on the left side of the moving body 110 needs to be cleaned, the connecting section 123 can be located on the left side of the operating section 121. If the area on the right side of the moving body 110 needs to be cleaned, the connecting section 123 can be located on the right side of the operating section 121. In some embodiments, the position of the connecting section 123 relative to the moving body 110 can change, that is, the mounting section 121 is fixed relative to the moving body 110, and the connecting section 123 rotates relative to the mounting section 121. Alternatively, the mounting section 121 rotates relative to the moving body 110, and drives the mounting section 121 to rotate relative to the moving body 110.

[0152] Whether the operating direction of the extension part 120 is the same as the advancing direction of the moving body 110 or not, 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.

[0153] It should be noted that, since the first obstacle detector 130 can rotate relative to the extension part 120 under the drive of the bracket 162, the positions and parameters of the first obstacle detector 130 described below can be the positions and parameters of the first obstacle detector 130 at the second position, or can be the parameters at any position between the first position, the second position, the first position and the second position.

[0154] In some embodiments, similarly, if the second obstacle detector 140 can also rotate relative to the extension part 120 under the drive of the bracket 162, the positions and parameters of the second obstacle detector 140 described below can be the positions and parameters of the second obstacle detector 140 at the second position, or can be the parameters at any position between the first position, the second position, the first position and the second position.

[0155] Please refer to FIG. 15, FIG. 16 and FIG. 17, 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.

[0156] In some embodiments, the detection area includes a field of view angle and a detection distance. The field of view angle can be considered as the opening angle of the first obstacle detector 130 or the second obstacle detector 140, or can be considered as the width of the first obstacle detector 130 or the second obstacle detector 140. The detection distance can be considered as the length of the first obstacle detector 130 or the second obstacle detector 140.

[0157] The first detection area 131 has a larger width, i.e., a larger detection area 131, when the first obstacle detector 130 has a larger field of view angle under the condition that the detection distance of the first obstacle detector 130 is unchanged. The first detection area 131 has a smaller width, i.e., a smaller detection area 131, when the first obstacle detector 130 has a smaller field of view angle. Similarly, the second detection area 141 has a larger width, i.e., a larger detection area 141, when the second obstacle detector 140 has a larger field of view angle under the condition that the detection distance of the second obstacle detector 140 is unchanged. The second detection area 141 has a smaller width, i.e., a smaller detection area 141, when the second obstacle detector 140 has a smaller field of view angle.

[0158] The first obstacle detector 130 has a larger field of view angle than the second obstacle detector 140, which means that the first detection area 131 is larger than the second detection area 141 under the condition that the detection distances are the same. Since the first obstacle detector 130 is arranged at the rear of the extension part 120 and the second obstacle detector 140 is arranged at the front of the extension part 120, the first detection area 131 is larger and can detect most of the rear, side front, front and upper front areas of the extension part 120, so that most of the areas can be detected by one sensor and the number of sensors can be reduced. Since the second obstacle detector 140 is located at the front of the extension part 120 and is mainly used to detect the front and upper front areas of the extension part 120 and the blind area of the first obstacle detector 130, the detection area is relatively small and a sensor with a smaller field of view angle can be selected.

[0159] For obstacle sensors, the size of the field of view angle is positively correlated with the cost, i.e., the larger the field of view angle, the higher the cost, and the smaller the field of view angle, the lower the cost. The first obstacle detector 130 has a larger field of view angle and the second obstacle detector 140 has a smaller field of view angle, so that the overall cost can be reduced under the condition that there is no blind area around the extension part 120 by using two sensors with different field of view angles.

[0160] In some embodiments, the first detection area 131 is conical or conical, so that the field of view angle of the first obstacle detector 130 is not an angle in a certain direction, but a three-dimensional angle. For example, the first detection area 131 is conical, and the field of view angle of the first obstacle detector 130 includes a first horizontal angle a1 and a first vertical angle b1. Similarly, for example, the second detection area 141 is conical, and the field of view angle of the second obstacle detector 140 includes a second horizontal angle a2 and a second vertical angle b2.

[0161] The first lateral angle a1 can be considered as the detection range of the first obstacle detector 130 in the horizontal direction, and the first vertical angle b1 can be considered as the detection range of the first obstacle detector 130 in the vertical direction. The second lateral 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.

[0162] The field of view angle of the first obstacle detector 130 is greater than that of the second obstacle detector 140 at least in that the first lateral angle a1 is greater than the second lateral angle a2, that is, the first lateral angle a1 can be greater than the second lateral angle a2, or the first lateral angle a1 can be greater than the second lateral angle a2 and the first vertical angle b1 can be greater than the second vertical angle b2.

[0163] Since the first obstacle detector 130 is arranged at the rear of the extension part 120, and the second obstacle detector 140 is arranged at the front of the extension part 140, the first lateral angle a1 being greater than the second lateral angle a2 can make the first obstacle detector 130 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.

[0164] In some embodiments, the field of view angle of the first obstacle 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.

[0165] In some embodiments, the first lateral angle a1 can be considered as the detection range of the first obstacle detector 130 in the horizontal direction, and the first vertical angle b1 can be considered as the detection range of the first obstacle detector 130 in the vertical direction, so that the field of view angle of the first obstacle detector 130 is approximately conical, and the first lateral angle a1 of 80-120 degrees makes the detection angle of the first obstacle detector 130 in the horizontal direction larger, and can basically cover the area at the rear, side, and front of the extension part 120, so that no additional sensor needs to be arranged or installed for detecting the area at the side of the front, thereby reducing the number of sensors and reducing costs.

[0166] In some embodiments, the first lateral angle a1 can be 80 degrees, 90 degrees, 100 degrees, 110 degrees, 118 degrees, etc.

[0167] The first vertical angle b1 of the first obstacle detector 130 is 20-60 degrees, so that the first obstacle detector 130 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 first obstacle detector 130 has a certain detection range in the vertical direction, so that the first obstacle 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.

[0168] In some embodiments, the first vertical angle b1 can be 25 degrees, 30 degrees, 35 degrees, 40 degrees, 45 degrees, 50 degrees, 55 degrees, etc.

