CN220041007U - Mobile robot - Google Patents

Abstract

The utility model relates to a mobile robot, which comprises a machine body and an ultrasonic sensor detection unit, wherein the ultrasonic sensor detection unit is obliquely arranged on the machine body and is connected with a controller of the machine body; the ultrasonic sensor detection unit transmits ultrasonic waves into a detection range, receives a reflected echo signal for ground detection, and transmits the reflected echo signal to the controller. An ultrasonic sensor detection unit is obliquely arranged on the machine body, ultrasonic waves can be emitted into a detection range through the ultrasonic sensor detection unit, and reflected echo signals for ground detection are received and sent to a controller of the machine body. Compared with the ground detection by adopting the infrared pair tube, the detection precision can be effectively improved, and the ground detection accuracy of the mobile robot is improved.

Description

Mobile robot

Technical Field

The utility model relates to the technical field of robots, in particular to a mobile robot.

Background

Along with the development of technology and the continuous progress of society, more and more kinds of mobile robots are in daily work and life of people, and the ground obstacle is detected in time to avoid, so that the mobile robots are very important for safe operation.

The traditional detection (short for ground detection) of the ground cliff of the mobile robot adopts an infrared pair tube to be installed on a fixed structural member to form a receiving and transmitting module, so that the accuracy is weaker, if the ground material adjacent side cliff is complicated and changeable, the risk of misjudgment and falling the cliff of the robot is increased due to the fact that the infrared pair tube cannot be accurately judged, and the traditional mobile robot has the defect of low ground detection accuracy.

Disclosure of Invention

In view of the above, it is necessary to provide a mobile robot capable of improving the ground detection accuracy.

The mobile robot comprises a machine body and an ultrasonic sensor detection unit, wherein the ultrasonic sensor detection unit is obliquely arranged on the machine body and is connected with a controller of the machine body; the ultrasonic sensor detection unit transmits ultrasonic waves into a detection range, receives a reflected echo signal for ground detection, and sends the reflected echo signal to the controller.

In the mobile robot, the ultrasonic sensor detection unit is obliquely arranged on the machine body, ultrasonic waves can be emitted into the detection range through the ultrasonic sensor detection unit, and reflected echo signals for ground detection are received and sent to the controller of the machine body. Compared with the ground detection by adopting the infrared pair tube, the detection precision can be effectively improved, and the ground detection accuracy of the mobile robot is improved.

Drawings

FIG. 1 is a schematic diagram of a mobile robot in an embodiment;

FIG. 2 is a schematic diagram of a mobile robot in another embodiment;

FIG. 3 is a schematic view of a mobile robot in another embodiment;

fig. 4 is a block diagram of a mobile robot in an embodiment.

Detailed Description

The present utility model will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present utility model more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the utility model.

In one embodiment, a mobile robot is provided, which may be a sweeping robot or a handling robot, or the like. The mobile robot comprises a machine body and an ultrasonic sensor detection unit, wherein the machine body comprises a controller and a chassis, and can also comprise a shell, a functional unit and the like. The controller and the functional unit are arranged on the chassis, the controller is connected with the functional unit, and the shell is covered on the chassis. The specific structure of the functional unit is correspondingly different according to different types of the mobile robots, for example, when the mobile robots are floor sweeping robots, the functional unit is a motion and sweeping control execution unit.

As shown in fig. 1 and 2, the machine body 100 includes a controller 110, and an ultrasonic sensor detection unit 120 is obliquely disposed to the machine body 100 and connected to the controller 110 of the machine body 100; the ultrasonic sensor detection unit 120 transmits ultrasonic waves into a detection range and receives a reflected echo signal for ground detection, and transmits the reflected echo signal to the controller 110. Specifically, the controller 110 may employ a CPU (Central Processing Unit ), an MCU (Microcontroller Unit, micro control unit), etc., and the ultrasonic sensor detection unit 120 may be provided on a housing or chassis of the machine body 100. It will be appreciated that the manner in which the ultrasonic sensor detection unit 120 is disposed obliquely to the machine body 100 may be different depending on the position of the ultrasonic sensor detection unit 120. As shown in fig. 1, when the ultrasonic sensor detection unit 120 is disposed at the side of the housing of the machine body 100, the ultrasonic sensor detection unit 120 may be disposed obliquely toward the chassis of the machine body 100 for ground cliff detection. As shown in fig. 2, when the ultrasonic sensor detection unit 120 is disposed on the chassis of the machine body 100, the ultrasonic sensor detection unit 120 may be disposed obliquely toward the edge of the chassis, for example, when the chassis is a circular chassis, the ultrasonic sensor detection unit 120 is inclined away from the center of the chassis, and also ground cliff detection may be performed.

