CN216718701U - Detection module, obstacle avoidance module, anti-jamming module, ground detection module and mobile robot - Google Patents

Abstract

The utility model discloses a detection module, an obstacle avoidance module, an anti-jamming module, a ground detection module and a mobile robot, wherein the obstacle avoidance module, the anti-jamming module and the ground detection module have the same structure as the detection module; when the front shell is stressed, the front shell drives the detection module to retract through the connecting structure so as to protect the detection module. Compared with the prior art, the connecting structure can enable the front shell with the detection module to move, and when the front shell is acted by force, the front shell and the detection module can retract inwards, so that a better protection effect can be achieved.

Description

Detection module, obstacle avoidance module, anti-jamming module, ground detection module and mobile robot

Technical Field

The utility model relates to the technical field of intelligent robots, in particular to a detection module, an obstacle avoidance module, an anti-jamming module, a ground detection module and a mobile robot.

Background

Most of the existing robots adopt TOF (time of flight) technology or distance measuring sensors as sensors for edge detection, the sensors are installed on the side edge of a mobile robot, the detection direction is perpendicular to the mobile robot, the detection range is small, when obstacles such as small obstacles, table corners, sofa bottoms and the like are cleaned, the direction of the obstacles cannot be well tracked, the machine and the obstacles frequently generate physical collision, and the cleaning efficiency and the user experience are seriously reduced. Moreover, these sensors are typically rigidly connected so as to be easily damaged after a collision.

SUMMERY OF THE UTILITY MODEL

In order to solve the problems, the utility model provides a detection module, an obstacle avoidance module, an anti-jamming module, a ground detection module and a mobile robot, which can enable the module to retract when colliding with an obstacle, and the module is not easy to damage due to the buffering effect. The specific technical scheme of the utility model is as follows:

a detection module comprises a detection module, a front shell and a rear shell, wherein the front shell and the rear shell are connected through a connecting structure, and the detection module is arranged between the front shell and the rear shell and fixedly connected with the front shell; when the front shell is stressed, the front shell drives the detection module to retract through the connecting structure so as to protect the detection module. Compared with the prior art, this technical scheme's connection structure can let the preceding shell that has detection module move about, and when the effect was received to the current shell, preceding shell and detection module can contract in, can play better guard action.

Further, the detection module comprises a main board, a detection sensor and a middle shell, wherein the detection sensor is arranged on the main board and is used for detecting environmental parameters; the mesochite is provided with limit structure, limit structure is used for holding detect the sensor, makes detect the sensor and place according to preset position and angle. The optimal detection effect can be achieved by placing the detection sensor according to the preset position and angle.

Further, the front shell is provided with a light through port matched with the detection sensor. The light-through port enables the detection sensor to detect the environmental parameters.

Furthermore, the front shell is provided with a protection plate made of transparent materials, the protection plate is arranged in front of the detection sensor, and the protection plate and the light through port jointly form a light through part. The protection plate plays a role in protecting the detection sensor.

Further, the detection module is provided with a collision induction sensor for triggering generation of a collision feedback signal when the detection module retracts. So that the robot makes corresponding actions to protect the detection module.

Furthermore, the collision induction sensor faces the rear shell, a protruding structure is arranged at a corresponding position of the rear shell, and the protruding structure is used for triggering the collision induction sensor when the detection module retracts so as to enable the collision induction sensor to generate a collision feedback signal; there is certain distance between collision sensing sensor and the protruding structure, the distance can prevent to produce the mistake and touch.

Furthermore, the connecting structure comprises a connecting inclined plane, a limiting hole, a fixing shaft and a torsion spring, wherein the connecting inclined plane is connected with the side edge of the front shell and forms a certain included angle; the connecting inclined plane is provided with a limiting hole, and the side surface of the rear shell is provided with a matched limiting hole; the fixed shaft connects the front shell and the rear shell through the limiting hole; the torsion spring is sleeved on the fixed shaft, so that an opening angle is formed between the front shell and the rear shell, and the front shell can recover after contracting inside. The elasticity through the torsional spring can make the detection module can produce the activity when the collision and cushion to the protection detection module.

