Robot and sensor integration module thereof

Abstract

The utility model discloses a robot and a sensor integration module thereof, and relates to the technical field of automation equipment. The sensor integrated module comprises a supporting assembly, a binocular camera, a laser emitting assembly and a laser receiving assembly. Wherein the binocular camera, the laser emitting assembly and the laser receiving assembly are all installed on the supporting assembly, a first camera shooting assembly and a second camera shooting assembly of the binocular camera are arranged in the first direction, the laser emitting assembly and the laser receiving assembly are arranged in the second direction, and the first direction is perpendicular to the second direction; the sensor integrated module is high in recognition performance and small in size.

Description

TECHNICAL FIELD

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

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

[0003] And to realize the identification of environment, robot will be often carried laser radar and camera, but, according to the needs of society and technology development etc., gradually require laser radar and camera in robot occupy smaller volume, and its identification environment performance requirement is more and more high.

[0004] Summarized above, how to reduce the volume while guaranteeing the identification performance of laser radar and camera is the problem that the present technical personnel in the field urgently solves at present. UTILITY MODEL CONTENT

[0005] Therefore, the utility model aims at providing a kind of sensor integrated module, the identification performance of the sensor integrated module is stronger, and volume is smaller.

[0006] Another object of the utility model is to provide a kind of robot comprising the above-mentioned sensor integrated module.

[0007] In order to realize the above-mentioned purpose, the utility model provides the following technical scheme:

[0008] A kind of sensor integrated module, comprising: support component, binocular camera, laser emission component and laser receiving component;

[0009] The binocular camera, the laser emission component and the laser receiving component are all installed to the support component, and the first camera component and the second camera component of the binocular camera are arranged along the first direction, the laser emission component and the laser receiving component are arranged along the second direction, and the first direction is perpendicular to the second direction.

[0010] Preferably, the laser emission component and the laser receiving component are both located between the first camera component and the second camera component.

[0011] Preferably, the support component includes support, the support is an integrated support, and the binocular camera, the laser emission component and the laser receiving component are all installed to the support.

[0012] Preferably, the support assembly further comprises a front shell and a rear cover, the rear cover is buckled at the back opening of the front shell, the bracket is mounted on the support assembly, and the binocular camera, the laser emitting assembly, the laser receiving assembly and the bracket are located in the inner cavity formed by the front shell and the rear cover.

[0013] Preferably, the panel of the front shell is provided with a laser emitting window, a laser receiving window and two camera windows for light to pass through;

[0014] The laser emitting assembly comprises a laser emitting lens, the laser receiving assembly comprises a laser receiving lens, and the first camera assembly and the second camera assembly each comprise a camera lens;

[0015] The laser emitting lens is arranged opposite to the laser emitting window, the laser receiving lens is arranged opposite to the laser receiving window, and the two camera lenses are arranged opposite to the corresponding camera windows.

[0016] Preferably, the laser emitting assembly further comprises a laser emitter and a laser emitting circuit board for controlling laser emission, the laser receiving assembly further comprises a laser receiver and a laser receiving circuit board for receiving laser signals, the first camera assembly and the second camera assembly further comprise a photosensitive element, and the binocular camera further comprises a video signal processing circuit board for receiving and processing video signals;

[0017] The laser emitter is electrically connected to the laser emitting circuit board, the laser receiver is electrically connected to the laser receiving circuit board, the photosensitive element is electrically connected to the video signal processing circuit board, and the laser emitting circuit board is electrically connected to the laser receiving circuit board;

[0018] The sensor integrated module further comprises a radar signal processing circuit board for processing laser signals, and the video signal processing circuit board, the laser receiving circuit board and the laser emitting circuit board are electrically connected to the radar signal processing circuit board.

[0019] Preferably, the laser emitting circuit board, the radar signal processing circuit board and the laser receiving circuit board are parallel to each other, the radar signal processing circuit board has a heat dissipation through hole opposite to the laser emitting circuit board and the laser receiving circuit board, and the video signal processing circuit board has a non-zero angle with the laser emitting circuit board.

[0020] Preferably, the laser emitting circuit board, the radar signal processing circuit board and the laser receiving circuit board are parallel to each other and extend along the first direction and the second direction;

[0021] The video signal processing circuit board is located on the same side of the laser emission circuit board, the radar signal processing circuit board and the laser receiving circuit board and is perpendicular to the laser emission circuit board, the radar signal processing circuit board and the laser receiving circuit board.

