阅读说明：本技术 一种检测模组、多功能模组以及移动机器人 (Detection module, multifunctional module and mobile robot ) 是由 张苗苗 姜新桥 于 2021-09-29 设计创作，主要内容包括：本发明公开了一种检测模组、多功能模组以及移动机器人,本发明所述的多功能模组通过在摄像头的上下两侧设置线激光传感器,既可以检测移动机器人前方的低矮障碍物,又可以检测上方诸如沙发底的障碍物,大大减小了移动机器人的避障盲区,尤其是移动机器人前进方向上的避障盲区,实现了移动机器人精准沿墙、沿沙发底以及其他障碍物的近距离无物理碰撞沿边清扫；另外,所述多功能模组还集成了回座信号采集器,将不同功能的传感器设置于同一电路板上,使之形成一个紧凑的整体,大大精简了模组体积。(The invention discloses a detection module, a multifunctional module and a mobile robot, wherein the multifunctional module is provided with linear laser sensors at the upper side and the lower side of a camera, so that a low barrier in front of the mobile robot can be detected, a barrier above the mobile robot such as a sofa bottom can be detected, barrier-avoiding blind areas of the mobile robot are greatly reduced, particularly barrier-avoiding blind areas in the advancing direction of the mobile robot are reduced, and the mobile robot can be accurately cleaned along a wall, along the sofa bottom and other barriers in a short-distance non-physical collision way; in addition, the multifunctional module is also integrated with a return seat signal collector, and the sensors with different functions are arranged on the same circuit board, so that the multifunctional module forms a compact whole, and the size of the module is greatly reduced.)

1. The utility model provides a detect module, is applied to mobile robot, its characterized in that includes: the device comprises a circuit board, and a first line laser sensor, a camera and a second line laser sensor which are arranged on the circuit board; wherein the content of the first and second substances,

the first line laser sensor is arranged on the upper side of the camera and used for emitting line laser to detect obstacles in front of and below the mobile robot;

the second line laser sensor is arranged on the lower side of the camera and used for emitting line laser to detect obstacles in front of and above the mobile robot;

the camera is used for collecting the environment images detected by the first line laser sensor and the second line laser sensor.

2. The detecting module according to claim 1, further comprising: a housing; the shell is provided with a limiting structure, and the limiting structure is used for accommodating the first line laser sensor, the camera and the second line laser sensor; the first line laser sensor, the camera and the second line laser sensor are sequentially arranged from top to bottom.

3. The detecting module according to claim 2, wherein the limiting structure comprises a first limiting opening, a second limiting opening and a third limiting opening; wherein the content of the first and second substances,

the first limiting port is used for accommodating the first line laser sensor, and the emission direction of the first line laser sensor faces the front lower part and forms a first angle with the horizontal direction so as to detect obstacles in the front lower part of the mobile robot;

the second limiting port is used for accommodating the camera and enabling the orientation of the camera to be parallel to the horizontal direction;

the third limiting port is used for accommodating the second line laser sensor, and the emission direction of the second line laser sensor faces the front upper part and forms a second angle with the horizontal direction so as to detect the obstacle in the front upper part of the mobile robot;

wherein the first angle is less than the second angle.

4. A testing module according to claim 3, wherein said first angle is 23 ° and said second angle is 37 °.

5. The detection module according to claim 2, wherein the housing is provided with a protection plate made of a transparent material, and the protection plate is arranged in front of the first line laser sensor, the camera and the second line laser sensor; the protection plate, the shell and the circuit board are fixedly connected in sequence.

6. A mobile robot, characterized in that, the mobile robot is provided with a detection module set according to any one of claims 1 to 5, and the detection module set enables the mobile robot to emit laser beams to detect obstacles in the front lower part and the front upper part of the mobile robot.

7. The utility model provides a multifunctional module, is applied to mobile robot, its characterized in that includes: the circuit board is provided with a first line laser sensor, a camera, a second line laser sensor and a return seat signal collector which are arranged on the circuit board; wherein the content of the first and second substances,

the first line laser sensor is arranged on the upper side of the camera and used for emitting line laser to detect obstacles in front of and below the mobile robot;

the second line laser sensor is arranged on the lower side of the camera and used for emitting line laser to detect obstacles in front of and above the mobile robot;

the camera is used for collecting the environment images detected by the first line laser sensor and the second line laser sensor;

and the seat returning signal collector is used for collecting a seat returning signal by the mobile robot.