Furthermore, the front shell is provided with a buckle, and the rear shell is provided with a abdication bayonet at a corresponding position, so that the buckle can be clamped into the abdication bayonet to limit the movement direction of the front shell; the end of the buckle is provided with a stop block for limiting the maximum angle of the opening angle. The buckle has prevented the motion of other dimension directions between preceding shell and the backshell except that the axial direction motion for it is more firm to detect the module, has further protected detection module.

The utility model provides a robot keeps away barrier module, is applied to mobile robot, keep away the barrier module have with detect the same structure of module, keep away the barrier module and set up in mobile robot's side, work as when keeping away the barrier module and bumping with the barrier, the preceding shell that has detection module contracts in through connection structure, in order to protect detection module. Compared with the prior art, the obstacle avoidance module arranged on the side face of the robot in the technical scheme can timely enable the front shell with the detection module to contract inwards through the connecting structure when collision occurs, so that the detection module is protected.

Furthermore, the obstacle avoidance module is arranged at a collision plate of the mobile robot, and the collision plate is provided with a abdication port matched with the obstacle avoidance module; the rear shell of the obstacle avoidance module is fixedly connected with the main body of the mobile robot, and a connecting inclined plane in a connecting structure of the obstacle avoidance module is adaptively arranged at the abdicating opening; when the collision plate collides, the collision plate drives the detection module to retract by virtue of the connecting structure through force transmission so as to protect the detection module. The collision plate has a buffering effect, and the connecting structure can play a good role in protecting the detection module through linkage.

Further, keep away detection sensor of barrier module includes camera and line laser sensor, camera and line laser sensor with the mainboard electricity is connected and is held in among the limit structure of mesochite, make camera and line laser sensor are the level and place, just the optical axis direction of camera with line laser sensor's transmitting direction is preset angle. The robot detects the obstacles through the line laser sensor and the camera, so that the distance between the obstacles and the robot can be accurately acquired, the height information of the obstacles can be acquired, and the robot can conveniently walk along the edge to avoid the obstacles; the robot sets up the transmission direction of line laser sensor with preset angle, can make the robot obtain the most ideal barrier height and distance, realizes that the robot does not have closely physical collision edgewise walking along the wall, along the sofa bottom and other barriers.

The utility model provides a robot anti-sticking module, is applied to mobile robot, the anti-sticking module have with detect the same structure of module, the anti-sticking module sets up in mobile robot's top, works as when the anti-sticking module bumps with the barrier, the preceding shell that has detection module contracts in through connection structure to prevent that mobile robot from blocking. Compared with the prior art, the anti-jamming module arranged at the top of the robot in the technical scheme can timely enable the front shell with the detection module to contract inwards through the connecting structure when collision occurs, so that the mobile robot is prevented from being clamped, and the detection module is protected.

Furthermore, the anti-jamming module is higher than the top of the mobile robot by a certain distance, the rear shell of the anti-jamming module is fixedly connected with the main body of the mobile robot, the orientation of a connecting inclined plane in the connecting structure of the anti-jamming module is the same as the advancing/retreating direction of the mobile robot, and when the connecting inclined plane collides with an obstacle, the connecting structure drives the detection module to retract inwards so as to prevent the mobile robot from being jammed.

The utility model provides a ground of robot examines module, is applied to mobile robot, ground examine the module have with detect the same structure of module, ground examine the module and set up in mobile robot's bottom, work as when ground examines module and protruding barrier and bumps, the preceding shell that has detection module contracts in through connection structure, in order to protect detection module. Compared with the prior art, the ground that sets up in this technical scheme examines the module in the robot bottom examines the module when bumping, can in time let the preceding shell that has detection module contract in through connection structure, in order to protect detection module.

The utility model provides a mobile robot, mobile robot is provided with at least one of a robot keep away barrier module, a robot anti-sticking module or a robot ground examine module any module.

Drawings

Fig. 1 is an exploded view of a detection module according to an embodiment of the present invention.

Fig. 2 is a left side view of the detecting module according to an embodiment of the utility model.

Fig. 3 is a perspective view of a detection module according to an embodiment of the utility model.

Fig. 4 is a schematic view of a mobile robot equipped with the detection module according to the present invention.