[0022] Preferably, the video signal processing circuit board, the laser receiving circuit board and the laser emission circuit board are electrically connected to the radar signal processing circuit board through a flexible circuit board, and the laser receiving circuit board is electrically connected to the laser emission circuit board through the flexible circuit board.

[0023] A robot comprising the sensor integrated module provided in any of the above.

[0024] Preferably, the laser emission assembly and the laser receiving assembly are arranged along a vertical direction, and the first camera assembly and the second camera assembly are arranged along a horizontal direction.

[0025] The sensor integrated module provided by the utility model, the support assembly is used for installing and supporting binocular camera, laser emission assembly and laser receiving assembly etc., wherein the first camera assembly and the second camera assembly of binocular camera are arranged along the first direction, so as to expand the horizontal visual angle, and the imaging model is simplified, and the operation amount is effectively reduced, and the laser emission assembly and the laser receiving assembly are arranged along the second direction, so as to realize laser detection, since the information obtained from the sky and the ground by the laser radar is less, so arranging, although the vertical visual angle of the laser radar is reduced, but the perception result of the robot is not affected, and the horizontal visual angle of the laser radar is ensured to be large enough, and the binocular camera, the laser emission assembly and the laser receiving assembly are arranged on the support assembly, compared with being installed at different positions of the robot, the sensor integrated module is small in size under the premise of guaranteeing the perception ability. BRIEF DESCRIPTION OF DRAWINGS

[0026] In order to more clearly illustrate the technical solutions of the embodiments of the utility model or the prior art, the following will briefly introduce the drawings needed to be used in the embodiment or the prior art description, and obviously, the drawings in the following description are only the embodiments of the utility model, and for those skilled in the art, other drawings can be obtained without creative labor under the premise of providing the drawings.

[0027] Figure 1 The structure schematic view of the specific embodiment provided by the utility model;

[0028] Figure 2 The local structure schematic view of the specific embodiment provided by the utility model;

[0029] Figure 3 The local structure schematic view of the specific embodiment provided by the utility model; Figure 2front view of the electronic device of the present application;

[0030] Figure 4 is Figure 2 oblique view of the electronic device of the present application;

[0031] Figure 5 is a structural schematic view of the rear cover of the specific embodiment provided by the present application.

[0032] Reference signs:

[0033] 1 - support assembly; 11 - support; 111 - first mounting portion; 112 - second mounting portion; 113 - third mounting portion; 12 - front shell; 121 - laser emission window; 122 - laser receiving window; 123 - camera window; 13 - rear cover; 131 - rear cover body; 132 - heat conduction portion;

[0034] 2 - binocular camera; 21 - first camera assembly; 201 - camera lens; 22 - second camera assembly; 23 - video signal processing circuit board;

[0035] 3 - laser emission assembly; 31 - laser emission lens; 32 - laser emission circuit board;

[0036] 4 - laser receiving assembly; 41 - laser receiving lens; 42 - laser receiving circuit board;

[0037] 5 - radar signal processing circuit board;

[0038] 6 - shielding cover; 7 - flexible circuit board;

[0039] X - first direction; Y - second direction. DETAILED DESCRIPTION

[0040] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0041] The core of the present application is to provide a sensor integrated module, which has strong identification performance and small size. Another core of the present application is to provide a robot comprising the above sensor integrated module.

[0042] Please refer to Figure 1The utility model provides a kind of sensor integrated module, including support component 1, binocular camera 2, laser emission component 3 and laser receiving component 4;Wherein, binocular camera 2, laser emission component 3 and laser receiving component 4 are installed to support component 1, and the first camera component 21 and second camera component 22 of binocular camera 2 are arranged along the first direction, laser emission component 3 and laser receiving component 4 are arranged along the second direction, and the first direction is perpendicular to the second direction.

[0043] As Figures 1 to 4 Indicated, support component 1 is used to install and support binocular camera 2, laser emission component 3 and laser receiving component 4 etc., wherein the first camera component 21 and second camera component 22 of binocular camera 2 are arranged along X direction, to be able to expand horizontal viewing angle, and simplify imaging model, effectively reduce operation amount, and laser emission component 3 and laser receiving component 4 are arranged along Y direction, to realize laser detection, since the information that laser radar is usually obtained from sky and ground is less, so arrange, give up to sky and ground detection, then the ability of laser detection of this sensor integrated module is guaranteed, and binocular camera 2, laser emission component 3 and laser receiving component 4 of such layout are all installed on support component 1, compared with the different positions of scattered installation and robot, the sensor integrated module is smaller in volume under the premise of guaranteeing sensing ability.