8. The multifunctional module according to claim 7, wherein the seat-returning signal collector comprises a first seat-returning signal collector and a second seat-returning signal collector, which are respectively disposed on the left side and the right side of the first line laser sensor.

9. The multi-function module of claim 8, further comprising: a housing; the shell is provided with a limiting structure, and the limiting structure is used for accommodating the first line laser sensor, the camera, the second line laser sensor, the first recharging signal collector and the second recharging signal collector; the first line laser sensor, the camera and the second line laser sensor are sequentially arranged from top to bottom, and the first recharging signal collector, the first line laser sensor and the second recharging signal collector are sequentially arranged from left to right.

10. The multi-function module of claim 9, wherein the position-limiting structure comprises a first position-limiting opening, a second position-limiting opening, a third position-limiting opening, a fourth position-limiting opening, and a fifth position-limiting opening; wherein the content of the first and second substances,

the first limiting port is used for accommodating the first line laser sensor, and the emission direction of the first line laser sensor faces the front lower part and forms a first angle with the horizontal direction so as to detect obstacles in the front lower part of the mobile robot;

the second limiting port is used for accommodating the camera and enabling the orientation of the camera to be parallel to the horizontal direction;

the third limiting port is used for accommodating the second line laser sensor, and the emission direction of the second line laser sensor faces the front upper part and forms a second angle with the horizontal direction so as to detect the obstacle in the front upper part of the mobile robot;

the fourth limit port is used for accommodating the first recharging signal collector, the fifth limit port is used for accommodating the second recharging signal collector, a preset distance is arranged between the first recharging signal collector and the second recharging signal collector, and the preset distance at least can accommodate the first line laser sensor;

wherein the first angle is less than the second angle.

11. The multi-function module of claim 10, wherein said first angle is 23 ° and said second angle is 37 °.

12. The multifunctional module according to claim 9, wherein the housing is provided with a protection plate made of a transparent material, and the protection plate is arranged in front of the first line laser sensor, the camera, the second line laser sensor, the first recharge signal collector and the second recharge signal collector; the protection plate, the shell and the circuit board are fixedly connected in sequence.

13. A mobile robot, characterized in that the mobile robot is provided with the multifunctional module of any one of claims 7 to 12, and the multifunctional module enables the mobile robot to emit laser light to detect obstacles in the front lower part and the front upper part of the mobile robot, and the mobile robot can return to the seat through a seat return signal collector integrated on the multifunctional module.

14. The mobile robot of claim 13, wherein the mobile robot comprises a collision plate with a yielding port, the multifunctional module is disposed at the yielding port of the collision plate and is fixedly connected to the mobile robot body, and the yielding port is disposed in a middle area of the collision plate.

Technical Field

The invention relates to the technical field of intelligent robots, in particular to a detection module, a multifunctional module and a mobile robot.

Background

Most of the existing robots adopt a Time of Flight (TOF) technology or a distance measuring sensor as a sensor for detecting the obstacle avoidance along the edge, and the sensors have large detection blind areas, so that when the robot cleans obstacles such as small obstacles and the bottom of a sofa, the robot and the obstacles are frequently physically collided, and the cleaning efficiency and the user experience are seriously reduced. In addition, most of the existing robots are provided with obstacle avoidance detection sensors and seat return sensors separately, which occupy a large space of the mobile robot, and thus, the overall design layout of the mobile robot is hindered.

Disclosure of Invention

In order to solve the problems, the invention provides a detection module, a multifunctional module and a mobile robot, which greatly reduce the obstacle avoidance blind area of the mobile robot, and simultaneously combine the recharging seat alignment function and the obstacle avoidance function in the same module, thereby reducing the occupied space of a sensor. The specific technical scheme of the invention is as follows:

a detection module is applied to mobile robot, includes: the device comprises a circuit board, and a first line laser sensor, a camera and a second line laser sensor which are arranged on the circuit board; the first line laser sensor is arranged on the upper side of the camera and used for emitting line laser to detect obstacles in front of and below the mobile robot; the second line laser sensor is arranged on the lower side of the camera and used for emitting line laser to detect obstacles in front of and above the mobile robot; the camera is used for collecting the environment images detected by the first line laser sensor and the second line laser sensor.

