CN215305543U

CN215305543U - Self-moving equipment

Info

Publication number: CN215305543U
Application number: CN202120801826.3U
Authority: CN
Inventors: 李连玉; 曹晶瑛
Original assignee: Beijing Rockrobo Technology Co Ltd
Current assignee: Beijing Stone Innovation Technology Co ltd
Priority date: 2021-04-19
Filing date: 2021-04-19
Publication date: 2021-12-28
Anticipated expiration: 2031-04-19

Abstract

The embodiment of the utility model discloses self-moving equipment, which comprises a main body; an ultrasonic sensing member and a sensing component; the sensing assembly comprises an ultrasonic sensing piece, a first laser sensing piece and a second laser sensing piece; the ultrasonic sensing piece is used for sensing the distance of a front obstacle, and is arranged on the periphery of the main body and below about 1/3 of the height of the main body; the first laser sensing piece is used for constructing an environment map where the mobile equipment is located according to the laser reflection signals and arranged on the main body; the second laser sensing piece is arranged below the height of about 1/2 of the main body and used for sensing topographic information; the main body is also provided with a control device which is electrically connected with the sensing assembly and controls the mobile equipment based on the signal provided by the sensing assembly. This from mobile device can improve the accuracy of sensing through the reasonable arrangement of multiple sensing piece, is favorable to the intelligent realization from mobile device.

Description

Self-moving equipment

Technical Field

The utility model relates to the field of cleaning equipment, in particular to self-moving equipment.

Background

The self-moving equipment refers to a device which does not need manual control in a to-be-worked area and automatically moves and works.

In order to improve the automation degree of the self-moving device, a sensor needs to be mounted on the self-moving device to realize functions of position sensing, navigation control, path planning, obstacle avoidance and the like. However, the existing self-moving device has a single sensor type, which is easily interfered by external environments such as light, and the sensing accuracy is reduced, or the sensor arrangement of the automatic moving cleaning device is not reasonable, and the sensing accuracy is also reduced.

SUMMERY OF THE UTILITY MODEL

In the summary section a series of concepts in a simplified form is introduced, which will be described in further detail in the detailed description section. The inventive content of the present invention is not intended to define key features or essential features of the claimed solution, nor is it intended to be used to limit the scope of the claimed solution.

The embodiment of the utility model provides self-moving equipment, which comprises a main body and a sensing assembly, wherein the main body comprises a first sensing surface and a second sensing surface;

the sensing assembly comprises an ultrasonic sensing piece, a first laser sensing piece and a second laser sensing piece;

an ultrasonic sensing member for sensing a distance of an obstacle in front, the ultrasonic sensing member being disposed at an outer periphery of the main body and below about 1/3 of a height of the main body;

the first laser sensing piece is used for constructing an environment map where the mobile equipment is located according to the laser reflection signals and arranged on the main body;

the second laser sensing piece is arranged below the height of about 1/2 of the main body and used for sensing topographic information;

the main body is also provided with a control device which is electrically connected with the sensing assembly and controls the mobile equipment based on the signal provided by the sensing assembly.

Optionally, the number of the ultrasonic sensing members is multiple, and the multiple ultrasonic sensing members are arranged around the periphery of the main body to form a single-layer surrounding distribution array or a multi-layer surrounding distribution array.

Optionally, the ultrasonic sensing member is disposed obliquely to the lower portion of the main body.

Optionally, the number of the first laser sensing parts and the second laser sensing parts is multiple, and the multiple first laser sensing parts and the multiple second laser sensing parts are arranged around the periphery of the main body.

Optionally, the sensing assembly further comprises a visual sensing assembly comprising a camera for capturing an image of the environment and identifying the obstacle based on the captured image of the environment.

Optionally, the second laser sensing piece further comprises TOF devices, at least one of which is disposed at the front side and/or the rear side of the main body and is inclined toward the lower part of the main body.

Optionally, TOF devices are disposed on both sides of the image capturing device, and are used for sensing obstacle distance information on both sides of the main body.

Optionally, the camera is a binocular camera.

Optionally, the front side of the main body is further provided with a millimeter wave radar device disposed adjacent to the image pickup device for sensing an obstacle from the front of the mobile apparatus.