Specifically, the ultrasonic sensor detection unit 120 may include one or more ultrasonic sensors disposed at the chassis of the machine body 100 and inclined outward, so that the effective detection range of the ultrasonic sensor detection unit 120 may include a machine body range and a machine body outer range. Wherein, the ultrasonic sensor can be designed and improved, and the receiving and transmitting Field View (FOV) Of the ultrasonic sensor is enlarged, so that the detection range Of the ultrasonic sensor detection unit 120 is enlarged; it is also possible to increase the number of ultrasonic sensors and make layout improvement on the ultrasonic sensors to increase the detection range of the ultrasonic sensor detection unit 120. Further, the ultrasonic sensor detection unit 120 may further arrange a plurality of ultrasonic sensors that expand the transceiving field of view on the chassis, thereby further increasing the detection range of the ultrasonic sensor detection unit 120. In addition, the reflected echo signal returned from the ultrasonic sensor detection unit 120 may be used as a controller for ground material detection in addition to ground cliff detection.

In the mobile robot, the ultrasonic sensor detecting unit 120 is provided obliquely to the machine body 100, and the ultrasonic sensor detecting unit 120 can transmit ultrasonic waves to the detection range, and receive reflected echo signals for ground detection and transmit the reflected echo signals to the controller 110 of the machine body 100. Compared with the ground detection by adopting the infrared pair tube, the detection precision can be effectively improved, and the ground detection accuracy of the mobile robot is improved.

Specifically, in one embodiment, as shown in fig. 3, the ultrasonic sensor detection unit 120 includes an ultrasonic sensor 122 having a transceiving field of view θ greater than 10 degrees, and the ultrasonic sensor 122 is obliquely disposed to the chassis of the machine body 100. The number of ultrasonic sensors 122 may be one or more, for example, 1 to 6. In this embodiment, the ultrasonic sensor 122 specifically adopts an ultrasonic sensor with a transceiving field of view greater than 10 degrees and less than 180 degrees. By improving the structure of the ultrasonic sensor 122, the ultrasonic sensor with a receiving and transmitting field of view larger than 10 degrees is adopted for detection, and meanwhile, the detection accuracy and the detection range are ensured.

In one embodiment, the number of ultrasonic sensors 122 is one, and the ultrasonic sensors 122 are provided at the front of the chassis in the advancing direction of the mobile robot. The ultrasonic sensor 122 for enlarging the angle of view is used for detecting the front of the mobile robot, so that the detection can be timely carried out when the cliff with the adjacent side appears in front of the mobile robot, and meanwhile, the detection cost can be reduced.

In another embodiment, the number of ultrasonic sensors 122 is more than two, and the ultrasonic sensors 122 are uniformly distributed at the edge of the chassis. When the number of the ultrasonic sensors 122 is two, the ultrasonic sensors 122 can be arranged at the front and the rear of the chassis, and when the mobile robot moves forward or backward, the controller 110 can detect the cliff on the ground by the reflected echo signals detected by the ultrasonic sensors 122 at the corresponding positions, so that the detection is simple and convenient and the cost is low. Further, when the number of the ultrasonic sensors 122 is more, the ultrasonic sensors can be uniformly distributed at equal intervals along the edge of the circular chassis, so that the environmental information of the mobile robot in different directions can be detected, and the detection reliability of the mobile robot is improved.

The specific manner of disposing the ultrasonic sensor detection unit 120 obliquely to the chassis is not limited, and the entire ultrasonic sensor 122 may be disposed obliquely, or the probe of the ultrasonic sensor 122 may be disposed obliquely. The ultrasonic sensor 122 may be a transceiver-integrated ultrasonic sensor probe, or a transceiver-separated ultrasonic sensor probe, that is, the probe of the ultrasonic sensor 122 includes a sound emitting surface probe and a receiving surface probe. Specifically, taking the example of setting the probe tilt of the ultrasonic sensor 122 as an example, in one embodiment, the probe of the ultrasonic sensor 122 has a tendency to angle from the chassis of more than 0 degrees and less than 90 degrees. The probe inclination angle is not unique and can be adjusted according to the chassis height. In this embodiment, the inclination angle between the probe of the ultrasonic sensor 122 and the chassis is greater than 5 degrees and less than 60 degrees, and the detection distance and the detection precision of the ultrasonic sensor 122 can be simultaneously considered.