[0169] In some embodiments, 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 first obstacle 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 touching the obstacle as much as possible during the working process.

[0170] It should be noted that in some embodiments, since the first obstacle detector 130 can rotate relative to the extension part 120, the first horizontal angle a1 can be the angle of the first obstacle detector 130 at a certain position, and can be the included angle between the left and right edges of the detection range of the first obstacle detector 130 in the horizontal direction in the active area. The first vertical angle b1 can be the angle of the first obstacle detector 130 at a certain position, and can be the included angle between the left and right edges of the detection range of the first obstacle detector 130 in the vertical direction in the active area.

[0171] In some embodiments, the optical axis of the first obstacle detector 130 is arranged towards the operation direction of the extension part 120.

[0172] In some embodiments, the optical axis of the first obstacle detector 130 can be considered as the center of the entire field of view angle of the first obstacle detector 130. Since the first obstacle detector 130 is arranged behind the extension part 120, the optical axis of the first obstacle detector 130 can be arranged in the forward direction of the mobile body 110, that is, in the forward direction, the first obstacle detector 130 can be located on the diameter coinciding with the operation direction of the extension part 120, so that the first obstacle detector 130 can be located at the middle position 22 of the mobile body 110, thereby making the detection area of the first obstacle detector 130 on the left and right sides of the extension part 120 approximately the same, and reducing the situation that the left or right side cannot be detected.

[0173] In some embodiments, the first obstacle detector 130 can be rotated relative to the extension portion 120 under the driving of the bracket 162, and the orientation of the optical axis of the first obstacle detector 130 towards the operation direction of the extension portion 120 can refer to the orientation of the optical axis of the first obstacle detector 130 towards the operation direction of the extension portion 120 when the first obstacle detector 130 is in the second position. It can also refer to the orientation of the optical axis of the first obstacle detector 130 towards the operation direction of the extension portion 120 when the first obstacle detector 130 is in the first position, the second position, or any position between the first position and the second position.

[0174] It is easy to understand that the orientation of the optical axis of the first obstacle detector 130 (the first optical axis 132) towards the operation direction of the extension portion 120 does not mean that the optical axis of the first obstacle detector 130 is parallel to the operation direction of the extension portion 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.

[0175] 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, and reflect the relative positional relationship between the first detection area 131 and the operation area of the extension portion 120.

[0176] Since the extension portion 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 portion 120 have a certain height difference, and the first obstacle detector 130 and the extension portion 120 have a certain distance. In the case that the distance between the first obstacle detector 130 and the extension portion 120 is unchanged, in order to be able to detect the area above and in front of the extension portion 120, the higher the extension portion 120 is, the larger the angle between the first obstacle detector 130 and the horizontal direction will be. The shorter the extension portion 120 is, the smaller the angle between the first obstacle detector 130 and the horizontal direction will be.

[0177] In some embodiments, similarly, in the case that the height of the extension portion 120 is unchanged, in order to be able to detect the area above and in front of the extension portion 120, the smaller the distance between the first obstacle detector 130 and the extension portion 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 portion 120, the smaller the angle between the first obstacle detector 130 and the horizontal direction will be.

[0178] 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 detection sensor 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 detection sensor 130 and the extension portion 120.

[0179] In some embodiments, the angle of the first optical axis 132 with respect to the horizontal direction can be 30 to 60 degrees in the advancing direction of the mobile body 110 (the direction indicated by the arrow X in each figure). The first obstacle detection sensor 130 is disposed behind the extension portion 120, and the distance between the first obstacle detection sensor 130 and the extension portion 120 is relatively large, and thus the angle of the first optical axis 132 with respect to the horizontal direction can be relatively small.

[0180] In other conditions (the height of the extension portion 120 and the distance between the first obstacle detection sensor 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.

[0181] 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 of the first detection region 131 and the less the vertical component. In this case, the more the horizontal component of the first detection region 131, the more the detection region in 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.

[0182] 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 of the first detection region 131 and the more the vertical component. In this case, the less the horizontal component of the first detection region 131, the less the detection region in 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.

[0183] The angle between the first optical axis 132 and the horizontal direction can be 30 degrees to 60 degrees. Although the horizontal component of the first detection area 131 is slightly different from the vertical component (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 of the first detection area 131 is substantially the same as the vertical component, so that the front-back direction (horizontal direction) of the extension part 120 of the first detection area 131 or the upper area (vertical direction) of the extension part 120 is substantially the same, and further, the first obstacle detector 130 can simultaneously consider the front-back direction and the upper area of the extension part 120, thereby improving the obstacle avoidance capability of the extension part 120.

[0184] In some embodiments, 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 upper area (vertical direction) of the extension part 120 is the same, and further, the first obstacle detector 130 can simultaneously consider the front-back direction and the upper area of the extension part 120, thereby improving the obstacle avoidance capability of the extension part 120.

[0185] In some embodiments, the field of view angle of the first obstacle 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 angle between the first edge 131c and the horizontal direction is greater than or equal to 0 degrees.

[0186] In some embodiments, the area between the first edge 131c and the second edge 131d is the detection range of the first obstacle detector 130 in the vertical direction, that is, the first vertical angle b1. The first edge 131c located below has an angle greater than or equal to 0 degrees with the horizontal direction, which means that the first edge 131c is horizontally arranged or obliquely arranged upward. If the first edge 131c is obliquely arranged 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.

[0187] 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 and is far away from the extension part 120, the first edge 131c can form a smaller angle with the horizontal direction, so that the first detection area 131 can cover the space above and in front of and behind the extension part 120 when projected onto 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.

[0188] In some embodiments, 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.

[0189] In some embodiments, the first edge 131c can form an angle with the horizontal direction at the second position. It can also form an angle with the horizontal direction at the first position, the second position, or any position between the first position and the second position.

[0190] In some embodiments, the second edge 131d can form an angle of less than or equal to 90 degrees with the horizontal direction.

[0191] The second edge 131d can form 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 all the first vertical angles b1 are arranged forward, and the first detection area 131 is arranged behind the extension part 120 due to the arrangement of the first obstacle detector 130. All the first vertical angles b1 are arranged forward, so that the first obstacle detector 130 can be arranged as much as possible to face the extension part 120, so that the first detection area 131 can be arranged as much as possible to overlap 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.

