WO2022127443A1 - 自主移动设备 - Google Patents

自主移动设备 Download PDF

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Publication number
WO2022127443A1
WO2022127443A1 PCT/CN2021/129468 CN2021129468W WO2022127443A1 WO 2022127443 A1 WO2022127443 A1 WO 2022127443A1 CN 2021129468 W CN2021129468 W CN 2021129468W WO 2022127443 A1 WO2022127443 A1 WO 2022127443A1
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WO
WIPO (PCT)
Prior art keywords
protective shell
mobile device
autonomous mobile
rocker
rocker handle
Prior art date
Application number
PCT/CN2021/129468
Other languages
English (en)
French (fr)
Inventor
邢兴国
吴欣
Original Assignee
速感科技（北京）有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 速感科技（北京）有限公司 filed Critical 速感科技（北京）有限公司
Publication of WO2022127443A1 publication Critical patent/WO2022127443A1/zh
Priority to US18/335,110 priority Critical patent/US20230332934A1/en

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D11/00—Component parts of measuring arrangements not specially adapted for a specific variable
    • G01D11/24—Housings ; Casings for instruments
    • G01D11/245—Housings for sensors
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0227—Control of position or course in two dimensions specially adapted to land vehicles using mechanical sensing means, e.g. for sensing treated area
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0234—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons
    • G05D1/0236—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons in combination with a laser
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4002—Installations of electric equipment
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4002—Installations of electric equipment
    • A47L11/4008—Arrangements of switches, indicators or the like
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2805—Parameters or conditions being sensed
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2889—Safety or protection devices or systems, e.g. for prevention of motor over-heating or for protection of the user
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
    • G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G01S7/4811—Constructional features, e.g. arrangements of optical elements common to transmitter and receiver
    • G01S7/4813—Housing arrangements

Definitions

  • the embodiments of the present application relate to the field of smart homes, and in particular, to an autonomous mobile device.
  • the autonomous mobile device includes a body and a motion unit, wherein the motion unit is arranged at the bottom of the body and contacts the ground to drive the body to move in a required direction on the ground of the working area.
  • LIDAR Light Detection and Ranging
  • Lidar Lidar
  • the device is used for positioning, mapping and navigation; in order to enable the lidar to scan the surrounding environment 360°, the lidar is usually arranged in a bulge on the top of the body.
  • VSLAM Visual Simultaneous Localization and Mapping
  • object recognition sensors
  • sensors can also be installed, such as passive thermal infrared sensors, ultrasonic ranging sensors, etc., to meet the increasing demand for autonomous mobile devices.
  • the protrusion on the top of the main body of the autonomous mobile device is likely to collide with obstacles in the environment, which may easily cause damage or even damage to important sensors such as lidar in the protrusion.
  • the embodiment of the present application provides an autonomous mobile device, which is used to solve the problem that the lidar is arranged on the top of the body in the related art. During the operation process, the lidar is likely to collide with obstacles in the environment, which may easily lead to damage or even damage to the lidar. question.
  • An embodiment of the present application provides an autonomous mobile device, including a body, a protruding part, a protective shell, a rocker sensor, and a processing unit, the protruding part is provided on the top of the body, and the protective shell is provided on the the outer side of the protruding part, and the protective shell can move relative to the protruding part after being collided;
  • the rocker sensor includes a housing, a rocker handle and a parameter detection part, and the first end of the rocker handle is connected to Inside the housing, and the rocker handle can swing around the connection point between the rocker handle and the housing, the second end of the rocker handle is connected to the protective shell, so that the The protective shell drives the rocker handle to swing;
  • the parameter detection component is arranged in the casing and is used to detect the swing parameter of the rocker handle.
  • the swing parameter includes one or more of a swing angle, a swing speed, and a swing acceleration.
  • the rocker handle moves along its own axial direction
  • the parameter detection component is further used to detect the axial movement stroke of the rocker handle.
  • the autonomous mobile device further includes a reset device
  • the reset device is connected to the protective case, and is used to reset the protective case to a position when the protective case is not subjected to external force after the protective case is displaced by an external force.
  • the upper end of the main body is provided with a limit post
  • the protective shell includes a cover body disposed on the periphery of the protruding portion and a flange disposed on the lower end of the cover body, An elongated hole extending in the forward direction of the movement of the autonomous mobile device, the limiting column is penetrated in the elongated hole, and the reset device is respectively connected with the limiting column and the elongated hole.
  • the rocker sensor is arranged between the protective shell and the body.
  • the second end of the rocker handle is vertically upward and connected to the protective case.
  • the upper end of the body is provided with an installation groove
  • the rocker sensor is embedded in the installation groove
  • part of the protective shell covers the opening of the installation groove
  • the protective shell is provided with a connection groove
  • the second end of the rocker handle is embedded in the connection groove
  • the second end is provided with a partial spherical surface
  • the partial spherical surface abuts against the on the inner wall of the connection slot.
  • the autonomous mobile device further includes a lifting device, the body includes a frame body and a fixing part, a lifting channel is provided at the top of the frame body, and the fixing part is slidably arranged in the lifting channel; the The protruding part and the protective shell are both arranged on the fixing part; the lifting device is connected with the frame body and the fixing part, and the lifting device is used to detect the protection on the parameter detection part When the shell is collided, the fixing part is driven to shrink into the lifting channel, so that the protective shell and the protruding part are retracted into the lifting channel.
  • a lifting device the body includes a frame body and a fixing part, a lifting channel is provided at the top of the frame body, and the fixing part is slidably arranged in the lifting channel; the The protruding part and the protective shell are both arranged on the fixing part; the lifting device is connected with the frame body and the fixing part, and the lifting device is used to detect the protection on the parameter detection part When the shell is collided, the fixing part is
  • the autonomous mobile device provided by the embodiment of the present application includes a joystick sensor, the first end of the joystick handle is connected in the housing, and the joystick handle can swing around the connection point between the joystick handle and the housing, and the second end of the joystick handle attached to the protective case.
  • the protective shell drives the rocker handle to swing, and the parameter detection component determines whether the protective shell is displaced by detecting the rocker handle swing parameters, that is, whether the autonomous mobile device is collided by external force. Therefore, the autonomous mobile device can make the next action according to the judgment result, which makes the autonomous mobile device more intelligent.
  • FIG. 1 is a schematic diagram of an autonomous mobile device provided by an embodiment of the present application
  • FIG. 2 is a side view of an autonomous mobile device provided by an embodiment of the present application.
  • FIG. 3 is a cross-sectional view of the autonomous mobile device provided by an embodiment of the present application when it is not subjected to a collision;
  • FIG. 4 is a cross-sectional view of an autonomous mobile device provided by an embodiment of the present application when it is collided;
  • FIG. 5 is a schematic diagram of a protective shell in an autonomous mobile device provided by an embodiment of the present application.
