Robot, sensor integrated module and supporting assembly of sensor integrated module

Abstract

The utility model discloses a robot, a sensor integrated module and a supporting assembly of the sensor integrated module, and relates to the technical field of automation equipment. The supporting assembly of the sensor integrated module comprises a support. The bracket comprises a first mounting part, a second mounting part and a third mounting part; wherein the first mounting part is provided with a mounting through hole, and a lens of the first sensor is inserted into the mounting through hole; the second installation part and the third installation part are fixedly connected to the end of the first installation part, the free end of the second installation part and the free end of the third installation part protrude out of the first installation part, and an installation notch is formed between the second installation part and the third installation part which are oppositely arranged and used for inserting a lens of a second sensor. The supporting assembly is small in size on the premise that the installation requirement is met.

Description

TECHNICAL FIELD

[0001] The utility model relates to automatic equipment technical field, more specifically, relate to a kind of support assembly of sensor integrated module. In addition, the utility model further relates to a kind of sensor integrated module comprising the support assembly described above. Furthermore, the utility model further relates to a kind of robot comprising the sensor integrated module described above. BACKGROUND

[0002] Robot is a kind of intelligent machine capable of semi-autonomous or fully autonomous work, and robot can execute tasks such as work or movement by programming and automatic control, and robot generally needs to identify the surrounding environment to run smoothly and prevent collision.

[0003] To realize the identification of environment, robot often carries laser radar and camera and other identification components, but laser radar and camera often need to occupy smaller volume in robot to leave sufficient installation space for other components.

[0004] In summary, how to reduce the volume of sensor integrated module is a problem to be solved by the present technical personnel. UTILITY MODEL CONTENT

[0005] Therefore, the utility model aims to provide a kind of support assembly of sensor integrated module, which is smaller in size while meeting installation requirements.

[0006] Another object of the utility model is to provide a kind of sensor integrated module comprising the support assembly described above.

[0007] Still another object of the utility model is to provide a kind of robot comprising the sensor integrated module described above.

[0008] To achieve the above object, the utility model provides the following technical scheme:

[0009] A kind of support assembly of sensor integrated module, comprising: support;

[0010] The support includes first mounting portion, second mounting portion and third mounting portion;

[0011] The first mounting portion has mounting through hole for inserting the lens of first sensor;

[0012] The second mounting portion and the third mounting portion are fixedly connected to the end of the first mounting portion, the free end of the second mounting portion and the free end of the third mounting portion protrude from the first mounting portion, and the second mounting portion and the third mounting portion oppositely arranged have mounting gap for inserting the lens of second sensor.

[0013] Preferably, the second mounting portion and the third mounting portion are triangular structures, and the mounting gap is rectangular.

[0014] Preferably, the thickness of the second mounting portion and the third mounting portion are greater than the thickness of the first mounting portion.

[0015] Preferably, the mounting through hole includes a first mounting through hole and a second mounting through hole, the first mounting through hole is used for inserting a lens of a laser emitting sensor, the second mounting through hole is used for inserting a lens of a laser receiving sensor, and the mounting gap is used for inserting a lens of a camera.

[0016] Preferably, the support assembly further comprises a housing, the support assembly is embedded in the interior of the housing, and a panel of the housing has a laser emitting through hole, a laser receiving through hole and a camera through hole, the laser emitting through hole is located in the diameter of the first mounting through hole, the laser receiving through hole is located in the diameter of the second mounting through hole, and the camera through hole is located in the diameter of the mounting gap.

[0017] Preferably, the number of the first mounting through hole is two, one of the first mounting through hole, the second mounting through hole and the other of the first mounting through hole are arranged in the first mounting portion in sequence along a first direction, and the mounting gap and the second mounting through hole are arranged along a second direction, and the second direction is perpendicular to the first direction.

[0018] Preferably, the support assembly further comprises a lens, the lens is attached to the outer side of the panel and covers the laser emitting through hole and the laser receiving through hole.

[0019] The support assembly further comprises a heating sheet, the heating sheet is mounted on the lens and is arranged around the periphery of the laser emitting through hole and the laser receiving through hole.

