Modular assembly, robotic device, and robotic system

Abstract

The application discloses a module assembly, a robot device and a robot system. The module assembly comprises a mounting structure and a laser connected to the mounting structure. The laser comprises a laser source and a diffuser located on the light-emitting side of the laser source. The diffuser has a light homogenizing function and can also reduce the peak light intensity of the laser, greatly reducing the threat to eye safety when the light beam directly strikes the eyes of a person or a pet. The mounting structure is provided with a limiting portion capable of limiting the movement of the diffuser, so that the diffuser is always located in the detection area of the laser source, avoiding the situation that the laser beam directly strikes the eyes due to the falling of the diffuser.

Description

Technical Field

[0001] This application belongs to the field of robot equipment technology, and particularly relates to a module assembly, robot equipment, and robot system. Background Technology

[0002] With the development of technology, intelligent robots are becoming increasingly ubiquitous in all aspects of life, such as cleaning robots, food delivery robots, and nursing robots. All types of robots involve the functional requirement of active obstacle avoidance, enabling them to accurately avoid obstacles such as shoes, chairs, pets, and walls in complex environments.

[0003] In related technologies, robots typically use lidar to identify objects and simultaneously locate and map. However, due to the high energy density of lasers, they pose a safety threat to the eyes of living organisms. Utility Model Content

[0004] This application aims to address at least one of the technical problems existing in the prior art. To this end, this application proposes a module assembly, a robot device, and a robot system, which have a simple structure and are easy to assemble.

[0005] In a first aspect of this application, a module assembly is provided, comprising: a mounting structure having a limiting portion; and a laser connected to the mounting structure; the laser comprising a laser source and a diffuser; the diffuser being located on the light-emitting side of the laser source; the limiting portion restricting the movement of the diffuser, and the diffuser being located in the detection area of ​​the laser source.

[0006] In some embodiments, the mounting structure has a through mounting hole; the diffuser is positioned corresponding to the mounting hole; and the limiting part is located around the mounting hole.

[0007] In some embodiments, along the laser emission direction of the laser source, the diffuser is located between the laser source and the limiting portion, and the diffuser and the limiting portion have an overlapping area.

[0008] In some embodiments, the distance between the diffuser and the periphery of the mounting hole is less than the thickness of the diffuser.

[0009] In some embodiments, the limiting part is a gripper disposed on the outer periphery of the mounting hole; the distance between the gripper tip and the periphery of the mounting hole is not less than the dimensional tolerance of the laser.

[0010] In some embodiments, the mounting structure includes a support and a cover; the laser is mounted on the support; the cover covers the laser; and the limiting portion is provided on the support and / or the cover.

[0011] In some embodiments, the module assembly includes a TOF module; the TOF module includes: a circuit board connected to the mounting structure; a receiver mounted on the circuit board and electrically connected to the circuit board; a laser mounted on the circuit board and electrically connected to the circuit board; and a cover connected to the circuit board; the limiting part is disposed on the cover.

[0012] In some embodiments, the cover is a metal shield; the metal shield is soldered to the circuit board.

[0013] In some embodiments, the circuit board includes a main circuit board and a sub-circuit board; the laser source is electrically connected to the sub-circuit board, the sub-circuit board and the receiving part are respectively electrically connected to the main circuit board, and the main circuit board is connected to the support member.

[0014] In some embodiments, the TOF module further includes: a metal base bonded to the circuit ground of the main circuit board via conductive adhesive; and the circuit sub-board mounted on the metal base.

[0015] In some embodiments, the module assembly further includes at least one of an RGB module, a fill light module, and a marker-finding module; the RGB module, the fill light module, and the marker-finding module are respectively connected to the support member.

[0016] In some embodiments, the module assembly further includes the RGB module, the fill light module, and the marker module; the TOF module is arranged side by side with the RGB module.

[0017] In some embodiments, the fill light module and the marker-finding module are arranged side by side; both the fill light module and the marker-finding module are located above or below the TOF module and the RGB module.