[0044] It needs to be explained that the relative position relationship of binocular camera 2, laser emission component 3 and laser receiving component 4 on support component 1 is not limited, as long as the above distribution requirements are met, for example, referring to Figure 1 Indicated orientation, binocular camera 2 is located at the left side of support component 1, laser emission component 3 and laser receiving component 4 are located at the right side of support component 1, and laser receiving component 4 is located at the upper side of support component 1, and radar signal processing circuit board 5 is located at the lower side of support component 1.

[0045] On the basis of the above embodiment, laser emission component 3 and laser receiving component 4 are located between the first camera component 21 and second camera component 22.

[0046] As Figures 1 to 3 Indicated, a certain installation space is left between the first camera component 21 and second camera component 22 distributed along X direction, so that laser emission component 3 and laser receiving component 4 can be installed between the first camera component 21 and second camera component 22, and optionally, as Figures 1 to 3 Indicated, laser emission component 3 is above laser receiving component 4, or alternatively, referring to Figures 1 to 3As shown in the orientation, the laser emitting assembly 3 is below the laser receiving assembly 4, and in this way, the first camera assembly 21 and the second camera assembly 22 are spaced apart at a certain distance, which effectively improves the camera capability, and at the same time, the space between the first camera assembly 21 and the second camera assembly 22 is reasonably utilized, which is conducive to reducing the volume of the sensor integrated module.

[0047] On the basis of the above embodiment, the support assembly 1 includes a support 11, which is a one-piece support, and the binocular camera 2, the laser emitting assembly 3, and the laser receiving assembly 4 are all mounted on the support 11.

[0048] As shown in the orientation, Figure 2 and Figure 3 The support 11 is a one-piece support of a plate-shaped structure or a frame structure, such as a plastic piece integrally formed by injection molding, or a metal piece integrally formed by die casting, and the like. Of course, the support 11 is not limited to the above-mentioned types, and the support 11 can mount the binocular camera 2, the laser emitting assembly 3, and the laser receiving assembly 4 while meeting the above-mentioned layout requirements. In this way, the relative change in the position between the first camera assembly 21 and the second camera assembly 22 caused by factors such as temperature difference or vibration during work can be effectively avoided, thereby preventing the sensing error of the first camera assembly 21 and the second camera assembly 22 from being too large.

[0049] As shown in the orientation, Figure 2 On the basis of the above embodiment, the support 11 includes a first mounting portion 111, a second mounting portion 112, and a third mounting portion 113 connected in sequence, and the support 11 is a stepped structure in the shape of a convex head. The second mounting portion 112 protrudes toward the side of the back cover 13 compared with the first mounting portion 111 and the third mounting portion 113. The laser emitting assembly 3 and the laser receiving assembly 4 are mounted on the second mounting portion 112, the first camera assembly 21 is mounted on the first mounting portion 111, and the second camera assembly 22 is mounted on the third mounting portion 113.

[0050] On the basis of the above embodiment, the support assembly 1 further includes a front shell 12 and a back cover 13. The back cover 13 is buckled at the opening on the back side of the front shell 12. The support 11 is mounted on the support assembly 1, and the binocular camera 2, the laser emitting assembly 3, the laser receiving assembly 4, and the support 11 are all located in the inner cavity formed by the front shell 12 and the back cover 13.

[0051] As shown in the orientation, Figure 1As shown, the front shell 12 of the support assembly 1 is a hollow shell structure with an opening on its right side, so that the binocular camera 2, the laser emitting assembly 3 and the laser receiving assembly 4 can be inserted into the inner cavity of the front shell 12. Correspondingly, the rear cover 13 or the front shell 12 has threaded holes or through holes on its side and / or top corner, so that the bracket 11 can be installed on it by screws. The rear cover 13 is fastened to the opening side of the front shell 12 by a stop or other structure, thereby closing the opening of the front shell 12 to protect the bracket 11, the binocular camera 2, the laser emitting assembly 3 and the laser receiving assembly 4 located in the inner cavity formed by the front shell 12 and the rear cover 13.