[0020] The panel has a wire passing hole for a wire harness to pass through to electrically connect the heating sheet.

[0021] Preferably, the second mounting portion and the third mounting portion each have a fastening hole to fixedly connect the second sensor.

[0022] Preferably, the first mounting portion is a rectangular plate.

[0023] Preferably, the support assembly is an integrally formed piece.

[0024] A sensor integrated module comprises a first sensor and a second sensor, and further comprises a support assembly of any one of the above-mentioned sensor integrated modules, and the first sensor and the second sensor are arranged on the support assembly.

[0025] A robot comprises the above-mentioned sensor integrated module.

[0026] The support assembly of the sensor integrated module has the advantages that the first mounting portion is provided with a mounting through hole, so that the lens of the first sensor can be supported by plugging the first mounting portion; the second mounting portion and the third mounting portion are fixedly connected to the same end of the first mounting portion, and the free end of the second mounting portion and the free end of the third mounting portion protrude from the first mounting portion to form end portions for mounting the second mounting portion and the third mounting portion, so that the bracket is in a stepped shape, and a gap is left between the second mounting portion and the third mounting portion as a mounting gap, so that the second sensor can be supported by plugging the second mounting portion and the third mounting portion; compared with the related technology of providing a plurality of through holes on a plate to mount the first sensor lens and the second sensor lens, the support assembly has a small volume under the premise of meeting the mounting requirement. BRIEF DESCRIPTION OF DRAWINGS

[0027] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced as follows. Obviously, the drawings in the following description are only embodiments of the present application, and other drawings can also be obtained according to the provided drawings without creative labor for those skilled in the art.

[0028] Figure 1 A front view of the specific embodiment provided by the present application;

[0029] Figure 2 A rear view of the specific embodiment provided by the present application;

[0030] Figure 3 A use schematic view of the bracket of the specific embodiment provided by the present application;

[0031] Figure 4 A partial structure schematic view of the shell of the specific embodiment provided by the present application.

[0032] REFERENCE SIGNS:

[0033] 1-bracket; 11-first mounting portion; 111-first mounting through hole; 112-second mounting through hole; 12-second mounting portion; 121-fastening hole; 13-third mounting portion; 14-mounting gap;

[0034] 2-shell; 21-front shell; 211-laser emission through hole; 212-laser receiving through hole; 213-camera through hole; 214-thread hole; 22-rear cover;

[0035] 3-lens;

[0036] 4-laser emission sensor; 5-laser receiving sensor; 6-camera;

[0037] X - first direction; Y - second direction. DETAILED DESCRIPTION

[0038] The technical solutions in the embodiments of the utility model will be apparently and completely described in connection with the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, rather than all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative labor fall within the protection scope of the utility model.

[0039] The core of the utility model is to provide a kind of support assembly of sensor integrated module, the support assembly is smaller in volume under the premise of meeting installation demand.The other core of the utility model is to provide a kind of sensor integrated module comprising the above support assembly.The still another core of the utility model is to provide a kind of robot comprising the above sensor integrated module.

[0040] Please refer to Figure 1 The utility model provides a kind of support assembly of sensor integrated module, including support 1;And support 1 includes first installation part 11, second installation part 12 and third installation part 13;Wherein, first installation part 11 has installation through-hole, for the lens of first sensor is inserted;Second installation part 12 and third installation part 13 are fixedly connected at the end of first installation part 11, the free end of second installation part 12 and the free end of third installation part 13 protrude from first installation part 11, and the second installation part 12 and the third installation part 13 oppositely arranged have installation gap 14 between, for the lens of second sensor is inserted.