[0192] The first edge 131c can form an angle of greater than or equal to 0 degrees with the horizontal direction, and the second edge 131d can form an angle of less than or equal to 90 degrees with the horizontal direction. The first vertical angle b1 of the first obstacle sensor can be arranged horizontally or inclined, and can overlap the area in front of, above and beside the extension part 120 as much as possible, thereby improving the utilization rate of the first detection area 131.

[0193] In some embodiments, the angle between the second edge 131d and the horizontal direction can be 60-75 degrees. 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 is used to detect the space above the extension part 120, so that the first obstacle detector 130 has a short detection distance in front of the extension part 120. The angle between the second edge 131d and the horizontal direction can be 60-75 degrees, which can ensure the detection distance above while also having a certain detection distance in the operating direction of the extension part 120, thereby providing more time for the extension part 120 to avoid obstacles.

[0194] In some embodiments, the 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.

[0195] In some embodiments, the first obstacle detector 130 can be rotated relative to the extension part 120 under the driving of the bracket 162, and the angle between the second edge 131d and the horizontal direction can be the angle between the first obstacle detector 130 at the second position and the horizontal direction. It can also be the angle between the second edge 131d and the horizontal direction at the first position, the second position, or any position between the first position and the second position. In some embodiments, the distance between the first obstacle detector 130 and the extension part 120 is greater than the radius of the mobile body 110.

[0196] The mobile body 110 is generally cylindrical, the extension part 120 is generally arranged in front of the mobile body 110, and the first obstacle detector 130 is generally arranged behind the mobile body 110. The distance between the first obstacle detector 130 and the extension part 120 is greater than the radius of the mobile body 110, which can be considered as a relatively long distance between the first obstacle detector 130 and the extension part 120. Since the first detection area 131 is generally conical, the longer 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 effect.

[0197] In some embodiments, the first obstacle detector 130 is arranged on the diameter of the mobile body 110 in the forward direction.

[0198] Since the mobile body 110 is cylindrical, the diameter in the advancing direction is the longest distance in the advancing direction, 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 back of the mobile 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 mobile body 110 (the area in front of the side), so that the first obstacle detector 130 can detect both the area around the extension part 120 and the area around the mobile body 110, and the utilization rate of the first obstacle detector 130 can be improved.

[0199] 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 mobile body 110 in the advancing direction. In addition, in other embodiments, two, three or the like number of first obstacle detectors 130 can be arranged, and the number of first obstacle detectors 130 arranged can not be limited.

[0200] As shown in FIG. 18, when two first obstacle detectors 130 are arranged, the two first obstacle detectors 130 can be arranged symmetrically along the diameter of the mobile body 110 in the advancing direction. Since the first obstacle detector 130 is not arranged on the diameter of the mobile body 110 in the advancing direction, the first obstacle detector 130 is not arranged directly behind the extension part 120, that is, along the advancing direction of the mobile body 110, the two first obstacle detectors 130 are arranged offset from the extension part 120.

[0201] The optical axis (first optical axis 132) of the first obstacle detector 130 can be arranged obliquely towards the extension part 120. That is, the optical axis (first optical axis 132) of the two first obstacle detectors 130 is at an 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.

[0202] In other embodiments, when two first obstacle detectors 130 are arranged, the optical axis of the first obstacle detector 130 can also be arranged towards the operation direction of the extension part 120.

[0203] When three first obstacle detectors 130 are arranged, one can be arranged on the diameter of the mobile body 110 in the advancing direction, and the other two can be arranged symmetrically along the diameter of the mobile body 110 in the advancing direction. When the first obstacle detector 130 is arranged in other quantities, even numbers can refer to the arrangement when two are arranged, and odd numbers can refer to the arrangement when three are arranged.

[0204] Please refer to FIG. 15 to FIG. 17, the setting position and the parameters of the first obstacle detector 130 are introduced above, the setting position and the parameters of the second obstacle detector are introduced below.

[0205] 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 degrees to 60 degrees, and the second vertical angle b2 is 20 degrees to 60 degrees.

[0206] It should be noted that in some embodiments, since the second obstacle detector 140 can rotate relative to the extension part 120, the second horizontal angle a2 can be the angle of the second obstacle detector 140 at a certain position, and can be the included angle between the left and right edges of the detection range in the horizontal direction within the active area of the second obstacle detector 140. The second vertical angle b2 can be the angle of the second obstacle detector 140 at a certain position, and can be the included angle between the left and right edges of the detection range in the vertical direction within the active area of the second obstacle detector 140.

[0207] In some embodiments, 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.

[0208] 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 parts 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, the second horizontal angle a2 is 30 degrees to 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 areas 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 fully cover the surrounding 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).

[0209] The second vertical angle b2 of the second obstacle detector 140 is 20 degrees to 60 degrees, so that the second obstacle 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 detector 140 has a certain detection range in the vertical direction, so that the second obstacle 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.

[0210] In some embodiments, the extension part 120 can change its spatial position during operation, so that the position of the extension part 120 in the vertical direction changes. The second obstacle detector 140 has a detection area in the vertical direction, and can detect whether there is an obstacle in the area above the extension part 120, so as to avoid the extension part 120 from touching the obstacle during operation as much as possible.

[0211] It should be noted that the field of view angle of the first obstacle detector 130 and the field of view angle of the second obstacle detector 140 have an overlapping area, which is approximately in the front and upper front of the extension part 120. Since the mobile robot 100 moves forward in general, the first obstacle detector 130 and the second obstacle detector 140 have an overlapping area in the front, so that the mobile robot 100 can move forward, and the first obstacle detector 130 and the second obstacle detector 140 can detect obstacles, and the detection accuracy can be improved through the cooperation of the first obstacle detector 130 and the second obstacle detector 140.

[0212] 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, and reflect the relative position relationship between the second detection area 141 and the operation area of the extension part 120.

[0213] Since the extension part 120 protrudes from the mobile body 110 in the working state, and the second obstacle detector 140 is installed on the mobile body 110, the second obstacle detector 140 has a certain height difference with the extension part 120, and a certain distance with the extension part 120. In the case that the distance between the second obstacle 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 detector 140 and the horizontal direction is. The shorter the extension part 120 is, the smaller the angle between the second obstacle detector 140 and the horizontal direction is.

