CN216876195U - Self-moving robot - Google Patents

Abstract

The embodiment of the application provides a self-moving robot which comprises a host and a sensor module. The sensor module is arranged on the anti-collision plate of the host, wherein the anti-collision plate is provided with the fixed seat, and the sensor module is arranged on the fixed seat along the projection direction, so that the sensor module can move along with the anti-collision plate in the horizontal direction and is blocked by the fixed seat in the projection direction, and the problem that the sensor module shakes or vibrates can be avoided, thereby improving the sensing reliability and enhancing the user experience.

Description

Self-moving robot

Technical Field

The application relates to the field of cleaning equipment, in particular to a self-moving robot.

Background

The mobile cleaning robot in the market comprises various sensors for navigation, obstacle avoidance and the like. Various sensors are installed in front, side, and upper positions of the robot due to functional requirements and structural shape limitations. When the host computer receives the road surface and shakes or receives the striking when crude production vibrations or receive, the displacement that makes these sensors produce the up-and-down direction in succession, and shake or shake from top to bottom, lead to the poor stability of sensor, and the degree of accuracy of sensing data is unstable, causes the erroneous judgement, influences the product planning to reduce user experience.

Disclosure of Invention

A plurality of aspects of this application provide a from mobile robot, can solve the sensor and produce shake or vibrations along with the operating mode of host computer easily, lead to poor stability, the degree of accuracy of sensing data unstable and cause erroneous judgement scheduling problem easily.

The embodiment of the application provides a from mobile robot, includes: the host comprises a base and an anti-collision plate arranged on the base, wherein the anti-collision plate can reciprocate relative to the base along the horizontal direction; and the sensor module is arranged on the anti-collision plate. The anti-collision plate comprises a fixed seat, two opposite sides of the fixed seat are respectively provided with a limiting part, two opposite sides of the sensor module are respectively provided with a combining part, the combining parts are arranged on the corresponding limiting parts along the projection direction and can move along the horizontal direction relative to the limiting parts.

Optionally, the limiting portion includes a bearing table and a cover, and the combining portion is disposed between the bearing table and the cover and blocked by the bearing table and the cover in the projection direction.

Optionally, one side of the combining portion facing the plummer and one side facing the cover body are respectively provided with a pressure bearing, and the combining portion is displaced relative to the limiting portion through the pressure bearing.

Optionally, the sensor module includes a transmitter, a receiver and a light-transmitting component, the transmitter and the receiver are arranged up and down along the projection direction, the light-transmitting component includes a partition plate and a first light-transmitting plate and a second light-transmitting plate located on two opposite sides of the partition plate, wherein the first light-transmitting plate and the second light-transmitting plate respectively correspond to the transmitter and the receiver, and the first light-transmitting plate and the second light-transmitting plate are mutually inclined.

Optionally, the first transparent plate and the second transparent plate are respectively connected to two opposite sides of the partition plate, and the inclination angles are symmetrical to each other.

Optionally, the sensor module further comprises a housing, a reflector assembly and a motor, the reflector assembly is arranged in the housing along the projection direction axis, and the motor is connected to the reflector assembly and used for driving the reflector assembly to rotate relative to the emitter and the receiver.

Optionally, the light reflecting assembly includes a rotating shaft, a first reflective mirror and a second reflective mirror, one end of the rotating shaft is axially disposed at the bottom of the housing, the other end of the rotating shaft is connected to the top of the housing, and the first reflective mirror and the second reflective mirror are radially disposed on the rotating shaft along the rotating shaft and respectively correspond to the first light transmitting plate and the second light transmitting plate.

Optionally, the first reflective mirror and the second reflective mirror are spaced apart by a distance corresponding to the partition, and the first reflective mirror and the second reflective mirror are configured to pass through the partition when the reflective assembly rotates.

Optionally, the self-moving robot further includes a control unit, and the sensor module further includes a first optical sensor, a second optical sensor and an angular displacement sensor, the first optical sensor includes the emitter and the receiver, the second optical sensor is disposed on one side of the emitter, the angular displacement sensor and the rotating shaft are coaxially disposed to detect a corner position signal of the rotating shaft, and the control unit is electrically connected to the angular displacement sensor to selectively activate the first optical sensor and the second optical sensor according to the corner position signal.