Optionally, the first laser sensing member is a four-line laser sensor including four LDS arranged at equal intervals in a circumferential direction.

According to the self-moving equipment provided by the embodiment of the utility model, the ultrasonic sensing element is not influenced by external rings such as light intensity and the transparency of the barrier, and can accurately measure the distance of the barrier (such as glass) with weak light intensity or high transparency, so that the detection accuracy is improved. Meanwhile, an environment map where the mobile equipment is located is constructed by the aid of the first laser sensing parts, and terrain information is sensed by the aid of the second laser sensing parts, so that accuracy of sensing terrain and construction of the map is improved. From this, should be from mobile device through the reasonable arrangement of multiple sensing piece, can improve the accuracy of sensing, be favorable to the intelligent realization of mobile device certainly.

Drawings

The following drawings of the utility model are included to provide a further understanding of the utility model as a part of the examples. The drawings illustrate embodiments of the utility model and, together with the description, serve to explain the principles of the utility model.

In the drawings:

FIG. 1 is a perspective view of a self-propelled device according to an alternative embodiment of the present invention;

FIG. 2 is a block diagram of a mounting member according to an alternative embodiment of the present invention;

FIG. 3 is a block diagram of a cleaning device according to an alternative embodiment of the present invention;

FIG. 4 is a block diagram of an ultrasonic sensing element according to an alternative embodiment of the utility model;

fig. 5 is a structural view of the housing of fig. 4.

Description of reference numerals:

1-main body, 101-fluid storage device, 2-mounting member, 201-mounting groove, 2011-peripheral wall, 3-TOF device, 4-camera device, 5-clamping groove, 6-ultrasonic sensing piece, 601-ultrasonic sensor, 602-bulge, 603-shell, 604-cavity, 605-boss, 7-millimeter wave radar device, 8-cleaning mechanism, 801-rotating motor, 802-brush disc, 803-brush hair, 9-lifting mechanism, 901-driving motor and 902-connecting rod.

Detailed Description

In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present invention. It will be apparent, however, to one skilled in the art, that the present invention may be practiced without one or more of these specific details. In other instances, well-known features have not been described in order to avoid obscuring the utility model.

It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the utility model. As used herein, the singular is intended to include the plural unless the context clearly dictates otherwise. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.

Exemplary embodiments according to the present invention will now be described in more detail with reference to the accompanying drawings. These exemplary embodiments may, however, be embodied in many different forms and should not be construed as limited to only the embodiments set forth herein. It is to be understood that these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of these exemplary embodiments to those skilled in the art.

As shown in fig. 1, an embodiment of the present invention provides a self-moving device, which includes a main body 1 and a sensing assembly; the sensing assembly comprises an ultrasonic sensing piece 6, a first laser sensing piece and a second laser sensing piece; an ultrasonic sensor 6 for sensing a distance to an obstacle in front, the ultrasonic sensor 6 being disposed at an outer periphery of the main body 1 below about 1/3 of the height of the main body 1; the first laser sensing piece is used for constructing an environment map where the mobile equipment is located according to the laser reflection signals and arranged on the main body 1; the second laser sensing piece is arranged below about 1/2 th of the height of the main body 1 and used for sensing topographic information; the main body 1 is further provided with a control device which is electrically connected with the sensing assembly and controls the mobile device based on a signal provided by the sensing assembly.

The self-moving device in this embodiment is a device that autonomously travels in a specific area and can complete work without manual operation. Self-moving devices include, but are not limited to, motor washers, robotic mops, and the like.

Taking the automatic floor cleaning machine as an example, the automatic floor cleaning machine can further comprise a travelling mechanism, a cleaning supply system, a control device and a sewage recovery system.