  • FIG. 6 is a schematic diagram of a joystick sensor in an autonomous mobile device provided by an embodiment of the present application.
  • FIG. 7 is a partial structural schematic diagram of an autonomous mobile device provided by an embodiment of the present application.
  • FIG. 8 is a partial structural schematic diagram of an autonomous mobile device provided by an embodiment of the present application.
  • FIG. 9 is a partial structural schematic diagram of an autonomous mobile device provided by an embodiment of the present application.
  • FIG. 10 is a partial structural schematic diagram of an autonomous mobile device provided by an embodiment of the present application.
  • Overhead type obstacle refers to a space between the lower part of the obstacle and the ground, which can allow objects of a certain height to enter, such as beds, tables, etc. Cabinets, sofas and other furniture or home appliances.
  • Some autonomous mobile devices are equipped with lidars, which scan the surrounding environment and measure the distance to obstacles in the environment, thereby providing distance/location information for mapping and positioning.
  • the lidar is usually set in the bulge on the top of the autonomous mobile device body to obtain the best scanning and ranging effect.
  • the protruding part set by the lidar is higher than the body of the autonomous mobile device, when the autonomous mobile device passes through the overhead obstacle, the body of the autonomous mobile device may be passable in some cases (so it fails to trigger the setting on the The collision sensor at the front of the main body of the autonomous mobile device), but if the protrusion on the upper part of the body is hit by an obstacle, the lidar may be collided by an overhead obstacle, which may cause the lidar to be damaged or the autonomous mobile device to be stuck. live.
  • an embodiment of the present application provides an autonomous mobile device, in which a protective shell is provided outside the lidar, and when the protective shell is collided, the force of the protective shell or the movement caused by the collision is detected by a rocker sensor, so that the autonomous mobile device can be autonomously moved.
  • the mobile device senses the collision it received. After sensing the collision, the autonomous mobile device can stop moving forward, take measures such as escape measures and/or alarm, so as to reduce the probability of the lidar being damaged and prevent the autonomous mobile device from being stuck.
  • an embodiment of the present application provides an autonomous mobile device.
  • An autonomous mobile device refers to an intelligent mobile device that autonomously performs preset tasks in a set area.
  • an autonomous mobile device Including but not limited to cleaning robots (such as smart sweepers, smart floor mopping machines, window cleaning robots), companion mobile robots (such as smart electronic pets, nanny robots), service mobile robots (such as hotels, hotels, and reception at meeting places) Robots), industrial inspection intelligent equipment (such as power inspection robots, intelligent forklifts, etc.), security robots (such as household or commercial intelligent security robots), etc.
  • the autonomous mobile device includes a body 10 , a protruding portion 30 , a protective shell 20 , a joystick sensor 40 , and a processing unit (not shown in the figure) connected to the joystick sensor 40 .
  • the autonomous mobile device further includes a motion unit for driving the body 10 to run on the ground, and the body 10 is driven by the motion unit to run.
  • the body 10 is in the shape of a cylinder as a whole, and a motion unit is arranged below the body 10.
  • the motion unit includes a universal wheel arranged at the bottom of the front of the body 10 along the running direction, and two symmetrically arranged on the central axis of the bottom of the body 10 of the autonomous mobile device. side drive wheels.
  • the present embodiment does not limit the form and location of the motion unit provided on the main body 10, and the motion unit may also include a crawler-type motion mechanism or a bipedal/multipedal walking mechanism provided in parallel.
  • the protruding portion 30 is protrudingly disposed on the top of the body 10 .
  • the protruding portion 30 can be detachably installed on the main body 10.
  • the protruding portion 30 is formed by components such as lidar, camera, and sensor protruding from the top of the main body 10; 30 can also be connected with the main body 10 to form an integral structure, for example, in order to avoid mechanical or electrical components in the main body 10 , an avoidance structure provided at the top of the main body 10 protrudes.
  • the protruding part 30 may be a lidar disposed on the top of the main body 10, or may also include a component for accommodating or fixing the lidar.
  • the lidar scans the surrounding environment for the autonomous mobile device.
  • the positioning map provides distance/position information of obstacles in the environment, and then provides data support for reasonable planning of running paths or navigation.
  • the protective shell 20 is covered on the outer side of the protruding portion 30 , and the protective shell 20 can move relative to the protruding portion 30 after being hit by an obstacle in the environment.
  • the protective case 20 is movably connected with the body 10 .
  • the "movable connection" in the embodiment of the present application means that the two objects that are movably connected can not only mutually restrain each other, determine their approximate relative positions, but also relatively move or rotate to a certain extent.
  • the protective shell 20 It is determined whether the protective shell 20 is hit by an obstacle in the environment, so as to sense the external force as soon as possible to protect the protruding part 30 from being damaged by the external force.
  • there is a gap between the protective shell 20 and the protruding portion 30 which can prevent the protective shell 20 from contacting the protruding portion 30 when it is collided and moved, and damages the devices in the protruding portion 30 .
  • the protective shell 20 includes a top plate disposed above the lidar and a plurality of support columns connected below the top plate, and the two adjacent support columns are hollowed out, so that The protection shell 20 reduces the blocking of the outgoing light and the received light of the lidar by the protective case 20 .
  • the protective case 20 can also be made of a transparent material, which also reduces the blocking of the protective case 20 to the light emitted and received by the lidar.
  • the material and structural form of the protective case 20 are not limited in this embodiment.
  • the movable connection form of the protective shell 20 and the main body 10 can be various.
  • the main body 10 can be provided with a slideway extending along the running direction of the autonomous mobile device, and the protective shell 20 can be slidably installed on the slideway. When the 20 is impacted, the protective shell 20 slides along the slideway.
  • the rocker sensor 40 includes a housing 42 , a rocker handle 41 and a parameter detection component (not shown in the figure).
  • the first end of the lever handle 41 is connected in the housing 42, and the rocker handle 41 can swing around the connection point between the rocker handle 41 and the housing 42, and the second end of the rocker handle 41 is connected to the protective shell 20 to
  • the protective shell 20 drives the rocker handle 41 to swing, and the parameter detection component is arranged in the casing 42 for detecting the swing parameters of the rocker handle 41 .
  • the parameter detection component includes a sliding rheostat, the first end of the rocker handle 41 is connected to the sliding rheostat, the resistance of the sliding rheostat is changed by the swing of the rocker handle 41, and then the swing parameter of the rocker handle 41 is judged by the resistance value.
  • the parameter detection component may also include a variable capacitor, and the capacitance value of the variable capacitor is changed by the swing of the rocker handle 41, and then the swing parameter of the rocker handle 41 is determined by the capacitance value.
  • the parameter detection component can also be an inductor or a gyroscope.
