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 laser detection assembly used for emitting and receiving laser, a camera shooting assembly used for shooting images, a video signal processing circuit board used for receiving and processing video signals and a radar signal processing circuit board used for processing laser signals. The camera shooting assembly is electrically connected to the video signal processing circuit board, the laser detection assembly is electrically connected to the radar signal processing circuit board, and the video signal processing circuit board is electrically connected to the radar signal processing circuit board and can be connected with an output data line through one of the video signal processing circuit board and the radar signal processing circuit board. The sensor integrated module is connected with an external device through a signal, the sensor integrated module can simultaneously transmit a camera shooting sensing result and a radar sensing result through the output data line, the data output line layout of the sensor integrated module is reasonable, and the size of the sensor integrated module is small.

Description

TECHNICAL FIELD

[0001] The utility model relates to automatic technology field, more specifically, relate to a sensor integrated module. BACKGROUND

[0002] The robot is a kind of intelligent machine capable of semi-autonomous or full autonomous work, and the robot can execute tasks such as work or movement by programming and automatic control, and the robot executes the above-mentioned task, and generally needs to identify the surrounding environment to enable smooth operation and prevent collision.

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

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

[0005] Therefore, the purpose of the utility model is to provide a sensor integrated module, which has a smaller volume.

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

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

[0008] A sensor integrated module comprises a laser detection assembly for emitting and receiving laser, a camera assembly for shooting images, a video signal processing circuit board for receiving and processing video signals, and a radar signal processing circuit board for processing laser signals.

[0009] The camera assembly is electrically connected to the video signal processing circuit board, the laser detection assembly is electrically connected to the radar signal processing circuit board, the video signal processing circuit board is electrically connected to the radar signal processing circuit board, and one of the video signal processing circuit board and the radar signal processing circuit board can be connected to output data line to connect external equipment by signal.

[0010] Preferably, the radar signal processing circuit board is electrically connected to the video signal processing circuit board by a first flexible circuit board.

[0011] Preferably, the camera assembly is electrically connected to the video signal processing circuit board by a second flexible circuit board.

[0012] Preferably, the laser detection assembly comprises a laser emission circuit board for emitting laser and a laser receiving circuit board for receiving laser, the laser emission circuit board is electrically connected to the laser receiving circuit board, and the laser receiving circuit board is electrically connected to the radar signal processing circuit board.

[0013] Preferably, the laser emission circuit board is electrically connected to the laser receiving circuit board through a third flexible circuit board, and the laser receiving circuit board is electrically connected to the radar signal processing circuit board through a fourth flexible circuit board.

[0014] Preferably, the number of the laser emission circuit boards is two, the two laser emission circuit boards are located in the same layer, and the laser receiving circuit board is located between the two laser emission circuit boards and staggered with the two laser emission circuit boards.

[0015] The laser emission circuit board and the laser receiving circuit board are stacked and spaced apart from the radar signal processing circuit board.

[0016] Preferably, the video signal processing circuit board is located on the side of the laser emission circuit board and the laser receiving circuit board, and the fourth flexible circuit board is located between the laser receiving circuit board and the video signal processing circuit board.

[0017] Preferably, the video signal processing circuit board is provided with a connector, and the connector is located on the first side of the video signal processing circuit board close to the laser receiving circuit board.

[0018] The second flexible circuit board and the first flexible circuit board are electrically connected to the first side of the video signal processing circuit board.

[0019] The connector is installed at the first end of the video signal processing circuit board along the first direction, and the first flexible circuit board is connected to the second end of the video signal processing circuit board along the first direction and to one end of the radar signal processing circuit board close to the second end of the video signal processing circuit board.

[0020] Preferably, the laser detection assembly, the camera assembly, the video signal processing circuit board and the radar signal processing circuit board are all installed inside the shell, and the shell has a wire passing hole for the output data line to pass through.

[0021] Preferably, the wire passing hole is a long strip type through hole.