[0018] In some embodiments, the mounting structure includes a support member; the support member has a through hole; the laser is positioned corresponding to the through hole; and the limiting part is located around the through hole.

[0019] In a second aspect of this application, a robot device is provided, including a device body and the module assembly described in the first aspect; the module assembly is connected to the device body.

[0020] In some embodiments, the module assembly is located on the side of the front end of the device body along the direction of travel.

[0021] In a third aspect of this application, a robot system is provided, including a base station and the robot device described in the second aspect above; the robot device can dock with the base station or leave the base station.

[0022] According to one or more embodiments of this application, a module assembly includes a mounting structure and a laser connected to the mounting structure. The laser includes a laser source and a diffuser. The diffuser is located on the emitting side of the laser source and has a uniform light distribution function. Its function is to distribute the concentrated laser beam over a wider area, transforming a highly energy-dense single-point light source into an area array light source, thereby providing a uniform illumination effect. Simultaneously, the diffuser also reduces the peak intensity of the laser, greatly reducing the threat to eye safety when the beam shines directly into the eyes of a person or pet. The mounting structure is provided with a limiting part that restricts the movement of the diffuser, ensuring that the diffuser remains within the detection area of ​​the laser source. During use, if the diffuser detaches from the laser source due to external mechanical shock, temperature shock, adhesive aging, or other factors, the diffuser, limited by the limiting part, remains within the detection area of ​​the laser source and will not move to the non-detection area. This ensures that the laser beam emitted by the laser source always passes through the diffuser before exiting, preventing the diffuser from detaching and causing the laser beam to shine directly into the eyes. Attached Figure Description

[0023] 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 accompanying drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0024] Figure 1 The schematic diagram of the module assembly in one or more embodiments of this application is shown. Figure 1 .

[0025] Figure 2 It shows Figure 1 A schematic diagram of the laser structure of a TOF module.

[0026] Figure 3 It shows Figure 1 A sectional view along the AA direction.

[0027] Figure 4 It shows Figure 3 A magnified view of section B.

[0028] Figure 5 It shows Figure 1 A schematic diagram of the laser in a TOF module when the diffuser detaches, showing the area in relation to... Figure 4 same.

[0029] Figure 6 A schematic diagram of the TOF module of the module assembly in one or more embodiments of this application is shown.

[0030] Figure 7 It shows Figure 6 The main view of the TOF module.

[0031] Figure 8 It shows Figure 7 CC-direction sectional view.

[0032] Figure 9 This application shows a schematic diagram of the structure of the support member of the module assembly in one or more embodiments. Figure 1 .

[0033] Figure 10 The schematic diagram of the module assembly in one or more embodiments of this application is shown. Figure 2 .

[0034] Figure 11 It shows Figure 10 The main view of the module assembly.

[0035] Figure 12 This application shows a schematic diagram of the structure of the support member of the module assembly in one or more embodiments. Figure 2 .

[0036] Figure 13 The schematic diagram of the module assembly in one or more embodiments of this application is shown. Figure 3 .

[0037] Figure 14 The schematic diagram of the module assembly in one or more embodiments of this application is shown. Figure 4 .

[0038] Figure 15 The schematic diagram of the module assembly in one or more embodiments of this application is shown. Figure 5 .

[0039] Figure 16 It shows Figure 15 Schematic diagram of the supplementary lighting module and the target locator module in the module assembly Figure 1 .

[0040] Figure 17 The diagram illustrates the structure of the supplementary lighting module and the marker-finding module of the module assembly in one or more embodiments of this application. Figure 2 .

[0041] Figure 18 The diagram shows a schematic of the module assembly in one or more embodiments of this application after the circuit boards of the TOF module, RGB module, fill light module and locator module are hidden.

[0042] Figure 19 It shows Figure 18Schematic diagram of the support components in the module assembly Figure 3 .

[0043] Figure 20 A schematic diagram of the structure of a robot device in one or more embodiments of this application is shown.

[0044] Figure 21 A schematic diagram of the structure of a robot system in one or more embodiments of this application is shown.

