A protection structure, signal acquisition device and robot

Abstract

The embodiment of the application provides a protection structure, a signal acquisition device and a robot, and relates to the technical field of protection structures. The protection structure comprises a supporting base, a protection support and a protection cover. The protection support comprises a plurality of blocking ribs arranged at intervals. The supporting base and the plurality of blocking ribs enclose an installation cavity. An optical instrument is arranged in the installation cavity. A signal acquisition module is connected to the supporting base through a connecting module. The protection cover comprises a top surface and a side surface. The top surface and the side surface enclose a containing cavity. The top surface is provided with an avoiding hole which is in communication with the containing cavity. The protection cover is arranged outside the supporting base, the optical instrument and the protection support. At least part of the protection support and the signal acquisition module are exposed outside the protection cover through the avoiding hole. The protection structure has good protection effect.

Description

Technical Field

[0001] This application relates to the field of protective structure technology for signal acquisition devices, specifically a protective structure, a signal acquisition device, and a robot. Background Technology

[0002] Currently, quadruped robots need to identify and collect images of obstacles in their path during movement. The mainstream image acquisition methods basically use various optical instruments such as depth cameras, spherical lasers, and cameras to collect image data of the surrounding environment during the robot's movement.

[0003] Generally, the aforementioned optical instruments are installed at the front and rear ends and on the back of the quadruped robot for easy data collection. However, since the tasks that quadruped robots are involved in often involve complex environments (such as participating in fire rescue and field patrols), and the robots are prone to collisions, tipping over, and collisions with foreign objects, protective structures are usually added to the optical instruments to prevent damage to them.

[0004] In related technologies, although protective brackets are installed on the outside of optical instruments, the signal acquisition module and connection module of the optical instruments are exposed and are easily damaged by dust, water and oxygen corrosion or mechanical impact, resulting in unsatisfactory protection. Utility Model Content

[0005] This application provides a protective structure, an information acquisition device, and a robot to at least partially solve the above-mentioned technical problems.

[0006] To achieve the above objectives, according to a first aspect of this application, a protective structure is provided for protecting an optical instrument, the optical instrument including a signal acquisition module for acquiring environmental signals and a connection module; the protective structure includes a support base, a protective bracket, and a protective cover.

[0007] The protective bracket includes a plurality of spaced-apart blocking ribs, and the support base and the plurality of blocking ribs enclose a mounting cavity. The optical instrument is disposed in the mounting cavity, and the signal acquisition module is connected to the support base through the connection module.

[0008] The protective cover includes a top surface and a side surface, which together form a receiving cavity. The top surface is provided with a clearance hole that communicates with the receiving cavity.

[0009] The protective cover is installed over the support base, the optical instrument, and the protective bracket, and at least part of the protective bracket and the signal acquisition module are exposed outside the protective cover through the clearance hole.

[0010] The protective structure in this embodiment includes a support base, a protective bracket, and a protective cover. The support base and the plurality of blocking ribs enclose a mounting cavity, within which the optical instrument is housed. Thus, when the optical instrument is housed within the mounting cavity, the support base and the multiple blocking ribs form a barrier around the optical instrument, which helps mitigate the problem of external objects directly impacting the easily damaged optical instrument, thereby extending its service life. Furthermore, this application also includes a protective cover within the protective structure. The protective cover covers the support base, the optical instrument (e.g., the connecting module of the optical instrument), and the protective bracket, further enhancing the protective effect of the structure.

[0011] In some embodiments of this application, the accommodating cavity is provided with an installation port at one end opposite to the top surface, and the protective cover is fitted over the protective bracket through the installation port so that the protective cover covers the support base, the optical instrument and the protective bracket.

[0012] In some embodiments of this application, the clearance hole includes a third clearance hole communicating with the accommodating cavity and a plurality of second clearance holes. The plurality of second clearance holes are spaced apart around the third clearance hole in the circumferential direction. The third clearance hole is adapted to the signal acquisition module. The plurality of second clearance holes are used to avoid the plurality of blocking ribs.

[0013] In some embodiments of this application, the support base includes a mounting portion and base connecting portions located on both sides of the mounting portion. The mounting portion is used to mount optical instruments, and each of the base connecting portions is fixedly connected to the protective cover.

[0014] And / or, the support base is provided with weight reduction holes.

[0015] In some embodiments of this application, the mounting portion is disposed above the base connection portion along the height direction of the protective structure.

[0016] In some embodiments of this application, the support base further includes a base tilting portion that connects the mounting portion and the base connecting portion;

[0017] The side surface includes a left side and a right side that are arranged opposite to each other. The left side and the right side are respectively connected to the top surface. At least one of the left side and the right side is provided with an inclined part of the cover and a connecting part of the cover that are connected to each other. The inclined part of the cover is adapted to the shape of the inclined part of the base and is arranged opposite to each other. The connecting part of the base is arranged opposite to the corresponding connecting part of the cover and is fixedly connected.

[0018] In some embodiments of this application, the protective bracket includes at least two brackets that are spliced ​​together.

[0019] In some embodiments of this application, the at least two supports include a first support and a second support arranged adjacent to each other;

[0020] The first support includes a first blocking rib and a third blocking rib that are bent and connected.