[0214] In some embodiments, similarly, in the case that the height of the extension part 120 is unchanged, in order to detect the area above and in front of the extension part 120, the smaller the distance between the second obstacle detector 140 and the extension part 120 is, the larger the angle between the second obstacle detector 140 and the horizontal direction is. The larger the distance between the second obstacle detector 140 and the extension part 120 is, the smaller the angle between the second obstacle detector 140 and the horizontal direction is.

[0215] Therefore, the angle between the second optical axis 142 and the horizontal direction is related to the height of the extension portion 120 and the distance between the second obstacle detector 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 detector 140 and the extension portion 120.

[0216] In some embodiments, the angle between the second optical axis 142 and the horizontal direction can be 60 degrees to 90 degrees along the advancing direction of the mobile body 110 (the direction indicated by the arrow X in each figure). The second obstacle detector 140 is arranged in front of the extension portion 120 and is relatively close to the extension portion 120, and therefore the angle between the second optical axis 142 and the horizontal direction can be relatively large.

[0217] In other conditions (the height of the extension portion 120 and the distance between the second obstacle detector 140 and the extension portion 120) are unchanged, the angle between the second optical axis 142 and the horizontal direction determines whether the second detection region 141 detects the region above the extension portion 120 or the front and rear regions.

[0218] 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 region 141 and the less the vertical component. In this case, the more the horizontal component of the second detection region 141, the more the detection region along the horizontal direction (the larger the detection distance in front of the extension portion 120) and the less the detection region above the extension portion 120.

[0219] 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 region 141 and the more the vertical component. In this case, the less the horizontal component of the second detection region 141, the less the detection region along the horizontal direction (the less the detection in front of the extension portion 120) and the more the detection region above the extension portion 120.

[0220] Since the distance between the second obstacle detector 140 and the extension portion 120 is very close, in order to enable the second obstacle detector 140 to detect the region above the extension portion 120, the second optical axis 142 needs to be as upward as possible, and the 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 arrangement can enable the second detection region 141 to be as upward as possible, and thus can detect the region above the extension portion 120.

[0221] In some embodiments, 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 second optical axis 142 has a large angle with the horizontal direction, so that the entire second detection area 141 can be arranged close to the vertical direction, so that the second obstacle avoidance detector 140 can detect a relatively high position (not close to the ground), thereby improving the obstacle avoidance capability of the extension part 120.

[0222] The 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 in front of the second extension part 120 while detecting the area above the second extension part 120, thereby improving the obstacle avoidance capability of the extension part 120. In some embodiments, the angle between the second optical axis 142 and the horizontal direction can be 65 degrees, 70 degrees, 75 degrees, 80 degrees, 85 degrees, etc.

[0223] 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 angle between the third edge 141c and the horizontal direction is greater than or equal to 0 degrees.

[0224] In some embodiments, 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 angle greater than or equal to 0 degrees with the horizontal direction, which means that the third edge 141c is arranged horizontally or inclined upward. If the third edge 141c is inclined 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.

[0225] 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 part 120 is relatively close, and the second vertical angle b2 is relatively small, in order to detect the area above the extension part 120, the angle between the third edge 141c and the horizontal direction cannot be too small, and if the angle is too small, the second detection area 141 cannot detect the area above the extension part 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 part 120 while detecting the area in front of the extension part 120, thereby improving the obstacle avoidance capability of the extension part 120.

[0226] In some embodiments, the third edge 141c can form an angle of 53 degrees, 56 degrees, 60 degrees, 63 degrees, 68 degrees, etc. with the horizontal direction. In some embodiments, the fourth edge 141d forms an angle less than or equal to 180 degrees with the horizontal direction.

[0227] The fourth edge 141d is the upper limit of the second detection area 141, and the fourth edge 141d forms an angle less than or equal to 180 degrees with the horizontal direction, which means that the fourth edge 141d is vertically arranged, tilted upward, or tilted backward. Since the second obstacle detector 140 is arranged in front of the extension part 120, the fourth edge 141d is tilted backward, so that the second detection area 141 can also detect the area behind the extension part 120, so that the second obstacle detector 140 can detect the areas in front of, above, and behind 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.

[0228] The third edge 141c forms an angle greater than or equal to 0 degrees with the horizontal direction, and the fourth edge 141d forms an angle less than or equal to 180 degrees with the horizontal direction. This makes the detection area of the second vertical angle b2 of the second obstacle sensor substantially horizontal or tilted toward the front, so that it can detect the areas in front, above, side, and behind the extension part 120, thereby improving the utilization rate of the detection area 141 of the second obstacle detector.

[0229] In some embodiments, the fourth edge 141d forms an angle of 90 degrees to 110 degrees with the horizontal direction.

[0230] Since the fourth edge 141d is the upper limit of the second detection area 141, and the front and upper parts of the extension part 120 are most likely to have obstacles, the fourth edge 141d forms an angle of 90 degrees to 110 degrees with the horizontal direction, so that the second obstacle detector 140 can mainly detect the areas in front and above 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.

[0231] In some embodiments, the fourth edge 141d can form an angle of 95 degrees, 98 degrees, 100 degrees, 105 degrees, 108 degrees with the horizontal direction.

[0232] In some embodiments, the second obstacle detector 140 can rotate relative to the extension part 120 under the driving of the bracket 162, and the angle between the third edge 141c and the horizontal direction can refer to the angle between the second obstacle detector 140 at the second position and the horizontal direction. It can also be the angle between the third edge 141c and the horizontal direction at the first position, the second position, or any position between the first position and the second position. The angle between the fourth edge 141d and the horizontal direction can refer to the angle between the second obstacle detector 140 at the second position and the horizontal direction. It can also be the angle between the fourth edge 141d and the horizontal direction at the first position, the second position, or any position between the first position and the second position. 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. In some embodiments, the first set plane is perpendicular to the operation direction and the extension part 120 is located between the second obstacle sensor 140 and the first set plane.

