Mounting structure and mobile robot

Abstract

The utility model relates to a mounting structure and a mobile robot, the mounting structure comprises a mounting body and a plurality of through holes, the mounting body is used for being connected to a machine body, the mounting body comprises an inner ring and an outer ring which are connected, a containing space is defined between the inner ring and the outer ring, and the containing space is used for containing a depth camera assembly; the plurality of through holes are formed in the outer ring, the plurality of through holes are distributed at intervals in the circumferential direction of the accommodating space, and at least one through hole is used for exposing a camera of the depth camera assembly. Compared with the prior art that the depth camera assemblies are directly fixed on the machine body through a plurality of fixing pieces, the installation structure provided by the utility model has the advantages that the plurality of depth camera assemblies can be arranged in the accommodating space of the installation body through the arrangement of the installation body, and then the installation body is connected to the machine body. The multiple depth camera assemblies and the installation body can be assembled in a unified mode, installation parts between the depth camera assemblies and the machine body are reduced, the installation steps are reduced, and the installation efficiency is improved.

Description

Technical Field

[0001] The present application relates to the technical field of mobile robots, and in particular to a mounting structure and a mobile robot. Background Art

[0002] Mobile robots are autonomous machines that can operate under human command, execute pre-programmed tasks, or act according to principles developed using artificial intelligence. In related technologies, mobile robots consist of multiple depth camera modules and a body. Each depth camera module must be secured to the body via multiple mounting components. This requires numerous installation parts, cumbersome installation steps, low efficiency, and high costs. Utility Model Content

[0003] Based on this, it is necessary to provide a mounting structure and a mobile robot to address the problem of depth camera components.

[0004] A mounting structure, comprising:

[0005] A mounting body, configured to be connected to the body, the mounting body comprising an inner ring and an outer ring connected to each other, wherein a receiving space is defined between the inner ring and the outer ring, and the receiving space is configured to receive the depth camera assembly;

[0006] A plurality of through holes are provided on the outer ring, and the plurality of through holes are arranged at intervals along the circumference of the accommodating space, and at least one of the through holes is used to expose the camera of the depth camera assembly.

[0007] The above-mentioned mounting structure forms a receiving space by enclosing the inner and outer rings of the mounting body, which is convenient for accommodating the depth camera assembly and plays a protective role for the depth camera assembly. A plurality of through holes are provided on the outer ring, through which the depth camera of the depth camera assembly is exposed, so as to facilitate the operation of the depth camera. Compared with the existing method of directly fixing the depth camera assembly to the body through a plurality of fixing parts, the mounting structure provided by the present application can set a plurality of depth camera assemblies in the receiving space of the mounting body by setting a mounting body, and then connect the mounting body to the body. A plurality of depth camera assemblies and the mounting body can be assembled in a unified manner, and then the mounting body and the body can be connected. The installation parts between the depth camera assembly and the body are reduced, the installation steps are reduced, and the installation efficiency is improved.

[0008] In one embodiment, an abutment portion is provided on the side surface of the outer ring close to the inner ring, and the abutment portion is arranged around the circumference of the through hole. The abutment portion is planar, and the extension direction of the abutment portion forms an angle with the extension direction of the outer ring, and the abutment portion is used to abut against the mounting plate of the depth camera assembly.

[0009] In one embodiment, each of the through holes is configured with one abutting portion.

[0010] In one embodiment, a plurality of through holes are provided on the mounting body, and the axes of any two of the through holes are arranged at an angle.

[0011] In one embodiment, there are three through holes, the axis of the middle through hole forms an angle A with the axis of one of the through holes located at the edge, and forms an angle B with the axis of another through hole located at the edge, wherein angle A is equal to angle B.

[0012] In one embodiment, the mounting body further includes a connecting portion, and the top end of the inner ring and the top end of the outer ring are connected via the connecting portion;

[0013] There is a gap between the bottom end of the inner ring and the bottom end of the outer ring, so that the accommodating space is connected with the outside.