Detailed Description

Reference will now be made in detail to the embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar functions throughout.

In the description of the present invention, it should be noted that, for the terms of orientation, such as "central", "lateral", "longitudinal", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc., indicate orientations and positional relationships based on the orientations or positional relationships shown in the drawings, which are merely for convenience of description and simplification of the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and should not be construed as limiting the specific scope of the present invention.

Furthermore, if the terms "first" and "second" are used for descriptive purposes only, they are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features. Thus, a definition of "a first" or "a second" feature may explicitly or implicitly include one or more of the feature, and in the description of the utility model, "at least" means one or more unless specifically defined otherwise.

In the present invention, unless otherwise expressly specified or limited, the terms "assembled", "connected", and "connected" are to be construed broadly, e.g., as meaning fixedly connected, detachably connected, or integrally connected; or may be a mechanical connection; the two elements can be directly connected or connected through an intermediate medium, and the two elements can be communicated with each other. The specific meanings of the above terms in the present invention can be understood by those of ordinary skill in the art according to specific situations.

In the present application, unless otherwise specified or limited, "above" or "below" a first feature may include the first and second features being in direct contact, and may also include the first and second features not being in direct contact but being in contact with each other through another feature therebetween. Also, the first feature "above," "below," and "over" the second feature may include the first feature being directly above and obliquely above the second feature, or simply an elevation where the first feature is at a higher level than the second feature. The first feature being "above", "below" and "beneath" the second feature includes the first feature being directly below or obliquely below the second feature, or merely means that the first feature is at a lower level than the second feature.

The technical scheme and the beneficial effects of the utility model are clearer and clearer by further describing the specific embodiment of the utility model with the accompanying drawings of the specification. The embodiments described below are exemplary and are intended to be illustrative of the utility model, but are not to be construed as limiting the utility model.

Referring to fig. 1, an explosion diagram of a detection module mainly comprises three parts, and the detection module comprises a detection module, a front shell 301 and a rear shell 101, wherein the front shell 301 and the rear shell 101 are connected through a connecting structure, and the detection module is arranged between the front shell 301 and the rear shell 101 and is fixedly connected with the front shell 301; when the front shell 301 is stressed, the front shell 301 drives the detection module to retract through a connecting structure, so as to protect the detection module. Connection structure can let preceding shell 301 that has detection module move about, and when preceding shell 301 received the effect of power, preceding shell 301 and detection module can contract in, can play better guard action.

The detection module includes a main board 202, a detection sensor, and a middle case 205, as one embodiment. The detection sensor is arranged on the main board 202, electrically connected with the main board 202, and used for detecting environmental parameters; the middle shell 205 is provided with a limiting structure, and the limiting structure is used for accommodating the detection sensor, so that the detection sensor is placed according to a preset position and an angle, and the detection sensor can achieve the optimal detection effect.

As an embodiment, referring to fig. 2, the main board 202 is further provided with a collision sensing sensor 208. The collision sensing sensor 208 faces the rear shell, the rear shell 101 is provided with a protruding structure 104 at a corresponding position, and the protruding structure 104 is used for triggering the collision sensing sensor 208 when the detection module retracts, so that the collision sensing sensor 208 generates a collision feedback signal, and the robot makes a corresponding action to protect the detection module. The presence of a distance between the collision sensing sensor 208 and the protruding structure 104 prevents false touches from occurring that would otherwise cause the robot to mistakenly assume an obstacle and disturb the normal plan.

In one embodiment, the main board 202 is fixedly connected to the middle shell 205 through screws 201, and then the other side of the middle shell 205 is fixedly connected to the front shell 301 through positioning posts by thermal fusion or adhesion or other fastening methods. The front shell 301 is provided with a light through port matched with the detection sensor, so that the detection sensor can detect environmental parameters. In addition, a protection plate 307 made of a transparent material is further disposed at the foremost end of the front case 301, and the protection plate 307 is disposed in front of the detection sensor and forms a light-passing portion together with the light-passing port. Optionally, the protection plate 307 is made of transparent materials such as glass or organic glass, and may be fixed to the front shell 301 by bonding or embedding into a slot, so as to protect the detection sensor. The protection plate 307 can also prevent water vapor, dust or other impurities to a certain degree from entering the detection module, so that the service life of the sensor is prolonged, and meanwhile, the attractiveness of the detection module can also be improved.