Optionally, the number of teeth of the angular displacement sensor is 5 or a multiple of 5, and each tooth has the corresponding rotation angle position signal.

Optionally, the control unit is configured to activate the first optical sensor according to a rotation angle position signal of a first tooth of the tooth numbers and activate the second optical sensor according to rotation angle position signals of the remaining teeth.

Optionally, the sensor module further includes an artificial intelligence sensor disposed on one side of the light transmission assembly and electrically connected to the control unit.

The embodiment of the application provides a from mobile robot simultaneously, including host computer and sensor module, the host computer is provided with the crashproof board that can follow the reciprocating displacement of horizontal direction, crashproof board includes the fixing base, the sensor module along the projection direction set up in on the fixing base, wherein the sensor module can be relative the fixing base is followed the horizontal direction motion, and receive in the projection direction the fixing base blocks.

In the embodiment of the present application, the sensor module is disposed on the fender panel at the foremost side of the main unit so as to be movable together with the fender panel, that is, in the horizontal direction. Meanwhile, the sensor module is fixedly blocked in the projection direction in a mode of being arranged on the fixing seat of the anti-collision plate along the projection direction, so that displacement in the projection direction is avoided, for example, shaking or vibration is generated due to up-and-down reciprocating displacement, and the sensor module can stably keep moving in the horizontal direction. Therefore, the stability and the accuracy of the sensor module in the sensing task can be improved, and the misjudgment risk is reduced.

Drawings

The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:

fig. 1 is an exploded view of a self-moving robot according to an embodiment of the present application.

Fig. 2 is an exploded view of another perspective view of the self-moving robot according to the embodiment of the present disclosure.

Fig. 3 is a front view of a self-moving robot according to an embodiment of the present application.

Fig. 4 is a front view of a sensor module of an embodiment of the present application.

Fig. 5 is a cross-sectional view of fig. 4.

Fig. 6 is a perspective view of a sensor module according to an embodiment of the present application.

Fig. 7 is an exploded view of a sensor module according to an embodiment of the present application.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, the technical solutions of the present application will be described in detail and completely with reference to the following specific embodiments of the present application and the accompanying drawings. It should be apparent that the described embodiments are only some of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.

The self-moving robot provided by the embodiment of the application can be, but is not limited to, a floor sweeping robot, a floor mopping robot or a sweeping and mopping integrated robot which comprises a host and a base station for the host to stop, or cleaning equipment such as an air purifying robot and the like which has space sensing capability and can walk according to a cleaning path.

Referring to fig. 1 to 3, a self-moving robot 1 provided in the present embodiment includes a main body 10 and a sensor module 20, where the sensor module 20 may be selectively disposed on a body of the main body 10, a base 110, or an anti-collision plate 120. The anti-collision plate 120 includes a plate body 121, a trigger mechanism, and a buffer mechanism, wherein the plate body 121 is movably disposed at a front side of the base 110, and has a first stroke and a second stroke that are drawn together toward the base 110 in a horizontal direction. The trigger mechanism is used for triggering a pause advancing signal of the main machine when the plate body 121 is acted by an external force and generates displacement of a first stroke. The buffering mechanism provides the anti-collision plate 120 with an elastic force and an elastic restoring force for reciprocating displacement relative to the base 110, so as to provide a buffering effect on the plate body 121 and restore the plate body 121 to the initial position under the condition that the plate body 121 generates the second stroke displacement. Therefore, when the crash board 120 is impacted by an external force, it can provide the first stroke and the second stroke for the protection of the collapse, and trigger the stop signal to slow down and stop the main frame 110, so as to prevent the main frame 110 from being damaged by the extrusion.