[0052] Based on the above embodiment, the front cover 12 panel is provided with a laser emitting window 121, a laser receiving window 122 and two camera windows 123 for light to pass through; the laser emitting assembly 3 includes a laser emitting lens 31, the laser receiving assembly 4 includes a laser receiving lens 41, and the first camera assembly 21 and the second camera assembly 22 both include camera lenses 201; the laser emitting lens 31 is arranged opposite to the laser emitting window 121, the laser receiving lens 41 is arranged opposite to the laser receiving window 122, and the two camera lenses 201 are arranged opposite to the corresponding camera windows 123.

[0053] like Figure 1 As shown, the left panel of the front shell 12, away from its right-side opening, has a laser emitting window 121, a laser receiving window 122, and a camera window 123 for light to pass through. It should be noted that the types of the laser emitting window 121, laser receiving window 122, and camera window 123 are not limited, as long as they can meet the light transmission requirements. For example, circular or square through holes can be used, or circular or square through holes and transparent glass plates embedded inside the through holes can also be used.

[0054] Correspondingly, the laser emitting window 121 is opposite to the laser emitting lens 31, so that the laser emitted by the laser emitting lens 31 can pass through the laser emitting window 121 and be emitted to the outside of the front shell 12. Similarly, the laser receiving window 122 is opposite to the laser receiving lens 41, so that the reflected laser can pass through the laser receiving window 122 and be received by the laser receiving lens 41. Similarly, the two camera windows 123 are opposite to the camera lenses 201 of the corresponding first camera assembly 21 and second camera assembly 22, so that the first camera assembly 21 and the second camera assembly 22 located inside the front shell 12 can perform shooting operations.

[0055] On the basis of the above-mentioned embodiments, the laser emitting assembly 3 further comprises a laser emitter and a laser emitting circuit board 32 for controlling the laser emission, the laser receiving assembly 4 further comprises a laser receiver and a laser receiving circuit board 42 for receiving the laser signal, the first camera assembly 21 and the second camera assembly 22 further comprise a photosensitive element, and the binocular camera 2 further comprises a video signal processing circuit board 23 for receiving and processing the video signal; the laser emitter is electrically connected to the laser emitting circuit board 32, the laser receiver is electrically connected to the laser receiving circuit board 42, the photosensitive element is electrically connected to the video signal processing circuit board 23, and the laser emitting circuit board 32 is electrically connected to the laser receiving circuit board 42; the sensor integrated module further comprises a radar signal processing circuit board 5 for processing the laser signal, and the video signal processing circuit board 23, the laser receiving circuit board 42 and the laser emitting circuit board 32 are all electrically connected to the radar signal processing circuit board 5.

[0056] The laser emitter emits laser under the control of the laser emitting circuit board 32, and in cooperation, after the laser receiver receives the reflected laser, the laser signal is transmitted to the radar signal processing circuit board 5 through the laser receiving circuit board 42 for processing the laser signal, and the photosensitive element receives and analyzes the light to obtain the video signal, and transmits the video signal to the video signal processing circuit board 23 for processing the video signal, and further, the laser emitting circuit board 32, the laser receiving circuit board 42 and the video signal processing circuit board 23 are all electrically connected to the radar signal processing circuit board 5 to form a complete signal transmission system.

[0057] It should be noted that the types of the laser emitter and the laser receiver are not limited, as long as the above-mentioned corresponding functions can be realized, for example, the laser emitter can adopt a laser or a laser emitting sensor, and the laser receiver can adopt an optical receiver or a laser receiving sensor.

[0058] In use, the external device such as the robot main control board is electrically connected to one of the video signal processing circuit board 23 and the radar signal processing circuit board 5, so that the detection data of the sensor integrated module can be transmitted to the external device.

[0059] On the basis of the above-mentioned embodiments, the laser emitting circuit board 32, the radar signal processing circuit board 5 and the laser receiving circuit board 42 are parallel to each other, the radar signal processing circuit board 5 has heat dissipation through holes at the positions opposite to the laser emitting circuit board 32 and the laser receiving circuit board 42, and the video signal processing circuit board 23 has a non-zero angle with the laser emitting circuit board 32.