In one embodiment, the connection structure includes a connection slope 303, a limiting hole 304, a fixing shaft 305, and a torsion spring 306. The connection inclined plane 303 is connected with a side edge of the front shell 301, and forms a certain included angle. Referring to fig. 3, due to the existence of the included angle, after the front shell 301 and the rear shell 101 are connected, a space capable of accommodating the obstacle avoidance module is formed in the middle. The connecting inclined plane 303 is provided with a limiting hole 304, the side surface of the rear shell 101 is also provided with a limiting hole 102, and the limiting holes are arranged in a staggered manner, so that all limiting holes can be positioned on the same straight line, and the fixing shaft 305 can be conveniently inserted into the limiting holes to connect the front shell 301 and the rear shell 101 together. Referring to fig. 3, a space for placing a torsion spring 306 is reserved between the upper and lower limiting holes, and the torsion spring 306 is sleeved on the fixed shaft 305, so that an opening angle is generated between the front shell 301 and the rear shell 101, the front shell 301 can move towards the rear shell 101 when stressed, and rebounds when the stressed. The elasticity of the torsion spring 306 can enable the detection module to generate movement for buffering when colliding, so as to protect the detection module.

As one embodiment, the front shell 301 is provided with a buckle 302, and the rear shell 101 is provided with a abdication bayonet 103 at a corresponding position, so that the buckle 302 can be snapped into the abdication bayonet 103 to limit the moving direction of the front shell 301. Optionally, the number of the buckles 302 is two and the buckles are symmetrically arranged. As shown in fig. 3, the buckle 302 prevents the front shell 301 and the rear shell 101 from moving in other dimensions except the axial direction, so that the detection module is more stable, and the detection module is further protected. The end of the catch 302 is provided with a stop for limiting the maximum angle of the opening angle between the front shell 301 and the rear shell 101. It should be noted that the front shell 301, the buckle 302, the connection inclined plane 303 and the limiting hole 304 are integrally formed; the rear case 101 and the stopper hole 102 are integrally formed.

Compared with the prior art, the detection module has a movable connection structure, when the front shell 301 is subjected to a force (a force in the direction towards the rear shell 101), the front shell 301 and the detection module can retract inwards, and damage is avoided. The detection module can be adaptively installed at different positions of the mobile robot so as to realize application under different scenes. The detection module and its various applications are described in more detail below with reference to specific examples.

The embodiment discloses a have with detect the robot of module looks away barrier module of same structure, it sets up in mobile robot's side to keep away the barrier module. The side face of the mobile robot is provided with an adaptive installation position for accommodating the obstacle avoidance module. In the moving process of the mobile robot, when the obstacle avoidance module collides with an obstacle, the front shell 301 with the detection module can be retracted in time through the connection structure to protect the detection module.

As one embodiment, referring to fig. 4, the obstacle avoidance module 100 is disposed at a collision plate of the mobile robot, and the collision plate is provided with a yielding hole 401 matched with the obstacle avoidance module 100. The surface of the obstacle avoidance module 100 (i.e., the surface of the protection plate 307) is not flush with the surface of the collision plate, the surface is slightly recessed inward for a certain distance, the distance is not particularly limited, and the obstacle avoidance module 100 can be prevented from being collided or scratched to some extent by the arrangement. The rear shell 101 of the obstacle avoidance module 100 is fixedly connected with the main body of the mobile robot through screws or other methods, and the connection inclined plane 303 in the connection structure of the obstacle avoidance module 100 is adaptively arranged at the clearance opening 401 and is non-rigidly connected with the collision plate. The non-rigid connection means that the obstacle avoidance module 100 and the collision plate are not fixed together by screws or other fastening methods, but the connection inclined plane 303 of the connection structure abuts against one edge of the abdicating opening 401 of the collision plate. Therefore, when the collision plate collides with a plane barrier such as a wall or a sofa, the collision plate is linked with the connecting structure to drive the detection module to retract through force transmission, and the detection module can be well protected. Particularly, when an obstacle is in the detection blind area of the obstacle avoidance module 100, if the obstacle (such as a table corner) directly collides with the surface of the obstacle avoidance module 100, a collision feedback signal generated by the collision sensing sensor 208 arranged on the main board 202 can be used to remind the mobile robot to avoid the obstacle, so as to protect the detection module. It should be noted that the collision plate may remind the robot to avoid the obstacle when the collision occurs, but when the obstacle directly collides with the obstacle avoidance module 100, the collision plate cannot play the original role, so that the collision induction sensor 208 is provided in the obstacle avoidance module 100 for compensation.

