EP-4741978-A1 - INFORMATION COLLECTION MODULE AND AUTONOMOUS MOBILE MACHINE

EP4741978A1EP 4741978 A1EP4741978 A1EP 4741978A1EP-4741978-A1

Abstract

The present application relates to an information acquisition module and an autonomous mobile robot, the autonomous mobile robot comprises a body and an information acquisition module, the information acquisition module is connected to the body, and the information acquisition module comprises: a first information acquisition apparatus having at least one collection window, the first information acquisition apparatus is configured to collect at least environmental data of the autonomous mobile robot in a traveling direction through the at least one collection window; and, a second information acquisition apparatus, the second information acquisition apparatus is configured to collect position data of the autonomous mobile robot during traveling. In the autonomous mobile robot of the present application, at least two information acquisition apparatus are mounted in a same module structure, the structure is connected to the body as a whole, thereby facilitating production in a production stage, reducing whole machine installation steps, having strong versatility, and allowing independent external parameter calibration apart from the body, reducing calibration times when installed on the body, while facilitating later maintenance and improving work efficiency.

Inventors

XU, Chunpeng
DU, Jiang
LI, XINGHONG
LI, WEI
WAN, Yanling

Assignees

Positec Power Tools (Suzhou) Co., Ltd.

Dates

Publication Date: 20260513
Application Date: 20240705

Claims (20)

An autonomous mobile robot, wherein the autonomous mobile robot comprises a body and an information acquisition module, the information acquisition module is connected to the body, and the information acquisition module comprises: a first information acquisition apparatus, having at least one collection window, the first information acquisition apparatus being configured to, through the at least one collection window, at least collect environmental data of the autonomous mobile robot in a traveling direction; and, a second information acquisition apparatus, the second information acquisition apparatus being configured to at least collect position data of the autonomous mobile robot during traveling.
The autonomous mobile robot according to claim 1, wherein the information acquisition module is disposed on a front side of the body.
The autonomous mobile robot according to claim 1, wherein a front edge of the information acquisition module does not exceed a front edge of the body.
The autonomous mobile robot according to claim 1, wherein a mounting height of the information acquisition module does not exceed the body.
The autonomous mobile robot according to claim 4, wherein the mounting height of the information acquisition module in a vertical direction of the body is 0.5m-0.9m.
The autonomous mobile robot according to claim 1, wherein the information acquisition module is removably connected to the body.
The autonomous mobile robot according to claim 1, wherein the information acquisition module comprises an intermediate connector, the intermediate connector is connected to the body, and the first information acquisition apparatus and the second information acquisition apparatus are mounted on the intermediate connector.
The autonomous mobile robot according to claim 7, wherein the intermediate connector comprises a fixing plate and a support plate, the support plate is connected to the fixing plate, the first information acquisition apparatus is configured to be mounted on at least one of the fixing plate and the support plate, the second information acquisition apparatus is configured to be mounted on the fixing plate, and the information acquisition module is connected to the body through the support plate.
The autonomous mobile robot according to any one of claims 1 to 8, wherein the autonomous mobile robot further comprises a control module, the control module is configured to, based on the environmental data collected by the first information acquisition apparatus and the position data collected by the second information acquisition apparatus, obtain localization information of the autonomous mobile robot.
The autonomous mobile robot according to claim 9, wherein the first information acquisition apparatus comprises at least one of an image collection apparatus and a distance collection apparatus, the image collection apparatus is configured to at least collect image data of the autonomous mobile robot in the traveling direction, the distance collection apparatus is configured to at least collect data related to an obstacle of the autonomous mobile robot in the traveling direction.
The autonomous mobile robot according to claim 10, wherein the image collection apparatus comprises a vision sensor, and the distance collection apparatus comprises a LiDAR sensor.
The autonomous mobile robot according to claim 9 or 10, wherein the second information acquisition apparatus comprises an inertial sensor.
The autonomous mobile robot according to claim 9 or 10 or 12, wherein the second information acquisition apparatus further comprises a satellite positioning sensor, the satellite positioning sensor is configured to collect localization data of the autonomous mobile robot during traveling.
The autonomous mobile robot according to claim 9, wherein the control module is configured to, based on the environmental data collected by the first information acquisition apparatus, obtain obstacle information of the autonomous mobile robot in the traveling direction.
The autonomous mobile robot according to claim 14, wherein the first information acquisition apparatus comprises an image collection apparatus and a distance collection apparatus, the image collection apparatus is configured to at least collect image data of the autonomous mobile robot in the traveling direction, the distance collection apparatus is configured to at least collect data related to an obstacle of the autonomous mobile robot in the traveling direction.
The autonomous mobile robot according to claim 15, wherein the image collection apparatus comprises a vision sensor, and the distance collection apparatus comprises a LiDAR sensor.
The autonomous mobile robot according to claim 15, wherein the information acquisition module comprises a first housing forming a first cavity and a second housing forming a second cavity and connected to the first housing, the first housing has a first collection window, the image collection apparatus is disposed in the first cavity and, through the first collection window, at least collects image data of the autonomous mobile robot in the traveling direction, the second housing has a second collection window, the distance collection apparatus is disposed in the second cavity and, through the second collection window, at least collects data related to an obstacle of the autonomous mobile robot in the traveling direction.
The autonomous mobile robot according to claim 17, wherein the second acquisition apparatus is disposed in the first cavity, and the second cavity is located below the first cavity.
The autonomous mobile robot according to claim 1, wherein the first information acquisition apparatus and the second information acquisition apparatus are disposed in a same cavity within the information acquisition module.
The autonomous mobile robot according to claim 1, wherein a shielding layer is disposed between the second information acquisition apparatus and the first information acquisition apparatus to shield interference of the first information acquisition apparatus on the second information acquisition apparatus.