[0022] The sensor integrated module provided by the utility model, in the sensor integrated module, camera assembly is arranged to take pictures, and laser detection assembly is arranged to carry out laser radar detection, the camera assembly is electrically connected with the video signal processing circuit board, and the video signal processing circuit board is provided with artificial intelligence (Artificial Intelligence, AI) chip and the like for processing video signal, so that the image information taken by the camera assembly can be received and processed through the video signal processing circuit board, the laser detection assembly is electrically connected with the radar signal processing circuit board, and the radar signal processing circuit board is provided with chip for processing laser signal, so that the laser signal transmitted from the laser receiving circuit board can be collected and processed through the radar signal processing circuit board, and the video signal processing circuit board and the radar signal processing circuit board are electrically connected, and the signal connection position is reserved in one of the video signal processing circuit board and the radar signal processing circuit board, so that the signal connection output data line can be realized, that is, the camera sensing result obtained after the video signal processing circuit board is processed and the radar sensing result obtained after the radar signal processing circuit board is processed can be transmitted to the external equipment through the output data line, so that the sensor integrated module data output line layout is reasonable, and the volume of the sensor integrated module is small. BRIEF DESCRIPTION OF DRAWINGS

[0023] In order to more clearly illustrate the technical scheme in the embodiments of the utility model or the prior art, the drawings needed to be used in the embodiment or the prior art description will be briefly introduced below, and obviously, the drawings in the following description are only the embodiments of the utility model, and those skilled in the art can obtain other drawings according to the provided drawings without creating labor.

[0024] Figure 1 The structural schematic diagram of the specific embodiment provided by the utility model is shown in the figure.

[0025] Figure 2 The partial structural schematic diagram of the specific embodiment provided by the utility model is shown in the figure.

[0026] Figure 3 The partial structural schematic diagram of the specific embodiment provided by the utility model is shown in the figure.

[0027] Mark for legend:

[0028] 1-laser detection assembly;11-laser emission circuit board;12-laser receiving circuit board;

[0029] 2-video signal processing circuit board;3-radar signal processing circuit board;4-connector;5-output data line;

[0030] 61 - first flexible circuit board; 62 - second flexible circuit board; 63 - third flexible circuit board; 64 - fourth flexible circuit board;

[0031] 7 - housing; 71 - front housing; 72 - rear cover; 721 - wire hole;

[0032] X - first direction; Y - second direction. DETAILED DESCRIPTION

[0033] The technical solutions in the embodiments of the utility model will be clearly and completely described below with reference to 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 the other embodiments obtained by those skilled in the art without creative labor fall within the protection scope of the utility model.

[0034] The core of the utility model is to provide a kind of sensor integrated module, and the volume of the sensor integrated module is smaller.The other core of the utility model is to provide a kind of robot comprising the above-mentioned sensor integrated module.

[0035] Please refer to Figure 1 The utility model provides a kind of sensor integrated module, comprising: for emitting and receiving laser laser detection component 1, for shooting image camera component, for receiving and processing video signal video signal processing circuit board 2 and for processing laser signal radar signal processing circuit board 3;Camera component is electrically connected to video signal processing circuit board 2, laser detection component 1 is electrically connected to radar signal processing circuit board 3, video signal processing circuit board 2 is electrically connected to radar signal processing circuit board 3, and can be connected output data line 5 by video signal processing circuit board 2 and radar signal processing circuit board 3 one of them, to signal connection external device.

[0036] As Figure 2 And Figure 3As shown, in the sensor integrated module, a camera assembly is arranged to take pictures, and a laser detection assembly 1 is arranged to perform laser radar detection. In cooperation, the camera assembly is electrically connected to a video signal processing circuit board 2, and the video signal processing circuit board 2 is provided with an Artificial Intelligence (AI) chip and other chips for processing video signals, so that the video signal processing circuit board 2 can receive and process image information taken by the camera assembly; the laser detection assembly 1 is electrically connected to a radar signal processing circuit board 3, and the radar signal processing circuit board 3 is provided with a chip for processing laser signals, so that the radar signal processing circuit board 3 can collect and process laser signals transmitted from the laser receiving circuit board 12; and the video signal processing circuit board 2 and the radar signal processing circuit board 3 are electrically connected, and a signal connection position is reserved on the video signal processing circuit board 2 and the radar signal processing circuit board 3, so that the signal connection output data line 5 can be connected by welding or a type of connector, such as a terminal post, so that the camera sensing result obtained after processing by the video signal processing circuit board 2 and the radar sensing result obtained after processing by the radar signal processing circuit board 3 can be transmitted to an external device at the same time.

[0037] It should be noted that the camera assembly, the laser detection assembly 1, the video signal processing circuit board 2 and the radar signal processing circuit board 3 having the above-mentioned corresponding functions can refer to the prior art, and will not be described in detail here.