[0060] As Figure 1 and Figure 4As shown, the laser emitting circuit board 32, the laser receiving circuit board 42, and the radar signal processing circuit board 5 are parallel to each other, and the laser emitting circuit board 32 and the laser receiving circuit board 42 are interleaved and stacked with the radar signal processing circuit board 5. The radar signal processing circuit board 5 has circular or square heat dissipation holes at positions opposite to the laser emitting circuit board 32 and the laser receiving circuit board 42. Furthermore, the video signal processing circuit board 23 is located on the side of the laser emitting circuit board 32, the laser receiving circuit board 42, and the radar signal processing circuit board 5, and intersects with the extension lines of the laser emitting circuit board 32, the laser receiving circuit board 42, and the radar signal processing circuit board 5. Optionally, the angle between the video signal processing circuit board 23 and the laser emitting circuit board 32, the laser receiving circuit board 42, and the radar signal processing circuit board 5 is 45 degrees or 60 degrees, etc., to improve the heat dissipation effect of the laser emitting circuit board 32, the laser receiving circuit board 42, the video signal processing circuit board 23, and the radar signal processing circuit board 5.

[0061] Based on any of the above embodiments, such as Figure 5 As shown, the back cover 13 includes a back cover body 131 and a heat-conducting part 132. The heat-conducting part 132 can adopt a structure such as a heat-conducting pad or a heat-conducting graphite sheet. The heat-conducting part 132 is installed on the inner surface of the back cover body 131 by means of bonding or integral molding, and the free end of the heat-conducting part 132 abuts against the laser emitter and the laser receiver to conduct heat to the outside of the front shell 12 and the back cover 13.

[0062] like Figure 1 and Figure 4 As shown, based on the above embodiment, the laser emitting circuit board 32, the radar signal processing circuit board 5, and the laser receiving circuit board 42 are parallel to each other and extend along the X and Y directions; the video signal processing circuit board 23 is located on the same side of the laser emitting circuit board 32, the radar signal processing circuit board 5, and the laser receiving circuit board 42, and is perpendicular to the laser emitting circuit board 32, the radar signal processing circuit board 5, and the laser receiving circuit board 42. This arrangement helps to reduce the size of the sensor integrated module while ensuring heat dissipation.

[0063] Based on the above embodiments, such as Figure 1 and Figure 4 As shown, the video signal processing circuit board 23 is equipped with a shielding cover 6 by means of screws or adhesive. The shielding cover 6 covers the main power devices of the video signal processing circuit board 23 used to process video signals, and the shielding cover 6 is located between the video signal processing circuit board 23 and the back cover 13 to shield the power devices on the circuit board from electromagnetic interference.

[0064] On the basis of the above embodiment, the video signal processing circuit board 23, the laser receiving circuit board 42 and the laser emitting circuit board 32 are electrically connected to the radar signal processing circuit board 5 through the flexible circuit board 7, and the laser receiving circuit board 42 is electrically connected to the laser emitting circuit board 32 through the flexible circuit board 7, as shown in Figure 4 Thus, the arrangement positions of the circuit boards are compact, and the volume of the sensor integrated module is reduced.

[0065] In addition to the above sensor integrated module, the utility model also provides a robot including the sensor integrated module disclosed in the above embodiment, and the structures of other parts of the robot refer to the prior art, and will not be described herein.

[0066] On the basis of the above embodiment, the laser emitting assembly 3 and the laser receiving assembly 4 are arranged along the vertical direction, and the first camera assembly 21 and the second camera assembly 22 are arranged along the horizontal direction. It should be noted that the "vertical direction" refers to the direction perpendicular to the horizontal plane in the three-dimensional space when the robot is placed on the horizontal plane, and the "horizontal direction" refers to the direction parallel to the horizontal plane in the three-dimensional space when the robot is placed on the horizontal plane.

[0067] Therefore, in the embodiment, when the robot is placed on the horizontal plane, the laser emitting assembly 3 and the laser receiving assembly 4 are arranged along the vertical direction, and the first camera assembly 21 and the second camera assembly 22 are arranged along the horizontal direction.

[0068] 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.

[0069] The 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 embodiments can be referred to each other.

[0070] The robot and the sensor integrated module thereof provided by the utility model are described in detail above. The principles and implementation manners of the utility model are described by applying specific examples in the text, and the description of the above embodiments is only used to help understand the method and the core idea of the utility model. It should be noted that the ordinary skilled in the art can make some improvements and modifications to the utility model without departing from the principles of the utility model, and these improvements and modifications also fall within the protection scope of the utility model.