Description

CROSS-REFERENCE TO RELATED APPLICATIONS The present application claims the priority of a Chinese patent application filed on July 7, 2023, with application number CN202310833697.X, the entire content of which is incorporated herein by reference. TECHNICAL FIELD The present application relates to the field of equipment technology, and specifically relates to an information acquisition module and an autonomous mobile robot. BACKGROUND An autonomous mobile robot is able to travel on the ground and perform a corresponding task. Taking a lawn mower as an example, a lawn mower is used to trim and maintain a lawn, and a different type of lawn mower can be selected for a different terrain environment. For example, for a terrain with a large area and a high trimming requirement, a riding mower is usually used, which is more convenient to operate and has higher efficiency. An existing autonomous mobile robot is installed with a various type of information acquisition apparatus for acquiring relevant data during traveling. SUMMARY In view of the above technical problems, the present application provides an autonomous mobile robot, in which multiple information acquisition apparatus are installed in a same structure, and the structure is then connected to a body as a whole, thereby facilitating production in a production stage, reducing whole machine installation steps, having strong versatility, and allowing independent external parameter calibration apart from the body, reducing calibration times when installed on the body, while facilitating later maintenance and improving work efficiency. To solve the above technical problems, the present application provides an autonomous mobile robot, the autonomous mobile robot comprises a body and an information acquisition module, the information acquisition module is connected to the body, and the information acquisition module comprises: a first information acquisition apparatus, having at least one collection window, the first information acquisition apparatus being configured to, through the at least one collection window, at least collect environmental data of the autonomous mobile robot in a traveling direction; and,a second information acquisition apparatus, the second information acquisition apparatus being configured to at least collect position data of the autonomous mobile robot during traveling. In one embodiment, the information acquisition module is disposed on a front side of the body. In one embodiment, a front edge of the information acquisition module does not exceed a front edge of the body. In one embodiment, a mounting height of the information acquisition module does not exceed the body. In one embodiment, the mounting height of the information acquisition module in a vertical direction of the body is 0.5m-0.9m. In one embodiment, the information acquisition module is removably connected to the body. In one embodiment, the information acquisition module comprises an intermediate connector, the intermediate connector is connected to the body, and the first information acquisition apparatus and the second information acquisition apparatus are mounted on the intermediate connector. In one embodiment, the intermediate connector comprises a fixing plate and a support plate, the support plate is connected to the fixing plate, the first information acquisition apparatus is configured to be mounted on at least one of the fixing plate and the support plate, the second information acquisition apparatus is configured to be mounted on the fixing plate, and the information acquisition module is connected to the body through the support plate. In one embodiment, the autonomous mobile robot further comprises a control module, the control module is configured to, based on the environmental data collected by the first information acquisition apparatus and the position data collected by the second information acquisition apparatus, obtain localization information of the autonomous mobile robot. In one embodiment, the first information acquisition apparatus comprises at least one of an image collection apparatus and a distance collection apparatus, the image collection apparatus is configured to at least collect image data of the autonomous mobile robot in the traveling direction, the distance collection apparatus is configured to at least collect data related to an obstacle of the autonomous mobile robot in the traveling direction. In one embodiment, the image collection apparatus comprises a vision sensor, and the distance collection apparatus comprises a LiDAR sensor. In one embodiment, the second information acquisition apparatus comprises an inertial sensor, the inertial sensor is configured to collect data related to a position and an orientation during traveling. In one embodiment, the second information acquisition apparatus further comprises a satellite positioning sensor, the satellite positioning sensor is configured to collect localization data of the autonomous