[0021] The second support includes a second blocking rib and a fourth blocking rib that are bent and connected.

[0022] The first blocking rib, the third blocking rib, the second blocking rib, the fourth blocking rib, and the support base together form the mounting cavity.

[0023] A second aspect of this application provides a signal acquisition device, which includes an optical instrument and the aforementioned protective structure. The optical instrument includes a signal acquisition module for acquiring environmental signals and a connection module. The signal acquisition module is connected to the support base through the connection module.

[0024] The signal acquisition device in this embodiment includes a protective structure, comprising a support base, a protective bracket, and a protective cover. The support base and the plurality of blocking ribs enclose a mounting cavity, within which the optical instrument is housed. Thus, when the optical instrument is housed within the mounting cavity, the support base and the multiple blocking ribs form a barrier around the optical instrument, which helps mitigate the problem of external objects directly impacting the easily damaged optical instrument, thereby extending its service life. Furthermore, this application also includes a protective cover within the protective structure, covering the support base, the optical instrument (e.g., the connecting module of the optical instrument), and the protective bracket. The protective cover further enhances the protective effect of the protective structure, thereby improving the overall protection of the signal acquisition device.

[0025] A third aspect of this application provides a robot, the robot comprising a robot body and the aforementioned signal acquisition device, wherein the robot body acquires environmental signals through the signal acquisition device.

[0026] The robot in this embodiment includes a signal acquisition device, which includes the aforementioned protective structure. This protective structure includes a support base, a protective bracket, and a protective cover. The support base and the plurality of blocking ribs enclose a mounting cavity, within which the optical instrument is housed. Thus, when the optical instrument is housed within the mounting cavity, the support base and the multiple blocking ribs form a barrier around the optical instrument, which helps mitigate the problem of external objects directly impacting the easily damaged optical instrument, thereby extending its service life. Furthermore, this application also includes a protective cover within the protective structure. The protective cover covers the support base, the optical instrument (e.g., the optical instrument's connection module), and the protective bracket, further enhancing the protective effect of the structure and consequently improving the robot's overall protection.

[0027] Other features and advantages of this application will be described in detail in the following detailed description section. Attached Figure Description

[0028] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0029] To gain a more complete understanding of this application and its beneficial effects, the following description will be provided in conjunction with the accompanying drawings, wherein the same reference numerals in the following description denote the same parts.

[0030] Figure 1 This is a schematic diagram of the overall structure of the signal acquisition device provided in an exemplary embodiment of this disclosure;

[0031] Figure 2 yes Figure 1 A schematic diagram of the signal acquisition device shown from another perspective;

[0032] Figure 3 This is a schematic diagram of the protective structure provided in an exemplary embodiment of this disclosure;

[0033] Figure 4 This is a schematic diagram of the structure of the protective bracket provided in an exemplary embodiment of this disclosure;

[0034] Figure 5 yes Figure 4 The protective bracket shown is a structural schematic diagram from another perspective.

[0035] Figure 6This is a schematic diagram of the structure of the support base provided in an exemplary embodiment of this disclosure;

[0036] Figure 7 This is a partial structural schematic diagram of the signal acquisition device in this application.

[0037] Explanation of reference numerals in the attached figures:

[0038] 1. Protective structure; 10. First bracket; 11. First blocking rib; 111. First surface contact portion; 112. First clearance portion; 1121. First extension section; 1122. Second extension section; 1123. First locking section; 12. Third blocking rib; 123. Fourth locking hole; 13. First bottom connecting portion; 14. First clearance hole; 20. Second bracket; 21. Second blocking rib; 211. Second surface contact portion; 212. Second clearance portion; 22. Fourth blocking rib; 23. Second bottom... 30. Support base; 31. Weight reduction hole; 32. Flanged edge; 33. Installation area; 34. Base connection part; 35. Base tilting part; 40. Protective cover; 41. Third clearance hole; 42. Second clearance hole; 43. Front side; 44. Rear side; 441. Limiting surface; 45. Top surface; 46. Accommodating cavity; 47. Mounting port; 48. Left side; 481. Cover connection part; 482. Cover tilting part; 5. Optical instrument; 51. Signal acquisition module; 52. Connection module. Detailed Implementation

[0039] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the protection scope of this application.

[0040] Currently, quadruped robots need to identify and collect images of obstacles in their path during movement. The mainstream image acquisition methods basically use various optical instruments such as depth cameras, spherical lasers, and cameras to collect image data of the surrounding environment during the robot's movement.

[0041] Generally, the aforementioned optical instruments are installed at the front and rear ends and on the back of the quadruped robot for easy data collection. However, since the tasks that quadruped robots are involved in often involve complex environments (such as participating in fire rescue and field patrols), and the robots are prone to collisions, tipping over, and collisions with foreign objects, protective structures are usually added to the optical instruments to prevent damage to them.

[0042] In related technologies, although protective brackets are installed on the outside of optical instruments, the signal acquisition module and connection module of the optical instruments are exposed and are easily damaged by dust, water and oxygen corrosion or mechanical impact, resulting in unsatisfactory protection.