In the present embodiment, the sensor module 20 is provided on the crash board 120 of the main unit 10. The anti-collision plate 120 is provided with a fixing seat 122, and two opposite sides of the fixing seat 122 are respectively provided with a limiting portion 123 for fixing the sensor module 20. For example, the position-limiting part 123 includes a bearing 1231 and a cover 1232 that can be combined with each other, and combining parts 201, which may be, but not limited to, tabs extending outward from the opposite sides of the sensor module 20 in the horizontal direction, are respectively disposed at the opposite sides of the sensor module 20. Therefore, when the sensor module 20 is combined with the fixing base 122, the combining portion 201 is disposed on the bearing table 1231 along the projection direction, and the cover 1232 covers the combining portion 201, so that the movement space of the combining portion 201 in the projection direction is blocked, and is limited to the horizontal movement between the bearing table 1231 and the cover 1232, thereby achieving the limiting effect on the sensor module 20, so that the sensor module 20 only moves on the horizontal plane along the horizontal direction relative to the base 110 along with the anti-collision plate 120, such as front-back movement or left-right movement, and the up-and-down movement in the projection direction is not generated, thereby avoiding the sensor module 20 from generating vibration, and always maintaining the horizontal state, so as to improve the stability of the measured data when the sensor module 20 operates, and reduce the risk of erroneous judgment.

Because the sensor module of current ground cleaning robot mostly fixes in the host computer top for survey the place ahead environmental information, consequently can outstanding in the configuration in the complete machine top surface to increase overall height, influence the throughput rate when cleaning robot walks on clean route. In addition, in the conventional cleaning robot in which the sensor module is disposed on the front panel of the main body, the field angle space of the sensor module is easily affected by a protruding structure below the main body, for example, a driving wheel group protruding from the surface of the main body or a bumper having a moving stroke, and thus a large field angle space needs to be reserved in the main body. Therefore, the space of the main machine is wasted, the overall structure of the main machine is strangely shaped, and the anti-collision performance of the anti-collision plate is reduced.

In the self-moving robot provided in the embodiment of the present application, the sensor module 20 is disposed on the anti-collision plate 120, so that the sensor module 20 can move synchronously with the anti-collision plate 120 in the horizontal direction, and therefore, when the sensing operation is performed, the field angle space is not shielded due to the movement of the anti-collision plate 120, so that the environmental information of the space to be cleaned can be sensed in real time at the front side of the main frame 10, and a stable sensing performance is provided, thereby overcoming the problems of the conventional cleaning robot.

In addition, in some embodiments of the present application, a lubrication guiding member 124 may be further selectively disposed between the combining portion 201 of the sensor module 20 and the fixing seat 122 of the impact-proof plate 120, for example, a pressure bearing is disposed on a side of the combining portion 201 facing the bearing platform 1231 and/or a side facing the cover 1232, so that the sensor module 20 is limited to perform a planar motion on the fixing seat 122 only in the horizontal direction, thereby preventing the sensor module from vibrating up and down in the projection direction, and reducing the friction between the combining portion 201 and the limiting portion 123. Meanwhile, the lubrication guide member 124 can perform the above-mentioned limit function, and also can form a sealing state between the joint portion 201 and the limit portion 123, thereby saving the number of related parts, simplifying the working mode, and improving the working efficiency.

In the above-mentioned conventional floor cleaning robot for fixing the sensor module above the main machine, a Laser radar of Direct time of flight (DTOF) or Laser Direct Structuring (LDS) is generally used, and the transmitting and receiving optical path is rotated by 360 ° around the axis of the robot through a motor transmission, and during the 360 ° rotation, the distance measurement is performed at every fixed angle. Therefore, the sensor module adopting this scheme is generally placed on the top of the robot, increasing the height of the robot.

Referring to fig. 4 to 6, the present embodiment provides a sensor module 20, which can overcome the above-mentioned problems. In the present embodiment, the sensor module 20 includes a housing 210, and a transmitter 220, a receiver 230 and a light-transmitting component 240 disposed in the housing 210, wherein the combining portion 201 of the sensor module 20 is disposed on two opposite sides of the housing 210. The transmitter 220 and the receiver 230 are disposed in the housing 210 as a part of a sensor with each other, such as a light emitter and a light receiver as a light sensor, and the transmitter 220 and the receiver 230 are arranged up and down in the projection direction in the housing 210, respectively on a side of the housing 210 toward the top of the housing 210 and a side toward the bottom of the housing 210.