[0041] First installation part 11 can adopt the plate structure or frame structure of triangle or rectangle and the like shape, and first installation part 11 is provided with circular or square installation through-hole, to insert the lens of first sensor, second installation part 12 and third installation part 13 can adopt the block structure or frame structure of triangle or ladder and the like shape, and second installation part 12 and third installation part 13 can be same, also can be different, second installation part 12 and third installation part 13 are fixedly connected at the same end of first installation part 11, such as upper end or lower end, for example, as shown in Figure 3 Second installation part 12 and third installation part 13 are fixedly connected at the upper end of first installation part 11, and the top end of second installation part 12 and the top end of third installation part 13 protrude from the top end of first installation part 11, so that the support 1 is ladder-shaped;And second installation part 12 and third installation part 13 leave gap as installation gap 14, so as to be inserted to support camera 6, compared with the related art that several through-holes are set on a plate to install first sensor lens and second sensor lens, the support assembly is smaller in volume under the premise of meeting installation demand.

[0042] Based on the above embodiments, the second mounting part 12 and the third mounting part 13 are triangular structures, and the mounting notch 14 is rectangular.

[0043] like Figure 3 As shown, both the second mounting part 12 and the third mounting part 13 adopt triangular blocks or frame structures, and the sides of the second mounting part 12 and the third mounting part 13 that are close to each other are parallel to each other and perpendicular to the top horizontal side of the first mounting part 11, thereby forming a rectangular mounting notch 14 to facilitate the installation of the camera 6.

[0044] Based on the above embodiments, the thickness of the second mounting part 12 and the third mounting part 13 is greater than the thickness of the first mounting part 11. This arrangement is beneficial to improving the support stability of the second sensor lens, and the structure of the bracket 1 is simple.

[0045] In some specific embodiments, such as Figure 3 As shown, one side of the back of the second mounting portion 12 and one side of the back of the third mounting portion 13 protrude from the back of the first mounting portion 11, and the front of the second mounting portion 12 and the front of the third mounting portion 13 are coplanar with the front of the first mounting portion 11. It should be noted that the front of the first mounting portion, the second mounting portion, and the third mounting portion refers to the side where the lens protrudes.

[0046] In some other embodiments, the front side of the second mounting portion 12 and the front side of the third mounting portion 13 protrude from the front side of the first mounting portion 11, and the back side of the second mounting portion 12 and the back side of the third mounting portion 13 are coplanar with the back side of the first mounting portion 11.

[0047] In some other embodiments, the front side of the second mounting portion 12 and the front side of the third mounting portion 13 protrude from the front side of the first mounting portion 11, and the back side of the second mounting portion 12 and the back side of the third mounting portion 13 protrude from the back side of the first mounting portion 11.

[0048] Based on the above embodiments, the mounting through hole includes a first mounting through hole 111 and a second mounting through hole 112. The first mounting through hole 111 is used to insert the lens of the laser emitting sensor 4, the second mounting through hole 112 is used to insert the lens of the laser receiving sensor 5, and the mounting notch 14 is used to insert the lens of the camera 6.

[0049] like Figure 3 As shown, the first mounting part 11 has two parallel mounting through holes, namely the first mounting through hole 111 and the second mounting through hole 112, which are used to insert and support the lens of the laser emitting sensor 4 and the lens of the laser receiving sensor 5, respectively.

[0050] It should be noted that the number and type of the first mounting through hole 111 and the second mounting through hole 112 are not limited, as long as the mounting requirement can be met, for example, in some embodiments, the number of the first mounting through hole 111 and the second mounting through hole 112 is one, and the two are arranged in line with the mounting gap 14 or in a triangular arrangement, or in other embodiments, the number of the first mounting through hole 111 and the second mounting through hole 112 is two, the first mounting through hole 111 is located at the lowermost part of the first mounting part 11, the second mounting through hole 112 is located between the first mounting through hole 111 and the mounting gap 14, and the two first mounting through holes 111 are arranged in the transverse direction, and the two second mounting through holes 112 are arranged in the transverse direction.