Further, in one embodiment, as shown in fig. 4, the mobile robot further includes an infrared pair pipe detection unit 130 disposed on the machine body 100, and the infrared pair pipe detection unit 130 is connected to the controller 110. Specifically, the infrared pair tube detection unit 130 may also be disposed on the chassis and connected to the controller 110. In this embodiment, the infrared pair pipe detection unit 130 is also used for ground cliff detection, and the ultrasonic sensor detection unit 120 is used for assisting in infrared ground cliff detection, so as to provide dual guarantee of cliff ground detection, and further ensure detection accuracy.

In one embodiment, with continued reference to fig. 4, the mobile robot further includes at least one of a radar mapping navigation planning unit 140, a wireless communication unit 150, and an obstacle avoidance detection unit 160 disposed on the machine body 100 and coupled to the controller 110. The wireless communication unit 150 may specifically employ a WLAN (Wireless Local Area Network ) unit. The radar mapping navigation planning unit 140, the wireless communication unit 150 and the obstacle avoidance detection unit 160 may be disposed in the housing of the machine body 100 and connected to the controller 110.

Further, the mobile robot may further include at least one of a gyroscope, a gravity sensing unit, and a geomagnetic sensing unit disposed at the machine body 100 and connected to the controller 110. The gyroscope, the gravity sensing unit, and the geomagnetic sensing unit may also be disposed in the housing of the machine body 100 and connected to the controller 110. The mobile robot may further include a power supply unit provided to the machine body 100 for supplying power to other units.

In order to better understand the mobile robot, a detailed explanation will be given below with a sweeping robot as an example.

The detection of the ground cliff of the traditional sweeping robot adopts an infrared pair tube (an infrared transmitting tube and an infrared receiving tube) to be arranged on a fixed structural member to form a transmitting and receiving fixed light path receiving-transmitting module, the accuracy is weaker, the error rate is up to several centimeters, and if the ground cliff faces complicated and changeable ground materials (such as carpets, ceramic tiles, black and white ground and the like) and adjacent sides, the risk of the sweeping robot misjudging and falling off the cliff is increased because the infrared sensor cannot accurately judge. The receiving and transmitting FOV of the ultrasonic sensor used in the current sweeping robot is generally within 10 degrees, and is limited by the application principle, so that the ultrasonic sensor is often only vertically installed at the bottom of the machine in order to ensure that the detection target is within the receiving and transmitting visual field range of the ultrasonic sensor, and the installation angle and the detection range are extremely narrow, so that the current ultrasonic sensor is only limited to be used as a ground material detection function in the application of the sweeping machine.

Based on the above, the sweeping robot provided by the utility model adjusts the receiving and dispatching FOV of the applied ultrasonic sensors (the number of the ultrasonic sensors is not limited to 1-6) to be more than 10 degrees (including but not limited to 10 degrees < the receiving and dispatching FOV of the probe <180 degrees), and solves the problem that the installation mode of the ultrasonic sensors is limited by the receiving and dispatching field of view. The probe of the ultrasonic sensor (including but not limited to a transceiving integrated ultrasonic sensor probe or a transceiving separated ultrasonic sensor sounding surface probe and a receiving surface probe) is installed at a reasonable position of the body of the sweeping robot at an oblique angle (including but not limited to 0 DEG < installation detection angle <90 DEG), so that the ultrasonic sensor is in a reasonable effective detection area range (including but not limited to a machine body range or a machine body outer range). After the ultrasonic sensor detects the cliff, the controller of the sweeping robot can timely transmit information to the movement and sweeping control execution unit, so that the sweeping robot can avoid the cliff and fall off.