The light-transmitting assembly 240 covers the front side of the housing 210 and is integrated with the housing 210, so that an accommodating space is formed inside the housing 210 for the transmitter 220, the receiver 230 and other components to be mounted. The light-transmitting member 240 includes a first light-transmitting plate 241 and a second light-transmitting plate 242, which are connected to each other obliquely toward a side of the light-transmitting member 240 away from the housing 210. The inclination angles between the two plates may be, but are not limited to, symmetrical to each other, so that the first transparent plate 241 and the second transparent plate 242 form a three-dimensional structure on the light transmissive member 240, which is approximately cone-shaped. The first transparent plate 241 and the transmitter 220 are located on the same side of the sensor module 20, so that the signal generated by the transmitter 220 can penetrate to the external environment; the second transparent plate 242 and the receiver 230 are located on the same side of the sensor module 20 (i.e. a side different from the first transparent plate 241), so that the signal reflected from the external environment can penetrate into the sensor module 20 and be transmitted to the receiver 230.

For example, when the sensor type configured in the sensor module 20 is a light sensor, such as DTOF lidar, the transmitter 220 and the receiver 230 thereof are a light emitter and a light receiver, respectively. When the transmitter 220 drives the laser tube to emit a pulse laser beam, the pulse laser beam passes through the first transparent plate 241 in front of the sensor module 20 to reach an obstacle in the external environment, and after being reflected, the pulse laser beam passes through the second transparent plate 242 to reach the receiver 230. In general, in the process of transmitting light, multiple reflections are likely to occur on the first transparent plate 241 and the second transparent plate 242, and the light is reflected while transmitting the surfaces of the first transparent plate 241 and the second transparent plate 242. This easily causes the receiver 230 to receive the excessive stray light signal, which causes the sensing signal of the sensor to be triggered by mistake, and increases the risk of misjudgment. However, in the embodiment of the present application, the first transparent plate 241 and the second transparent plate 242 are configured to be inclined at a symmetrical angle, so that the reflection paths of the light on the first transparent plate 241 and the second transparent plate 242 can be changed, and the stray light cannot enter the lens of the receiver 230, thereby solving the problem of the stray light.

Referring to fig. 7, in other embodiments of the present application, the light transmissive member 240 further includes a partition 243. The first and second transparent plates 242 and 243 are respectively located at opposite sides of the partition 243, and are connected to a side of the partition 243 away from the case 210 in a mutually inclined manner. The first transparent plate 241 and the second transparent plate 242 may be, but are not limited to, connected to the partition 243 at an inclined angle symmetrical to each other, so that the first transparent plate 241 and the second transparent plate 242 form a three-dimensional structure on the light transmission member 240, which is approximately cone-shaped. Wherein the partition 243 is interposed between the transmitter 220 and the receiver 230 within the housing 210, separating the transmitter 220 on a side corresponding to the first light-transmitting plate 241 and the receiver 230 on a side corresponding to the second light-transmitting plate 242. Therefore, when the sensor is activated, the signal transmitted by the transmitter 220 is transmitted to the external environment through the first transparent plate 241, and is reflected to the second transparent plate 242 by the object in the external environment, so that the receiver 230 receives the reflected signal at the side different from the transmitter 220.

For example, in some embodiments of the present application in which the light sensor is configured, the transmitter 220 drives the laser tube to emit a pulse laser beam toward the first transparent plate 241, so that the pulse laser beam passes through the first transparent plate 241 to the external environment. The pulsed laser is reflected by an obstacle in the external environment and then transmitted to the receiver 230 through the second transparent plate 242. In the process, when the light passes through the first transparent plate 241, the reflected light formed on the surface of the first transparent plate 241 is guided by the inclined angle of the first transparent plate 241, and is blocked by the partition 243 on one side of the transmitter 220, so that the reflected light is not transmitted to one side of the receiver. Meanwhile, when the light is reflected and then penetrates through the second transparent plate 242, the stray light formed on the surface of the second transparent plate 242 is guided by the inclined angle of the second transparent plate 242 and dissipated in the external environment, so that the interference of the stray light on the receiver 230 is avoided, and the sensing accuracy is improved.

It should be noted that, in the embodiment of the present application, the transmitter and the receiver of the sensor are arranged up and down along the projection direction, so that a plurality of sensors close to each other in the sensing mode can be integrated in the sensor module for use, thereby achieving a multi-functional effect of the mutual cooperation of the plurality of sensors.