[0014] In one embodiment, the bottom end of the inner ring and the bottom end of the outer ring extend toward each other.

[0015] In one embodiment, a locking member is further included, and the locking member passes through the outer ring and the depth camera assembly in sequence to connect the mounting plate of the depth camera assembly and the outer ring.

[0016] The present application also provides a mobile robot, comprising a body, a depth camera assembly and the mounting structure described in any one of the above items, wherein the mounting body is connected to the body, the depth camera assembly is arranged in the accommodating space and connected to the outer ring.

[0017] In one embodiment, the depth camera of the depth camera assembly is tilted relative to the outer ring. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 A structural schematic diagram of the installation structure provided in an embodiment of the present application from a first perspective.

[0019] Figure 2 A structural schematic diagram of the second perspective of the installation structure provided in an embodiment of the present application.

[0020] Figure 3 A schematic structural diagram of the installation body provided in an embodiment of the present application.

[0021] Figure 4 A schematic diagram of the structure of the depth camera assembly provided in an embodiment of the present application.

[0022] Figure 5 This is a structural schematic diagram of the installation body provided in an embodiment of the present application being installed on a machine body.

[0023] In the picture:

[0024] 100, mounting body; 110, inner ring; 120, outer ring; 130, abutment portion; 140, connection portion; 150, accommodation space;

[0025] 200, through hole;

[0026] 300, depth camera assembly; 310, depth camera; 320, mounting plate;

[0027] 400. Body. DETAILED DESCRIPTION

[0028] To make the above-mentioned objects, features, and advantages of the present application more clearly understood, the specific embodiments of the present application are described in detail below with reference to the accompanying drawings. The following description sets forth many specific details to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways than those described herein, and those skilled in the art can make similar improvements without violating the scope of the present application. Therefore, the present application is not limited to the specific embodiments disclosed below.

[0029] In the description of this application, it should be understood that if the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. appear, the orientation or position relationship indicated by these terms is based on the orientation or position relationship shown in the accompanying drawings, which is only for the convenience of describing this application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this application.

[0030] In addition, if the terms "first" or "second" appear, these terms are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of technical features indicated. Therefore, a feature specified as "first" or "second" may explicitly or implicitly include at least one of such features. In the description of this application, if the term "plurality" appears, "plurality" means at least two, for example, two, three, etc., unless otherwise specifically defined.

[0031] In this application, unless otherwise specified or limited, the terms "mounted," "connected," "connected," "fixed," etc., should be interpreted broadly. For example, these terms may refer to fixed connections, removable connections, or integration; mechanical connections or electrical connections; direct connections or indirect connections through an intermediary; and internal communication between two components or interaction between two components, unless otherwise specified. Those skilled in the art will understand the specific meanings of these terms in this application based on the specific circumstances.

[0032] In this application, unless otherwise expressly specified or limited, if a first feature is described as being "above" or "below" a second feature, or similar descriptions, this may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Furthermore, when a first feature is described as being "above," "above," or "above" a second feature, it may mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is at a higher level than the second feature. When a first feature is described as being "below," "below," or "below" a second feature, it may mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature is at a lower level than the second feature.

[0033] It should be noted that if an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be an intermediate element. If an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be an intermediate element. If any, the terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used in this application are for illustrative purposes only and do not represent the only embodiment.

[0034] A mobile robot is a machine device that performs tasks automatically. It can accept human commands, run pre-programmed programs, or act according to principles and guidelines developed using artificial intelligence technology. In related art, a mobile robot includes multiple depth camera assemblies 300 and a body 400. The depth camera assemblies 300 include connected depth cameras 310 and mounting plates 320. The mounting plates 320 of each depth camera assembly 300 must be secured to the body 400 via multiple mounting members. The numerous mounting parts required to secure the depth camera assemblies 300 result in complex installation steps, low installation efficiency, and high costs.