[0045] Figure 22 A schematic diagram of the base station structure of the robot device in one or more embodiments of this application is shown.

[0046] Explanation of reference numerals in the attached drawings: 1000-Robot system; 100-Robot equipment; 10-Module assembly; 10A-Mounting structure; 11-Support component; 111-First light-blocking part; 112-Second light-blocking part; 113-Light guiding path; 114-First positioning part; 115-Second positioning part; 116-Mounting post; 117-Support component; 118-Third positioning part; 119-Retaining ring; 11a-First window; 11b-Second window; 11c-Third window; 11d-First receiving cavity; 11e-Second receiving cavity; 11f-Through channel; 11g-Through hole; 11h-Glue storage tank; 12-TOF module; 121-Laser; 1211-Laser source; 1212-Diffuser; 12 2-Receiver unit; 123-TOF module circuit board; 1231-Circuit main board; 1232-Circuit sub-board; 124-Metal base; 125-Cover; 1251-Gripper; 125a-Mounting hole; 13-RGB module; 131-RGB module circuit board; 14-Supplemental lighting module; 141-Supplemental lighting LED; 142-Light distribution component; 15-Pile finding module; 16-Circuit board; 17-Cover; 171-First protective cover; 172-Second protective cover; 173-Third protective cover; 17a-Light-transmitting area; 17b-Non-light-transmitting area; 17c-Light-transmitting window; 18-Fastener; 19-Limiting part; 20-Equipment body; 30-Walking wheel; 200-Base station; 210-Pile finding unit. Detailed Implementation

[0047] To enable those skilled in the art to more clearly understand this application, the technical solutions in 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 the embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0048] Furthermore, reference numerals and / or reference letters may be repeated in different examples in this application. Such repetition is for simplification and clarity purposes and does not in itself indicate a relationship between the various embodiments and / or settings discussed. In addition, this application provides examples of various specific processes and materials; however, those skilled in the art will recognize the application of other processes and / or the use of other materials.

[0049] The specific technical solutions of this application will be described in detail below with reference to the accompanying drawings, which are not necessarily drawn to scale. Similar or identical reference numerals may be used to designate the same or similar parts in different drawings. The use of similar or identical reference numerals in different drawings does not mean that all drawings including similar or identical reference numerals constitute a single or the same embodiment. The accompanying drawings illustrate the various embodiments discussed in this application in a generalized manner, by way of example and not limitation.

[0050] Please see Figure 1 and Figure 3 The diagrams show a schematic structural diagram and a cross-sectional view of a module assembly 10 according to a first aspect embodiment of this application. The module assembly 10 includes a mounting structure 10A and a laser 121 connected to the mounting structure 10A. The mounting structure 10A is used to mount the laser 121 and to protect the laser 121. It is understood that the mounting structure 10A can be a separate part or a component composed of multiple parts, and this application does not impose any limitations.

[0051] Please see Figure 2 The diagram shows a schematic of the structure of laser 121. Laser 121 includes a laser source 1211 and a diffuser 1212. The laser source 1211 emits laser light, and the diffuser 1212 is located on the light-emitting side of the laser source 1211. The diffuser 1212 can be bonded to the laser source 1211 as a single unit. The diffuser 1212 has a homogenizing function, distributing the concentrated laser beam over a wider area, transforming the highly energy-dense single-point light source into an area array light source, thereby providing a uniform illumination effect. Simultaneously, the diffuser 1212 also reduces the peak intensity of the laser, greatly reducing the threat to eye safety when the beam shines directly into the eyes of humans or pets.

[0052] During use, the laser 121 may be subjected to external mechanical shock, temperature shock, adhesive layer aging, etc., which may cause the diffuser 1212 to fall off from the laser source 1211. After the diffuser 1212 falls off, the light spot of the laser source 1211 will change from an area array light source to a single point light source with highly concentrated energy, which may pose a threat to the safety of human eyes or pet eyes.