Compared with the prior art, the detection module of this technical scheme sets up line laser sensor through the upper and lower both sides at the camera, both can detect the short barrier in mobile robot the place ahead, can detect the barrier such as at the bottom of the sofa above again, has reduced mobile robot's the obstacle avoidance blind area greatly, especially the last obstacle avoidance blind area that moves the robot direction of advance, has realized that the mobile robot is accurate along the wall, along the sofa bottom and the closely there is not physical collision along the limit to clean of other barriers.

Further, the detection module further comprises: a housing; the shell is provided with a limiting structure, and the limiting structure is used for accommodating the first line laser sensor, the camera and the second line laser sensor; the first line laser sensor, the camera and the second line laser sensor are sequentially arranged from top to bottom.

Furthermore, the limiting structure comprises a first limiting port, a second limiting port and a third limiting port; the first limiting port is used for accommodating the first line laser sensor, and the emission direction of the first line laser sensor faces the front lower part and forms a first angle with the horizontal direction so as to detect obstacles in the front lower part of the mobile robot; the second limiting port is used for accommodating the camera and enabling the orientation of the camera to be parallel to the horizontal direction; the third limiting port is used for accommodating the second line laser sensor, and the emission direction of the second line laser sensor faces the front upper part and forms a second angle with the horizontal direction so as to detect the obstacle in the front upper part of the mobile robot; wherein the first angle is less than the second angle. The limiting structure enables the two line laser sensors to emit line laser according to the preset direction so as to realize the detection of the obstacle in the preset direction.

Further, the first angle is 23 ° and the second angle is 37 °. So that the two line laser sensors can detect the obstacle at respective appropriate distances.

Furthermore, the shell is provided with a protective plate made of transparent materials, and the protective plate is arranged in front of the first line laser sensor, the camera and the second line laser sensor; the protection plate, the shell and the circuit board are fixedly connected in sequence. The protection plate can protect the circuit board and various sensors, and the service life of the sensors is prolonged.

The utility model provides a mobile robot, mobile robot is last to be provided with the detection module, the detection module makes mobile robot can emit the barrier of line laser detection mobile robot front lower place and front upper place.

Compared with the prior art, be equipped with in this technical scheme the mobile robot that detects the module both can detect the short barrier in the place ahead, can detect the barrier such as at the bottom of the sofa again in the top, has reduced mobile robot's obstacle avoidance blind area greatly, especially the last obstacle avoidance blind area of mobile robot advancing direction for mobile robot realizes that accurate wall, the near-distance that follows sofa bottom and other barriers do not have physical collision along the limit and clean.

A multifunctional module is applied to mobile robot, includes: the circuit board is provided with a first line laser sensor, a camera, a second line laser sensor and a return seat signal collector which are arranged on the circuit board; the first line laser sensor is arranged on the upper side of the camera and used for emitting line laser to detect obstacles in front of and below the mobile robot; the second line laser sensor is arranged on the lower side of the camera and used for emitting line laser to detect obstacles in front of and above the mobile robot; the camera is used for collecting the environment images detected by the first line laser sensor and the second line laser sensor; and the seat returning signal collector is used for collecting a seat returning signal by the mobile robot.

Compared with the prior art, the multifunctional module in the technical scheme has the advantages that the linear laser sensors are arranged on the upper side and the lower side of the camera, so that not only can short obstacles in front of the mobile robot be detected, but also obstacles such as a sofa bottom above the mobile robot can be detected, the obstacle avoidance dead zone of the mobile robot is greatly reduced, particularly the obstacle avoidance dead zone in the advancing direction of the mobile robot is greatly reduced, and the close-distance physical collision-free edgewise cleaning of the mobile robot along a wall, the sofa bottom and other obstacles is realized; in addition, the multifunctional module is also integrated with a return seat signal collector, and the sensors with different functions are arranged on the same circuit board, so that the multifunctional module forms a compact whole, and the size of the module is greatly reduced.