[0233] It should be noted that the first set plane is a virtual plane, not the entity plane of the entire mobile robot 100. The first set plane is located on the side of the extension part 120 away from the second obstacle sensor 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 second obstacle detector 140 can cover all areas in front of the extension part 120 (front, side front, and top front). The detection area 141 of the second obstacle 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.

[0234] In some embodiments, if there are multiple second obstacle 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.

[0235] The above describes the setting positions and various parameters of the first obstacle detector 130 and the second obstacle detector 140. The following will list different embodiments in combination with the number, setting position, and optical axis orientation of the second obstacle detector 140.

[0236] It should be noted that since at least one of the first obstacle detector 130 and the second obstacle detector 140 can rotate relative to the extension part 120, the following multiple embodiments are the setting positions and optical axis orientations when fixed at the second position.

[0237] If the first obstacle detector 130 and the second obstacle detector 140 can rotate relative to the extension part 120, the following embodiments refer to the embodiments in which the first obstacle detector 130 and the second obstacle detector 140 are both located at the second position. If only the first obstacle detector 130 or the second obstacle detector 140 can rotate relative to the extension part 120, the following listed embodiments refer to different embodiments in which the first obstacle detector 130 or the second obstacle detector 140 is located at the second position.

[0238] In some embodiments, only one second obstacle detector 140 can be provided. When only one second obstacle detector 140 is provided, the second obstacle detector 140 can be arranged in front of the extension part 120 (as shown in FIGS. 15, 16 and 17), and the optical axis of the second obstacle detector 140 is arranged 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.

[0239] Since there is only one second obstacle detector 140, the second obstacle detector 140 is arranged in front of the extension part 120, which can make the second detection area 141 as much as possible to take into account the surrounding area in front of the left and right of the extension part 120, and can improve the obstacle avoidance ability of the extension part 120.

[0240] As shown in FIGS. 19, 20 and 21, in some other embodiments, the second obstacle detector 140 is multiple, and the multiple second obstacle detectors 140 are arranged staggered.

[0241] Since the field of view angle of the second obstacle detector 140 is small, multiple second obstacle detectors 140 can be arranged in front of the extension part 120, and the multiple second obstacle detectors 140 are arranged staggered, which means that the multiple second obstacle detectors 140 are arranged at different positions, so that the detection areas 141 of the multiple second obstacle detectors are at least partially not overlapped, thereby increasing the detection range in front of the extension part 120 and improving the detection accuracy.

[0242] In some embodiments, the detection areas 141 of the multiple second obstacle detectors can be overlapped or not overlapped. That is, the multiple second optical axes 142 can be along the same direction or different directions. No specific limitation can be made.

[0243] In some embodiments, the multiple second obstacle detectors 140 are all mounted on the mobile body 110.

[0244] In the working state, the extension part 120 is arranged on the mobile body 110. In the non-working state, the extension part 120 can be retracted into the mobile body 110. The plurality of second obstacle detectors 140 can be mounted on the mobile body 110, and the second obstacle detectors 140 do not move with the extension part 120, so that the extension part 120 and the second obstacle detectors 140 are independent of each other, thereby reducing the influence of the extension part 120 on the second obstacle detectors 140 during operation.

[0245] In some embodiments, the plurality of second obstacle detectors 140 are respectively located on different sides of the extension part 120 in a direction that is at an angle to the operation direction of the extension part 120 (as shown in FIGS. 19, 20 and 21).

[0246] The plurality of second obstacle detectors 140 can be arranged on different sides of the extension part 120. For example, when the number of second obstacle detectors 140 is two, the second obstacle detectors 140 can be arranged on the left and right sides of the extension part 120, respectively. When the number of second obstacle detectors 140 is three, one can be arranged on the left side of the extension part 120, one on the right side of the extension part 120, and the other on the front side of the extension part 120.

[0247] The plurality of second obstacle detectors 140 are respectively located on different sides of the extension part 120, so that the second obstacle detectors 140 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, avoiding detection blind area, thereby improving the detection accuracy of the surroundings of the extension part 120.

[0248] In some embodiments, the second optical axis 142 is parallel to the operation direction of the extension part 120.

[0249] When the number of second obstacle detectors 140 is one (as shown in FIGS. 15, 16 and 17), the second obstacle detector 140 can be located directly in 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 detector 140 on the left and right sides of the extension part 120 are approximately the same, and the second detection area 141 can take into account the surrounding areas on the left and right front sides of the extension part 120 as much as possible, thereby improving the obstacle avoidance ability of the extension part 120.

[0250] In some embodiments, in addition to this, when the number of second obstacle detectors 140 is a plurality (as shown in FIGS. 11, 12 and 13), the plurality of second optical axes 142 can be arranged towards the operation direction of the extension part 120, so that the second obstacle detectors 140 can detect the area in front of the extension part 120. The plurality of second optical axes 142 are parallel, but adjacent two second detection areas 141 can partially overlap or not overlap.

[0251] The part of the detection area 141 of the two adjacent second detection areas 141 is arranged in overlapping manner, so that the part of the front area of the extension part 120 is simultaneously detected by the two second obstacle avoidance detectors 140, and the cooperation of the two second obstacle avoidance detectors 140 can improve the obstacle avoidance ability of the front area of the extension part 120.

[0252] For example, in the case of two second obstacle avoidance detectors 140 (as shown in FIG. 11, FIG. 12 and FIG. 13), the two second obstacle avoidance detectors 140 are symmetrically arranged along the operation direction of the extension part 120. Since the field angles of the two second obstacle avoidance detectors 140 are the same, the overlapping area of the two second detection areas 141 is in the front of the extension part 120. In the process of following the mobile body 110 to move forward, the front area is most likely to touch the obstacle, and the area in the front is simultaneously detected by the two second obstacle avoidance detectors 140, which can also improve the obstacle avoidance ability of the extension part 120.

[0253] Please refer to FIG. 19, FIG. 20 and FIG. 21. In some embodiments, the second optical axis 142 is arranged in inclined manner towards the extension part 120.