Referring to fig. 4 to 7, in the self-moving robot provided in some embodiments of the present disclosure, a first optical sensor S, a second optical sensor 250, a reflective element 260, and a motor 270 connected to the reflective element 260 are disposed in a sensor module 20, wherein the first optical sensor S, the second optical sensor 250, and the motor 270 are respectively electrically connected to a control unit on a host 10, so as to perform systematic control on these elements through the control unit, thereby providing a multi-working mode in which a plurality of sensors can work cooperatively.

In the present embodiment, the first light sensor S may be, but is not limited to, a DTOF lidar, which is mainly used for positioning and can implement centimeter-level mapping and navigation. The second light sensor 250 may be, but is not limited to, a 3D structured light sensor, which may implement millimeter-scale obstacle avoidance sensing.

The first light sensor S includes a receiver 230 disposed at the bottom of the sensor module 20 and a transmitter 220 located above the receiver 230, wherein the transmitter 220 corresponds to a first light-transmitting panel and the receiver corresponds to a second light-transmitting panel. The second light sensor 250 is disposed on top of the sensor module 20 and includes laser emitters 251 located on the left and right sides of the sensor module 20 and a structured light receiver 252 disposed between the two laser emitters 220. Although the first optical sensor S and the second optical sensor 250 both sense through optical signal transmission, in the embodiment of the present application, the first optical sensor S and the second optical sensor 250 can be integrated on the top of the sensor module 20 through the cooperation of the light-transmitting component 240 and the light-reflecting component 260, so that other spaces of the sensor module 20 are released, and thus other types of sensors can be expanded, the space utilization is maximized, and the sensor module 20 has more comprehensive sensing performance. Therefore, an Artificial Intelligence (AI) sensor 280 may be further provided at a side of the front side of the sensor module 20 adjacent to the first and second transparent panels 241 and 242, which may be matched with a deep learning algorithm to perform accurate recognition of an object.

The transmitter and the receiver that are different from current sensor are at the sensing mode of host computer top 360 rotations around the axle center, and this application has adopted the rotatory mode of off-axis to carry out the sensing. For example, in the present embodiment, the first optical sensor and the second optical sensor 250 are fixed on the sensor module 20, and the optical paths for sensing the two are fixed. The light reflecting member 260 is driven by the motor 270 to rotate relative to the first and second light sensors 250 in the sensor module 20, so that the light is reflected and/or refracted by the light reflecting member 260, transmitted to the external environment through the first transparent plate 241, and transmitted to the receiver 230 through the second transparent plate 242.

The light reflecting assembly 260 includes a first reflective mirror 261, a second reflective mirror 262, and a rotation shaft 263. The first and second reflective mirrors 261 and 262 are respectively disposed on the rotation shaft 263 in a radial direction of the rotation shaft 263, and the first and second reflective mirrors 261 and 262 may be, but are not limited to, formed to extend from opposite sides of the rotation shaft 263 in the radial direction. In addition, the first reflective mirror 261 and the second reflective mirror 262 may be spaced apart by a distance, the position of the distance is exactly corresponding to the partition 243 of the light-transmitting assembly 240, so that the first reflective mirror 261 and the second reflective mirror 262 respectively correspond to the emitter 220 and the receiver 230, and the distance may be used as an escape space for the partition 243 to pass through when the light-reflecting assembly 260 rotates in the housing 210, so as to avoid interference to the rotation of the light-reflecting assembly 260. Therefore, in the configuration of the reflector assembly 260, the partition 243 can be extended into the gap, so that the rotating shaft 263 of the reflector assembly 260 is closer to the partition 243, thereby further reducing the overall volume of the sensor module 20.

In addition, the opposite end of the rotating shaft 261 may be, but is not limited to, rotatably disposed in the housing 210 of the sensor module 20 through a bearing 264. One end of the rotating shaft 261 is axially arranged at the bottom of the housing 210, and the other end is connected to the motor 270 at the top of the housing 210, so that the first reflective mirror 261 and the second reflective mirror 262 can be driven by the motor 270 to rotate in the housing 210 relative to the transmitter 220 and the receiver 230.