[0038] On the basis of the above-mentioned embodiment, the radar signal processing circuit board 3 is electrically connected to the video signal processing circuit board 2 through a first flexible circuit board 61.

[0039] In this embodiment, the first flexible circuit board 61 which can be bent at will is used to electrically connect the video signal processing circuit board 2 and the radar signal processing circuit board 3. In this way, the circuit boards can be arranged flexibly, which is conducive to compact structure and reduces the volume of the sensor integrated module.

[0040] On the basis of the above-mentioned embodiment, the camera assembly is electrically connected to the video signal processing circuit board 2 through a second flexible circuit board 62.

[0041] Similarly, in this embodiment, the second flexible circuit board 62 which can be bent at will is used to electrically connect the video signal processing circuit board 2 and the camera assembly. In this way, the video signal processing circuit board 2 can be arranged flexibly, which is conducive to compact structure and reduces the volume of the sensor integrated module.

[0042] On the basis of the above-mentioned embodiment, the laser detection assembly 1 includes a laser emitting circuit board 11 for emitting laser and a laser receiving circuit board 12 for receiving laser, the laser emitting circuit board 11 is electrically connected to the laser receiving circuit board 12, and the laser receiving circuit board 12 is electrically connected to the radar signal processing circuit board 3.

[0043] In this embodiment, the laser emission circuit board 11 is provided with a laser emission sensor or a laser emission chip or a laser or other types of laser emitters capable of emitting laser, the laser receiver is provided with an optical receiver or a laser emission chip or a laser receiving sensor or other types of laser receivers capable of receiving laser, and the laser emission circuit board 11 is electrically connected to the laser receiving circuit board 12, so that the laser emission circuit board 11 can be powered and controlled by the laser receiving circuit board 12, and the laser receiving circuit board 12 is electrically connected to the radar signal processing circuit board 3, so that the laser signal received by the laser receiving circuit board 12 can be transmitted to the radar signal processing circuit board 3 for processing to realize radar sensing. In this way, the circuit of the sensor integrated module is simple.

[0044] On the basis of the above-mentioned embodiment, the laser emission circuit board 11 is electrically connected to the laser receiving circuit board 12 through the third flexible circuit board 63, and the laser receiving circuit board 12 is electrically connected to the radar signal processing circuit board 3 through the fourth flexible circuit board 64.

[0045] In this embodiment, the third flexible circuit board 63 is used to electrically connect the laser receiving circuit board 12 and the laser emission circuit board 11, and the fourth flexible circuit board 64 is used to electrically connect the laser receiving circuit board 12 and the radar signal processing circuit board 3. In this way, the laser receiving circuit board 12 and the laser emission circuit board 11 can be arranged flexibly, which is conducive to compact structure and reduces the volume of the sensor integrated module.

[0046] It should be noted that the way of connecting the laser emission circuit board 11 and the laser receiving circuit board 12 by the third flexible circuit board 63, connecting the laser receiving circuit board 12 and the radar signal processing circuit board 3 by the fourth flexible circuit board 64, connecting the video signal processing circuit board 2 and the camera assembly by the second flexible circuit board 62, and connecting the video signal processing circuit board 2 and the radar signal processing circuit board 3 by the first flexible circuit board 61 is not limited, such as soldering or connecting through connectors 4, etc.

[0047] On the basis of the above-mentioned embodiment, the number of laser emission circuit boards 11 is two, and the two laser emission circuit boards 11 are located on the same layer. The laser receiving circuit board 12 is located between the two laser emission circuit boards 11 and is arranged staggered with the two laser emission circuit boards 11. The laser emission circuit board 11 and the laser receiving circuit board 12 are stacked and spaced apart from the radar signal processing circuit board 3.

[0048] As Figure 2 and Figure 3As shown in the figure, the X direction is the width direction of the sensor integrated module, and the Y direction is the thickness direction of the sensor integrated module. In this embodiment, two laser emission circuit boards 11 are arranged side by side along the X direction, the laser receiving circuit board 12 is located between the two laser emission circuit boards 11, and the radar signal processing circuit board 3 and the laser receiving circuit board 12 are arranged along the Y direction and oppositely arranged. The two laser emission circuit boards 11 are located at the height position between the radar signal processing circuit board 3 and the laser receiving circuit board 12. In this way, the volume of the sensor integrated module can be reduced while ensuring the laser detection range.