[0053] Please see Figure 3The mounting structure 10A includes a limiting part 19, which restricts the movement of the diffuser 1212, preventing it from moving into the non-detection area of ​​the laser source 1211, thus ensuring the diffuser remains within the detection area of ​​the laser source 1211. By providing the limiting part 19, even after the adhesive layer of the diffuser 1212 detaches, the diffuser 1212 remains within the detection area of ​​the laser source 1211 and does not move into the non-detection area. The limiting part 19 restricts the movement of the diffuser 1212 by blocking its movement; even if the diffuser 1212 detaches, its position will not change. In some embodiments, the limiting part 19 may also restrict the range of movement of the diffuser 1212, allowing it to move only within a small area. Regardless of whether the diffuser 1212 can move, the diffuser is always located in the detection area of ​​the laser source 1211.

[0054] The detection area of ​​laser source 1211 is the region through which the laser beam passes. Diffuser 1212 is located within the detection area of ​​laser source 1211, meaning it is situated on the propagation path of the laser beam, and the entire laser beam will pass through diffuser 1212. Conversely, the non-detection area of ​​laser source 1211 is the region through which the laser beam will not pass. Diffuser 1212 is located within this non-detection area, meaning its propagation path is misaligned with that of the laser beam, and the laser beam will not pass through diffuser 1212. In some embodiments, the propagation path of diffuser 1212 is misaligned with that of the laser beam, and the laser beam will not completely pass through diffuser 1212. That is, a portion of the laser beam will pass through diffuser 1212, while the remaining portion will not. In this case, diffuser 1212 can also be considered to be located within the non-detection area of ​​laser source 1211.

[0055] When the laser 121 is in use, due to external mechanical shock, temperature shock, aging of adhesive layer, etc., the diffuser 1212 may fall off the laser source 1211. However, the diffuser 1212 will remain in the detection area of ​​the laser source 1211 under the restriction of the limiting part, and will not move to the non-detection area of ​​the laser source 1211. This ensures that the laser beam emitted by the laser source 1211 always passes through the diffuser 1212 before being emitted outward, avoiding the situation where the diffuser 1212 falls off and the laser beam shines directly into the eyes.

[0056] To facilitate the outward emission of the laser beam, please refer to [link / reference]. Figure 1 and Figure 3In some embodiments, the mounting structure 10A has a through mounting hole 125a, and the diffuser 1212 is positioned corresponding to the mounting hole 125a. The diffuser 1212 may be at least partially located within the mounting hole 125a, or it may be aligned with the mounting hole 125a along the laser beam emission direction, allowing the laser beam to be emitted outwards. The limiting part 19 is located around the periphery of the mounting hole 125a, preventing the diffuser 1212 from completely falling off during the process of it loosening and detaching from the mounting hole 125a.

[0057] The limiting part 19 can be a mechanical structure that physically limits the movement of the diffuser 1212 to the non-detection area of ​​the laser source 1211. For example, the limiting part 19 can be a protrusion distributed around the mounting hole 125a. The limiting part 19 can also be a traction rope that connects the mounting structure 10A and the diffuser 1212. The limiting part 19 can also be a magnet, with a magnet also provided on the diffuser 1212, using magnetic attraction to limit the movement of the diffuser 1212.

[0058] Please see Figure 3 and Figure 4 In some embodiments, along the laser emission direction of laser source 1211 ( Figure 3 (As indicated by the middle arrow a), the diffuser 1212 is located between the laser source 1211 and the limiting part 19, and the diffuser 1212 and the limiting part 19 have an overlapping area. When the diffuser 1212 detaches from the laser source 1211, it is blocked by the laser source 1211 and can only move outward from the mounting hole 125a to disengage from the mounting structure 10A. The direction of movement is the same as the emission direction of the laser beam. When the diffuser 1212 can only move outward from the mounting hole 125a, it will be blocked by the limiting part 19, thereby restricting the diffuser 1212 from disengaging from the mounting hole 125a.