[0254] In the case of multiple second obstacle avoidance detectors 140, the multiple second optical axes 142 are all arranged in inclined manner towards the extension part 120. That is, if the second obstacle avoidance detector 140 is arranged on the left side of the extension part 120, the optical axis is arranged in inclined manner towards the right. If the second obstacle avoidance detector 140 is arranged on the right side of the extension part 120, the optical axis is arranged in inclined manner towards the left.

[0255] The second obstacle avoidance detectors 140 are arranged on the side edges of the extension part 120, and the second optical axes 142 are arranged in inclined manner 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 in inclined manner towards the extension part 120, so that the detection areas 164 of the multiple obstacle avoidance detectors can coincide in front of the extension part 120, and thus the multiple second obstacle avoidance 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 avoidance detectors 140, the other second obstacle avoidance detectors 140 can also work, which improves the overall obstacle avoidance effect.

[0256] In some embodiments, the second optical axis 142 is inclined towards the extension part 120, so that the detection area 141 of the second obstacle detector can pass 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, and due to the inclined arrangement of the optical axis, 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, and due to the inclined arrangement of the optical axis, 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.

[0257] By such an arrangement, in cooperation with the plurality of second obstacle detectors 140, the area in front of the extension part 120 (left front and right front) can be detected, the plurality of second detection areas 141 are increased, and thus the detection range of the plurality of second obstacle detectors 140 on the extension part 120 can be improved, and the obstacle avoidance capability of the extension part 120 during operation is improved.

[0258] In some embodiments, the inclination angle C of the second optical axis 142 towards the extension part 120 is 0-45 degrees.

[0259] In some embodiments, the inclination angle C refers to the inclination angle of the optical axis with respect to the forward direction of the mobile body 110. Since the detection area 141 of the second obstacle detector is constant, the second optical axis 142 is inclined towards the extension part 120, so that the detection area 141 of the second obstacle detector has components in both the forward direction and the direction perpendicular to the forward direction. The smaller the inclination angle C of the second optical axis 142 towards the extension part 120, the longer the detection distance of the second obstacle detector 140 in the operation direction of the extension part 120. The larger the inclination angle C of the second optical axis 142 towards the extension part 120, the shorter the detection distance of the second obstacle detector 140 in the operation direction of the extension part 120.

[0260] The shorter the detection distance of the second obstacle detector 140 in the operation direction of the extension part 120, the shorter the obstacle avoidance time of the extension part 120, and the more likely it is that the obstacle avoidance cannot be performed in time. The inclination angle C of the second obstacle detector 140 is between 0 and 45 degrees, so that the detection length in the forward direction can be longer, and the main detection area of the second obstacle detector 140 is in front of the extension part 120, so that the detection distance of the second obstacle detector 140 in front of the extension part 120 can be ensured, and thus the obstacle avoidance time of the extension part 120 can be increased, and the situation of touching the obstacle can be avoided as much as possible.

[0261] In some other embodiments, the second optical axis 142 is perpendicular to the operation direction of the extension part 120, as shown in FIGS. 22, 23 and 24.

[0262] The operation direction can be set along a horizontal direction, in which case the second optical axis 142 can be set vertically, so that the second obstacle detector 140 mainly detects the space above the extension part 120, and the number of the second obstacle detectors 140 can be set to be multiple, and the multiple second obstacle detectors 140 are arranged at different positions of the extension part 120 respectively, and can detect different regions of the extension part 120.

[0263] During the advancement of the mobile body 110, obstacles are more likely to be encountered in front of or above the mobile robot 100, and the upward arrangement of the second obstacle detector 140 enables the second obstacle detector 140 to detect the regions in front of and above the extension part 120, so that the extension part 129 can avoid obstacles and reduce the risk of collision.

[0264] Please refer to FIGS. 25-30, in some embodiments, when the second obstacle detector 140 is two, one of the second obstacle detectors 140 is installed on the mobile body 110, and the other second obstacle detector 140 is installed on the extension part 120.

[0265] Since the second obstacle detectors 140 are all arranged in front of the extension part 120, the second obstacle detectors 140 can be arranged on the mobile body 110 or on the extension part 120, and can all detect the region in front of the extension part 120. When the second obstacle detector 140 is arranged on the extension part 120, the second obstacle detector 140 can be arranged at different positions of the extension part 120, and in some embodiments, the arrangement of the optical axis of the second obstacle detector 140 at different positions of the extension part 120 will be introduced below.

[0266] Please refer to FIGS. 25, 26 and 27, in some embodiments, the extension part 120 includes a mounting section 121, a connecting section 123 and an operation section 124, and the connecting section 123 connects the mounting section 121 and the operation section 124 respectively. The mounting section 121 is mounted on the mobile body 110, and along the operation direction of the extension part 120, the operation section 124 is located in front of the mounting section 121, and the second obstacle detector 140 is mounted on the mounting section 121. The second optical axis 142 mounted on the mobile body 110 is arranged obliquely upward, and the second optical axis 142 mounted on the mounting section 121 is arranged horizontally.

[0267] In some embodiments, the operation direction refers to the extension direction of the connecting section 123, that is, the operation direction can be considered as the direction from the mounting section 121 to the operation section 124. Since the mounting section 121, the connecting section 123 and the operation section 124 can be fixedly connected or movably connected, the operation direction can be a fixed direction or a non-fixed direction. The operation direction can be a horizontal direction, an inclined direction with a certain angle with the horizontal plane, or any other direction.

[0268] In some embodiments, the extension 120 can be accommodated inside the mobile body 110, and the second obstacle detector 140 is mounted on the mounting section 121. The second obstacle detector 140 can detect whether an obstacle is encountered during the extension 120 is being accommodated or withdrawn. No other sensor is needed to detect the accommodation and withdrawal of the extension 120.

[0269] 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. 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.

[0270] The second optical axis 142 mounted 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 120. The second optical axis 142 mounted 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 120, thereby avoiding the occurrence of a blind area in front of the extension 120 as much as possible.

[0271] Taking the extension 120 as a mechanical arm, the operation section 124 is located at the outermost part of the entire extension 120, and the operation section 124 is the working position of the entire mechanical arm. The entire operation section 124 can be the working position (a cleaning part can be arranged), or only a part of 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, thereby maximizing the use of the second detection area 141.