[0035] In the embodiment of the present application, a mounting body 100 is provided, and multiple depth camera assemblies 300 are all disposed within the accommodation space 150 of the mounting body 100, and then the mounting body 100 is connected to the body 400. In actual operation, multiple depth camera assemblies 300 and the mounting body 100 can be assembled uniformly, and finally the mounting body 100 and the body 400 are connected. Compared with the existing method of directly connecting multiple depth cameras 310 to the body 400 via multiple fixings, the mounting structure of the present application reduces the number of mounting parts between the depth camera assembly 300 and the body 400, reduces the number of installation steps, and improves installation efficiency.

[0036] This application provides a mounting structure such as Figures 1 to 5 As shown, the mounting structure includes a mounting body 100 and a plurality of through holes 200. The mounting body 100 is used to be connected to the body 400. The mounting body 100 includes an inner ring 110 and an outer ring 120 that are connected to each other. A receiving space 150 is formed between the inner ring 110 and the outer ring 120. The receiving space 150 is used to receive the depth camera assembly 300. The plurality of through holes 200 are all arranged on the outer ring 120, and the plurality of through holes 200 are arranged at intervals along the circumference of the receiving space 150. At least one through hole 200 is used to expose the camera of the depth camera assembly 300.

[0037] The mounting structure described above, formed by the inner ring 110 and outer ring 120 of the mounting body 100, forms a housing space 150 to accommodate and protect the depth camera assembly 300. The outer ring 120 is provided with multiple through-holes 200, through which the depth camera 310 of the depth camera assembly 300 is exposed, facilitating operation of the depth camera 310. Compared to existing methods that directly secure the depth camera assembly 300 to the body 400 via multiple fasteners, the mounting structure provided herein, by providing the mounting body 100, allows multiple depth camera assemblies 300 to be placed within the housing space 150 of the mounting body 100, which is then connected to the body 400. Multiple depth camera assemblies 300 can be assembled with the mounting body 100 in a unified manner, and then connected to the body 400. This reduces the number of mounting parts between the depth camera assembly 300 and the body 400, reduces the number of installation steps, and improves installation efficiency.

[0038] Specifically, if Figures 1 to 3 As shown, a plurality of through holes 200 are provided, a plurality of depth camera assemblies 300 are provided, and the plurality of depth camera assemblies 300 correspond to the plurality of through holes 200 in a one-to-one manner.

[0039] Specifically, if Figures 1 to 3 As shown, the mounting body 100 is annular, so as to form an annular accommodation space 150 , thereby providing multiple mounting positions for facilitating the installation of multiple depth camera assemblies 300 .

[0040] It should be noted that the mounting body 100 is annular. Generally, any long object bent into a ring is considered annular. In the art, the outer ring 120 and inner ring 110 are not regular annular bodies. That is, the cross-sectional views of the outer ring 120 and inner ring 110 do not form a regular circular ring. They are referred to herein as annular structures simply because they extend around an axis and are connected end to end.

[0041] Specifically, if Figures 1 to 3 As shown, the mounting body 100 further includes a connecting portion 140, which connects the top of the inner ring 110 and the top of the outer ring 120. A gap is provided between the bottom of the inner ring 110 and the bottom of the outer ring 120, allowing the accommodating space 150 to communicate with the outside world. By providing the connecting portion 140 to connect the top of the outer ring 120 and the top of the inner ring 110 of the mounting body 100, the accommodating space 150 is formed between the outer ring 120, the inner ring 110, and the connecting portion 140. A gap is provided between the bottom of the inner ring 110 and the bottom of the outer ring 120, allowing the accommodating space 150 to communicate with the outside world, facilitating the placement of the depth camera assembly 300 within the accommodating space 150.