[0043] In view of this, the present application provides a protective structure, which includes a support base, a protective bracket, and a protective cover. The protective cover covers the support base, the optical instrument, and the protective bracket. Only the signal acquisition module of the optical instrument used to collect environmental signals and the part of the protective bracket located outside the signal acquisition module are exposed, thereby reducing the exposed parts of the support base, the protective bracket, and the optical instrument, which is beneficial to improving the protective effect of the protective structure in this application.

[0044] Please see Figures 1 to 7 This application provides a signal acquisition device, which includes an optical instrument 5 and a protective structure 11. The protective structure 11 protects the optical instrument 5, which includes a signal acquisition module 51 for acquiring environmental signals and a connection module 52. Exemplarily, the optical instrument 5 includes at least one of a spherical lidar, a spherical camera, and a depth camera. Taking a spherical camera as an example, the signal acquisition module 51 can be the camera of the spherical camera, and the connection module 52 can be a circuit module electrically connected to the camera and a mechanical connection module 52 for fixing the camera, circuit module, and external equipment. It should be noted that the information acquisition device is not a major improvement of this application; it can adopt structures already disclosed in the prior art, and is not limited here.

[0045] Please refer to some embodiments of this application. Figures 1 to 3 The protective structure 1 includes a support base 30, a protective bracket, and a protective cover 40. The protective bracket includes a plurality of spaced-apart blocking ribs. The support base 30 and the plurality of blocking ribs enclose a mounting cavity. The optical instrument 5 is disposed within the mounting cavity. The signal acquisition module 51 is fixedly connected to the support base 30 via the connecting module 52. The protective cover 40 includes a top surface 45 and a side surface. The top surface 45 and the side surface enclose a receiving cavity 46. The top surface 45 has a clearance hole communicating with the receiving cavity 46. The protective cover 40 covers the support base 30, the optical instrument 5, and the protective bracket, with at least a portion of the protective bracket and the signal acquisition module 51 exposed outside the protective cover 40 through the clearance hole.

[0046] It should be noted that the protective cover 40 covers the support base 30, the optical instrument 5, and the protective bracket. Alternatively, it can be understood that the support base 30, the optical instrument 5, and the protective bracket are disposed within the accommodating cavity 46. At least a portion of the protective bracket and the signal acquisition module 51 are exposed outside the protective cover 40 through the clearance hole. This can be understood as the portion of the protective bracket located within the accommodating cavity 46 (e.g., the end of the protective bracket facing away from the support base 30) passing through the clearance hole and exposed outside the protective cover 40, and the signal acquisition module 51 is also exposed outside the protective cover 40. The portion of the protective bracket exposed outside the protective cover 40 is arranged around the outer periphery of the signal acquisition module 51.

[0047] The protective structure 1 in this embodiment includes a support base 30, a protective bracket, and a protective cover 40. The support base 30 and the plurality of blocking ribs enclose a mounting cavity, and the optical instrument 5 is disposed within the mounting cavity. Thus, when the optical instrument 5 is disposed within the mounting cavity, the support base 30 and the plurality of blocking ribs form a barrier structure around the optical instrument 5, which helps to mitigate the problem of external objects directly impacting the easily damaged optical instrument 5, thereby increasing the service life of the optical instrument 5 located within the mounting cavity. Furthermore, this application also includes a protective cover 40 in the protective structure 1. The protective cover 40 covers the support base 30, the optical instrument 5, and the protective bracket, protecting the support base 30, the optical instrument 5 (e.g., the connection module 52 of the optical instrument 5), and the protective bracket located within it. This further enhances the protective effect of the protective structure 1, and improves its aesthetics and stability.

[0048] In some embodiments of this application, the top surface 45 and side surfaces of the protective cover 40 form part of the appearance surface of the protective structure 1. For example, the top surface 45 of the protective cover 40 forms the top appearance surface of the protective structure 1, and the side surfaces of the protective cover 40 form the side appearance surface of the protective structure 1. This is beneficial to further improve the protective effect of the protective structure 1 in this application and improve its aesthetics.

[0049] In some embodiments of this application, the accommodating cavity 46 has a mounting port 47 at one end opposite to the top surface 45. The protective cover 40 is fitted over the protective bracket through the mounting port 47, so that the protective cover 40 covers the support base 30, the optical instrument 5, and the protective bracket. Thus, when installing the protective cover 40, it is only necessary to align the mounting port 47 of the protective cover 40 with the protective bracket, and then move the protective cover 40 and the protective bracket closer together, so that the protective cover 40 is fitted onto the protective bracket. This simplifies the assembly process of the protective cover 40 and improves assembly efficiency.

[0050] For example, the end of the protective cover 40 facing away from the top surface 45 is open, and the orthographic projection of the protective bracket and the support base 30 onto the plane of the open is located within the open. This simplifies the structure of the protective cover 40 and improves assembly efficiency.

[0051] In some embodiments of this application, the protective cover 40 is fixedly connected to the support base 30. This helps to improve the stability between the protective cover 40 and the support base 30, thereby improving the stability of the protective structure 1.