  • the swing parameter includes one or more of swing angle, swing speed, swing acceleration.
  • the parameter detection means includes a sliding varistor
  • the swing angle is determined by the magnitude of the resistance value
  • the swing speed is determined by the rate of change of the resistance value
  • the swing acceleration is determined by the derivative of the rate of change of the resistance value.
  • the swing angle can reflect the displacement of the protective shell 20 after being collided
  • the swing speed can reflect the relative speed or impulse of the protective shell 20 and the obstacle when the protective shell 20 is collided
  • the swing acceleration can reflect the impact force of the protective shell 20 when it is collided. size.
  • the swing angle, swing speed and swing acceleration can be flexibly selected according to needs.
  • the autonomous mobile device provided by the embodiment of the present application includes a joystick sensor 40, the first end of the joystick handle 41 is connected in the housing 42, and the joystick handle 41 can swing around the connection point between the joystick handle 41 and the housing 42, The second end of the rocker handle 41 is connected to the protective shell 20 .
  • the protective case 20 drives the rocker handle 41 to swing, and the parameter detection component determines whether the protective case 20 is displaced by detecting the rocker handle 41 swing parameters, that is, whether the autonomous mobile device is collided by external force. Therefore, the autonomous mobile device can make the next action according to the judgment result, so that the autonomous mobile device can avoid damage more intelligently.
  • the rocker handle 41 can also move along its own axial direction, and the parameter detection component can also be used to detect the stroke of the axial movement of the rocker handle 41 .
  • the rocker sensor 40 further includes a micro switch, and the micro switch is arranged in the housing 42 and is opposite to the first end of the rocker handle 41.
  • the axial movement of the rocker handle 41 can also be detected in other ways.
  • the first end of the rocker handle 41 is magnetic
  • an induction coil is provided in the housing 42
  • the relative movement of the rocker handle 41 and the induction coil makes the induction coil
  • An induced current is generated inside, and the axial movement of the rocker handle 41 is detected by detecting the induced current.
  • the pressure may be the pressure directly generated by the external force on the rocker handle 41 , or may be the pressure exerted by the external force on the protective shell 20 and transmitted to the rocker handle 41 by the protective shell 20 .
  • the autonomous mobile device further includes a reset device (not shown in the figure), the reset device is connected to the protective shell 20, and is used to reset the protective shell 20 to the protective shell 20 without external force after the protective shell 20 is displaced by an external force. time position. After the protective shell 20 is reset to the position when no external force is applied, the protective shell 20 and the rocker sensor 40 can perform the next detection.
  • the reset device may include springs, reeds, rubber buffer pads and other elements. The movement of the protective shell 20 drives the reset device to generate elastic deformation, so that the reset device generates a restoring force to drive the protective shell 20 to reset.
  • the reset device may further include two magnetic elements with the same polarity, and the protective shell 20 is driven to reset by the repulsive force between the two magnetic elements as a restoring force.
  • the connection between the reset device and the protective shell 20 and the main body 10 can be various.
  • the protective shell 20 includes a cover body disposed on the periphery of the protruding portion 30 and a convex body disposed on the lower end of the cover body.
  • the edge 23, the flange 23 is provided with a long hole 22 extending along the positive direction of the movement of the autonomous mobile device, as shown in Figure 5;
  • the reset device is connected with the limiting column 12 and the long hole 22 respectively.
  • the limit post 12 cooperates with the long hole 22 to limit the displacement range of the protective shell 20 , preventing the protective shell 20 from colliding with the protrusion 30 due to excessive displacement, or damaging the rocker sensor 40 .
  • the flange 23 is connected to the lower end of the cover body and is parallel to the upper surface of the main body 10 , and the flange 23 is provided with a long hole 22 .
  • the length direction of 22 is parallel to the positive movement of the autonomous mobile device
  • the limit post 12 is vertically connected to the upper end of the main body 10
  • the reset device can be a spring, one end of the spring is connected to the inner wall of the long hole 22, and the other end of the spring is connected to the upper end of the main body 10. on the limit post 12.
  • FIG. 2 is a cross-sectional view of the protective case 20 when it is not impacted. As shown in FIG.
  • the protective shell 20 when the protective shell 20 is subjected to a component force opposite to the direction of its movement (ie, the component force in the direction of the arrow in the figure), the protective shell 20 moves in the direction of the arrow in the figure under the restriction of the limit post 12 and compresses
  • the spring causes the spring to generate an elastic restoring force that drives the protective case 20 back.
  • the long hole 22 may also have other shapes such as a fan shape.
  • the long hole 22 can be replaced by a second rocker sensor, that is, a second rocker sensor is arranged at the position of the long hole 22 to replace the long hole 22; because the rocker sensor itself has a certain degree of freedom of movement in displacement and angle , when the rocker handle of the rocker sensor 40 at the front of the autonomous mobile device swings, the protective shell 20 will transmit the motion caused by the swing to the second rocker sensor arranged at the rear of the autonomous mobile device, so that the first The two rocker sensors realize the same function as the long hole 22 .
  • the rocker sensor 40 may be disposed between the protective case 20 and the body 10 . This can protect the rocker sensor 40 and prevent the rocker sensor 40 from being damaged by external collision.
  • the rocker sensor 40 is disposed between the flange 23 of the protective case 20 and the body 10, and there is a sufficient gap between the flange 23 and the body 10, so that the flange 23 can transmit external pressure to the rocker sensor 40.
  • the rocker sensor 40 may also be disposed between the cover of the protective shell 20 (ie, the protruding portion in the middle of the protective shell 20 ) and the body 10 .
  • the present application does not limit the position, quantity and arrangement of joystick sensors.
  • two rocker sensors may be arranged between the flange 23 of the protective shell 20 and the body 10 , and the two rocker sensors may be arranged forward and backward as described in the above example, or may be arranged symmetrically from left to right, or Asymmetrical arrangement, at this time, the long hole 22 and the limit post 12 that cooperate with each other are no longer required to provide a space for the protective shell 20 to move;
  • the flange 23 and the body of the protective shell 20 of the autonomous mobile device Four rocker sensors can also be set between 10 and 10, and the four rocker sensors can be set on each of the flanges 23 on the front, rear, left, and right of the cover of the protective shell 20, or can be set at the front and rear of the cover respectively.
  • the upper end of the body 10 is provided with an installation groove 11
  • the rocker sensor 40 is embedded in the installation groove 11
  • a part of the protective shell 20 covers the opening of the installation groove 11 .
  • the rocker sensor 40 is embedded in the installation slot 11 , which on the one hand makes the structure of the main body 10 more concise, increases the aesthetics, and on the other hand reduces the possibility of accidental scratching.
  • the upper surface of the main body 10 is recessed downward to form the installation groove 11 .
  • the second end of the rocker handle 41 extends out of the installation groove 11 and covers the opening of the installation groove 11 .