[0059] Please see Figure 4 and Figure 5 In some embodiments, the distance H1 between the diffuser 1212 and the periphery of the mounting hole 125a is less than the thickness H2 of the diffuser 1212. When the diffuser 1212 detaches from the laser source 1211 and moves outward to a position contacting the gripper 1251, as... Figure 5 As shown, a portion of the diffuser 1212 remains within the mounting hole 125a, thus preventing the diffuser 1212 from disengaging from the mounting hole 125a.

[0060] In some embodiments, the spacing H1 can be set to zero. For example, the size of the mounting hole 125a can be set to be larger than the emission area of ​​the laser beam but smaller than the area of ​​the limiting part 19. In this case, the periphery of the mounting hole 125a can serve as the limiting part 19. Please refer to [link to relevant documentation]. Figure 4 and Figure 5In other embodiments, the limiting part 19 is a gripper 1251 disposed on the outer periphery of the mounting hole 125a. The distance between the gripper tip of the gripper 1251 and the periphery of the mounting hole 125a is not less than the dimensional tolerance of the laser 121, ensuring that the laser 121 can be installed smoothly. For example, if the dimensional tolerance of the laser 121 is 0.2mm and the thickness H2 of the diffuser 1212 is 0.4mm, then the distance H1 should be 0.2mm ≤ H1 < 0.4mm.

[0061] Please see Figure 1 , Figure 3 , Figure 4 and Figure 5 In some embodiments, the mounting structure 10A is a split structure, including a support member 11 and a cover 125. The laser 121 is mounted on the support member 11. The laser 121 can be directly mounted to the support member 11 with adhesive, or it can be mounted on a circuit board, which is then mounted on the support member 11. The cover 125 covers the laser 121 for protection. A limiting part 19 can be provided on the support member 11 and / or on the cover 125.

[0062] Laser 121 can be used in TOF module 12 as the emitting part of TOF module 12. Laser 121 can be a planar laser, a dotted laser, or a combination of planar and dotted lasers; this application does not impose any limitations. Please refer to... Figure 6 The diagram shows a schematic representation of a TOF module 12 according to certain embodiments. The TOF module 12 includes a laser 121, a receiver 122, a circuit board 123, and the aforementioned housing 125. The laser 121 includes a laser source 1211 and a diffuser 1212. The laser source 1211 is mounted on the circuit board 123 of the TOF module 12 and is used to emit laser light. The diffuser 1212 is located on the light-emitting side of the laser source 1211, and the diffuser 1212 can be bonded to the laser source 1211 as a single unit.

[0063] Please see Figure 7 and Figure 8 The cover 125 is fitted over the laser source 1211 and connected to the circuit board 123 of the TOF module 12. A limiting part 19 is provided on the cover 125, and the cover 125 has a through mounting hole 125a through which the laser beam is emitted outward. The size of the through hole 11g can be set to be larger than the emission area of ​​the laser beam but smaller than the area of ​​the limiting part 19, so that the periphery of the through hole 11g can serve as the limiting part 19.

[0064] Please see Figure 8In some embodiments, the cover 125 is provided with a through mounting hole 125a, into which the diffuser 1212 extends, providing a certain limiting and supporting function for the diffuser 1212. The limiting part 19 is a gripper 1251 disposed on the outer periphery of the mounting hole 125a, and the distance H1 between the gripper 1251 and the outer periphery of the mounting hole 125a is less than the thickness H2 of the diffuser 1212.

[0065] When the diffuser 1212 detaches from the laser source 1211, blocked by the laser source 1211, the diffuser 1212 can only move outward from the mounting hole 125a and disengage from the support member 11, with the moving direction being the same as the laser beam emission direction. However, since the distance H1 between the gripper 1251 and the outer periphery of the mounting hole 125a is smaller than the thickness H2 of the diffuser 1212, when the diffuser 1212 moves outward to the position where it contacts the gripper 1251, such as Figure 5 As shown, a portion of the diffuser 1212 remains within the mounting hole 125a, thus preventing the diffuser 1212 from disengaging from the mounting hole 125a.