[0042] More specifically, during actual processing, a closed ring-shaped structural member is formed by injection molding, and then the bottom end of the closed ring-shaped structural member is cut open, thereby forming the mounting body 100 of the present application.

[0043] More specifically, in this embodiment, the mounting body 100 may be manufactured by a rotational molding process.

[0044] More specifically, the bottom ends of the inner ring 110 and the outer ring 120 extend toward each other. This close proximity of the bottom ends of the inner ring 110 and the outer ring 120 constrains the bottom of the mounting body 100, ensuring that the deformation range of the mounting body 100 under external forces meets design requirements, thereby not excessively affecting the FOV coverage of the depth camera assembly 300.

[0045] Specifically, if Figures 1 to 3 As shown, the mounting structure further includes a locking member, which sequentially passes through the outer ring 120 and the depth camera assembly 300 to connect the mounting plate 320 of the depth camera assembly 300 and the outer ring 120. By providing the locking member, the locking member sequentially passes through the outer ring 120 and the mounting plate 320 of the depth camera assembly 300, thereby connecting the outer ring 120 and the depth camera assembly 300, and fixing the depth camera assembly 300 at a preset position in the accommodating space 150.

[0046] More specifically, the locking member is a structural member such as a screw, a bolt or a pin.

[0047] Further, if Figures 1 to 5 As shown, an abutment portion 130 is provided on the side surface of the outer ring 120 near the inner ring 110. The abutment portion 130 is arranged circumferentially around the through-hole 200. The abutment portion 130 is planar and extends at an angle to the direction of extension of the outer ring 120. The abutment portion 130 is designed to abut the mounting plate 320 of the depth camera 310. By providing the abutment portion 130 on the side surface of the outer ring 120 near the inner ring 110, the abutment portion 130 can abut the mounting plate 320 of the depth camera assembly 300 mounted at the corresponding location of the through-hole 200, thereby defining the relative position of the depth camera assembly 300 and the outer ring 120. The planar shape of the abutment portion 130 increases the area of ​​contact between the mounting plate 320 of the depth camera assembly 300 and the abutment portion 130. Furthermore, by limiting the extension direction of the abutting portion 130 to form an angle with the extension direction of the outer ring 120 , the depth camera assembly 300 is tilted relative to the outer ring 120 , thereby satisfying the FOV coverage range of the depth camera 310 .

[0048] More specifically, if Figures 1 to 4 As shown, a plurality of through holes 200 are provided on the mounting body 100, each through hole 200 is provided with an abutment portion 130, and each abutment portion 130 is circumferentially arranged around the corresponding through hole 200, so that the depth camera assembly 300 installed at each through hole 200 can be tilted relative to the mounting body 100, thereby adjusting the coverage range of the depth camera 310 of the depth camera assembly 300 installed at different through holes 200.

[0049] Specifically, if Figures 1 to 4 As shown, the mounting body 100 is provided with multiple through-holes 200, with the axes of any two through-holes 200 arranged at an angle. The multiple through-holes 200 are provided, corresponding to multiple sets of depth camera assemblies 300, with each through-hole 200 exposing a depth camera 310 of a corresponding depth camera assembly 300. By limiting the angle between the axes of any two through-holes 200, the coverage range of the depth cameras 310 installed at any two through-holes 200 is limited.

[0050] More specifically, if Figures 1 to 4 As shown, in this embodiment, there are three through holes 200. The axis of the middle through hole 200 forms an angle A with the axis of one of the through holes 200 located at the edge, and forms an angle B with the axis of another through hole 200 located at the edge, wherein angle A is equal to angle B. The equality of angle A and angle B means that the two through holes 200 located at the edge are symmetrically arranged, that is, the two depth camera assemblies 300 installed corresponding to the two through holes 200 located at the edge are also symmetrically arranged.

[0051] In other embodiments, the angle A and the angle B may also be unequal, thereby adjusting the coverage of the depth camera assembly 300 at three different positions.