Furthermore, the seat returning signal collector comprises a first seat returning signal collector and a second seat returning signal collector which are respectively arranged on the left side and the right side of the first line laser sensor. The two seat returning signal collectors can realize the accurate seat alignment of the mobile robot; by integrating the obstacle avoidance function and the seat return function, the space occupation of the sensor is reduced, and a larger exertion space is created for the design layout of the whole machine shape of the mobile robot.

Further, the multifunctional module further comprises: a housing; the shell is provided with a limiting structure, and the limiting structure is used for accommodating the first line laser sensor, the camera, the second line laser sensor, the first recharging signal collector and the second recharging signal collector; the first line laser sensor, the camera and the second line laser sensor are sequentially arranged from top to bottom, and the first recharging signal collector, the first line laser sensor and the second recharging signal collector are sequentially arranged from left to right.

Furthermore, the limiting structure comprises a first limiting port, a second limiting port, a third limiting port, a fourth limiting port and a fifth limiting port; the first limiting port is used for accommodating the first line laser sensor, and the emission direction of the first line laser sensor faces the front lower part and forms a first angle with the horizontal direction so as to detect obstacles in the front lower part of the mobile robot; the second limiting port is used for accommodating the camera and enabling the orientation of the camera to be parallel to the horizontal direction; the third limiting port is used for accommodating the second line laser sensor, and the emission direction of the second line laser sensor faces the front upper part and forms a second angle with the horizontal direction so as to detect the obstacle in the front upper part of the mobile robot; the fourth limit port is used for accommodating the first recharging signal collector, the fifth limit port is used for accommodating the second recharging signal collector, a preset distance is arranged between the first recharging signal collector and the second recharging signal collector, and the preset distance at least can accommodate the first line laser sensor; wherein the first angle is less than the second angle. The first line laser sensor is arranged in the interval between the first seat returning signal collector and the second seat returning signal collector, and the space utilization rate of the circuit board is improved.

Further, the first angle is 23 ° and the second angle is 37 °. So that the two line laser sensors can detect the obstacle at respective appropriate distances.

Furthermore, the shell is provided with a protection plate made of a transparent material, and the protection plate is arranged in front of the first line laser sensor, the camera, the second line laser sensor, the first recharging signal collector and the second recharging signal collector; the protection plate, the shell and the circuit board are fixedly connected in sequence. The protection plate can protect the circuit board and various sensors, and the service life of the sensors is prolonged.

The utility model provides a mobile robot, mobile robot is last to be provided with multifunctional module, multifunctional module makes mobile robot can emit ray laser and detect the barrier of mobile robot front lower place and preceding top, and through integrated last seat signal collector that returns of multifunctional module realizes that mobile robot returns the seat.

Compared with the prior art, the mobile robot provided with the multifunctional module in the technical scheme can detect short obstacles in front and also can detect obstacles such as a sofa bottom above, so that the obstacle avoidance dead zone of the mobile robot is greatly reduced, particularly the obstacle avoidance dead zone in the advancing direction of the mobile robot is greatly reduced, and the mobile robot can realize close-range non-physical collision edgewise cleaning along the wall, the sofa bottom and other obstacles; in addition, because the multifunctional module is also integrated with a seat returning signal collector, the mobile robot does not need to vacate extra space for arranging the relevant sensors of the seat returning, and a larger play space is created for the design layout of the whole shape of the mobile robot.

Further, mobile robot is including being provided with the collision board of letting the position mouth, multi-functional module set up in the department of letting the position mouth of collision board to with mobile robot main part fixed connection, let the position mouth set up the middle zone of collision board. With the setting of multi-functional module in the centre, can reduce the ascending detection blind area of direction of advance to the at utmost, also can compromise the detection of both sides region simultaneously, also make things convenient for mobile robot to return the seat simultaneously.

Drawings

Fig. 1 is an exploded view of a multi-function module according to an embodiment of the invention.

Fig. 2 is a perspective view of a multifunctional module according to an embodiment of the invention.

Fig. 3 is a schematic view of a mobile robot equipped with the multifunctional module according to the present invention.

Detailed Description

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

In the description of the present invention, it should be noted that, for the terms of orientation, such as "central", "lateral", "longitudinal", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc., it indicates that the orientation and positional relationship shown in the drawings are based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, but does not indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation, and be operated without limiting the specific scope of protection of the present invention.