In some embodiments of the present application, an angular displacement sensor 290, such as a code wheel, is further disposed on the rotating shaft 261 of the reflective assembly 260, and one side of the angular displacement sensor is connected to the rotating shaft 261 through a bearing 264, and the other side of the angular displacement sensor is connected to the motor 270, so as to rotate synchronously with the rotating shaft 261 under the driving of the motor 270, thereby sensing the change of the rotation angle of the reflective assembly 260. Meanwhile, the angular displacement sensor 290 is electrically connected to the control unit on the host 10, and is used for transmitting the sensed rotation angle position signal (i.e. rotation angle signal of the rotation shaft) of the rotation shaft 261 to the control unit, so that the control unit can selectively activate the first optical sensor S and the second optical sensor 250 according to the signal. By this arrangement, mutual interference of signals between the two sensors can be avoided. For example, a code wheel with 5 or a multiple of 5 teeth may be disposed on the rotating shaft 261 of the light reflecting component 260, and when the number of teeth reaches the first tooth, the control unit receives the angular position signal of the first tooth, activates the transmitter 220 of the first light sensor S to emit a light signal, and receives the reflected light signal through the receiver 230. And, when the number of teeth is rotated to the position of other teeth, the control unit receives the rotation angle position signal thereof, activates the laser transmitter 251 of the second optical sensor 250 to emit an optical signal, and receives a reflected optical signal through the structure light receiver 252 at the other side different from the receiver 230. The on-off time of the first optical sensor S and the second optical sensor 250 is controlled to avoid mutual interference.

The following further describes the embodiments of the present application through the description of the application scenario.

Referring to fig. 1, 3, 5 and 7, when the power of the main body 10 of the mobile robot 1 is turned on during a cleaning task, the control unit activates the first sensor S and the second sensor 250 according to the rotation angle position signal transmitted from the angular displacement sensor 290. For example, the signal time division of the code disc is used to confirm whether the DTOF laser radar is to be started or the 3D structured light sensor is to be started. The 3D structured light sensor usually needs a plurality of frames of images, and 3D depth information of the area where the light spot is located is calculated through a rear-end algorithm. Supposing that 3D structured light needs 4 frames of images to calculate one frame of 3D depth information, by means of designing a code wheel to be 5 or multiples of 5 teeth, when the code wheel rotates to the first tooth, a control unit starts a DTOF laser radar to continuously drive a transmitter 220 to transmit pulse laser distance measurement and build a graph, and when the code wheel rotates to the second tooth, the third tooth, the fourth tooth and the fifth tooth, the DTOF laser radar stops working, and starts a camera of a 3D structured light sensor to sample images 1, 2, 3 and 4 respectively, so that time-sharing multiplexing of the DTOF laser radar and the 3D structured light sensor is realized.

The transmitter 220 and the receiver 230 of the DTOF lidar are arranged up and down, so that the optical path is fixed, and scanning and sensing are realized in a manner of off-axis rotation of the light reflecting component 260 relative to the transmitter 220 and the receiver 230. Therefore, when the DTOF laser radar is started, the transmitter 220 drives the laser tube to transmit a pulse laser beam, which is reflected by the first reflective mirror 261 rotating off-axis, so as to realize scanning within a certain angle range. In fact, the actual scanning angle can be enlarged by 1 time through the reflection mode of the reflector. When the pulse laser beam passes through the first transparent plate 241 to reach an obstacle, the pulse laser beam is reflected, passes through the second transparent plate 242 to reach the second reflective mirror 262, and is reflected to reach the receiver 230. In this process, since the first transparent plate 241 and the second transparent plate 242 respectively form a symmetrical angle θ with the planes of the first reflective mirror 261 and the second reflective mirror 262, for example, the angle is in the range of about 1 ° to 10 °, the angle can be adjusted and set by the composition material of the transparent plates, the size of the mirror of the reflective mirror, and the length parameter of the optical path. Thus, the stray light reflected by the first and second transparent plates 241 and 242 is reflected by the first and second reflectors 261 and 262 and then deflected by an angle of 2 θ, so that the stray light cannot enter the lens of the receiver 230 and does not interfere with the transmitter 220. Therefore, false triggering of the signal caused by receiving of the unwanted stray light by the receiver 230 can be eliminated, and the sensing accuracy can be improved.