[0051] On the basis of the above-mentioned embodiments, the housing 2 is further included, and the bracket 1 is embedded in the inside of the housing 2; and the panel of the housing 2 has a laser emission through hole 211, a laser receiving through hole 212 and a camera through hole 213, the laser emission through hole 211 is located in the diameter of the first mounting through hole 111, the laser receiving through hole 212 is located in the diameter of the second mounting through hole 112, and the camera through hole 213 is located in the diameter of the mounting gap 14. It should be noted that embedding means that the bracket 1 is nested in the inside of the housing 2 and is matched with the gap therebetween. It should be further noted that the "diameter" can be understood as the hole cavity region and its extension region in the hole depth direction. Taking a cylindrical hole as an example, the diameter thereof is the region surrounded by the cylindrical hole wall extending in the axial direction thereof.

[0052] The housing 2 adopts a hollow and stepped thin shell structure to be able to embed the bracket 1, as shown in Figure 1 、 Figure 2 and Figure 4 , the first mounting part 11 is nested in the structure of the larger part along the X direction at the bottom of the housing 2, and the second mounting part 12 and the third mounting part 13 are nested in the structure of the smaller part along the X direction at the top of the housing 2.

[0053] In cooperation, the laser emission through hole 211, the laser receiving through hole 212 and the camera through hole 213 are formed on the panel of the housing 2, and after the bracket 1 is nested in the inside of the housing 2, the laser emission through hole 211 is in common diameter with the first mounting through hole 111, so that the laser emitted by the lens of the laser emission sensor 4 inserted in the first mounting through hole 111 can be emitted to the outside of the housing 2 through the laser emission through hole 211; the laser receiving through hole 212 is in common diameter with the second mounting through hole 112, so that the lens of the laser receiving sensor 5 inserted in the second mounting through hole 112 can receive the laser passing through the laser receiving through hole 212; and the camera through hole 213 is in common diameter with the mounting gap 14, so that the camera 6 inserted in the mounting gap 14 can receive the light passing through the camera through hole 213.

[0054] It should be noted that the shapes of the support 1 and the shell 2 are not limited, as long as the above functions can be achieved, for example, in some embodiments, the support 1 and the shell 2 are both in a convex shape, for example, as shown in Figure 3 The second mounting portion 12 and the third mounting portion 13 are fixed at the top end of the first mounting portion 11 along the transverse middle position, and the shell 2 is in a hollow shell structure in a convex shape, or in other embodiments, the support 1 and the shell 2 are both in a right angle shape, for example, as shown in Figure 3 The second mounting portion 12 and the third mounting portion 13 are fixed at the top end of the first mounting portion 11 on the left side.

[0055] Preferably, the shell 2 includes a front shell 21 and a rear cover 22, the back of the front shell 21 and the front of the rear cover 22 both have openings, and the rear cover 22 is buckled at the opening of the back of the front shell 21, so that the rear cover 22 and the front shell 21 form a hollow shell structure in a convex shape.

[0056] On the basis of the above embodiments, the number of first mounting through holes 111 is two, and one first mounting through hole 111, a second mounting through hole 112 and the other first mounting through hole 111 are arranged in the first direction in sequence on the first mounting portion 11, and the mounting gap 14 is arranged along the second direction with the second mounting through hole 112, and the second direction is perpendicular to the first direction.

[0057] As shown in Figure 3 Three through holes are provided on the top of the first mounting portion 11 along the X direction, in sequence, the first mounting through hole 111, the second mounting through hole 112 and the first mounting through hole 111, and the mounting gap 14 formed by the second mounting portion 12 and the third mounting portion 13 is located directly above the second mounting through hole 112, that is, the second mounting through hole 112 and the mounting gap 14 are arranged along the Y direction, and the recognition ability of the sensor integrated module of the support assembly is stronger.

[0058] On the basis of the above embodiments, it also includes a lens 3, which is attached to the outer side of the panel and blocks the laser emitting through hole 211 and the laser receiving through hole 212.

[0059] As shown in Figure 1 The lens 3 is attached to the outer surface of the panel to block the laser emitting through hole 211 and the laser receiving through hole 212, so as to protect the components inside the shell 2 while ensuring that light can pass through the laser emitting through hole 211 and the laser receiving through hole 212.