[0049] On the basis of the above-mentioned embodiment, the two ends of one third flexible circuit board 63 are respectively connected to the end portions of the laser emission circuit board 11 and the laser receiving circuit board 12 close to each other along the first direction, and the two ends of another third flexible circuit board 63 are respectively connected to the end portions of the laser emission circuit board 11 and the laser receiving circuit board 12 close to each other along the first direction. The two ends of the fourth flexible circuit board 64 are respectively connected to the end portions of the laser receiving circuit board 12 and the radar signal processing circuit board 3 close to each other along the third direction, and the third direction is perpendicular to the first direction and the second direction.

[0050] As shown in the figure, Figure 2 and Figure 3 the right end of the left laser emission circuit board 11 and the left end of the middle laser receiving circuit board 12 are electrically connected by a third flexible circuit board 63, the left end of the right laser emission circuit board 11 and the right end of the middle laser receiving circuit board 12 are electrically connected by another third flexible circuit board 63, and the upper end of the laser receiving circuit board 12 and the upper end of the radar signal processing circuit board 3 are electrically connected by a fourth flexible circuit board 64. In this way, the internal circuit layout of the sensor integrated module is reasonable, the structure is simple, and the volume is small.

[0051] On the basis of the above-mentioned embodiment, the video signal processing circuit board 2 is located on the side of the laser emission circuit board 11 and the laser receiving circuit board 12, and the fourth flexible circuit board 64 is located between the laser receiving circuit board 12 and the video signal processing circuit board 2.

[0052] As shown in the figure, Figure 2 and Figure 3 the video signal processing circuit board 2 is located above the laser emission circuit board 11 and the laser receiving circuit board 12, and the fourth flexible circuit board 64 connecting the laser receiving circuit board 12 and the radar signal processing circuit board 3 extends between the video signal processing circuit board 2 and the laser receiving circuit board 12.

[0053] On the basis of the above-mentioned embodiments, the video signal processing circuit board 2 is provided with the connector 4, and the connector 4 is located on the first side of the video signal processing circuit board 2 close to the laser receiving circuit board 12; the second flexible circuit board 62 and the first flexible circuit board 61 are electrically connected to the first side of the video signal processing circuit board 2; and the connector 4 is installed on the first end of the video signal processing circuit board 2 along the first direction, and the first flexible circuit board 61 is connected to the second end of the video signal processing circuit board 2 along the first direction and one end of the radar signal processing circuit board 3 close to the second end of the video signal processing circuit board 2.

[0054] As shown in Figure 2 and Figure 3 , the second flexible circuit board 62 and the first flexible circuit board 61 are connected on the first side below the video signal processing circuit board 2, and the connector 4 for connecting the output data line 5 is installed on the first side below the video signal processing circuit board 2 to facilitate wiring.

[0055] Further, the connector 4 is installed on the left end of the video signal processing circuit board 2, and the two ends of the first flexible circuit board 61 are connected to the right end of the video signal processing circuit board 2 and the right end of the radar signal processing circuit board 3 respectively, so that the internal wiring of the sensor integrated module is reasonable.

[0056] On the basis of the above-mentioned embodiments, the housing 7 is further included, and the laser detection assembly 1, the camera assembly, the video signal processing circuit board 2 and the radar signal processing circuit board 3 are all installed in the interior of the housing 7, and the housing 7 has a wire passing hole 721 for the output data line 5 to pass through.

[0057] As shown in Figure 1 and Figure 3 , the housing 7 is a hollow shell structure, and the laser detection assembly 1, the camera assembly, the video signal processing circuit board 2 and the radar signal processing circuit board 3 are all installed in the interior of the housing 7. In cooperation, a through hole with a rectangular or circular cross-sectional shape is provided on the upper surface of the housing 7 as the wire passing hole 721. When assembled, the output data line 5 connected to the external device can pass through the wire passing hole 721 and extend into the interior of the housing 7 to be connected to the connector 4.

[0058] Preferably, the housing 7 includes a front shell 71 and a rear cover 72, and the back surface of the front shell 71 and the front surface of the rear cover 72 both have openings, and the rear cover 72 is buckled on the opening of the back surface of the front shell 71, so that the rear cover 72 and the front shell 71 form the hollow housing 7.