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

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

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

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

The invention provides a detection module, which comprises a circuit board 102, and a first line laser sensor 103, a camera 104 and a second line laser sensor 105 which are arranged on the circuit board 102, and is referred to fig. 1. The first line laser sensor 103 is arranged on the upper side of the camera 104 and used for emitting line laser to detect obstacles in front of and below the mobile robot; the second line laser sensor 105 is arranged at the lower side of the camera 104 and used for emitting line laser to detect obstacles in front of and above the mobile robot; the camera 104 is used for collecting the environment images detected by the first line laser sensor 103 and the second line laser sensor 105. The first line laser sensor 103, the camera 104 and the second line laser sensor 105 are sequentially assembled on the same side surface of the circuit board 102 from top to bottom, and are at preset intervals.

As an implementation manner, the detection module further includes: the shell 201, the shell 201 and the circuit board 102 are connected by screws 101 or other fastening means, and the whole formed after the connection can be seen in the perspective view shown in fig. 2. The shell 201 is provided with a limiting structure, and the limiting structure comprises a first limiting port, a second limiting port and a third limiting port, which are respectively used for accommodating the first line laser sensor 103, the camera 104 and the second line laser sensor 105.

The first limiting port enables the emission direction of the first line laser sensor 103 to face the front lower side and form a first angle with the horizontal direction. Preferably, the first angle is 23 °, and at this angle, the first line laser sensor 103 can detect the obstacle in front of and below the mobile robot at a proper distance. It is easy to see that if the first angle is too large, the detection distance is too close, which is not favorable for the mobile robot to avoid the obstacle. Optionally, the first line laser sensor 103 is a linear laser sensor, and a line of laser emitted by the linear laser sensor is parallel to a horizontal plane and within a detection range of the camera 104. The camera 104 can know whether an obstacle exists in the front and the lower part of the robot by detecting and analyzing the laser line segment emitted by the first line laser sensor 103 reflected back. Of course, the first line laser sensor 103 may also detect other obstacles within the detection range of the first line laser sensor 103, in addition to detecting short obstacles in front of and below the robot.

The third position-limiting opening enables the emission direction of the second line laser sensor 105 to face upward and form a second angle with the horizontal direction. Preferably, the second angle is 37 °, and at this angle, the second line laser sensor 105 can detect the obstacle in front of and above the mobile robot at a more appropriate distance. It is easy to see that if the second angle is too small, the detection distance is too far, which is also not beneficial for the mobile robot to avoid obstacles. It should be noted that, compared to the distance between the detection module (taking the center of the camera 104) and the obstacle above the robot, since the detection module is closer to the ground, the first angle is slightly smaller than the second angle, so that the two line laser sensors can detect the obstacle at the appropriate distance. Optionally, the second line laser sensor 105 is a line laser sensor emitting laser lines parallel to the horizontal plane and within the detection range of the camera 104. Because the emitting direction of the second line laser sensor 105 is towards the front upper side, when an obstacle of the type such as a sofa bottom or a table bottom exists in front of the mobile robot, the mobile robot can know in advance, then the height of the sofa bottom or the table bottom is analyzed, and if the obstacle cannot enter, the obstacle is avoided in advance. Likewise, the second line laser sensor 105 can also detect other obstacles within its detection range.

The second limit port enables the orientation of the camera 104 to be parallel to the horizontal direction and is located between the first line laser sensor 103 and the second line laser sensor 105, so that the detection range of the camera 104 is as large as possible to cover the detection ranges of the first line laser sensor 103 and the second line laser sensor 105, and the obstacle detection blind area of the mobile robot is reduced. It should be noted that the limiting structure has a light-passing port for transmitting signals.

In one embodiment, a protection plate 202 made of a transparent material is disposed at the foremost end of the housing 201, and the protection plate 202 is disposed in front of the first line laser sensor 103, the camera 104, and the second line laser sensor 105, and functions to protect a circuit board and various sensors. Optionally, the protection plate 202 is made of transparent materials such as glass or organic glass, and may be fixed to the front end of the housing 201 by adhering or inserting into a slot, and the protection plate and the light-passing port of the limiting structure together form a light-passing portion. Protection plate 202 can also block the steam, dust or other debris entering of certain degree during the detection module, improve the life of sensor, also can improve simultaneously the pleasing to the eye degree of detection module.