[0060] It should be noted that the number and type of the lens 3 are not limited, as long as the above functions can be achieved, for example, in some embodiments, as shown in Figure 1As shown, the number of lenses 3 is one, which covers the laser emitting through-hole 211 and the laser receiving through-hole 212. Alternatively, in some other specific embodiments, the number of lenses 3 is equal to the number of laser emitting through-holes 211 and laser receiving through-holes 212, and a plurality of lenses 3 cover the corresponding through-holes.

[0061] Based on the above embodiment, a heating element is also included. The heating element is mounted on the lens 3 and surrounds the peripheral surface of the laser emitting through hole 211 and the laser receiving through hole 212. The panel has a wire through hole 214 for the wire harness to pass through and electrically connect to the heating element.

[0062] A heating element is attached to the lens 3. Optionally, it is arranged in a ring around the lens 3, or in a ring around the corresponding laser emitting through-hole 211 and laser receiving through-hole 212. Correspondingly, a rectangular or elongated through-hole is provided on the panel of the housing 2 as a wire passage hole 214, so that the wire harness can pass through from the inside of the housing 2 to the outside of the housing 2, thereby electrically connecting to the heating element, so as to control the heating element to start or stop heating, thereby defogging the lens 3.

[0063] Based on the above embodiment, both the second mounting part 12 and the third mounting part 13 have fastening holes 121 to fix the second sensor.

[0064] like Figure 3 As shown, one or two equal numbers of fastening holes 121 are provided on the second mounting part 12 and the third mounting part 13 along their own thickness direction. The fastening holes 121 can be threaded holes or optical holes, etc., so that the camera 6 can be fixed by inserting fasteners.

[0065] like Figure 3 As shown, based on the above embodiment, the first mounting part 11 is a rectangular plate.

[0066] Based on the above embodiments, the bracket 1 is a one-piece molded part, such as... Figure 3 As shown, for example, the bracket 1 can be made of injection-molded plastic, or it can be made of metal formed by milling from a single piece of raw material.

[0067] In addition to the support component of the sensor integrated module described above, this utility model also provides a sensor integrated module including the support component disclosed in the above embodiments. The sensor integrated module further includes a first sensor and a second sensor, and both the first sensor and the second sensor are disposed on the support component. For the structure of other parts of the sensor integrated module, please refer to the prior art, which will not be described in detail here.

[0068] In some specific embodiments, the first sensor includes a laser emitting sensor 4 and a laser receiving sensor 5, and the second sensor is a camera 6.

[0069] Further, the laser emission circuit board, the laser receiving circuit board, the video signal processing circuit board and the radar signal processing circuit board are further included for emitting laser, receiving laser, receiving and processing video signals and processing laser signals; the laser emission circuit board is installed with the laser emitter 4 and electrically connected with the laser emitter 4, and the laser emitter 4 is located at the light-in side of its own lens; the laser receiving circuit board is installed with the laser receiver and electrically connected with the laser receiver, and the laser receiver 5 is located at the imaging side of its own lens; the camera 6 is electrically connected with the video signal processing circuit board; the laser emission circuit board and the laser receiving circuit board are electrically connected with the radar signal processing circuit board.

[0070] Specifically, the sensor integrated module emits laser through the laser emitter, receives laser signals through the laser receiver, controls the laser emitter to emit laser through the laser emission circuit board, controls the laser receiver to receive laser through the laser receiving circuit board, receives the laser signals output by the laser receiving circuit board through the radar signal processing circuit board, receives the images shot by the camera 6 through the video signal processing circuit board, and when in use, the external device is electrically connected with the video signal processing circuit board and the radar signal processing circuit board, so that the detection data of the binocular laser radar fusion module can be transmitted to the external device.

[0071] In addition to the above sensor integrated module and the support assembly thereof, the utility model further provides a robot comprising the sensor integrated module disclosed in the above embodiment, and the structures of other parts of the robot can refer to the prior art, and will not be described herein.

[0072] It should be noted that the types of the laser emitter and the laser receiver are not limited, as long as the corresponding functions described above can be realized, for example, the laser emitter can adopt a laser or a laser emission sensor, and the laser receiver can adopt an optical receiver or a laser receiving sensor.