[0052] Furthermore, please combine Figures 1 to 3 , Figure 6 and Figure 7 The support base 30 includes a mounting portion and base connecting portions 34 located on both sides of the mounting portion. The mounting portion has a mounting area 33, on which the optical instrument 5 is mounted. The protective cover 40 has a cover connecting portion 481 adapted to the base connecting portion 34. The base connecting portion 34 and the cover connecting portion 481 are positioned opposite each other and are fixedly connected. This helps to further improve the stability between the protective cover 40 and the support base 30.

[0053] For example, the base connecting portion 34 is generally a planar plate structure, and correspondingly, the cover connecting portion 481 is also generally a planar plate structure.

[0054] In some embodiments of this application, the protective bracket includes at least two brackets connected by splicing. This helps to avoid the problems of complex processing and high processing costs caused by integral molding of the protective bracket. Of course, in other embodiments of this application, the protective bracket may also be a one-piece sheet metal part, which is not limited here.

[0055] In some embodiments of this application, the protective bracket includes at least two brackets connected together, wherein the at least two brackets include a first bracket 10 and a second bracket 20 arranged adjacent to each other. It should be noted that the connection method between the multiple brackets in the protective bracket of this application can be welding or threaded connection, and is not limited here. Furthermore, to further improve the rigidity of the protective bracket, both the first bracket 10 and the second bracket 20 are metal structural components. The number of splicing brackets used to form the protective bracket can be two, three, or more, and is not limited here. The following description uses an example of a protective bracket formed by splicing two brackets.

[0056] In some embodiments of this application, the first support 10 includes a first blocking rib 11 and a third blocking rib 12 that are bent and connected. This helps to reduce the processing difficulty of the first support 10.

[0057] In some embodiments of this application, the second support 20 includes a second blocking rib 21 and a fourth blocking rib 22 that are bent and connected. This helps to reduce the processing difficulty of the second support 20.

[0058] In some embodiments of this application, the at least two supports include a first support 10 and a second support 20 arranged adjacent to each other. The first support 10 includes a first blocking rib 11 and a third blocking rib 12 bent and connected; the second support 20 includes a second blocking rib 21 and a fourth blocking rib 22 bent and connected; the first blocking rib 11, the third blocking rib 12, the second blocking rib 21, the fourth blocking rib 22, and the support base enclose the mounting cavity. This helps to further reduce the difficulty of the manufacturing process of the protective support and reduce the manufacturing cost.

[0059] In some embodiments of this application, one of the first blocking rib 11 and the third blocking rib 12 is in surface contact with and fixedly connected to one of the second blocking rib 21 and the fourth blocking rib 22. The other blocking rib of the first blocking rib 11 and the third blocking rib 12 is spaced apart from the other blocking rib of the second blocking rib 21 and the fourth blocking rib 22. Exemplarily, the first blocking rib 11, the third blocking rib 12, the second blocking rib 21, and the fourth blocking rib 22 enclose and form a protective bracket covering the optical instrument. This can also be understood as the first blocking rib 11, the third blocking rib 12, the second blocking rib 21, and the fourth blocking rib 22 enclosing and forming a protective frame, protective surface, or protective layer covering the optical instrument 5. In this embodiment, the surface contact and fixed connection between one blocking rib of the first bracket 10 and one blocking rib of the second bracket 20, and the fact that both the first and second brackets are integrally formed by bending, facilitates increased contact area and connection strength between the first bracket 10 and the second bracket 20, thereby improving the strength of the protective structure 1 and production efficiency.

[0060] Exemplarily, the first blocking rib 11 and the second blocking rib 21 are arranged adjacent to each other, with their surfaces in contact and fixedly connected; the third blocking rib 12 is disposed on the side of the first blocking rib 11 opposite to the second blocking rib 21, and the fourth blocking rib 22 is disposed on the side of the second blocking rib 21 opposite to the first blocking rib 11. The third blocking rib 12 is spaced apart from the first blocking rib 11 and the fourth blocking rib 22. Of course, in other embodiments of this application, the first blocking rib 11 and the fourth blocking rib 22 may also be in contact and fixedly connected, with the first blocking rib 11, the second blocking rib 21, and the third blocking rib 12 spaced apart from each other; this is not limited here. Unless otherwise specified, the following description uses the example of the first blocking rib 11 and the second blocking rib 21 being in contact and fixedly connected.

[0061] Specifically, the side surface of the first blocking rib 11 is a plane, and the side surface of the second blocking rib 21 is a plane. It should be noted that the side surface of the first blocking rib 11 refers to the side perpendicular to the thickness direction of the first blocking rib 11, for example, the side of the first blocking rib 11 facing the third blocking rib 12. This helps to further increase the connection area between the first blocking rib 11 and the second blocking rib 21, and thus increases the strength of the protective structure 1.

[0062] In some embodiments, the angle between the first blocking rib 11 and the third blocking rib 12 is the same as or approximately the same as the angle between the second blocking rib 21 and the fourth blocking rib 22, and the angle between the third blocking rib 12 and the fourth blocking rib 22. This is beneficial for improving the structural stability of the protective structure 1.