Compared with the prior art, the detection module provided by the invention has the advantages that the linear laser sensors 103 and 105 are arranged on the upper side and the lower side of the camera 104, so that not only can a short obstacle in front of the mobile robot be detected, but also an obstacle above the mobile robot, such as a sofa bottom, can be detected, the obstacle avoidance dead zone of the mobile robot is greatly reduced, especially the obstacle avoidance dead zone in the advancing direction of the mobile robot is greatly reduced, and the close-distance physical collision-free edge cleaning of the mobile robot along the wall, along the sofa bottom and other obstacles is realized.

The embodiment of the invention also provides the mobile robot, wherein the detection module is arranged on the mobile robot, and the detection module enables the mobile robot to emit laser to detect the obstacles in the front lower part and the front upper part of the mobile robot.

Preferably, the detection module sets up the middle zone of mobile robot's collision board can reduce the ascending detection blind area of direction of advance to the at utmost, also can compromise the detection of both sides region simultaneously. The number of the detection modules is not particularly limited, and besides the detection modules are arranged at the front end (namely on the collision plate) of the mobile robot, one detection module can be arranged at each of two sides, and one detection module is arranged at the rear end, so that the detection range is expanded, and only the installation positions are reserved at corresponding positions. When the detection module is installed at the rear end of the mobile robot, a short barrier on the ground at the rear and a barrier above the rear, such as a sofa bottom, can be detected, the rear blind area of the mobile robot is reduced, and the robot can conveniently retreat.

Compared with the prior art, the mobile robot provided with the detection module in the embodiment of the invention can detect not only short obstacles in front, but also obstacles above the mobile robot, such as a sofa bottom, so that the obstacle avoidance dead zone of the mobile robot is greatly reduced, especially the obstacle avoidance dead zone in the advancing direction of the mobile robot is greatly reduced, and the mobile robot can realize close-distance non-physical collision edge cleaning along the wall, along the sofa bottom and other obstacles.

An embodiment of the present invention provides a multifunctional module, as shown in fig. 1, where the multifunctional module includes a seat returning signal collector and the detection module, and the seat returning signal collector is integrated in the detection module and is used for a mobile robot to collect a seat returning signal.

As one of the implementation manners, the seat returning signal collector includes a first seat returning signal collector 106 and a second seat returning signal collector 107, which are respectively disposed on the left side and the right side of the first line laser sensor 103 and assembled with the first line laser sensor 103 on the same side of the circuit board, and the two seat returning signal collectors can realize accurate seat alignment of the mobile robot. Generally, two return seat signal collectors are spaced apart from each other by a distance so as to be aligned with the corresponding return seat signal emitters. This intermediate distance can be used, for example, to arrange the first line laser sensor 103, thereby reducing the space of the circuit board 102. According to the embodiment, the obstacle avoidance function and the seat returning function are integrated, so that the space occupation of the sensor is reduced, and a larger exertion space is created for the overall shape design layout of the mobile robot.

As an embodiment, on the premise that the housing 201 of the aforementioned detection module is provided with a limiting structure for accommodating the first line laser sensor 103, the camera 104 and the second line laser sensor 105, the limiting structure further includes a fourth limiting port and a fifth limiting port. The fourth limiting opening is configured to accommodate the first seat-returning signal collector 106, the fifth limiting opening is configured to accommodate the second seat-returning signal collector 107, and a preset distance is provided between the first seat-returning signal collector 106 and the second seat-returning signal collector 107, where the preset distance can accommodate at least one line laser sensor. The first line laser sensor 103 is disposed in the space between the first seat-returning signal collector 106 and the second seat-returning signal collector 107, so that the space utilization rate of the circuit board 102 is improved.

Compared with the prior art, the multifunctional module provided by the embodiment of the invention has the advantages that the linear laser sensors 103 and 105 are arranged on the upper side and the lower side of the camera 104, so that not only can a short obstacle in front of the mobile robot be detected, but also an obstacle above the mobile robot, such as a sofa bottom, can be detected, the obstacle avoidance dead zone of the mobile robot is greatly reduced, especially the obstacle avoidance dead zone in the advancing direction of the mobile robot is greatly reduced, and the short-distance physical collision-free edgewise cleaning of the mobile robot along a wall, the sofa bottom and other obstacles is realized; in addition, the multifunctional module is also integrated with a return seat signal collector, and the sensors with different functions are arranged on the same circuit board, so that the multifunctional module forms a compact whole, and the size of the module is greatly reduced.