As one embodiment, the obstacle avoidance module 100 is disposed on the left side or the right side of the collision plate of the mobile robot, which can be selected according to actual requirements. For example, when the mobile robot adopts a right-edge mode, the obstacle avoidance module 100 is installed on the right side of the collision plate; when the mobile robot adopts a left edge mode, the obstacle avoidance module 100 is installed on the left side of the collision plate. It should be noted that, according to actual requirements, the collision plate is reserved with a clearance opening for installing the obstacle avoidance module 100.

As one embodiment, referring to fig. 1, the detection sensor of the obstacle avoidance module 100 includes a camera 203 and a line laser sensor 204, where the camera 203 and the line laser sensor 204 are electrically connected to the main board 202 and respectively accommodated in the limiting structures 207 and 206 of the middle shell 205, so that the camera 203 and the line laser sensor 204 are horizontally placed, and the optical axis direction of the camera 203 and the emission direction of the line laser sensor 204 form a preset angle. The preset angle is set according to actual requirements, and may be set to 0, 10, 20, 30, 40, 50, 60, 70, 80 or 90 degrees, for example. The preset angle can enable the robot to obtain the optimal height and distance of the obstacle, and the robot can accurately walk along the wall, along the sofa bottom and other obstacles in a short-distance way without physical collision. The camera 203 is provided with a band-pass filter, the wavelength of the band-pass filter is matched with the emission wavelength of the line laser sensor 204, and most of ambient light can be filtered out, so that the capability of the robot for detecting the obstacle is prevented from being influenced. The line laser sensor 204 is configured to emit a laser line segment for detecting an obstacle, and preferably, the line laser sensor 204 is a line-shaped infrared laser sensor, and the emitted laser line segment is perpendicular to a horizontal plane. The reason for the vertical laser emission is that the image captured by the camera 203 is easier to process, the height information of the obstacle can be more intuitively acquired through the laser line, the robot can conveniently detect the small obstacle, and the detection capability of the robot is improved. The robot carries out the detection of avoiding the barrier along the limit through line laser sensor 204 and camera 203, not only can accurately acquire the distance of barrier and robot, can also acquire the height information of barrier, and the robot of being convenient for carries out the edgewise walking. When the robot walks along the edge, the robot firstly emits line laser through the line laser sensor 204 to form a laser line segment on an obstacle, then obtains an image of the obstacle with the laser line segment through the camera 203, when the robot obtains image information, the image is firstly rotated by 90 degrees, then the distance between the robot and the obstacle is obtained according to the height of the laser line segment on the image, and the height of the obstacle is obtained according to the length of the laser line segment. Different information about the obstacle can be acquired in the detection process, and the accuracy of judging the obstacle by the robot is improved.

Compared with the prior art, keep away barrier module 100 of this embodiment can make the robot realize accurate edgewise, and connection structure then can let preceding shell 301 with keep away the barrier module and independently move on the horizontal direction, when the collision board bumps or preceding shell 301 atress on the horizontal direction, preceding shell 301 with keep away the barrier module and can contract in, cushioning effect can play better guard action to keeping away the barrier module.

Most of existing cleaning robot products adopt laser radars for environment detection, and in order to avoid interference, the laser radars are generally higher than the top of the robot by a certain distance so as to emit laser line segments without obstruction. However, such an arrangement makes it easy for the robot to get stuck due to the protruding lidar when it enters under a low obstacle such as a sofa floor. At this time, the robot can only be helped manually to get rid of difficulties, which affects the user experience.