As shown in fig. 1, the main body 1 may be configured as a fluid storage device 101 having a certain thickness, and the fluid storage device 101 is used for storing cleaning liquid and recycled sewage. The fluid storage device 101 may be integrally molded using a material such as plastic to improve elasticity, toughness, corrosion resistance and impact resistance of the main body 1 and to reduce the weight of the main body 1. The peripheral wall of the fluid reservoir 101 may be pre-formed with a plurality of grooves, recesses, detents, or the like for mounting a cleaning supply system, a waste water recovery system, a travel mechanism, and a battery pack. Meanwhile, the fluid storage device 101 is used as the main body 1, and other components such as the shell 603 and the like do not need to be additionally manufactured, so that the production process can be simplified. And in case the floor washing machine is used to clean a large place, the volume of the main body 1 can be increased to increase the volume of the fluid storage device 101 so that the fluid storage device 101 has sufficient cleaning liquid to meet the washing demand. The cleaning solution can be a cleaning solution or a mixed solution of clean water and a detergent. In some embodiments, the fluid storage device 101 may be divided into a plurality of compartments, for example, two compartments, one for storing cleaning fluid and the other for storing recycled sewage; further, in the case of a mixture of clean water and detergent, the compartment for storing the cleaning solution may be divided into two sub-compartments, one sub-compartment having a volume substantially larger than the volume of the other sub-compartment, such that the larger sub-compartment stores clean water and the smaller sub-compartment stores detergent.

Further, the body 1 is formed by a rotational molding process. In the process of forming raw materials in a die by a rotational molding process, the raw materials are only influenced by gravity without additional external force, so that the produced product theoretically has no internal stress, and is more suitable for long-term use; the rotational molding die is relatively low in stress, so that the requirement on the material of the die is low; the mold may be composed of two or more pieces and the shape and size are not limited in any way; the wall thickness of the product is generally uniform, and the product with thick wall thickness can be produced without the limitation of size. The body 1 is thus made of rotomoulded articles, which can meet the large size requirements of large self-moving equipment, such as commercial floor washers.

As shown in fig. 1 and 2, in order to facilitate installation of the sensing assembly, a plurality of installation members 2 are further added to the self-moving device, each installation member 2 can carry one sensing element or a plurality of sensing elements, and the sensing elements are fixed outside the main body 1 through the installation members 2, so that the problem that the sensing device cannot be directly installed on the rotational molding shell is solved. The mounting member 2 can be made of plastic material, and is integrally molded, and the plastic material has the performance characteristics of elasticity, flexibility, light weight, excellent chemical stability, shock resistance and the like, and can meet the use requirement of the mounting member 2. The plastic material includes polyvinyl chloride, polyethylene, polypropylene, polystyrene, polycarbonate, etc.

In the above embodiment, as shown in fig. 1, each mounting member 2 is detachably attached to the outside of the main body 1 so that it is possible to facilitate replacement of the sensing member when the mounting member 2 is damaged due to collision or the like or the sensing member thereon is damaged. The detachable connection can be realized by using the existing detachable connecting piece, such as a bolt, etc., and the embodiment is not strictly limited.

Further, as shown in fig. 1, a slot 5 is provided on the main body 1 for each mounting member 2 to fit, each mounting member 2 is fixed in the corresponding slot 5, and the outer surface of each mounting member 2 is flush with the outer surface of the main body 1.

The outer surface of each mounting member 2 is flush with the outer surface of the body 1 so that there is no protruding portion on the body 1, thereby reducing the chance of an object colliding with the body 1 during travel and reducing the size and footprint of the body 1.

Further, as shown in fig. 2, the mounting member 2 is provided with a mounting groove 201 corresponding to each sensing part, each sensing element is mounted on the bottom surface of the corresponding mounting groove 201, so that the sensing element is recessed in the outer surface of the mounting member 2, and the sensing element recessed in the outer surface of the mounting member 2 can avoid the sensing element from directly colliding with an external object, thereby protecting the sensing element. In a specific application, the peripheral wall 2011 of the mounting groove 201 can be provided with an inclined surface gradually inclining outwards, so as to avoid shielding of signals transmitted and received by the sensing part.

Running gear is including setting up multiunit gyro wheel and the actuating mechanism in main part 1 lower part, and two gyro wheels of every group are located the relative both sides of main part 1 respectively, and this internally is placed in the robot in actuating mechanism, drives the gyro wheel through actuating mechanism and drives the walking of main part 1 and carry out cleaning operation.