  • Shell 20 is attached.
  • the second end of the rocker handle 41 may not extend out of the mounting groove 11 , and part of the protective shell 20 extends into the mounting groove 11 and is connected to the rocker handle 41 , so that the rocker sensor 40 does not protrude beyond the top of the body 10 .
  • the protective shell 20 is provided with a connecting groove 21, the second end of the rocker handle 41 is embedded in the connecting groove 21, and the second end is provided with a partial spherical surface, and the partial spherical surface abuts on the inner wall of the connecting groove 21, and at the same time
  • the inner wall of the connecting groove 21 in contact with the second end of the rocker handle 41 is a concave spherical surface that matches with the partial spherical surface of the second end of the rocker handle 41 .
  • the flange 23 is provided with a through hole, and the flange 23 is protruded from the side of the cover body with a connecting cylinder communicating with the through hole, and the connecting cylinder and the through hole together form a connecting groove. twenty one.
  • the connecting groove 21 can also be directly opened on the side of the flange 23 away from the cover.
  • connection slot 21 is used for accommodating and protecting the rocker sensors, so it can be set according to the number and arrangement of the rocker sensors, which will not be repeated here.
  • the autonomous mobile device further includes a lifting device 70 , the body 10 includes a frame body and a fixing part, the top of the frame body is provided with a lifting channel, and the fixing part is slidably arranged in the lifting and lowering part. Inside the channel, both the protruding part 30 and the protective shell 20 are arranged on the fixing part.
  • the lifting device is connected with the frame body and the fixing part, and the lifting device is used to drive the fixing part to shrink into the lifting channel when the rocker sensor 40 detects that the protective shell 20 is collided, so that the protective shell 20 and the protruding part 30 can be contracted to lift. within the channel.
  • the protruding part 30 and the protective shell 20 can be extended or retracted in the lift channel, when the protective shell 20 is collided (for example, when the protective shell 20 is caught by a lower hollow obstacle), the protective shell 20 can also pass through The autonomous mobile device is released by lowering the protrusion 30 and the protective shell 20 and retracting into the lift channel.
  • the height of the protruding portion 30 protruding from the upper surface of the main body 10 is less than or equal to 1/2 of the height of the main body 10, which can prevent the protruding portion 30 from turning out of the lift channel.
  • the protective shell 20 and the protruding portion 30 are always at the upper limit position, that is, the highest position.
  • the lifting device 70 will only act, so that the protective shell 20 and the protruding part 30 are lowered to the lower limit position in the lifting channel, corresponding to the protective shell 20 entering the lifting channel completely, so that the autonomous Mobile devices out of trouble.
  • the lifting device 70 returns the protective shell 20 and the protruding part 30 to the upper limit position, so as to ensure the normal operation of the protruding part 30 .
  • the lifting device 70 may have various implementation forms. As an optional embodiment, the lifting device 70 may be realized by a screw pair.
  • the lifting device 70 includes a driving nut 71 , a driving screw 72 and a rotating device 73 .
  • the driving nut 71, the driving screw 72 and the rotating device 73 are all located in the lifting channel, and the driving screw 72 extends along the depth direction of the lifting channel.
  • the frame body is connected, the driving nut 71 is matched with the driving screw 72, and the rotating device 73 is drivingly connected with the driving screw 72 to make the driving screw 72 rotate, so that the driving nut 71 and the fixed part 12 move along the extending direction of the driving screw 72, thereby making the driving screw 72 rotate.
  • the protrusions 30 and the protective shell 20 are extended or retracted from the lift channel. The lifting and lowering of the fixed part is realized through the screw pair, and the control is more precise.
  • the lifting device 70 may also include a guide, which may be a side wall of the lifting channel.
  • a guide which may be a side wall of the lifting channel.
  • the inner contour of the side wall of the lifting channel matches the outer contour of the fixing part 12 , so that the fixing part 12 is lifted and lowered along the side wall of the lifting channel.
  • the rotating device 73 may include a motor, two pulleys, belts (or chains, sprockets), etc.
  • the motor shaft is connected to one pulley
  • the other belt is fixed on the outer surface of the drive screw 72
  • the belt is sleeved between the two belts And tensioned, so that when the motor drives one pulley to rotate, the pulley can drive the other pulley to rotate, and the driving screw 72 rotates under the drive of the pulley, so that the fixed part 12 is moved up and down under the drive of the drive nut 71 .
  • the lifting device 70 may be realized by a pair of gears and racks 75 .
  • the lifting device 70 includes a driving gear 74 , a rack 75 and a rotating device 73.
  • the rack 75 is connected to the fixed portion 12 and extends along the depth direction of the lift channel.
  • the driving gear 74 is engaged with the rack 75, and the rotating device 73 is drivingly connected to the driving gear 74 to rotate the driving gear 74.
  • the rack 75 can be fixed on the side wall of the fixing portion 12 .
  • the rotating device 73 may include a motor and a reduction box, etc.
  • the motor main shaft is drivingly connected to the input end of the reduction box, and the driving gear 74 is drivingly connected to the output end of the reduction box, so that the speed and torque of the driving gear 74 can be adjusted through the reduction box.