[0066] The grippers 1251 can be configured to surround the through hole 11g or the mounting hole 125a in a ring, or they can be spaced apart along the periphery of the through hole 11g or the mounting hole 125a. The cross-sectional shape of the grippers 1251 can be L-shaped, arc-shaped, etc. There is a gap between the grippers 1251 and the outer periphery of the mounting hole 125a or the through hole 11g. This gap can be the distance between the part of the gripper 1251 that contacts the diffuser 1212 and the outer periphery of the mounting hole 125a or the through hole 11g when the diffuser 1212 moves outward to the position where it contacts the gripper 1251. This gap should not be less than the dimensional tolerances of the laser source 1211 and the diffuser 1212 to ensure that the laser source 1211 and the diffuser 1212 can be installed smoothly.

[0067] The cover 125 and the gripper 1251 can be integrally formed by sheet metal, casting, or injection molding. The cover 125 can be made of metals such as copper alloy, aluminum alloy, and steel, or non-metals such as plastic and ceramic.

[0068] Please see Figure 6 In some embodiments, the circuit board 123 of the TOF module 12 includes a main circuit board 1231 and a sub-circuit board 1232. The laser source 1211 is electrically connected to the sub-circuit board 1232. The sub-circuit board 1232 and the receiving part 122 of the TOF module 12 are respectively electrically connected to the main circuit board 1231. The main circuit board 1231 is bonded to the support member 11.

[0069] In some embodiments, the cover 125 is a metal shielding cover, which can achieve electromagnetic shielding. The cover 125 is welded to the circuit sub-board 1232, which can completely enclose the laser source 1211 and cover the electronic components of the circuit sub-board 1232. The metal shielding cover and the circuit ground (GND) of the circuit sub-board 1232 together form a ground shielding isolation.

[0070] Please see Figure 6 and Figure 8 In some embodiments, the TOF module 12 further includes a metal base 124. The circuit sub-board 1232 is mounted on the metal base 124. The lower end of the metal base 124 is bonded to the ground (GND) of the main circuit board 1231 with conductive adhesive, which significantly increases the ground loop area and reduces the ground loop path. The metal base 124 can be made of aluminum, copper, silver, etc., and this application does not impose any restrictions. In addition, since the circuit sub-board 1232 is mounted on the metal base 124, the metal base 124 can raise the laser source 1211, so that the height of the laser source 1211 and the receiving part 122 of the TOF module 12 are basically the same, for example, the height difference does not exceed 5mm.

[0071] In some embodiments, the cover 125 may be mounted on the metal base 124, or the cover 125 may be connected to the support member 11; the device itself is not limited. In other embodiments, the cover 125 and the support member 11 may be configured as an integral structure.

[0072] Please see Figure 9 In some embodiments, the limiting part 19 may be provided on the support member 11. A retaining ring 119 is provided around the through hole 11g of the support member 11 corresponding to the laser 121 of the TOF module 12. The diffuser 1212 extends into the through hole 11g, which serves as the mounting hole of the mounting structure 10A. The distance between the retaining ring 119 and the outer periphery of the through hole 11g is less than the thickness of the diffuser 1212. When the diffuser 1212 detaches from the laser source 1211, the diffuser 1212, blocked by the laser source 1211, can only move outward from the through hole 11g and disengage from the support member 11. The direction of movement is the same as the emission direction of the laser beam. However, since the distance between the retaining ring 119 and the outer periphery of the through hole 11g is less than the thickness of the diffuser 1212, when the diffuser 1212 moves outward to the position where it contacts the retaining ring 119, a part of the diffuser 1212 is still located in the through hole 11g, thus restricting the diffuser 1212 from leaving the through hole 11g.