The embodiment discloses a robot anti-jamming module with the same structure as the detection module, and the anti-jamming module is arranged at the top of a mobile robot. The top of the mobile robot is provided with an adaptive installation position for accommodating the anti-jamming module. When the anti-jamming module collides with the barrier, the front shell 301 drives the detection module to contract inwards in time through the connecting structure so as to prevent the mobile robot from being jammed and protect the detection module.

In one embodiment, the anti-jamming module is higher than the top of the mobile robot by a certain distance, the rear shell 101 is fixedly connected with the main body of the mobile robot, and the detection sensor of the anti-jamming module may be a laser radar or other sensor with an environment detection function. The direction of a connecting inclined plane 303 in the connecting structure of the anti-jamming module is the same as the advancing/retreating direction of the mobile robot, when the connecting inclined plane 303 collides with an obstacle, the obstacle can press the detection module downwards, so that the mobile robot is prevented from being jammed on one hand, and the detection module is protected on the other hand. When the mobile robot avoids the obstacle, the detection module returns to the original position by the elastic force of the torsion spring 306.

The existing cleaning robot is also provided with a ground detection sensor at the bottom of the robot, and although the ground detection sensor cannot be easily collided due to the existence of wheels of the robot under the general condition, the damage of the sensor caused by collision, such as collision caused by obstacle crossing, cannot be avoided sometimes.

The embodiment discloses a ground inspection robot module with the same structure as the detection module, and the ground inspection module is arranged at the bottom of a mobile robot. The bottom of the mobile robot is provided with an adaptive installation position for accommodating the ground detection module. When the ground detection module collides with a raised barrier on the ground, the front shell 301 drives the detection module to retract in time through the connecting structure so as to protect the detection module.

As one embodiment, the surface of the ground detection module (i.e. the surface of the protection plate 307) is flush with the bottom of the robot, and the rear shell 101 is fixedly connected to the main body of the mobile robot, and the detection sensor of the ground detection module may be a laser radar or other sensor with an environment detection function. Optionally, the surface of the ground detection module group can also protrude a certain distance from the bottom of the robot. In this case, the connection inclined plane 303 in the connection structure of the ground detection module is oriented in the same direction as the forward/backward direction of the mobile robot, and when the connection inclined plane 303 collides with a raised ground obstacle, the obstacle can press the detection module upward, so that the mobile robot is prevented from being stuck on one hand, and the detection module is also protected on the other hand. When the mobile robot avoids the obstacle, the detection module returns to the original position by the elastic force of the torsion spring 306.

The utility model also discloses a mobile robot which is at least provided with any one of the robot obstacle avoidance module, the robot anti-jamming module or the robot ground inspection module. When the mobile robot adopts all the technical schemes of all the embodiments of all the modules in the robot obstacle avoidance module, the robot anti-jamming module and the robot ground detection module, all the beneficial effects brought by the technical schemes of the embodiments are achieved, and the details are not repeated.

In the description of the specification, reference to the description of "one embodiment", "preferably", "an example", "a specific example" or "some examples", etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the utility model, and schematic representations of the terms in this specification do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. The connection mode connected in the description of the specification has obvious effects and practical effectiveness.

With the above structure and principle in mind, those skilled in the art should understand that the present invention is not limited to the above embodiments, and modifications and substitutions based on the known technology in the field are within the scope of the present invention, which should be limited by the claims.

Claims (15)

1. A detection module is characterized in that the detection module comprises a detection module, a front shell and a rear shell, wherein,

the front shell and the rear shell are connected through a connecting structure, and the detection module is arranged between the front shell and the rear shell and is fixedly connected with the front shell; when the front shell is stressed, the front shell drives the detection module to retract through the connecting structure so as to protect the detection module.

2. The detection module according to claim 1, wherein the detection module comprises a main board, a detection sensor and a middle case, wherein,

the detection sensor is arranged on the mainboard and used for detecting environmental parameters;

the mesochite is provided with limit structure, limit structure is used for holding detect the sensor, makes detect the sensor and place according to preset position and angle.

3. A testing module according to claim 2, wherein said front housing is provided with a light-passing opening cooperating with said testing sensor.