[0063] In some embodiments, the included angle between the first blocking rib 11 and the third blocking rib 12 is less than or equal to 120°. It should be noted that the included angle between the first blocking rib 11 and the third blocking rib 12 in this application can also be understood as the angle at the bend of the first blocking rib 11 and the third blocking rib 12. For example, the included angle between the first blocking rib 11 and the third blocking rib 12 is approximately 120°. This allows the first support 10 to have higher strength and avoids the blocking ribs being too densely packed, resulting in a large obstruction area.

[0064] In some embodiments, the included angle between the second blocking rib 21 and the fourth blocking rib 22 is less than or equal to 120°. It should be noted that the included angle between the second blocking rib 21 and the fourth blocking rib 22 in this application can also be understood as the angle at the bend of the second blocking rib 21 and the fourth blocking rib 22. For example, the included angle between the second blocking rib 21 and the fourth blocking rib 22 is approximately 120°. This allows the first support 10 to have higher strength and avoids the blocking ribs being too densely packed, resulting in a large obstruction area.

[0065] In some embodiments, the first blocking rib 11 is a narrow strip, which can also be understood as the first blocking rib 11 being thinner or the side of the first blocking rib 11 facing the optical instrument being narrower, thereby helping to reduce the obstruction of the optical instrument by the first blocking rib 11. Similarly, the third blocking rib 12 is a narrow strip, and / or the second blocking rib 21 is a narrow strip, and / or the fourth blocking rib 22 is also a narrow strip, which helps to reduce the obstruction of the optical instrument by the bracket.

[0066] In some embodiments, the first support 10 is formed by bending a strip of metal. This helps to improve the strength of the first support 10 and reduce its manufacturing cost.

[0067] In some embodiments, the second support 20 is formed by bending a strip of metal. This helps to increase the strength of the second support 20 and reduce its manufacturing cost.

[0068] In some embodiments, the first support 10 and the second support 20 have a symmetrical structure, which can also be understood as the first support 10 and the second support 20 having the same structure. This helps reduce the manufacturing cost of the protective structure 1 and improves its aesthetics. For example, the multiple supports in the protective structure 1 are symmetrically arranged, which helps to further improve the structural strength of the protective structure and reduce manufacturing costs. Of course, in other embodiments of this application, the multiple supports in the protective structure 1 may not be the same, and this is not limited here.

[0069] In some embodiments, please refer to Figures 3 to 5 The first blocking rib 11 includes a first surface contact portion 111, and the second blocking rib 21 includes a second surface contact portion 211. The first surface contact portion 111 and the second surface contact portion 211 are in surface-to-surface contact. In this way, the first blocking rib 11 and the second blocking rib 21 can be connected surface-to-surface, which is beneficial to improving the connection strength between the first blocking rib 11 and the second blocking rib 21.

[0070] In some embodiments, at least a portion of the first blocking rib 11 is bent to form a first clearance portion 112; the first clearance portion 112 and the second blocking rib 21 enclose a first clearance hole 14. Thus, by bending at least a portion of the first blocking rib 11 to form the first clearance portion, the first clearance portion can be used for internal wiring or for accommodating parts of an optical instrument (e.g., connectors for accommodating optical instruments), which helps to avoid interference between the protective structure and other equipment and improves the compactness of the structure.

[0071] For example, at least a portion of the second blocking rib 21 is bent to form a second clearance portion 212; the bending directions of the first clearance portion 112 and the second clearance portion 212 are opposite, and the first clearance portion 112 and the second clearance portion enclose each other to form the first clearance hole 14. Specifically, the first blocking rib 11 and the second blocking rib 21 have a symmetrical structure, which helps to improve the aesthetics and stability of the protective structure.

[0072] In some embodiments, at least a portion of the first blocking rib 11 is bent to form a first clearance portion 112. The side of the first clearance portion 112 includes a limiting surface 441, and the first clearance portion 112 is located near the limiting surface 441 and is directly opposite to the limiting surface 441; and / or, at least a portion of the second blocking rib 21 is bent to form a second clearance portion 212, the side of which includes the limiting surface 441, and the second clearance portion 212 is located near the limiting surface 441 and is directly opposite to the limiting surface 441. Exemplarily, the side of the protective cover 40 includes a rear side surface 44, which includes a limiting surface 441. Both the first clearance portion 112 and the second clearance portion 212 are located near the limiting surface 441. Thus, the limiting surface 441 can support and limit the protective bracket, which helps to further improve the stability of the protective structure in this application.

[0073] In some embodiments, the first blocking rib 11 includes a first surface contact portion 111 and a first clearance portion 112 fixedly connected; the first clearance portion 112 is disposed on the side of the first surface contact portion 111 facing the third blocking rib 12; the first surface contact portion 111 is in surface contact with the second blocking rib 21; the first clearance portion 112 and the second blocking rib 21 enclose each other to form a first clearance hole 14. Further, the second blocking rib 21 includes a second surface contact portion 211 and a second clearance portion 212 fixedly connected; the second clearance portion 212 is disposed on the side of the second surface contact portion 211 facing the fourth blocking rib 22; the first surface contact portion 111 is in surface contact with the second surface contact portion 211; the first clearance portion 112 and the second clearance portion 212 enclose each other to form the first clearance hole 14. Thus, a first clearance hole 14 can be formed on the protective structure 1, which can be used to avoid the plug of an optical instrument, thus improving the structural compactness of the information acquisition device and robot in this application. Furthermore, the first contact portion 111 and the first clearance portion 112 are fixedly connected, and the second contact portion 211 and the second clearance portion 212 are fixedly connected, which helps to further improve the structural strength of the protective structure 1 in this application.