[0073] Please see Figure 10 and Figure 11The diagrams show the structural schematics of the module assembly 10 in different perspectives for certain embodiments. In addition to the TOF module 12, the module assembly 10 may also include at least one of the following: RGB module 13, supplementary lighting module 14, and locator module 15. Figure 10 and Figure 11 In the illustrated embodiment, the module assembly 10 includes a support member 11, a TOF module 12, an RGB module 13, a supplementary lighting module 14, and a stake-finding module 15. The TOF module 12, RGB module 13, supplementary lighting module 14, and stake-finding module 15 are all connected to the support member 11; that is, all three modules are mounted on the support member 11. Because the TOF module 12, RGB module 13, supplementary lighting module 14, and stake-finding module 15 are mounted on the support member 11, the support member 11, which contains these modules, can be quickly assembled onto the robot's main unit during installation, improving assembly efficiency and demonstrating excellent practicality.

[0074] Please see Figure 11 In the TOF module 12, RGB module 13, supplementary lighting module 14, and marker locator module 15, the supplementary lighting module 14 and the marker locator module 15 are arranged side by side. This side-by-side arrangement can be along the height direction or along the horizontal direction. The TOF module 12 and RGB module 13 can be placed at any position around the supplementary lighting module 14 and the marker locator module 15. This application does not limit the specific arrangement of the TOF module 12, RGB module 13, supplementary lighting module 14, and marker locator module 15.

[0075] Please see Figure 11 In some embodiments, the TOF module 12 and the RGB module 13 are also arranged side by side. The TOF module 12 and the RGB module 13 can be arranged side by side along the height direction; they can also be arranged side by side along the horizontal direction. The TOF module 12 acquires point cloud data within the shooting range, and can quickly generate depth information of the environment, detect the distance and position of obstacles, and be used for navigation, obstacle avoidance, and map building. The RGB module 13 acquires color image information within the shooting range, generates two-dimensional color images, and identifies the color, texture, and shape of objects, thereby helping the robot distinguish different objects and scenes. Data fusion of the information acquired by the TOF module 12 and the RGB module 13 achieves high-precision navigation and obstacle avoidance.

[0076] In one implementation scheme, the fill light module 14 and the marker-finding module 15 are arranged side-by-side in a horizontal direction, as are the TOF module 12 and the RGB module 13. That is, the side-by-side arrangement of the fill light module 14 and the marker-finding module 15 is parallel to the side-by-side arrangement of the TOF module 12 and the RGB module 13. The fill light module 14 and the marker-finding module 15 can both be located above the TOF module 12 and the RGB module 13, or they can both be located below the TOF module 12 and the RGB module 13.

[0077] The locator module 15 needs to be used in conjunction with the locator unit 210 on the base station 200. The locator module 15 can be a transmitter, such as a locator light; the locator unit 210 on the base station 200 is a receiver, such as an optical signal receiving module. In other embodiments, the locator module 15 can also be a receiver, such as an optical signal receiving module; the corresponding locator unit 210 on the base station 200 is a transmitter, such as a locator light. The installation height of the locator module 15 is limited by the locator unit 210 on the base station 200. Typically, the installation height of the locator module 15 matches the installation height of the locator unit 210, and the installation heights of the locator module 15 and the locator unit 210 can be basically the same (e.g., the height difference does not exceed 10mm) to ensure that the locator receiver can receive the signal from the locator transmitter.

[0078] The installation height of the TOF module 12 should not be less than the height of common floor obstacles in daily life. For example, the installation height of the TOF module 12 should be higher than the top of a long-pile carpet to reduce the risk of obstruction. However, if the installation height of the TOF module 12 is too high, it will increase the scanning blind zone. Please refer to [link / reference]. Figure 11 In one implementation scheme, the TOF module 12 and the RGB module 13 are arranged side by side in the horizontal direction, with the former positioned above the latter; the supplementary lighting module 14 and the locator module 15 are arranged side by side in the horizontal direction, with the latter positioned below. The installation height of the locator module 15 is the same as the installation height of the locator unit 210 on the base station 200.

[0079] Please see Figure 11 In some embodiments, the fill light module 14 is closer to the RGB module 13 than the target finding module 15. The fill light module 14 may be located directly above or below the RGB module 13, while the target finding module 15 may be located diagonally above or diagonally below the RGB module 13. The fill light module 14 primarily provides illumination to the shooting area of ​​the RGB module 13; its proximity to the RGB module 13 results in better illumination.