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Abstract

一种自主移动设备，属于智能家居技术领域，旨在解决激光雷达设置在本体的顶部，容易与环境中的障碍物发生磕碰，导致激光雷达损伤甚至损坏的问题。自主移动设备包括本体（10）、凸出部（30）、保护壳（20）、摇杆传感器（40）以及处理单元，凸出部（30）设置在本体（10）的顶部，保护壳（20）罩设在凸出部（30）的外侧，且保护壳（20）受碰撞后可相对凸出部（30）移动。摇杆柄（41）的第一端连接在壳体（42）内，且摇杆柄（41）可绕摇杆柄（41）与壳体（42）的连接点摆动，摇杆柄（41）的第二端连接在保护壳（20）上。当保护壳（20）受碰撞位移时，保护壳（20）带动摇杆柄（41）摆动，参数检测部件通过检测摇杆柄（41）摆动参数判断保护壳（20）是否发生位移，即自主移动设备是否受外力碰撞。自主移动设备可以根据判断结果做出下一步动作，使自主移动设备更加智能。

Description

自主移动设备
本申请要求于2020年12月15日提交中国专利局、申请号为202011482009.2、申请名称为“自主移动设备”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请实施例涉及智能家居领域，尤其涉及一种自主移动设备。
背景技术
随着科技进步和生活水平的提高，具有不同功能的自主移动设备(如扫地机器人、搬运机器人等)逐渐应用在生产生活中。
自主移动设备包括本体、运动单元，其中，运动单元设置在本体底部，并与地面接触，以带动本体在工作区域的地面上沿所需要的方向运动。
在一些自主移动设备上，通常在本体顶部还设置有高出本体的凸出部，在凸出部中安装一些测量设备，提供更多的功能，比如在凸出部中安装激光雷达、摄像头或其它传感器。激光探测测距仪(Light Detection and Ranging，简称LIDAR，即激光雷达)是一类检测其与环境中水平方向上的障碍物之间距离的测距传感器，其输出的距离信息可提供给自主移动设备用于定位、建图以及导航；为了使激光雷达能够对周围环境进行360°环绕扫描，通常将激光雷达设置在本体顶部的凸出部中。也有很多自主移动设备安装有摄像头，以进行视觉同步定位与建图(Visual Simultaneous Localization and Mapping，简称VSLAM)或进行物体识别，有些摄像头也是设置在本体顶部的凸出部中。当然还可以安装其它传感器，比如被动热红外传感器、超声波测距传感器等，以适应人们对自主移动设备越来越多的需求。
然而，由于自主移动设备本体顶部的凸出部在自主移动设备运行过程中，容易与环境中的障碍物发生磕碰，容易导致凸出部中的激光雷达等重要传感器造成损伤甚至损坏。
发明内容
本申请实施例提供一种自主移动设备，用以解决相关技术中激光雷达设置在本体的顶部，在运行过程中，激光雷达容易与环境中的障碍物发生磕碰，容易导致激光雷达损伤甚至损坏的问题。
本申请实施例提供一种自主移动设备，包括本体、凸出部、保护壳、摇杆传感器以及处理单元，所述凸出部设置在所述本体的顶部，所述保护壳罩设在所述凸出部的外侧，且所述保护壳受碰撞后可相对所述凸出部移动；所述摇杆传感器包括壳体、摇杆柄和参数检测部件，所述摇杆柄的第一端连接在所述壳体内，且所述摇杆柄可绕所述摇杆柄与所述壳体的连接点摆动，所述摇杆柄的第二端连接在所述保护壳上，以使所述保护壳带动所述摇 杆柄摆动；所述参数检测部件设置在所述壳体内，用于检测所述摇杆柄的摆动参数。
可选地，所述摆动参数包括摆动角度、摆动速度、摆动加速度中的一个或多个。
可选地，所述摇杆柄沿自身轴向移动，所述参数检测部件还用于检测所述摇杆柄的轴向移动的行程。
可选地，所述自主移动设备还包括复位装置，
所述复位装置与所述保护壳连接，用于在所述保护壳受外力发生位移后使所述保护壳复位到所述保护壳未受外力时的位置。
可选地，所述本体上端设有限位柱，所述保护壳包括罩设在所述凸出部外围的罩体和设置在罩体下端的凸缘，所述凸缘上设有沿所述自主移动设备的运动正向延伸的长孔，所述限位柱穿设在所述长孔内，所述复位装置分别与所述限位柱和所述长孔连接。
可选地，所述摇杆传感器设置在所述保护壳和所述本体之间。
可选地，所述保护壳位于初始位置时，所述摇杆柄的第二端竖直朝上且与所述保护壳连接。
可选地，所述本体的上端设有安装槽，所述摇杆传感器嵌入在所述安装槽内，且部分所述保护壳覆盖在所述安装槽的开口处。
可选地，所述保护壳上设有连接槽，所述摇杆柄的第二端嵌入所述连接槽内，且所述第二端设有部分球面，所述部分球面抵靠在所述连接槽的内壁上。
可选地，所述自主移动设备还包括升降装置，所述本体包括架体以及固定部，所述架体的顶端设置有升降通道，所述固定部滑动设置在所述升降通道内；所述凸出部和所述保护壳均设置在所述固定部上；所述升降装置与所述架体和所述固定部连接，所述升降装置用于在所述参数检测部件检测到所述保护壳受碰撞时，驱动所述固定部向所述升降通道内收缩，以使所述保护壳以及所述凸出部收缩至所述升降通道内。
本申请实施例提供的自主移动设备包括摇杆传感器，摇杆柄的第一端连接在壳体内，且摇杆柄可绕摇杆柄与壳体的连接点摆动，摇杆柄的第二端连接在保护壳上。当保护壳受碰撞位移时，保护壳带动摇杆柄摆动，参数检测部件通过检测摇杆柄摆动参数判断保护壳是否发生位移，即自主移动设备是否受外力碰撞。因此，自主移动设备可以根据判断结果做出下一步动作，使自主移动设备更加智能。
附图说明
为了更清楚地说明本申请实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作以简单地介绍，显而易见地，下面描述中的附图是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1为本申请实施例提供的自主移动设备的示意图；
图2为本申请实施例提供的自主移动设备的侧视图；
图3为本申请实施例提供的自主移动设备未受碰撞时的剖视图；
图4为本申请实施例提供的自主移动设备受碰撞时的剖视图；
图5为本申请实施例提供的自主移动设备中保护壳的示意图；
图6为本申请实施例提供的自主移动设备中摇杆传感器的示意图；
图7为本申请实施例提供的自主移动设备的部分结构示意图；
图8为本申请实施例提供的自主移动设备的部分结构示意图；
图9为本申请实施例提供的自主移动设备的部分结构示意图；
图10为本申请实施例提供的自主移动设备的部分结构示意图。
附图标记说明：
10-本体；              11-安装槽；
12-限位柱；            20-保护壳；