The embodiment of the present invention further provides a mobile robot, referring to fig. 3, the mobile robot is provided with the multifunctional module 100, and the multifunctional module 100 enables the mobile robot to emit laser light to detect obstacles in the front lower part and the front upper part of the mobile robot, and the mobile robot returns to the base through a return base signal collector integrated on the multifunctional module. Mobile robot is including being provided with the collision board 301 of letting a mouthful 302, multi-functional module 100 set up in collision board 301 let a mouthful 302 department to pass through screw 101 or other mode fixed connection with the mobile robot main part, the shell 201 both sides of multi-functional module are provided with the screw reference column 203 of adaptation.

Preferably, the multifunctional module 100 is disposed in the middle area of the collision plate 301, so that the detection blind area in the forward direction can be reduced to the greatest extent, and the detection of the areas on both sides can be considered at the same time. The number of the multifunctional modules 100 is not limited specifically, and besides the multifunctional module 100 is disposed at the front end of the mobile robot (i.e. on the collision plate 301), one multifunctional module 100 may be disposed at each of two sides (it should be noted that another module is shown at the right side of the collision plate in the figure, which is not the multifunctional module 100 of the present invention), and one multifunctional module 100 may be disposed at the rear end to expand the detection range, and only the mounting positions are reserved at the corresponding positions. When the multifunctional module 100 is installed at the rear end of the mobile robot, a short obstacle on the ground at the rear and an obstacle above the rear, such as a sofa bottom, can be detected, the rear blind area of the mobile robot is reduced, and the robot can conveniently retreat. In an embodiment, if the charging electrode pad is disposed at the rear side of the bottom of the mobile robot, the multifunctional module 100 may be mounted at the rear end of the mobile robot to help the robot precisely return to the seat.

Compared with the prior art, the mobile robot provided with the multifunctional module in the embodiment of the invention can detect not only short obstacles in front, but also obstacles above the mobile robot, such as a sofa bottom, so that the obstacle avoidance dead zone of the mobile robot is greatly reduced, especially the obstacle avoidance dead zone in the advancing direction of the mobile robot is greatly reduced, and the mobile robot can realize close-distance non-physical collision edgewise cleaning along the wall, the sofa bottom and other obstacles; in addition, because the multifunctional module is also integrated with a seat returning signal collector, the mobile robot does not need to vacate extra space for arranging the relevant sensors of the seat returning, and a larger play space is created for the design layout of the whole shape of the mobile robot.

The embodiment of the invention provides a seat returning system, which comprises a charging seat and a mobile robot provided with the multifunctional module 100. The charging stand comprises a seat returning signal emitter for emitting a seat returning signal, so that the mobile robot returns the seat after acquiring the seat returning signal through a seat returning signal collector arranged on the multifunctional module 100. The seat returning signal emitter comprises a first seat returning signal emitter and a second seat returning signal emitter, wherein the first seat returning signal emitter and the second seat returning signal emitter are spaced by a preset distance and are in one-to-one correspondence with the first seat returning signal collector 106 and the second seat returning signal collector 107. The two seat returning signal collectors are arranged, so that the mobile robot can realize accurate seat alignment, and it needs to be noted that the height (height from the ground) of the seat returning signal emitter is the same as that of the seat returning signal collector, and the distance between the two seat filling signal emitters is also the same as that between the two seat returning signal collectors.

Compared with the prior art, the embodiment of the invention integrates the seat returning signal collector on the multifunctional module 100 of the mobile robot, so that the mobile robot can not only use the multifunctional module 100 to detect the obstacles, but also collect the seat returning signal to realize seat returning. The multifunctional module 100 integrates the obstacle avoidance function and the seat returning function, so that the mobile robot does not need to vacate extra space for arranging the relevant sensors of the seat returning function, and a larger play space is created for the design layout of the whole shape of the mobile robot.

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

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