The control device is arranged on a circuit main board in the body and comprises a memory (such as a hard disk, a flash memory and a random access memory) and a processor (such as a central processing unit and an application processor). The processor draws an instant map of the environment where the mobile equipment is located according to the object information fed back by the sensing assembly, so that the most efficient and reasonable cleaning path and cleaning mode are planned, and the cleaning efficiency of the mobile equipment is greatly improved. And comprehensively judging the current working state of the self-moving equipment according to the distance information, the speed information, the attitude information and the like fed back by the sensing assembly, thereby providing a specific next action strategy aiming at different conditions and sending a corresponding control instruction to the self-moving equipment.

The cleaning liquid supply system comprises a cleaning device, a cleaning liquid outlet line, and a nozzle for supplying cleaning liquid to the cleaning device. The fluid reservoir 101 is connected to the spray nozzle via a cleaning fluid outlet line, on which the necessary pump and the like are arranged in order to supply the cleaning fluid to the spray nozzle in a timely and sufficient manner. In other embodiments, the nozzle can also be arranged at the front side of the suction opening, so that the nozzle is used for directly wetting the surface to be cleaned at the front side of the suction opening, and the wetted surface to be cleaned is brushed by the cleaning piece, and the brushing effect on the surface to be cleaned can also be achieved.

The sewage recovery system comprises a fan assembly and a sewage recovery pipeline connected between the sewage recovery device and the suction port. The sewage recovery pipeline sucks impurities and dirty liquid on the surface to be cleaned into the fluid storage device 101 through the sewage recovery pipeline under the action of suction force provided by the fan assembly.

As shown in fig. 3, the cleaning device includes a lifting mechanism 9 and a cleaning mechanism 8 connected to the lifting mechanism 9, when the floor cleaning machine performs cleaning operation, the lifting mechanism 9 drives the cleaning mechanism 8 to descend, so that the cleaning mechanism 8 contacts with the surface to be cleaned, and then the cleaning solution is delivered to the liquid outlet to provide the cleaning solution to the cleaning mechanism 8, thereby performing the cleaning operation. After the cleaning operation is finished, the lifting mechanism 9 drives the cleaning mechanism 8 to ascend, so that a certain distance is formed between the cleaning mechanism 8 and the surface to be cleaned, the abrasion of the ground to the cleaning mechanism 8 is reduced, and the service life of the cleaning device is prolonged.

The lifting mechanism 9 includes a driving motor 901 and a link 902 connected to the driving motor 901, the link 902 is partially hinged to the main body 1, and the driving motor 901 drives the link 902 to rotate around the hinge, so that the cleaning mechanism 8 moves up and down relative to the main body 1.

The cleaning mechanism 8 comprises a brush disk 802 and a rotating motor 801 for driving the brush disk 802 to rotate, wherein the lower part of the brush disk 802 is provided with bristles 803, and after the bristles 803 are contacted with the surface to be cleaned, the rotating motor 801 drives the brush disk 802 to rotate so as to clean the sundries to the suction opening through centrifugal force.

The sensing assembly in this embodiment is composed of a plurality of sensing elements and is reasonably arranged on the main body 1, and can sense various obstacles and adapt to different external environments.

The working principle of the ultrasonic sensing piece 6 is that ultrasonic waves are transmitted to a certain direction through the ultrasonic transmitter, timing is started at the same time of transmitting time, when the ultrasonic waves are transmitted in the air, the ultrasonic waves are immediately returned after colliding with an obstacle, and the ultrasonic receiver immediately stops timing after receiving the reflected waves, so that the distance between the mobile equipment and the obstacle can be calculated through the transmission speed of the ultrasonic waves in the air and the time difference of receiving and transmitting the ultrasonic waves. Therefore, the ultrasonic sensing element 6 is not affected by the environment such as light or the transparency of the obstacle, and the accuracy of distance measurement can be improved by using the ultrasonic sensing element 6 to measure the distance for the case of a weak light or a transparent obstacle (such as glass). In addition, the ultrasonic sensor 6 has the advantage of low price, and can be arranged around the robot in a plurality of ways to detect the information of obstacles around the robot. The lower the height of the ultrasonic sensor, the better, most obstacles can be detected. However, in the parking garage, the vehicle speed is fast, which is a dangerous moving obstacle for the robot, and the height position below the chassis is not sensed to be the vehicle, and therefore should not be lower than the chassis height. Considering the difference in the height of each vehicle type itself and the height of the chassis, the height of the ultrasonic sensing member 6 is a portion below 1/3 of the main body height of the robot, and in addition, the height of the chassis of the off-road vehicle of a vehicle type having a higher chassis is about 20cm, and thus it is preferable that the height of the ultrasonic sensing member 6 is higher than the height of the chassis of the off-road vehicle, i.e., higher than 20 cm.