21-连接槽；            22-长孔；
23-凸缘；              30-凸出部；
40-摇杆传感器；        41-摇杆柄；
42-壳体；              70-升降装置；
71-驱动螺母；          72-驱动螺杆；
73-转动设备；          74-驱动齿轮；
75-齿条。
具体实施方式
为使本申请实施例的目的、技术方案和优点更加清楚，下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例是一部分实施例，而不是全部的实施例。基于本申请实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本申请实施例保护的范围。在不冲突的情况下，下述的实施例及实施例中的特征可以相互组合。
在本申请实施例中，除非另有明确的规定，术语“安装”、“相连”、“连接”、“固定”等术语应做广义理解，例如，可以是固定连接，也可以是可拆卸的连接，或一体成型，可以是机械连接，也可以是电连接或者彼此可通讯；可以是直接相连，也可以通过中间媒体间接连接，可以是两个元件内部的连通或者两个元件的互相作用关系，除非另有明确的限定。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本申请中的具体含义。
下空型障碍物是指在障碍物下部与地面之间能够共同围成一个空间，此通道可以允许一定高度的物体进入，比如具有较长的腿从而使得其下部具有一定空间的床、桌子、柜子、沙发等家具或家电。
一些自主移动设备上设有激光雷达，通过激光雷达对周围环境进行扫描，测量其与环境中障碍物的距离，从而为建图、定位提供距离/位置信息。激光雷达通常设置在自主移动设备本体顶部的凸出部里，以获得最佳的扫描测距效果。
由于激光雷达所设置的凸出部高于自主移动设备的本体，当自主移动设备经过下空型障碍物时，在某些情况下可能出现自主移动设备的本体可通行(因此未能触发设置于自主移动设备的本体前部的碰撞传感器)，但本体上部的凸出部被障碍物碰到的情况，导致激光雷达可能被下空型障碍物碰撞，可能导致激光雷达损坏或者自主移动设备被卡住。
有鉴于此，本申请实施例提供一种自主移动设备，在激光雷达外部罩设保护壳，且保护壳受碰撞时通过摇杆传感器检测保护壳的受力情况或由碰撞导致的移动从而使自主移 动设备感知到其受到的碰撞。自主移动设备感知到碰撞后可以停止继续向前运动、采取脱困措施和/或报警等措施，降低激光雷达被损坏的概率，以及防止自主移动设备被卡住。
下面结合附图对本申请实施例提供的自主移动设备进行详细说明。
如图1至图6所示，本申请实施例提供了一种自主移动设备，自主移动设备是指在设定区域内自主执行预设任务的智能移动设备，本申请实施例中，自主移动设备包括但不限于清洁机器人(例如智能扫地机、智能擦地机、擦窗机器人)、陪伴型移动机器人(例如智能电子宠物、保姆机器人)、服务型移动机器人(例如酒店、旅馆、会晤场所的接待机器人)、工业巡检智能设备(例如电力巡检机器人、智能叉车等)、安防机器人(例如家用或商用智能警卫机器人)等。
本实施例中，自主移动设备包括本体10、凸出部30、保护壳20、摇杆传感器40以及与摇杆传感器40连接的处理单元(图中未示出)。自主移动设备还包括运动单元，用于带动本体10在地面上运行，本体10在运动单元的驱动下运行。示例性地，本体10整体呈圆柱状，本体10的下方设有运动单元，运动单元包括沿运行正向设在本体10前方底部的万向轮以及对称设在自主移动设备本体10底部中轴线两侧的驱动轮。
当然，本实施例对本体10上设置的运动单元的形式以及设置位置不作限制，运动单元也可以包括平行设置的履带式运动机构或双足/多足式行走机构。
凸出部30凸出设置在本体10的顶部。其中，凸出部30可以可拆卸地安装在本体10上，例如为实现某个特定功能，在本体10的顶部突出设置的激光雷达、摄像头、传感器等元器件构成凸出部30；凸出部30也可以与本体10连接形成一体结构，例如为了避让本体10内的机械或电气元器件，凸出本体10顶端设置的一个避让结构。本实施例中，凸出部30可以为设置在本体10顶部的激光雷达、或者还可以包括容纳或固定激光雷达的部件，自主移动设备工作时通过激光雷达扫描周边环境，用于为自主移动设备的定位建图提供环境中障碍物的距离/位置信息，进而为合理规划运行路径或导航提供数据支持。
保护壳20罩设在凸出部30的外侧，保护壳20受环境中障碍物碰撞后可相对凸出部30移动。例如，保护壳20与本体10可移动连接。本申请实施例的“可移动连接”是指，被可移动连接的两个物体互相之间既能互相约束、确定二者大致的相对位置，又能在一定程度上发生相对移动或转动。当保护壳20未受环境中障碍物碰撞时，保护壳20处于初始位置；当保护壳20受外力碰撞时，保护壳20发生位移离开初始位置，摇杆传感器40通过检测保护壳20的位移来判断保护壳20是否受到环境中障碍物的碰撞，从而尽早感知外力以保护凸出部30免被外力损伤。优选地，保护壳20和凸出部30之间有间隙，这样可以防止保护壳20被碰撞发生移动时与凸出部30发生接触，损伤凸出部30内的器件。示例性地，以凸出部30内设置激光雷达为例，保护壳20包括设置在激光雷达上方的顶板以及连接在顶板下方的多个支撑柱，相邻两根支撑柱之间镂空，这样可以降低保护壳20对激光雷达出射光线及接收光线的阻挡。当然，保护壳20还可以由透明材质制成，同样降低保护壳20对激光雷达出射光线及接收光线的阻挡，本实施例对保护壳20的材质及结构形式不作限制。
其中，保护壳20与本体10的可移动连接形式可以有多种，例如，本体10上可以设置沿自主移动设备运行方向延伸的滑道，保护壳20可滑动地安装在滑道上，当保护壳20受碰撞时保护壳20沿滑道滑动。
本申请实施例公开了一种摇杆传感器，在本实施例中，如图6所示，摇杆传感器40包括壳体42、摇杆柄41和参数检测部件(图中未示出)，摇杆柄41的第一端连接在壳体42内，且摇杆柄41可绕摇杆柄41与壳体42的连接点摆动，摇杆柄41的第二端连接在保护壳20上，以使保护壳20带动摇杆柄41摆动，参数检测部件设置在壳体42内，用于检测摇杆柄41的摆动参数。示例性地，参数检测部件包括一个滑动变阻器，摇杆柄41的第一端与滑动变阻器连接，通过摇杆柄41的摆动改变滑动变阻器的电阻，进而通过电阻值判断摇杆柄41的摆动参数。当然，参数检测部件还可以包括可变电容，通过摇杆柄41的摆动改变可变电容的电容值，进而通过电容值判断摇杆柄41的摆动参数。参数检测部件还可以是电感或陀螺仪。