The above description is only an example of the present application and is not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement or the like made within the spirit and principle of the present application shall be included in the scope of the claims of the present application.

Claims (13)

1. A self-moving robot, comprising:

the host comprises a base and an anti-collision plate arranged on the base, and the anti-collision plate can reciprocate relative to the base along the horizontal direction; and

the sensor module is arranged on the anti-collision plate;

the anti-collision plate comprises a fixed seat, two opposite sides of the fixed seat are respectively provided with a limiting part, two opposite sides of the sensor module are respectively provided with a combining part, the combining parts are arranged on the corresponding limiting parts along the projection direction and can move along the horizontal direction relative to the limiting parts.

2. The self-moving robot as claimed in claim 1, wherein the position-limiting portion comprises a bearing table and a cover, and the engaging portion is disposed between the bearing table and the cover and blocked by the bearing table and the cover in the projection direction.

3. The self-propelled robot as claimed in claim 2, wherein a side of the coupling portion facing the platform and a side of the coupling portion facing the cover are respectively provided with a pressure bearing, and the coupling portion is displaced relative to the position-limiting portion by the pressure bearings.

4. The self-moving robot as claimed in claim 1, wherein the sensor module comprises a transmitter, a receiver and a light-transmitting assembly, the transmitter and the receiver are arranged up and down along the projection direction, the light-transmitting assembly comprises a partition plate and a first light-transmitting plate and a second light-transmitting plate located at opposite sides of the partition plate, wherein the first light-transmitting plate and the second light-transmitting plate correspond to the transmitter and the receiver, respectively, and the first light-transmitting plate and the second light-transmitting plate are inclined to each other.

5. The self-moving robot as claimed in claim 4, wherein the first and second transparent plates are connected to opposite sides of the partition plate, respectively, and have symmetrical inclination angles.

6. The self-propelled robot as recited in claim 4, wherein the sensor module further comprises a housing, a reflector assembly disposed within the housing along the axis of the projection direction, and a motor coupled to the reflector assembly for driving the reflector assembly to rotate relative to the emitter and the receiver.

7. The self-moving robot as claimed in claim 6, wherein the light reflecting member comprises a shaft, a first reflecting mirror and a second reflecting mirror, one end of the shaft is pivotally disposed at the bottom of the housing, the other end of the shaft is connected to the motor at the top of the housing, and the first reflecting mirror and the second reflecting mirror are disposed on the shaft along a radial direction of the shaft and respectively correspond to the first transparent plate and the second transparent plate.

8. The self-propelled robot of claim 7, wherein the first mirror and the second mirror are separated by a distance corresponding to the partition and configured to allow the partition to pass when the light reflecting member rotates.

9. The self-moving robot as claimed in claim 7, further comprising a control unit, wherein the sensor module further comprises a first optical sensor, a second optical sensor and an angular displacement sensor, the first optical sensor comprises the transmitter and the receiver, the second optical sensor is disposed at one side of the transmitter, the angular displacement sensor is disposed coaxially with the rotating shaft for detecting a rotation angle position signal of the rotating shaft, and the control unit is electrically connected to the angular displacement sensor for selectively activating the first optical sensor and the second optical sensor according to the rotation angle position signal.

10. The self-moving robot as claimed in claim 9, wherein the angular displacement sensor has a number of teeth that is 5 or a multiple of 5, and each tooth has a corresponding said angular position signal.

11. The self-moving robot as claimed in claim 10, wherein said control unit is configured to activate said first optical sensor in response to a rotational angle position signal of a first tooth of said number of teeth and to activate said second optical sensor in response to a rotational angle position signal of the remaining teeth.

12. The self-moving robot as claimed in claim 9, wherein the sensor module further comprises an artificial intelligence sensor disposed at one side of the light transmission member and electrically connected to the control unit.

13. The self-moving robot is characterized by comprising a host and a sensor module, wherein the host is provided with an anti-collision plate capable of performing reciprocating displacement along the horizontal direction, the anti-collision plate comprises a fixed seat, the sensor module is arranged on the fixed seat along the projection direction, the sensor module can move along the horizontal direction relative to the fixed seat, and is blocked by the fixed seat in the projection direction.

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