Further, as shown in fig. 4, the ultrasonic sensing member 6 includes an ultrasonic sensor 601 and a housing 603, the housing 603 has a cavity 604, and the ultrasonic sensor 601 is mounted in the cavity 604; a point-shaped or linear protrusion 602 is arranged on the outer surface of the ultrasonic sensor 601, and a point-shaped or linear groove corresponding to the protrusion 602 is arranged on the inner wall of the cavity 604, so that the protrusion 602 is correspondingly clamped into the groove during installation; the height that the arch 602 extends is greater than the degree of depth of recess for after arch 602 and recess match the installation, there is the space between the inner wall of cavity 604 and the surface of ultrasonic sensor 601, thereby adopt point or line contact structure to replace the face contact, just so can save interior rubber sleeve and corresponding man-hour of installation, can reduce again and disturb.

Further, as shown in fig. 5, an outward extending boss 605 is provided at the opening end of the housing 603, and the thin-wall vibration at the opening end side can be significantly reduced by adding the structure of the boss 605, thereby avoiding the reduction of emission intensity caused by the vibration at the opening end.

The first laser sensing member is used for constructing a map. The working principle of the first laser sensing piece is that a rectangular coordinate system is established by taking the advancing direction of the self-moving equipment as a reference, the working environment is scanned for one circle from the working starting point, laser reflection data are obtained, the distance between each obstacle and the self-moving equipment is obtained, and the control device constructs a map according to the distance between each obstacle and the self-moving equipment.

The second laser sensing member is used for sensing topographic information. The working principle of the second laser sensing piece is that a rectangular coordinate system is established by taking the advancing direction of the self-moving equipment as reference, the surface to be operated is scanned from the working starting point, laser reflection data is obtained, and the distance between the working surface and the self-moving equipment is obtained, so that whether the ground has terrain such as doorsill, step and stair close to the robot and short obstacle information close to the terrain such as the doorsill, the step and the stair can be determined. The field angle of the second laser sensing piece comprises a certain vertical direction height range and a certain horizontal direction breadth range, so that the terrain information and the short obstacle information at the close position can be measured simultaneously. The sensor located above the main body is far from the ground and therefore cannot detect terrain and low obstacle information at a position close to the robot, so it is necessary that the second laser sensing member be located below the main body 1/2 so that its field of view covers the near ground and a position where the height from the ground is small.

In summary, according to the self-moving apparatus provided by the embodiment of the present invention, the ultrasonic sensing element 6 is not affected by the light intensity and the like of the external ring and the transparency of the obstacle, and can perform accurate distance measurement on the obstacle (such as glass) with weak light intensity or high transparency, thereby improving the detection accuracy. Meanwhile, an environment map where the mobile equipment is located is constructed by the aid of the first laser sensing parts, and terrain information and short obstacle information in the close position are sensed by the aid of the second laser sensing parts, so that accuracy of sensing the terrain and constructing the map is improved. From this, should be from mobile device through the reasonable arrangement of multiple sensing piece, can improve the accuracy of sensing, be favorable to the intelligent realization of mobile device certainly.

The number of the sensing pieces can be set by workers according to the operation requirements of the self-cleaning equipment, and usually, a plurality of sensing pieces are arranged, so that the environmental information can be comprehensively sensed, and the sensing accuracy is improved.

Specifically, the number of the ultrasonic sensors 6 is plural, and the plural ultrasonic sensors 6 are arranged around the outer periphery of the main body 1 to form a single-layer surrounding distribution array or a multi-layer surrounding distribution array.