The ground material type can be judged according to the difference of the characteristics of the reflected echo signals of the ultrasonic waves on the ground with different materials, and the detection is accurate, quick and stable. In a step (cliff) scene, the controller can calculate the ground height drop by using echo information, and the falling prediction is realized by using an echo ranging function, so that the safety of the sweeping robot is ensured. Specifically, the distance between the ultrasonic sensor and the ground can be calculated according to the first echo position loc, when the ultrasonic sensor faces suspension, the variation difference of the measured information value is obvious, and the calculation formula is as follows: (1/2) × (loc/fs) ×1000 (mm), where fs=100 khz, c is the speed of sound in air, and the empirical formula is c=331.3+0.61×t, where t is the celsius temperature of air, in relation to the temperature of air. For example: in the forward walking process of the sweeping robot, the normal echo return measured value is La (according to different material conditions, the situation is not limited to La-Ld intervals), and when cliffs appear in front, the echo value is suddenly changed into Lx. And judging the cliff when Lx-La is larger than zero, and judging the cliff not to be the cliff when Lx-La is smaller than zero.

Through the design, the ultrasonic sensor has at least two functions in the sweeping robot, so that the problems that the ultrasonic sensor is limited in application in the sweeping robot at present and can only be vertically installed at the bottom of the machine to be limited for detecting ground materials, and the ultrasonic sensor can be used as a ground cliff detection function (including but not limited to the use of the ultrasonic sensor as the cliff detection function and the ground material detection function or the dual guarantee of an infrared geminate transistor detection unit and used as an auxiliary infrared cliff detection function), the problems that the existing sweeping robot is low in accuracy of infrared geminate transistor, large in error and incapable of accurately judging adjacent edge cliffs (such as carpets, tiles, black and white ground adjacent edge cliffs) of different ground materials are solved, and the sweeping robot can easily and naturally self-adjust a working mode and an adaptive working scene while facing the complex and changeable ground materials and ground road conditions are synthesized, and can safely avoid dangerous cliffs.

The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.

The above examples illustrate only a few embodiments of the utility model, which are described in detail and are not to be construed as limiting the scope of the utility model. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the utility model, which are all within the scope of the utility model. Accordingly, the scope of protection of the present utility model is to be determined by the appended claims.

Claims (10)

1. The mobile robot is characterized by comprising a machine body and an ultrasonic sensor detection unit, wherein the ultrasonic sensor detection unit is obliquely arranged on the machine body and is connected with a controller of the machine body; the ultrasonic sensor detection unit transmits ultrasonic waves to a detection range, receives a reflected echo signal for ground detection, and sends the reflected echo signal to the controller;

the mobile robot further comprises at least one of a gyroscope, a gravity sensing unit and a geomagnetic sensing unit, wherein the gyroscope, the gravity sensing unit and the geomagnetic sensing unit are arranged on the machine body and connected with the controller.

2. The mobile robot of claim 1, wherein the ultrasonic sensor detection unit includes an ultrasonic sensor having a transceiving field of view greater than 10 degrees, the ultrasonic sensor being obliquely disposed to a chassis of the machine body.

3. The mobile robot of claim 2, wherein the ultrasonic sensor is an ultrasonic sensor having a transceiving field of view greater than 10 degrees and less than 180 degrees.

4. A mobile robot according to claim 3, wherein the number of ultrasonic sensors is one, and the ultrasonic sensors are provided at the front of the chassis in the advancing direction of the mobile robot.

5. A mobile robot according to claim 3, wherein the number of ultrasonic sensors is more than two, and the ultrasonic sensors are uniformly distributed at the edge of the chassis.

6. The mobile robot of claim 2, wherein the probe of the ultrasonic sensor has a dip angle with the chassis of greater than 0 degrees and less than 90 degrees.

7. The mobile robot of claim 6, wherein the probe of the ultrasonic sensor has a dip angle from the chassis of greater than 5 degrees and less than 60 degrees.

8. The mobile robot of any of claims 1-7, further comprising an infrared pair-pipe detection unit disposed on the machine body, the infrared pair-pipe detection unit being coupled to the controller.

9. The mobile robot of any of claims 1-7, further comprising at least one of a radar mapping navigation planning unit, a wireless communication unit, and an obstacle avoidance detection unit disposed on the machine body and coupled to the controller.

10. The mobile robot of claim 1, wherein the ultrasonic sensor detection unit is provided to a housing or chassis of the machine body.