[0074] Specifically, the first surface contact portion 111 is disposed between the third blocking rib 12 and the first clearance portion 112, and the second surface contact portion 211 is disposed between the fourth blocking rib 22 and the second clearance portion 212. The heights of the first clearance portion 112 and the second clearance portion 212 correspond to the height of the connecting module 52. This helps to prevent the first clearance portion 112 and the second clearance portion 212 from obstructing the field of view of the signal acquisition module 51.

[0075] Specifically, the first clearance portion 112 includes a first extension 1121 and a second extension 1122 that are bent and connected, and the first extension 1121 and the second extension 1122 are perpendicular to each other. This helps to improve the structural strength of the first support 10. Similarly, the second clearance portion 212 includes a third extension and a fourth extension that are bent and connected, and the third extension and the fourth extension are perpendicular to each other. The third extension is parallel to the first extension 1121, and the second extension 1122 and the fourth extension are located on the same plane. This helps to improve the structural strength of the second support 20.

[0076] In some embodiments, the first bracket 10 further includes a first bottom connecting portion 13, with the first blocking rib 11 and the third blocking rib 12 disposed at both ends of the first bottom connecting portion 13. The first bottom connecting portion 13 is used for fixed connection with the support base 30. Furthermore, the first bracket 10 is generally in the form of a closed ring. This is beneficial for further improving the structural strength of the first bracket 10 and the protective structure 1.

[0077] In some embodiments, the second bracket 20 further includes a second bottom connecting portion 23, with the second blocking rib 21 and the fourth blocking rib 22 disposed at both ends of the second bottom connecting portion 23. The second bottom connecting portion 23 is used for fixed connection with the support base 30. Furthermore, the second bracket 20 is generally in the form of a closed ring. This is beneficial for further improving the structural strength of the second bracket 20 and the protective structure 1.

[0078] For example, the first blocking rib 11 is arc-shaped. Specifically, the side of the first blocking rib 11 facing the optical instrument is arc-shaped. Similarly, the third blocking rib 12, the second blocking rib 21, and the fourth blocking rib 22 are all arc-shaped. In this way, the internal space enclosed by the first blocking rib 11, the third blocking rib 12, the second blocking rib 21, and the fourth blocking rib 22 is generally spherical, improving the adaptability to the optical instrument and also helping to improve the compressive strength of the protective structure 1.

[0079] Specifically, the first clearance portion 112 includes a first extension segment 1121, a second extension segment 1122, and a first locking segment 1123 connected by bending in sequence. The second extension segment 1122 is perpendicular to both the first extension segment 1121 and the first locking segment 1123. One end of the first extension segment 1121 facing away from the second extension segment 1122 is bent and connected to the first bottom connecting portion 13, and they are perpendicular to each other. The end of the first locking segment 1123 is threadedly connected to the end of the first surface contact portion 111. Furthermore, the first bottom connecting portion 13, the first blocking rib 11, and the third blocking rib 12 in the first bracket 10 are formed by bending sheet metal parts, which helps to further improve the processing convenience and structural strength of the first bracket 10.

[0080] Similarly, the second clearance portion 212 includes a bent third extension, a fourth extension, and a second locking section. The fourth extension is perpendicular to both the third and second locking sections. The end of the third extension away from the fourth extension is bent and connected to the second bottom connecting portion 23, and they are perpendicular to each other. The end of the second locking section is threadedly connected to the end of the second surface contact portion 211. Furthermore, the second bottom connecting portion 23, the second blocking rib 21, and the fourth blocking rib 22 in the second bracket 20 are formed by bending sheet metal parts, which helps to further improve the processing convenience and structural strength of the second bracket 20.

[0081] In some embodiments, the first blocking rib 11 includes a first surface contact portion 111 and a first clearance portion 112 fixedly connected. The first surface contact portion 111 is bent and connected to one end of the third blocking rib 12, the first bottom connecting portion 13 is bent and connected to the other end of the third blocking rib 12, and the first clearance portion 112 is bent and connected to the end of the first bottom connecting portion 13 opposite to the third blocking rib 12. This facilitates further improvement in the processing convenience and structural strength of the first bracket 10.

[0082] Similarly, the second blocking rib 21 includes a second surface contact portion 211 and a second clearance portion fixedly connected. The second surface contact portion 211 is bent and connected to one end of the fourth blocking rib 22, the second bottom connecting portion 23 is bent and connected to the other end of the fourth blocking rib 22, and the second clearance portion 212 is bent and connected to the end of the second bottom connecting portion 23 opposite to the fourth blocking rib 22. This facilitates further improvement in the processing convenience and structural strength of the first bracket 10.