The single-layer surrounding distribution array is formed by arranging a plurality of ultrasonic sensing pieces 6 in a layer around the periphery of the main body 1, and mainly aims at the situation that the height of an obstacle is low. The multilayer surrounding distribution array is formed by arranging a plurality of ultrasonic sensing pieces 6 around the periphery of the main body 1 in two or more layers so as to enlarge the sensing range and improve the sensing accuracy. The arrangement mode of the ultrasonic sensing pieces 6 can be set by workers according to actual requirements.

Further, the ultrasonic sensing member 6 is disposed to be inclined toward the lower portion of the main body 1 to detect a low obstacle, and is not affected by the external environment and the transparency of the obstacle with respect to the visual sensing assembly 4, thereby improving the accuracy of detection.

The number of the first laser sensing parts and the second laser sensing parts is multiple, and the multiple first laser sensing parts and the multiple second laser sensing parts are arranged around the periphery of the main body 1.

First laser sensing spare and second laser sensing spare encircle main part 1 periphery and arrange to make first laser sensing spare and second laser sensing spare cover as far as possible to the region around the mobile device, thereby can carry out comprehensive sensing to the barrier and the topography around the main part 1, further improve the accuracy of sensing, thereby improved map construction and topography detection's accuracy, and can compensate vision sensing subassembly and easily receive the light intensity of environment, the defect that barrier colour and material lead to detecting the precision low, further improve the accuracy of detecting.

The sensing assembly further comprises a visual sensing assembly comprising a camera 4, the camera 402 being adapted to capture an image of the environment and to identify an obstacle based on the captured image of the environment.

By processing the environment image captured by the camera 4, the type of obstacle, such as a moving person or a placed object, can be accurately determined. The specific image processing method can adopt the existing image recognition technology, and the application is not strictly limited.

Specifically, the image pickup device 4 is a binocular image pickup device.

The binocular camera device is used for detecting the distance between an obstacle and the self-moving equipment, the distance is mainly determined through the parallax of two images, matching points can be obtained through the same characteristic points in the two images, the distance between the object and the target is determined, and the type of the obstacle can be determined by identifying the images captured by the binocular camera device. Therefore, by using the binocular camera device, the types of obstacles around the self-moving equipment can be conveniently and accurately identified and the distance can be measured.

In some possible implementations, the second laser sensing member includes one or more TOF devices 3, at least one of the TOF devices 3 being disposed at a front side and/or a rear side of the main body 1 and inclined toward a lower portion of the main body 1.

The TOF apparatus 3 is used for sensing nearby obstacles and/or determining information from the terrain in the vicinity of the mobile device, including but not limited to doorsills, steps and stairs in the vicinity of the mobile device. The TOF device 3 may be provided only on the front side of the main body 1, only on the rear side of the main body 1, and on both the front and rear sides of the main body 1. In the case where the TOF apparatus 3 is provided only on the front side or the rear side of the main body 1, the number of visual distance sensing pieces 401 can be reduced, thereby reducing the cost. In the case where the TOF devices 3 are provided on the front and rear sides of the main body 1, so that the TOF devices 3 cover the area around the self-moving cleaning apparatus as much as possible, the accuracy of sensing is improved.