[0272] Please refer to FIG. 28, FIG. 29 and FIG. 30, in some other embodiments, the extension part 120 includes a mounting segment 121, a connecting segment 123 and an operating segment 124, the connecting segment 123 connects the mounting segment 121 and the operating segment 124 respectively, the mounting segment 121 is mounted on the mobile body 110, the operating segment 124 is located in front of the mounting segment 121 along the operating direction of the extension part 120, and the second obstacle detection device 140 is mounted on the operating segment 124. The second optical axis 142 mounted on the mobile body 110 is arranged obliquely upward, and the second optical axis 142 mounted on the operating segment 124 is arranged obliquely downward.

[0273] Since the operating segment 124 is arranged in front of the mounting segment 121, mounting the second obstacle detection device 140 on the operating segment 124 can reduce the situation that the detection area 141 of the second obstacle detection device is blocked by the operating segment 124. Since the operating segment 124 is located above the mounting segment 121, the second obstacle detection device 140 can be arranged obliquely downward and can detect the area directly in front of the operating segment 124.

[0274] Taking the extension part 120 as an example of a mechanical arm, the operating segment 124 is the working position of the entire mechanical arm, which can be the entire operating segment 124 (which can be the entire cleaning part) or only a segment of the operating segment 124 away from the connecting segment 123 (which can be a mechanical gripper). The mounting segment 121 and the connecting segment 123 are connecting arms of the mechanical arm, and the mounting segment 121 and the connecting segment 123 have a certain degree of freedom therebetween. The second obstacle detection device 140 can be arranged obliquely downward and can detect the area directly in front of the operating segment 124.

[0275] During the advancement of the mobile body 110, obstacles are more likely to be touched in front of or above the mobile robot 100. The upward arrangement of the second obstacle detection device 140 enables the second obstacle detection device 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 touching obstacles.

[0276] Based on the same inventive concept, the embodiments of the present disclosure also provide a robot system 1000, which includes a base station 300 and the mobile robot 100 described above, and the mobile robot 100 is detachably connected to the base station 300. Please refer to FIG. 31.

[0277] In the first aspect, the embodiments of the present disclosure provide a mobile robot, which includes: a mobile body and an extension part arranged on the mobile body; and an obstacle detection assembly movably mounted on the mobile body and capable of adjusting a detection area of the obstacle detection assembly.

[0278] In some embodiments of the present disclosure, the obstacle avoidance detection assembly is movably mounted on the mobile body, so that the obstacle avoidance detection assembly can adjust its position relative to the mobile body, i.e., the position between the obstacle avoidance detection assembly and the extension part can be adjusted, so that the detection area of the obstacle avoidance detection assembly can move relative to the extension part, so that the detection area of the obstacle avoidance detection assembly is a movable area, which can increase the detection range of the obstacle avoidance detection area, so that the detection range of the obstacle avoidance detection assembly can cover the periphery of the extension part as much as possible, improve the accuracy of obstacle avoidance detection, and reduce the risk of the extension part touching obstacles during operation.

[0279] In some embodiments of the present disclosure, the mobile body has a mounting slot, and the obstacle avoidance detection assembly can be mounted in the mounting slot.

[0280] In some embodiments of the present disclosure, when the obstacle avoidance detection assembly is located outside the mounting slot, the obstacle avoidance detection assembly can detect the peripheral environment of the extension part.

[0281] In some embodiments of the present disclosure, when the obstacle avoidance detection assembly is located outside the mounting slot, the detection area of the obstacle avoidance detection assembly at least partially overlaps at least part of the extension part.

[0282] In some embodiments of the present disclosure, when the obstacle avoidance detection assembly is located outside the mounting slot, the obstacle avoidance detection assembly can detect the peripheral environment of the mobile body.

[0283] In some embodiments of the present disclosure, the obstacle avoidance detection assembly comprises a lifting member, a bracket, and an obstacle avoidance detector mounted on the bracket, the lifting member is connected with the bracket and can drive the bracket to be accommodated in the mounting slot or to extend out of the mounting slot.

[0284] In some embodiments of the present disclosure, the obstacle avoidance detection assembly comprises a turnover member, a bracket, and an obstacle avoidance detector mounted on the bracket, the turnover member is in transmission connection with the bracket and can drive the bracket to rotate relative to the mobile body.

[0285] In some embodiments of the present disclosure, the turnover member can drive the obstacle avoidance detector to rotate in a non-horizontal plane through the bracket.

[0286] In some embodiments of the present disclosure, the bracket can drive the obstacle avoidance detector to rotate between a first position and a second position.

[0287] In some embodiments of the present disclosure, the obstacle avoidance detector can hover at the first position, the second position, or any position between the first position and the second position.

[0288] In some embodiments of the present disclosure, the obstacle detection assembly comprises a bracket, a lifting member, a turning member, and an obstacle detector mounted on the bracket, the lifting member is connected with the bracket and can drive the bracket to be contained in the mounting slot or extended out of the mounting slot, and the turning member is in transmission connection with the bracket and can drive the bracket to rotate relative to the mobile body.

[0289] In some embodiments of the present disclosure, the distance between the obstacle detection assembly and the extension part is greater than the radius of the mobile body.

[0290] In some embodiments of the present disclosure, the obstacle detector comprises a first obstacle detector and a second obstacle detector, and along the operation direction of the extension part, the first obstacle detector is arranged behind the extension part, and the second obstacle detector is arranged in front of the extension part.

[0291] In some embodiments of the present disclosure, the field of view angle of the obstacle detector comprises a first horizontal angle and a first vertical angle, the first horizontal angle is 30-60 degrees, and the first vertical angle is 20-60 degrees.

[0292] In some embodiments of the present disclosure, the angle between the optical axis of the first obstacle detector and the horizontal direction is 30-60 degrees.

[0293] In some embodiments of the present disclosure, the field of view angle of the 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.

[0294] In some embodiments of the present disclosure, the angle between the first edge and the horizontal direction is 15-30 degrees.

[0295] In some 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.

[0296] In some embodiments of the present disclosure, the angle between the second edge and the horizontal direction is 60-75 degrees.

[0297] In some embodiments of the present disclosure, the field of view angle of the second obstacle 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.