[0083] In some embodiments, the first surface contact portion 111 is provided with a first locking hole, the first clearance portion 112 is provided with a second locking hole, the second surface contact portion 211 is provided with a third locking hole, and the second clearance portion is provided with a fourth locking hole 123. The first locking hole, the second locking hole, the third locking hole, and the fourth locking hole 123 are coaxially arranged. Specifically, the first surface contact portion 111 and the second surface contact portion 211 are disposed between the first clearance portion 112 (e.g., the first locking section 1123) and the second clearance portion (e.g., the second locking section). This helps to increase the contact area between the first surface contact portion 111 and the second surface contact portion 211, thereby improving the strength of the protective structure 1 and the installation efficiency.

[0084] In some embodiments, please refer to Figure 6 and Figure 7The protective structure 1 further includes a support base 30, on which the optical instrument mounting area 33 is provided. The first bracket 10 and the second bracket 20 are respectively fixedly connected to the support base 30. This helps to improve the strength of the protective structure 1 and increase assembly efficiency.

[0085] In some embodiments of this application, the support base 30 includes a mounting portion and base connecting portions 34 located on both sides of the mounting portion. The mounting portion is used to mount the optical instrument 5, and each of the base connecting portions 34 is fixedly connected to the protective cover 40. This is beneficial to increasing the connection area between the support base 30 and the protective cover 40, as well as the connection force between the support base 30 and the protective cover 40, thereby improving the stability of the protective structure 1 in this application.

[0086] In some embodiments of this application, along the height direction of the protective structure 1 (e.g.) Figure 7 (In the vertical direction), the mounting part is disposed above the base connecting part 34, and the support base 30 also includes a base tilting part 35 connecting the mounting part and the base connecting part 34; please refer to Figure 1 and Figure 2 The side surface includes a left side surface 48 and a right side surface arranged opposite to each other. The left side surface 48 and the right side surface are respectively connected to the top surface 45. At least one of the left side surface 48 and the right side surface is provided with an interconnected cover inclined portion 482 and a cover connecting portion 481. The cover inclined portion 482 is adapted to the shape of the base inclined portion 35 (for example, both the cover inclined portion 482 and the base inclined portion 35 are inclined downwards) and are arranged opposite to each other. The base connecting portion 34 is arranged opposite to the corresponding cover connecting portion 481 and is fixedly connected. In this embodiment, by setting the mounting portion above the base connecting portion 34, a channel is formed on the side of the mounting portion away from the optical instrument 5, thereby enabling the protective structure 1 in this application to provide a better protective effect, while also improving heat dissipation and facilitating wiring. In addition, the cover inclined portion 482 adapted to the shape of the base inclined portion 35 is provided on the side surface, and the base connecting portion 34 is arranged opposite to the corresponding cover connecting portion 481, which helps to further improve the structural compactness of the protective structure 1 in this application.

[0087] In some embodiments, the support base 30 is provided with a flange 32. This helps to improve the strength of the support base 30.

[0088] In some embodiments, the support base 30 is provided with weight reduction holes 31, which helps to reduce the weight of the support base 30 and reduce the amount of material used.

[0089] In some embodiments, the protective cover 40 has a receiving cavity, and the protective cover 40 has a third clearance hole 41 communicating with the receiving cavity and a plurality of second clearance holes 42. The plurality of second clearance holes 42 are spaced apart around the third clearance hole 41 in the circumferential direction. The first blocking rib 11, the third blocking rib 12, the second blocking rib 21, and the fourth blocking rib 22 are exposed outside the protective cover 40 through the corresponding second clearance holes 42, and the optical instrument is exposed outside the protective cover 40 through the third clearance hole 41. In this embodiment, by providing the protective cover 40, the protective cover 40 can protect the structure located therein, which is beneficial to improving the stability of the protective structure 1.

[0090] For example, the bottom surface of the protective cover 40 is provided with a mounting opening, which communicates with the receiving cavity and is positioned directly opposite the third clearance hole 41. When assembling the protective structure 1 in this application, the optical instrument (e.g., lidar) is first locked onto the radar support base 30, and then multiple brackets (e.g., the first bracket 10 and the second bracket 20) are locked onto the support base 30 with screws. Finally, the protective cover 40 is placed over the radar protective structure 1 from top to bottom.

[0091] In some embodiments of this application, the side of the protective cover 40 is inclined downwards, which can also be understood as the edge of the top surface of the protective cover 40 being inclined downwards, or the top surface and side of the protective cover 40 being connected by an inclined downward surface. In this way, the protective structure 1 can be avoided from obstructing the optical instrument as much as possible, which is beneficial to increasing the viewing angle of the optical instrument.