The TOF device 3 is based on TOF technology. TOF technology belongs to one of the optical non-contact three-dimensional depth measurement sensing methods, by continuously transmitting light pulses to a target, and then receiving light returning from the object with a sensor, and by detecting the time of flight (round trip) of these transmitted and received light pulses, the target object distance is obtained. The irradiation unit of the TOF generally emits high-performance pulsed light by using an LED or Laser (including a Laser diode and a VCSEL (Vertical Cavity Surface Emitting Laser)). The pulse can reach about 100MHz, and mainly adopts infrared light. The principle applied by the TOF apparatus 3 is of two types, 1) optical shutter based methods; the main realization mode is as follows: emitting a beam of pulse light wave, quickly and accurately acquiring the time difference t of the light wave reflected back after irradiating the three-dimensional object through an optical shutter, wherein the back-and-forth distance can be t/2 · c by the common expression d as long as the time difference between the irradiated light and the received light is known because the light speed c is known; 2) methods based on continuous wave intensity modulation; the main realization mode is as follows: and emitting a beam of illumination light, and measuring the distance by using the phase change of the emitted light wave signal and the reflected light wave signal. The wavelength of the lighting module is generally in the infrared band, and high frequency modulation is required. The TOF photosensitive element is similar to a common mobile phone camera module and comprises a chip, a lens, a circuit board and other components, each pixel of the TOF photosensitive chip records a specific phase between a back-and-forth camera emitting light waves and an object respectively, a phase difference is extracted through a data processing unit, and depth information is calculated through a formula, so that the condition of an obstacle in front of the robot can be located by detecting surrounding three-dimensional coordinate information, and when the robot is close to the obstacle, the obstacle can be avoided in advance to realize a collision-free function. The TOF device 3 is small in size and capable of directly outputting depth data of a detected object, depth calculation results of the TOF device 3 are not affected by surface gray scale and characteristics of the object, three-dimensional detection can be accurately performed, and therefore the functions of sensing nearby obstacles and/or judging information of terrain nearby the mobile device can be achieved.

In other possible implementations, both sides of the image pickup device 402 are provided with TOF devices 3 for sensing obstacle distance information of both sides of the main body 1.

The TOF devices 3 on the two sides of the camera device 402 are used for covering detection blind areas which may appear in the steering process of the equipment, so that the self-moving equipment can better avoid obstacles in different directions, and the intellectualization of the self-moving equipment is facilitated.

The front side of the main body 1 is also provided with a millimeter wave radar device 7, the millimeter wave radar device 7 being disposed adjacent to the image pickup device 402, the millimeter wave radar device 7 being used to sense an obstacle from the front of the mobile apparatus.

Here, the millimeter wave radar device 7 may be disposed in any direction of the image pickup device 402 as long as it is adjacent to the image pickup device 402, and for example, the millimeter wave radar device 7 may be disposed above, below, or on one side of the image pickup device 402.

The millimeter wave radar device 7 operates on the principle that a radar transmitter generates sufficient electromagnetic energy, which is transmitted to an antenna via a transmit-receive switch. The antenna radiates the electromagnetic energy into the atmosphere, concentrates the electromagnetic energy in a narrow direction to form a beam, propagates forwards, and starts timing at the same time of transmitting time. After the electromagnetic waves encounter a target in a wave beam, reflection is generated along all directions, and a part of electromagnetic energy is reflected back to the direction of the radar and is acquired by the radar antenna. The energy obtained by the antenna is transmitted to the radar receiver through the transmitting-receiving conversion switch to form an echo signal of the radar. And the radar receiver stops timing immediately after receiving the callback, so that the distance between the mobile equipment and the obstacle can be calculated according to the propagation speed of the electromagnetic wave in the air and the time difference of transmitting and receiving the ultrasonic wave.

Compared with sensing parts such as infrared, laser and television, the millimeter wave radar device 7 has the advantages that the millimeter wave radar device 7 has strong capability of penetrating fog, smoke and dust, and is not influenced by the transparency of the external environment and obstacles, so that the millimeter wave radar device has strong anti-interference capability, higher Doppler bandwidth, obvious Doppler effect, good Doppler resolution and higher precision.

Further, in the above-described embodiment, the first laser sensing member is a four-wire laser sensor including four LDS arranged at equal intervals in a circumferential direction to improve sensing accuracy of the first laser sensing member, wherein a transmitting direction of one pair of LDS is forward, and transmitting directions of the other pair of LDS are respectively obliquely upward and obliquely downward, and the equal intervals mean that distances in the circumferential direction are equal.

The LDS (Laser Distance Sensor) has the working principle that a Laser emitter emits Laser and starts timing, the emitted Laser is reflected by an obstacle and then is received by a Laser receiver and stops timing, and therefore the Distance between the mobile equipment and the obstacle can be calculated through the propagation speed of the Laser in the air and the time difference of Laser receiving and sending. In a specific application, the light emission directions of the four laser sensors include horizontal forward, upward and downward.