Claims

1. A sensor integrated module, characterized by, The application relates to a support assembly (1), a binocular camera (2), a laser emission assembly (3) and a laser receiving assembly (4). The binocular camera (2), the laser emission assembly (3) and the laser receiving assembly (4) are all mounted on the support assembly (1), the first camera assembly (21) and the second camera assembly (22) of the binocular camera (2) are arranged along a first direction, the laser emission assembly (3) and the laser receiving assembly (4) are arranged along a second direction, and the first direction is perpendicular to the second direction. The laser emission assembly (3) and the laser receiving assembly (4) are both located between the first camera assembly (21) and the second camera assembly (22).

2. The sensor integrated module according to claim 1, characterized in that, The support assembly (1) comprises a support (11), the support (11) is an integrated support, the binocular camera (2), the laser emission assembly (3) and the laser receiving assembly (4) are all mounted on the support (11).

3. The sensor integrated module according to claim 2, wherein The support assembly (1) further comprises a front shell (12) and a rear cover (13), the rear cover (13) is buckled at the back opening of the front shell (12), the support (11) is mounted on the support assembly (1), and the binocular camera (2), the laser emission assembly (3), the laser receiving assembly (4) and the support (11) are all located in the inner cavity formed by the front shell (12) and the rear cover (13).

4. The sensor integrated module according to claim 3, characterized in that, The panel of the front shell (12) is provided with a laser emission window (121) for light to pass through, a laser receiving window (122) and two camera windows (123); 5. The sensor integrated module according to claim 4, wherein The laser emission assembly (3) comprises a laser emission lens (31), the laser receiving assembly (4) comprises a laser receiving lens (41), the first camera assembly (21) and the second camera assembly (22) both comprise a camera lens (201); The laser emission lens (31) is arranged opposite to the laser emission window (121), the laser receiving lens (41) is arranged opposite to the laser receiving window (122), and the two camera lenses (201) are arranged opposite to the corresponding camera windows (123). The laser emission assembly (3) further comprises a laser emitter and a laser emission circuit board (32) for controlling laser emission, the laser receiving assembly (4) further comprises a laser receiver and a laser receiving circuit board (42) for receiving a laser signal, the first camera assembly (21) and the second camera assembly (22) further comprise a photosensitive element, and the binocular camera (2) further comprises a video signal processing circuit board (23) for receiving and processing a video signal; 6. The sensor integrated module according to claim 5, wherein The laser emitter is electrically connected to the laser emission circuit board (32), the laser receiver is electrically connected to the laser receiving circuit board (42), the photosensitive element is electrically connected to the video signal processing circuit board (23), and the laser emission circuit board (32) is electrically connected to the laser receiving circuit board (42). ​ The sensor integrated module further comprises a radar signal processing circuit board (5) for processing laser signals, the video signal processing circuit board (23), the laser receiving circuit board (42) and the laser transmitting circuit board (32) are electrically connected to the radar signal processing circuit board (5).

7. The sensor integrated module according to claim 6, wherein The laser transmitting circuit board (32), the radar signal processing circuit board (5) and the laser receiving circuit board (42) are parallel to each other, and the radar signal processing circuit board (5) has heat dissipation through holes at positions opposite to the laser transmitting circuit board (32) and the laser receiving circuit board (42), and the video signal processing circuit board (23) has a non-zero angle with the laser transmitting circuit board (32).

8. The sensor integrated module according to claim 6, wherein The laser transmitting circuit board (32), the radar signal processing circuit board (5) and the laser receiving circuit board (42) are parallel to each other and extend along the first direction and the second direction; The video signal processing circuit board (23) is located on the same side of the laser transmitting circuit board (32), the radar signal processing circuit board (5) and the laser receiving circuit board (42) and is perpendicular to the laser transmitting circuit board (32), the radar signal processing circuit board (5) and the laser receiving circuit board (42).

9. The sensor integrated module according to claim 6, wherein The video signal processing circuit board (23), the laser receiving circuit board (42) and the laser transmitting circuit board (32) are electrically connected to the radar signal processing circuit board (5) through a flexible circuit board (7), and the laser receiving circuit board (42) is electrically connected to the laser transmitting circuit board (32) through the flexible circuit board (7).

10. A robot, characterized in that The sensor integrated module comprises the sensor integrated module according to any one of claims 1-9.

11. The robot of claim 10, wherein, The laser transmitting assembly (3) and the laser receiving assembly (4) are arranged along a vertical direction, and the first camera assembly (21) and the second camera assembly (22) are arranged along a horizontal direction.

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