[0298] In some embodiments of the present disclosure, the angle between the second optical axis and the horizontal direction is 60-90 degrees.

[0299] In some embodiments of the present disclosure, the field of view 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 an angle between the third edge and the horizontal direction is greater than or equal to 0 degrees.

[0300] In some embodiments of the present disclosure, the angle between the third edge and the horizontal direction is 50 degrees to 70 degrees.

[0301] In some embodiments of the present disclosure, the field of view 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 an angle between the fourth edge and the horizontal direction is less than or equal to 180 degrees.

[0302] In some embodiments of the present disclosure, the angle between the fourth edge and the horizontal direction is 90 degrees to 110 degrees.

[0303] In some 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.

[0304] In a second aspect, embodiments of the present disclosure provide a robot system, comprising a base station and the mobile robot described above, and the mobile robot is detachably connected with the base station.

[0305] The robot system provided in the second aspect has the same beneficial effects as the mobile robot provided in the first aspect, which will not be described herein.

[0306] In the description of the present specification, the description of the terms "one embodiment", "some embodiments", "an example", "a specific example", or "some examples" means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present disclosure. In the present specification, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and integrate different embodiments or examples described in the present specification.

[0307] In addition, the technical solutions of each embodiment can be combined with each other, but it must be based on the realization of a person skilled in the art, when the combination of technical solutions appears contradictory or cannot be realized, it should be considered that the combination of technical solutions does not exist, nor is it within the protection scope required by the present disclosure.

[0308] Although embodiments of the disclosure have been shown and described, it will be apparent to those having ordinary skill in the art that a number of changes, modifications, alternatives, and variations can be made to the embodiments without departing from the principles and spirit of the disclosure, the scope of which is defined by the claims and their equivalents.

Claims

1. A mobile robot, comprising: a mobile body and an extension provided to the mobile body; and an obstacle detection assembly movably mounted to the mobile body and capable of adjusting a detection area of the obstacle detection assembly.

2. The mobile robot of claim 1, wherein, The mobile body has a mounting slot, and the obstacle detection assembly is capable of being mounted to the mounting slot.

3. The mobile robot of claim 2, wherein, In a case where the obstacle detection assembly is located outside the mounting slot, the obstacle detection assembly is capable of detecting a peripheral environment of the extension.

4. The mobile robot of claim 3, wherein, In the case where the obstacle detection assembly is located outside the mounting slot, the detection area of the obstacle detection assembly at least partially overlaps at least part of the extension.

5. The mobile robot of claim 2, wherein, In the case where the obstacle detection assembly is located outside the mounting slot, the obstacle detection assembly is capable of detecting a peripheral environment of the mobile body.

6. The mobile robot of claim 2, wherein, The obstacle detection assembly comprises a lifting member, a bracket, and an obstacle detector mounted to the bracket, the lifting member is connected to the bracket and capable of accommodating the bracket in the mounting slot or extending outside the mounting slot.

7. The mobile robot of claim 1, wherein, The obstacle detection assembly comprises a turning member, a bracket, and an obstacle detector mounted to the bracket, the turning member is in transmission connection with the bracket and capable of driving the bracket to rotate relative to the mobile body.

8. The mobile robot of claim 7, wherein, The turning member is capable of driving the obstacle detector to rotate in a non-horizontal plane through the bracket.

9. The mobile robot of claim 7, wherein, The bracket is capable of driving the obstacle detector to rotate between a first position and a second position.

10. The mobile robot of claim 9, wherein, The obstacle detector is capable of hovering at the first position, the second position, or any position between the first position and the second position.

11. The mobile robot of claim 1, wherein, The obstacle detection assembly comprises a bracket, a lifting member, a turning member, and an obstacle detector mounted to the bracket, the lifting member is connected to the bracket and capable of accommodating the bracket in the mounting slot or extending outside the mounting slot, the turning member is in transmission connection with the bracket and capable of driving the bracket to rotate relative to the mobile body.

12. The mobile robot of any of claims 1-11, wherein, The distance between the obstacle detection assembly and the extension is greater than the radius of the mobile body.

13. The mobile robot of any of claims 1-11, wherein, The obstacle detector comprises a first obstacle detector and a second obstacle detector, along an operation direction of the extension, the first obstacle detector is disposed behind the extension, and the second obstacle detector is disposed in front of the extension.

14. The mobile robot of claim 13, wherein, The field of view angle of the first obstacle detector comprises a first horizontal angle and a first vertical angle, the first horizontal angle is 30-60 degrees, and the first vertical angle is 20-60 degrees.

15. The mobile robot of claim 14, wherein, The angle between the optical axis of the first obstacle detector and the horizontal direction is 30-60 degrees.

16. The mobile robot of claim 13, 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 below the second edge, and the angle between the first edge and the horizontal direction is greater than or equal to 0 degrees.

17. The mobile robot of claim 16, wherein, The angle between the first edge and the horizontal direction is 15-30 degrees.

18. The mobile robot of claim 14, 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 below the second edge, and the angle between the second edge and the horizontal direction is less than or equal to 90 degrees.

19. The mobile robot of claim 18, wherein, The angle between the second edge and the horizontal direction is 60-75 degrees.

20. The mobile robot of claim 13, wherein, The field of view angle of the second obstacle avoidance 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.

21. The mobile robot of claim 20, wherein, The included angle between the second optical axis and the horizontal direction is 60-90 degrees.

22. The mobile robot of claim 13, 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 included angle between the third edge and the horizontal direction is greater than or equal to 0 degrees.

23. The mobile robot of claim 22, wherein, The included angle between the third edge and the horizontal direction is 50-70 degrees.

24. The mobile robot of claim 13, 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 included angle between the fourth edge and the horizontal direction is less than or equal to 180 degrees.

25. The mobile robot according to claim 24, wherein, The included angle between the fourth edge and the horizontal direction is 90-110 degrees.

26. The mobile robot of any of claims 1-11, wherein, The extension is at least one of a mechanical arm, a mechanical hand, a clamping device, and a detection device.

27. A robot system comprising a base station and a mobile robot as claimed in any one of claims 1-26, the mobile robot being detachably connected to the base station.

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