4. The detecting module according to claim 3, wherein the front shell is provided with a protection plate made of transparent material, the protection plate is arranged in front of the detecting sensor, and the protection plate and the light-passing port together form a light-passing portion.

5. The detection module according to claim 1, wherein the detection module is provided with a collision sensing sensor for triggering generation of a collision feedback signal when the detection module retracts.

6. The detection module according to claim 5, wherein the collision sensing sensor faces the rear housing, and the rear housing is provided with a protrusion structure at a corresponding position, and the protrusion structure is used for triggering the collision sensing sensor when the detection module is retracted, so that the collision sensing sensor generates a collision feedback signal; there is certain distance between collision sensing sensor and the protruding structure, the distance can prevent to produce the mistake and touch.

7. The detecting module of claim 1, wherein the connecting structure comprises a connecting inclined plane, a limiting hole, a fixing shaft and a torsion spring, wherein,

the connecting inclined plane is connected with the side edge of the front shell and forms a certain included angle;

the connecting inclined plane is provided with a limiting hole, and the side surface of the rear shell is provided with a matched limiting hole;

the fixed shaft connects the front shell and the rear shell through the limiting hole;

the torsion spring is sleeved on the fixed shaft, so that an opening angle is formed between the front shell and the rear shell, and the front shell can recover after contracting inside.

8. The detection module according to claim 7, wherein the front shell is provided with a buckle, and the rear shell is provided with a abdication bayonet at a corresponding position, so that the buckle can be clamped into the abdication bayonet to limit the movement direction of the front shell; the end part of the buckle is provided with a stop block for limiting the maximum angle of the opening angle.

9. The robot obstacle avoidance module is applied to a mobile robot and is characterized by having the same structure as the detection module in any one of claims 1 to 8, the obstacle avoidance module is arranged on the side face of the mobile robot, and when the obstacle avoidance module collides with an obstacle, a front shell with a detection module retracts inwards through a connecting structure so as to protect the detection module.

10. The robot obstacle avoidance module according to claim 9, wherein the obstacle avoidance module is arranged at a collision plate of a mobile robot, and the collision plate is provided with a abdication port matched with the obstacle avoidance module; the rear shell of the obstacle avoidance module is fixedly connected with the main body of the mobile robot, and a connecting inclined plane in a connecting structure of the obstacle avoidance module is adaptively arranged at the abdicating opening; when the collision plate collides, the collision plate drives the detection module to retract by virtue of the connecting structure through force transmission so as to protect the detection module.

11. The robot obstacle avoidance module of claim 9, wherein the detection sensor of the obstacle avoidance module comprises a camera and a line laser sensor, the camera and the line laser sensor are horizontally disposed, and an optical axis direction of the camera and an emission direction of the line laser sensor form a preset angle.

12. A robot anti-jamming module applied to a mobile robot is characterized in that the anti-jamming module has the same structure as the detection module of any one of claims 1 to 8, the anti-jamming module is arranged at the top of the mobile robot, and when the anti-jamming module collides with an obstacle, a front shell with a detection module retracts through a connecting structure to prevent the mobile robot from jamming.

13. The robot anti-jamming module according to claim 12, wherein the anti-jamming module is higher than the top of the mobile robot by a certain distance, the rear housing of the anti-jamming module is fixedly connected to the main body of the mobile robot, the connection slope in the connection structure of the anti-jamming module faces in the same direction as the forward/backward direction of the mobile robot, and when the connection slope collides with an obstacle, the connection structure drives the detection module to retract so as to prevent the mobile robot from jamming.

14. A robot ground detection module applied to a mobile robot is characterized in that the ground detection module has the same structure as the detection module of any one of claims 1 to 8, the ground detection module is arranged at the bottom of the mobile robot, and when the ground detection module collides with a raised barrier, a front shell with a detection module retracts inwards through a connecting structure so as to protect the detection module.

15. A mobile robot, characterized in that the mobile robot is provided with at least one of the robot obstacle avoidance module of any one of claims 9 to 11, the robot anti-jamming module of any one of claims 12 to 13, or the ground inspection robot module of claim 14.

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