[0059] Preferably, as shown in Figure 3 , the wire passing hole 721 adopts a long strip-shaped through hole to facilitate positioning of the output data line 5.

[0060] In addition to the above sensor integrated module, the utility model also provides a kind of robot comprising the sensor integrated module disclosed in the above embodiment, the structure of other parts of the robot please refer to prior art, this paper will not repeat.

[0061] 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 such actual relationship or order between the entities; the "upper surface, lower surface, top, bottom" described above and the orientation words "up, down, left, right" are defined based on the drawings.

[0062] Each embodiment in the specification is described in a progressive manner, and each embodiment focuses on the difference from other embodiments, and the same or similar parts between each embodiment can be referred to each other.

[0063] The robot and its sensor integrated module provided by the utility model are described in detail above. The principle and implementation mode of the utility model are described by applying specific examples in this paper, and the above embodiment is only used to help understand the method and core idea of the utility model. It should be pointed out that, for ordinary skilled person in the art, without departing from the principle of the utility model, the utility model can be improved and modified in several ways, and these improvements and modifications also fall within the protection scope of the utility model.

Claims

1. A sensor integrated module, characterized in that, include: A laser detection assembly (1) for emitting and receiving lasers, a camera assembly for capturing images, a video signal processing circuit board (2) for receiving and processing video signals, and a radar signal processing circuit board (3) for processing laser signals. The camera component is electrically connected to the video signal processing circuit board (2), the laser detection component (1) is electrically connected to the radar signal processing circuit board (3), the video signal processing circuit board (2) is electrically connected to the radar signal processing circuit board (3), and can connect to one of the video signal processing circuit board (2) and the radar signal processing circuit board (3) to output data line (5) for signal connection to external devices.

2. The sensor integrated module according to claim 1, characterized in that, The radar signal processing circuit board (3) is electrically connected to the video signal processing circuit board (2) via the first flexible circuit board (61).

3. The sensor integrated module according to claim 2, characterized in that, The camera assembly is electrically connected to the video signal processing circuit board (2) via a second flexible circuit board (62).

4. The sensor integrated module according to claim 3, characterized in that, The laser detection assembly (1) includes a laser emitting circuit board (11) for emitting laser and a laser receiving circuit board (12) for receiving laser. The laser emitting circuit board (11) is electrically connected to the laser receiving circuit board (12), and the laser receiving circuit board (12) is electrically connected to the radar signal processing circuit board (3).

5. The sensor integrated module according to claim 4, characterized in that, The laser emitting circuit board (11) is electrically connected to the laser receiving circuit board (12) via a third flexible circuit board (63), and the laser receiving circuit board (12) is electrically connected to the radar signal processing circuit board (3) via a fourth flexible circuit board (64).

6. The sensor integrated module according to claim 5, characterized in that, There are two laser emitting circuit boards (11), which are located on the same layer. The laser receiving circuit board (12) is located between the two laser emitting circuit boards (11) and is staggered with the two laser emitting circuit boards (11). The laser emitting circuit board (11) and the laser receiving circuit board (12) are both stacked on top of the radar signal processing circuit board (3) and spaced apart.

7. The sensor integrated module according to claim 6, characterized in that, The video signal processing circuit board (2) is located on the side of the laser emitting circuit board (11) and the laser receiving circuit board (12), and the fourth flexible circuit board (64) is located between the laser receiving circuit board (12) and the video signal processing circuit board (2).

8. The sensor integrated module according to claim 7, characterized in that, The video signal processing circuit board (2) is provided with a connector (4), and the connector (4) is located on the first side of the video signal processing circuit board (2) near the laser receiving circuit board (12); The second flexible circuit board (62) and the first flexible circuit board (61) are electrically connected to the first side of the video signal processing circuit board (2); The connector (4) is installed at the first end of the video signal processing circuit board (2) along the first direction, and the first flexible circuit board (61) is connected to the second end of the video signal processing circuit board (2) along the first direction and the end of the radar signal processing circuit board (3) near the second end of the video signal processing circuit board (2).

9. The sensor integrated module according to any one of claims 1 to 8, characterized in that, It also includes a housing (7), in which the laser detection assembly (1), the camera assembly, the video signal processing circuit board (2) and the radar signal processing circuit board (3) are all installed. The housing (7) has a wire hole (721) for the output data line (5) to pass through.

10. A robot, characterized in that, Includes the sensor integration module described in any one of claims 1-9 above.

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