可选地，摆动参数包括摆动角度、摆动速度、摆动加速度中的一个或多个。例如，在参数检测部件包括滑动变阻器的实施方式中，通过电阻值的大小判断摆动角度，通过电阻值的变化率判断摆动速度，通过电阻值的变化率的导数判断摆动加速度。摆动角度可以反映保护壳20受碰撞后的位移大小，摆动速度可以反映保护壳20受碰撞时保护壳20和障碍物的相对速度或冲量，摆动加速度可以反映保护壳20受碰撞时的碰撞力的大小。实际应用时可以根据需要，在摆动角度、摆动速度和摆动加速度中灵活选取。
本申请实施例提供的自主移动设备包括摇杆传感器40，摇杆柄41的第一端连接在壳体42内，且摇杆柄41可绕摇杆柄41与壳体42的连接点摆动，摇杆柄41的第二端连接在保护壳20上。当保护壳20受碰撞发生位移时，保护壳20带动摇杆柄41摆动，参数检测部件通过检测摇杆柄41摆动参数判断保护壳20是否发生位移，即自主移动设备是否受外力碰撞。因此，自主移动设备可以根据判断结果做出下一步动作，使自主移动设备更加智能地避免损伤。
可选地，摇杆柄41还可以沿自身轴向移动，参数检测部件还可以用于检测摇杆柄41的轴向移动的行程。这样，增加了摇杆传感器40能够检测的运动形式。示例性地，摇杆传感器40还包括微动开关，微动开关设置在壳体42内，且与摇杆柄41的第一端相对，摇杆柄41沿自身轴向移动时，比如在图3的实施例中由上向下的压力施加在摇杆柄41上时，会使其第一端向下挤压微动开关，从而触发微动开关使自主移动设备感知到该压力。当然还可以通过其他方式检测摇杆柄41的轴向移动，例如摇杆柄41的第一端具有磁性，壳体42内设置有感应线圈，摇杆柄41与感应线圈的相对运动使感应线圈内产生感应电流，通过检测感应电流检测摇杆柄41的轴向运动。需要说明的是，该压力可以是外力对摇杆柄41直接产生的压力，也可以是外力施加在保护壳20上，由保护壳20传递到摇杆柄41上的压力。
可选地，自主移动设备还包括复位装置(图中未示出)，复位装置与保护壳20连接，用于在保护壳20受外力发生位移后使保护壳20复位到保护壳20未受外力时的位置。保护壳20复位到未受外力时的位置后，保护壳20和摇杆传感器40可以进行下一次的检测。其中，复位装置可以包括弹簧、簧片、橡胶缓冲垫等元件，保护壳20移动带动复位装置产生弹性形变，从而使复位装置产生回复力驱动保护壳20复位。复位装置还可以包括极性相同的两个磁性元件，通过两个磁性元件之间的互斥力成为回复力驱动保护壳20复位。
另外，复位装置与保护壳20以及本体10的连接方式可以有多种，在一些可能的实施方式中，保护壳20包括罩设在凸出部30外围的罩体和设置在罩体下端的凸缘23，凸缘 23上设有沿自主移动设备的运动正向延伸的长孔22，如图5所示；本体10上端设有限位柱12，限位柱12穿设在长孔22内，如图3所示；复位装置分别与限位柱12和长孔22连接。限位柱12与长孔22配合可以限制保护壳20的位移范围，防止保护壳20位移过大而碰撞凸出部30，或者损坏摇杆传感器40。
示例性地，如图1至图4所示，凸缘23连接在罩体的下端且与本体10的上表面平行，凸缘23上开设有长孔22，在有的实施例中，长孔22的长度方向与自主移动设备的运动正向平行，限位柱12垂直连接在本体10的上端，复位装置可以为弹簧，弹簧的一端连接在长孔22的内壁上，弹簧的另一端连接在限位柱12上。如图2所示为保护壳20未受碰撞时的剖视图。如图4所示，当保护壳20受与其运动正向相反的分力(即图示箭头方向的分力)时，保护壳20在限位柱12限制下沿图示箭头方向移动，并压缩弹簧使弹簧产生一个驱动保护壳20复位的弹性的回复力。需要说明的是，长孔22除了如图1所示的椭圆形或圆角矩形外，还可以是比如扇形等其它形状。
可选的，长孔22可以以第二个摇杆传感器代替，即在长孔22所在位置设置第二摇杆传感器代替长孔22；由于摇杆传感器本身具有一定的位移和角度的活动自由度，在自主移动设备前部的摇杆传感器40的摇杆柄发生摆动时，保护壳20会将该摆动引起的运动传递给设置在自主移动设备后部的第二摇杆传感器上，从而使第二摇杆传感器实现与长孔22同样的功能。可选地，摇杆传感器40可以设置在保护壳20和本体10之间。这样可以起到保护摇杆传感器40的作用，防止摇杆传感器40受到外部碰撞而损坏。示例性地，摇杆传感器40设置在保护壳20的凸缘23与本体10之间，且凸缘23与本体10之间留有足够间隙，使得凸缘23能够将外部压力传递给摇杆传感器40。当然，摇杆传感器40也可以设置在保护壳20的罩体(即保护壳20中间凸起的部分)与本体10之间。
本申请不限制摇杆传感器设置的位置、数量以及排布方式。比如，示例性的，在保护壳20的凸缘23与本体10之间可以设置两个摇杆传感器，这两个摇杆传感器可以如上例中所述前后设置，也可以左右对称设置，或者是不对称设置，此时均不再需要彼此配合的长孔22与限位柱12给保护壳20提供可供移动的空间；示例性的，在自主移动设备的保护壳20的凸缘23与本体10之间还可以设置四个摇杆传感器，该四个摇杆传感器可以在保护壳20的罩体的前后左右的凸缘23上各设置一个，也可以在罩体前部和后部分别设置两个，或者在罩体前部设置三个、在罩体后部设置一个等；当然在保护壳20的凸缘23与本体10之间也可以设置三个或其它数量的摇杆传感器，其排布也可以有多种方式，此处不再赘述。可选地，在初始状态下，保护壳20位于初始位置时，摇杆柄41的第二端竖直朝上且与保护壳20连接。这样在初始状态时，保护壳20施加在摇杆柄41上的重力与摇杆柄的支撑力以及复位装置的弹性力或磁力平衡，此时摇杆柄41处于平衡状态，不会发生摆动，因此保护壳20的重力不会影响摇杆传感器40检测压力。
可选地，本体10的上端设有安装槽11，摇杆传感器40嵌入在安装槽11内，且部分保护壳20覆盖在安装槽11的开口处。摇杆传感器40嵌入在安装槽11内，一方面使得本体10结构更加简洁，增加了美观度，另一方面也减小了发生意外刮蹭的可能性。示例性地，本体10的上表面向下凹陷形成安装槽11，摇杆传感器40嵌入安装槽11后，摇杆柄41的第二端伸出安装槽11与覆盖在安装槽11开口处的保护壳20连接。当然，摇杆柄41的第二端也可以不伸出安装槽11，部分保护壳20伸入安装槽11内与摇杆柄41连接，使 得摇杆传感器40不伸出本体10的顶部之外。