[0092] Specifically, the protective cover 40 includes a front side 43 and a rear side 44 disposed opposite to each other. The front side 43 is inclined downward, and the first blocking rib 11, the third blocking rib 12, the second blocking rib 21, and the fourth blocking rib 22, among which the blocking ribs are in surface contact, are disposed on the side of the optical instrument facing the rear side 44. For example, as Figure 1 As shown, the first blocking rib 11 and the second blocking rib 21 are in surface contact and are positioned near the middle of the rear side 44. The third blocking rib 12 and the fourth blocking rib 22 avoid the middle area of ​​the front side 43 and are positioned near the edge of the front side 43. Thus, when the protective structure of this application is used for a robot, the front side 43 can be positioned in front of the robot's walking direction, and the blocking ribs in surface contact among the first blocking rib 11, the third blocking rib 12, the second blocking rib 21, and the fourth blocking rib 22 can be positioned behind the robot's walking direction. This improves the problem of the front of the robot's walking direction being blocked by the blocking ribs and allows the robot to have a wider field of view in front of its walking direction.

[0093] This application also provides a robot, which includes a body, the aforementioned information acquisition device, and the protective structure 1, with the optical information acquisition system disposed on the body. Since the robot in this application includes the aforementioned information acquisition device and protective structure 1, it also possesses the beneficial effects of the aforementioned information acquisition device and protective structure 1, which will not be elaborated upon here.

[0094] In the description of this application, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more features. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0095] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0096] The embodiments, implementation methods, and related technical features of this application can be combined and substituted for each other without conflict.

[0097] The above are merely preferred embodiments of this application and are not intended to limit this application in any way. Any simple modifications, equivalent changes, and alterations made to the above embodiments based on the technical essence of this application without departing from the scope of the technical solution of this application shall still fall within the scope of the technical solution of this application.

Claims

1. A protective structure for protecting an optical instrument (5), the optical instrument (5) comprising a signal acquisition module (51) for acquiring environmental signals and a connection module (52); characterized in that, The protective structure includes a support base (30), a protective bracket, and a protective cover (40); The protective bracket includes a plurality of spaced-apart blocking ribs, and the support base and the plurality of blocking ribs enclose a mounting cavity. The optical instrument (5) is installed in the mounting cavity, and the signal acquisition module (51) is connected to the support base through the connection module (52). The protective cover (40) includes a top surface (45) and a side surface, the top surface (45) and the side surface enclosing a cavity (46), and the top surface (45) is provided with a clearance hole that communicates with the cavity (46); The protective cover (40) covers the support base (30), the optical instrument (5) and the protective bracket, and at least part of the protective bracket and the signal acquisition module (51) are exposed outside the protective cover (40) through the clearance hole.

2. The protective structure as described in claim 1, characterized in that, The accommodating cavity (46) has an installation port (47) at one end away from the top surface (45). The protective cover (40) is fitted over the protective bracket through the installation port (47) so that the protective cover (40) covers the support base (30), the optical instrument (5) and the protective bracket.

3. The protective structure as described in claim 1 or 2, characterized in that, The clearance hole includes a third clearance hole (41) that communicates with the accommodating cavity (46) and a plurality of second clearance holes (42). The plurality of second clearance holes (42) are spaced apart around the third clearance hole (41) in the circumferential direction. The third clearance hole (41) is adapted to the signal acquisition module (51). The plurality of second clearance holes (42) are used to avoid the plurality of blocking ribs.

4. The protective structure as described in claim 1, characterized in that, The support base (30) includes a mounting part and base connecting parts (34) located on both sides of the mounting part. The mounting part is used to mount optical instruments (5), and each of the base connecting parts (34) is fixedly connected to the protective cover (40). And / or, the support base (30) is provided with weight reduction holes (31); And / or, the support base (30) is provided with a flange (32).

5. The protective structure as described in claim 4, characterized in that, Along the height direction of the protective structure (1), the mounting part is disposed above the base connecting part (34).

6. The protective structure as described in claim 5, characterized in that, The support base (30) also includes a base tilting part (35) that connects the mounting part and the base connecting part (34); The side surface includes a left side (48) and a right side that are arranged opposite to each other. The left side (48) and the right side are respectively connected to the top surface (45). At least one of the left side (48) and the right side is provided with a cover inclined part (482) and a cover connecting part (481) that are connected to each other. The cover inclined part (482) is adapted to the shape of the base inclined part (35) and is arranged opposite to each other. The base connecting part (34) is arranged opposite to the corresponding cover connecting part (481) and is fixedly connected.

7. The protective structure as described in claim 1, characterized in that, The protective bracket includes at least two brackets that are spliced ​​together.

8. The protective structure as described in claim 7, characterized in that, The at least two supports include a first support (10) and a second support (20) arranged adjacent to each other; The first support (10) includes a first blocking rib (11) and a third blocking rib (12) that are bent and connected. The second support (20) includes a second blocking rib (21) and a fourth blocking rib (22) that are bent and connected. The first blocking rib (11), the third blocking rib (12), the second blocking rib (21), the fourth blocking rib (22), and the support base together form the mounting cavity.

9. A signal acquisition device, characterized in that, The signal acquisition device includes an optical instrument (5) and a protective structure as described in any one of claims 1 to 8. The optical instrument (5) includes a signal acquisition module (51) for acquiring environmental signals and a connection module (52). The signal acquisition module (51) is connected to the support base (30) through the connection module (52).

10. A robot, characterized in that, The robot includes a robot body and the signal acquisition device as described in claim 9.

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