[0052] The present application also provides a mobile robot, such as Figure 5 As shown, it includes a body 400, a depth camera assembly 300, and any of the above-mentioned mounting structures. The mounting body 100 is connected to the body 400, and the depth camera assembly 300 is disposed in the accommodating space 150 and connected to the outer ring 120. By disposing multiple depth camera assemblies 300 in the accommodating space 150 and connecting them to the outer ring 120, and then disposing the mounting body 100 on the body 400 and connecting it to the body 400, the connection between the depth camera assembly 300 and the body 400 can be achieved.

[0053] Specifically, the depth camera assembly 300 is tilted relative to the outer ring 120. The depth camera 310 of the depth camera assembly 300 is tilted relative to the outer ring 120, thereby adjusting the viewing angle range of the depth camera 310.

[0054] The technical features of the above-mentioned embodiments can be combined arbitrarily. In order to make the description concise, not all possible combinations of the technical features in the above-mentioned embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0055] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that a person of ordinary skill in the art may make various modifications and improvements without departing from the spirit of the present application, and these modifications and improvements fall within the scope of protection of the present application. Therefore, the scope of protection of the present patent application shall be determined by the appended claims.

Claims

1. A mounting structure, characterized in that: The mounting structure includes: A mounting body (100) is used to be connected to the body (400), the mounting body (100) comprising an inner ring (110) and an outer ring (120) connected to each other, an accommodation space (150) being formed between the inner ring (110) and the outer ring (120), the accommodation space (150) being used to accommodate the depth camera assembly (300); A plurality of through holes (200) are provided on the outer ring (120), and the plurality of through holes (200) are arranged at intervals along the circumference of the accommodating space (150), and at least one of the through holes (200) is used to expose a camera of the depth camera assembly (300).

2. The mounting structure according to claim 1, wherein: An abutment portion (130) is provided on the side surface of the outer ring (120) close to the inner ring (110), and the abutment portion (130) is arranged around the circumference of the through hole (200). The abutment portion (130) is planar, and the extension direction of the abutment portion (130) forms an angle with the extension direction of the outer ring (120). The abutment portion (130) is used to abut against the mounting plate (320) of the depth camera assembly (300).

3. The mounting structure according to claim 2, wherein: Each of the through holes (200) is configured with an abutting portion (130).

4. The mounting structure according to claim 1, wherein: The mounting body (100) is provided with a plurality of through holes (200), and the axes of any two of the through holes (200) are arranged at an angle.

5. The mounting structure according to claim 1, wherein: There are three through holes (200), the axis of the through hole (200) located in the middle forms an angle A with the axis of one of the through holes (200) located at the edge, and forms an angle B with the axis of another through hole (200) located at the edge, wherein the angle A is equal to the angle B.

6. The mounting structure according to claim 1, wherein: The mounting body (100) further includes a connecting portion (140), and the top end of the inner ring (110) and the top end of the outer ring (120) are connected via the connecting portion (140); A gap is provided between the bottom end of the inner ring (110) and the bottom end of the outer ring (120), so that the accommodating space (150) is in communication with the outside.

7. The mounting structure according to claim 6, wherein: The bottom end of the inner ring (110) and the bottom end of the outer ring (120) extend in directions approaching each other.

8. The mounting structure according to claim 1, wherein: It also includes a locking member, which passes through the outer ring (120) and the mounting plate (320) of the depth camera assembly (300) in sequence to connect the depth camera assembly (300) and the outer ring (120).

9. A mobile robot, characterized in that: The invention comprises a body (400), a depth camera assembly (300) and the mounting structure according to any one of claims 1 to 8, wherein the mounting body (100) is connected to the body (400), the depth camera assembly (300) is arranged in the accommodating space (150) and is connected to the outer ring (120).

10. The mobile robot according to claim 9, characterized in that: The depth camera (310) of the depth camera assembly (300) is tilted relative to the outer ring (120).

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