可选地，保护壳20上设有连接槽21，摇杆柄41的第二端嵌入连接槽21内，且第二端设有部分球面，部分球面抵靠在连接槽21的内壁上，同时连接槽21内部与摇杆柄41的第二端接触的内壁为与摇杆柄41第二端的部分球面相配合的内凹球面。这样，在保证摇杆柄41与保护壳20联动的情况下，增加了摇杆柄41与保护壳20之间连接的自由度，防止由于加工误差或装配误差导致的摇杆柄41被卡死的情况。示例性地，如图5所示，凸缘23上开设有通过孔，凸缘23上朝向罩体的一侧凸出设置有与通过孔连通的连接筒，连接筒和通过孔共同形成连接槽21。当然，在凸缘23壁厚允许的情况下，也可以直接在凸缘23背离罩体的一侧开设连接槽21。所述连接槽21用于容纳及保护摇杆传感器，因此可以根据摇杆传感器的数量及排布方式进行设置，此处不再赘述。在一些可能的实施方式中，如图7至图10所示，自主移动设备还包括升降装置70，本体10包括架体以及固定部，架体的顶端设置有升降通道，固定部滑动设置在升降通道内，凸出部30和保护壳20均设置在固定部上。升降装置与架体和固定部连接，升降装置用于在摇杆传感器40检测到保护壳20受碰撞时，驱动固定部向升降通道内收缩，以使保护壳20以及凸出部30收缩至升降通道内。
由于凸出部30和保护壳20可以在升降通道内伸出或缩回，因此在保护壳20被碰撞时(例如，保护壳20被下空型障碍物卡住的情况时)，也能通过使凸出部30和保护壳20下降、并缩回到升降通道中而使自主移动设备脱困。
应当注意的是，凸出部30凸出于本体10上表面的高度小于或等于本体10高度的1/2，可以防止凸出部30自升降通道中翻出。
需要说明的是，在自主移动设备正常工作的过程中，保护壳20和凸出部30始终处于上限位置，即最高位置处。在保护壳20被碰撞的情况下，升降装置70才会动作，使保护壳20和凸出部30下降到升降通道中的下限位置，对应于保护壳20完全进入到升降通道中，以使自主移动设备脱困。在自主移动设备脱困后，升降装置70使保护壳20和凸出部30重新返回到上限位置，以保证凸出部30的正常工作。
升降装置70可以有多种实施形式，作为一种可选的实施方式，升降装置70可以通过螺杆副来实现。
示例性的，如图7和图8所示，升降装置70包括驱动螺母71、驱动螺杆72以及转动设备73。驱动螺母71、驱动螺杆72以及转动设备73均位于升降通道内，且驱动螺杆72沿升降通道的深度方向延伸，驱动螺母71可固定在固定部12的侧壁上，驱动螺杆72可转动地与架体连接，驱动螺母71与驱动螺杆72配合，转动设备73与驱动螺杆72传动连接以使驱动螺杆72转动，从而使驱动螺母71与固定部12一起沿驱动螺杆72的延伸方向运动，进而使凸出部30和保护壳20由升降通道伸出或缩回。通过螺杆副实现固定部的升降，控制更加精准。
升降装置70还可以包括导向件，导向件可以是升降通道的侧壁。例如，升降通道的侧壁内轮廓与固定部12的外侧轮廓相匹配，这样固定部12沿着升降通道的侧壁升降。
转动设备73可以包括电机、两个皮带轮、皮带(或者链条、链轮)等，例如电机轴与一个皮带轮连接，另一个皮带固定在驱动螺杆72外表面上，皮带套接在两个皮带之间且张紧，这样电机驱动一个皮带轮旋转时，皮带轮可带动另一个皮带轮旋转，驱动螺杆72 就在皮带轮的带动下旋转，使固定部12在驱动螺母71的带动下升降。
如图9和图10所示，作为另一种可能的实施方式，升降装置70可以通过齿轮、齿条75副来实现，示例性的，升降装置70包括驱动齿轮74、齿条75和转动设备73，齿条75与固定部12连接，且沿升降通道的深度方向延伸，驱动齿轮74与齿条75啮合，且转动设备73与驱动齿轮74传动连接以使驱动齿轮74转动。
齿条75可固定在固定部12的侧壁上。转动设备73可以包括电机和减速箱等，电机主轴与减速箱的输入端传动连接，驱动齿轮74与减速箱的输出端传动连接，这样可以通过减速箱调节驱动齿轮74的转速及扭矩。
最后应说明的是：以上各实施例仅用以说明本申请实施例的技术方案，而非对其限制；尽管参照前述各实施例对本申请实施例进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分或者全部技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本申请实施例技术方案的范围。

Claims (10)

  1. 一种自主移动设备，其特征在于，包括本体、凸出部、保护壳、摇杆传感器以及处理单元，所述凸出部设置在所述本体的顶部，所述保护壳罩设在所述凸出部的外侧，且所述保护壳受碰撞后可相对所述凸出部移动；
    所述摇杆传感器包括壳体、摇杆柄和参数检测部件，所述摇杆柄的第一端连接在所述壳体内，且所述摇杆柄可绕所述摇杆柄与所述壳体的连接点摆动，所述摇杆柄的第二端连接在所述保护壳上，以使所述保护壳带动所述摇杆柄摆动；所述参数检测部件设置在所述壳体内，用于检测所述摇杆柄的摆动参数。
  2. 根据权利要求1所述的自主移动设备，其特征在于，所述摆动参数包括摆动角度、摆动速度、摆动加速度中的一个或多个。
  3. 根据权利要求1或2所述的自主移动设备，其特征在于，所述摇杆柄沿自身轴向移动，所述参数检测部件还用于检测所述摇杆柄的轴向移动的行程。
  4. 根据权利要求1、2或3所述的自主移动设备，其特征在于，所述自主移动设备还包括复位装置，所述复位装置与所述保护壳连接，用于在所述保护壳受外力发生位移后使所述保护壳复位到所述保护壳未受外力时的位置。
  5. 根据权利要求4所述的自主移动设备，其特征在于，所述本体上端设有限位柱，所述保护壳包括罩设在所述凸出部外围的罩体和设置在罩体下端的凸缘，所述凸缘上设有沿所述自主移动设备的运动正向延伸的长孔，所述限位柱穿设在所述长孔内，所述复位装置分别与所述限位柱和所述长孔连接。
  6. 根据权利要求1-5任一项所述的自主移动设备，其特征在于，所述摇杆传感器设置在所述保护壳和所述本体之间。
  7. 根据权利要求6所述的自主移动设备，其特征在于，所述保护壳位于初始位置时，所述摇杆柄的第二端竖直朝上且与所述保护壳连接。
  8. 根据权利要求7所述的自主移动设备，其特征在于，所述本体的上端设有安装槽，所述摇杆传感器嵌入在所述安装槽内，且部分所述保护壳覆盖在所述安装槽的开口处。
  9. 根据权利要求6所述的自主移动设备，其特征在于，所述保护壳上设有连接槽，所述摇杆柄的第二端嵌入所述连接槽内，且所述第二端设有部分球面，所述部分球面抵靠在所述连接槽的内壁上。
  10. 根据权利要求1-9任一项所述的自主移动设备，其特征在于，所述自主移动设备还包括升降装置，所述本体包括架体以及固定部，所述架体的顶端设置有升降通道，所述固定部滑动设置在所述升降通道内；所述凸出部和所述保护壳均设置在所述固定部上；
    所述升降装置与所述架体和所述固定部连接，所述升降装置用于在所述参数检测部件检测到所述保护壳受碰撞时，驱动所述固定部向所述升降通道内收缩，以使所述保护壳以及所述凸出部收缩至所述升降通道内。
PCT/CN2021/129468 2020-12-15 2021-11-09 自主移动设备 WO2022127443A1 (zh)

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