The light emission directions of the four laser sensors can be set by a worker according to the size of the self-moving device. For example, when the size of the self-moving apparatus is small, the light emission directions of the four laser sensors may be set to be horizontally forward and downward; when the size of the self-moving apparatus is large, the light emission directions of the four laser sensors may be set to be horizontally forward, downward, and upward.

Specifically, specific positions and setting angles of the sensing elements in the above embodiments may be specifically set by a worker according to actual requirements, and the present application is not limited strictly. For example, with the self-moving device placed on the surface to be worked as a reference, as shown in fig. 1, a normal traveling direction of the self-moving device is determined as a positive direction of a y-axis, which is also a front side of the main body 1, with a middle position of two rear wheels of the self-moving device as a coordinate origin, a right side of the main body 1 is determined as a positive direction of an x-axis, and a direction perpendicular to the surface to be worked is determined as a positive direction of a z-axis. The sensing assembly comprises a binocular camera device, the binocular camera device is arranged on the front side of the self-moving equipment, and the mounting direction of the binocular camera device is the same as the positive direction of the y axis; four TOF devices 3, wherein one TOF device 3 is installed at the front side of the main body 1 and is inclined downwards, one TOF device 3 is installed at the rear side of the main body 1 and is inclined downwards, one TOF device 3 is installed at the left side of the main body 1 and is installed in the same direction as the negative direction of the x-axis, and one TOF device 3 is installed at the right side of the main body 1 and is installed in the same direction as the positive direction of the x-axis; eight ultrasonic sensing pieces 6, eight ultrasonic sensing pieces 6 are arranged around the main body 1, and the installation directions of the ultrasonic sensing pieces 6 are different, namely the included angles relative to the y axis are different; a millimeter wave radar device 7 installed at the front side of the mobile device and having the same installation direction as the positive direction of the y-axis; and a first laser sensing member installed at the front side of the self-moving apparatus in the same direction as the positive direction of the y-axis.

The present invention has been illustrated by the above embodiments, but it should be understood that the above embodiments are for illustrative and descriptive purposes only and are not intended to limit the utility model to the scope of the described embodiments. Furthermore, it will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and that many variations and modifications may be made in accordance with the teachings of the present invention, which variations and modifications are within the scope of the present invention as claimed. The scope of the utility model is defined by the appended claims and equivalents thereof.

Claims

1. A self-moving device is characterized by comprising a main body and a sensing assembly;

2. The self-moving apparatus according to claim 1, wherein the number of the ultrasonic sensing members is plural, and the plural ultrasonic sensing members are arranged around the outer circumference of the main body to form a single-layer surrounding distribution array or a multi-layer surrounding distribution array.

3. The self-moving apparatus according to claim 1, wherein the ultrasonic sensor is disposed to be inclined toward a lower portion of the main body.

4. The self-moving device according to claim 1, wherein the number of the first laser sensing member and the second laser sensing member is plural, and the plural first laser sensing members and the plural second laser sensing members are arranged around the outer periphery of the main body.

5. The self-moving device of claim 1, wherein the sensing assembly further comprises a visual sensing assembly comprising a camera for capturing an environmental image and identifying an obstacle based on the captured environmental image.

6. The self-moving apparatus according to claim 5, wherein the second laser sensing member comprises one or more TOF devices, at least one of which is disposed at a front side and/or a rear side of the body and inclined toward a lower portion of the body.

7. The self-moving apparatus according to claim 6, wherein both sides of the camera means are provided with TOF means for sensing obstacle distance information of both sides of the subject.

8. The self-moving apparatus according to claim 6, wherein the camera is a binocular camera.

9. The self-moving apparatus according to claim 6, wherein the front side of the main body is further provided with a millimeter wave radar device provided adjacent to the image pickup device for sensing an obstacle in front of the self-moving apparatus.

10. The self-moving apparatus of claim 1, wherein the first laser sensing member is a four-line laser sensor including four LDS arranged at equal intervals along a circumferential direction, wherein a transmission direction of one pair of LDS is forward and a transmission direction of the other pair of LDS is obliquely upward and obliquely downward, respectively.