[0073] It should be noted that the relationship terms such as "first" and "second" described above are only used to distinguish one entity from other entities, and do not necessarily require or imply any actual relationship or order between the entities; the "upper surface, lower surface, top, bottom" and the orientation words "up, down, left, right" described above are defined based on the drawings.

[0074] The various embodiments in the specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments, and the same or similar parts between the various embodiments can be referred to each other.

[0075] The robot, the sensor integrated module and the supporting assembly provided by the utility model are introduced in detail. The principle and implementation mode of the utility model are described by applying specific examples. The above-mentioned examples are only used for helping to understand the method and the core idea of the utility model. It should be pointed out that the utility model can be improved and modified in several ways without departing from the principle of the utility model, and these improvements and modifications also fall within the protection scope of the utility model.

Claims

1. A support assembly for a sensor integrated module, the support assembly comprising: Comprising: a bracket (1); the bracket (1) comprises a first mounting portion (11), a second mounting portion (12) and a third mounting portion (13); the first mounting portion (11) has a mounting through hole for inserting the lens of a first sensor; the second mounting portion (12) and the third mounting portion (13) are fixedly connected to the end of the first mounting portion (11), the free end of the second mounting portion (12) and the free end of the third mounting portion (13) protrude from the first mounting portion (11), and the second mounting portion (12) and the third mounting portion (13) oppositely arranged have a mounting gap (14) between them for inserting the lens of a second sensor.

2. The support assembly of a sensor integrated module according to claim 1, wherein The second mounting portion (12) and the third mounting portion (13) are triangular structures, and the mounting gap (14) is rectangular.

3. The support assembly of a sensor integrated module according to claim 2, wherein, The thickness of the second mounting portion (12) and the third mounting portion (13) is greater than the thickness of the first mounting portion (11).

4. The support assembly of a sensor integrated module according to claim 1, wherein The mounting through hole includes a first mounting through hole (111) and a second mounting through hole (112), the first mounting through hole (111) is used for inserting the lens of a laser emitting sensor (4), the second mounting through hole (112) is used for inserting the lens of a laser receiving sensor (5), and the mounting gap (14) is used for inserting the lens of a camera (6).

5. The support assembly of a sensor integrated module according to claim 4, wherein Further comprising a shell (2), the bracket (1) is embedded in the inside of the shell (2); and the panel of the shell (2) has a laser emitting through hole (211), a laser receiving through hole (212) and a camera through hole (213), the laser emitting through hole (211) is located in the through path of the first mounting through hole (111), the laser receiving through hole (212) is located in the through path of the second mounting through hole (112), and the camera through hole (213) is located in the through path of the mounting gap (14); And / or, the number of the first mounting through hole (111) is two, and one first mounting through hole (111), the second mounting through hole (112) and the other first mounting through hole (111) are arranged in the first mounting portion (11) in sequence along the first direction, and the mounting gap (14) and the second mounting through hole (112) are arranged along the second direction, and the second direction is perpendicular to the first direction.

6. The support assembly of a sensor integrated module according to claim 5, wherein Further comprising a lens (3), the lens (3) is attached to the outside of the panel and covers the laser emitting through hole (211) and the laser receiving through hole (212); Further comprising a heating sheet, the heating sheet is installed on the lens (3) and is arranged around the periphery of the laser emitting through hole (211) and the laser receiving through hole (212); The panel has a wire passing hole (214) for the wire harness to pass through to electrically connect the heating sheet.

7. The support assembly of a sensor integrated module according to claim 1, wherein The second mounting portion (12) and the third mounting portion (13) each have a fastening hole (121) for fixedly connecting the second sensor.

8. The support assembly of a sensor integrated module according to claim 1, wherein The first mounting portion (11) is a rectangular plate; And / or, the bracket (1) is an integral molded part.

9. A sensor integrated module comprising a first sensor and a second sensor, characterized in that, Also included is a support assembly for the sensor integrated module of any of claims 1-8, the first sensor and the second sensor each disposed in the support assembly.

10. A robot, characterized in that Also included is the sensor integrated module of claim 9.

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