[0080] Please see Figure 11In some embodiments, the receiver 122 of the TOF module 12 is located between the RGB module 13 and the laser 121 of the TOF module 12. The receiver 122 of the TOF module 12 is closer to the RGB module 13 than the laser 121 of the TOF module 12. Since both the receiver 122 of the TOF module 12 and the RGB module 13 are passive signal receiving electronic components, and the received signals are different, they will not interfere with each other.

[0081] When installing the module assembly 10, ensure that the signal transceiver ends of the TOF module 12, RGB module 13, supplementary lighting module 14, and anchor-finding module 15 face outwards. That is, the support member 11 should have one side facing outwards and the other side facing inwards during installation. For ease of description, the side of the support member 11 facing outwards in the installed state will be referred to as the front, and the side of the support member 11 facing inwards in the installed state will be referred to as the back. The definitions of "front" and "back" of the support member 11 in the following text can be found above.

[0082] Please see Figure 11 and Figure 12 In some embodiments, the support member 11 is provided with a first light-blocking portion 111. The receiving portion 122 of the TOF module 12 and the RGB module 13 are located on the same side of the first light-blocking portion 111; the laser 121 of the TOF module 12 is located on the other side of the first light-blocking portion 111. The first light-blocking portion 111 may be located only on the front side of the support member 11, or only on the back side of the support member 11, or it may extend from the front side of the support member 11 to the back side of the support member 11. The first light-blocking portion 111 blocks the emitted beam of the laser 121 of the TOF module 12 from directly returning to the receiving portion 122 of the TOF module 12, thus avoiding optical crosstalk.

[0083] Please see Figure 11 and Figure 12 In some embodiments, the support member 11 is provided with a first window 11a and a second window 11b, both of which have through holes 11g. The first window 11a has two through holes 11g, which correspond to the positions of the receiver 122 of the TOF module 12 and the RGB module 13, respectively. The second window 11b has one through hole 11g, which corresponds to the position of the laser 121 of the TOF module 12, and the laser emitted by the laser 121 is emitted outward through this through hole 11g.

[0084] In some embodiments, both the first window 11a and the second window 11b are located on the front side of the support member 11, and the first light-blocking part 111 is located between the first window 11a and the second window 11b. In some embodiments, the first window 11a and the second window 11b may share the same window sidewall, in which case the shared window sidewall may serve as the first light-blocking part 111.

[0085] Please see Figure 12 In some embodiments, the support member 11 may also be provided with a third window 11c, which is also provided with a plurality of through holes 11g, which correspond to the positions of the supplementary lighting module 14 and the pile-finding module 15, respectively. For example, if the pile-finding module 15 includes two pile-finding LEDs, then the positions of the two pile-finding LEDs correspond one-to-one with two of the through holes 11g in the third window 11c.

[0086] Please see Figure 12 and Figure 13 In some embodiments, the first window 11a, the second window 11b, and the third window 11c are all grooves provided on the front side of the support member 11. The module assembly 10 also includes a cover 17, which is connected to the support member 11 and covers the first window 11a, the second window 11b, and the third window 11c, so that the signal transceiver parts of the TOF module 12, the RGB module 13, the fill light module 14, and the marker locator module 15 are all encapsulated inside the support member 11. The cover 17 protects the TOF module 12, the RGB module 13, the fill light module 14, and the marker locator module 15 from collisions with external objects.

[0087] Please see Figure 13 In some embodiments, the cover 17 includes a non-transparent area 17b and a transparent area 17a. The non-transparent area 17b blocks light and may be made of a black material or formed by coating the surface of the cover 17 with a black paint. The transparent area 17a allows light to pass through and may be made of a transparent material or formed by coating the surface of the cover 17 with a paint that allows specific light to pass through. The transparent area 17a should cover the locations of the laser 121, the receiver 122, the RGB module 13, the supplementary light module 14, and the marker locator module 15 of the TOF module 12 to avoid obstructing signal transmission and reception.

[0088] The cover 17 can be a one-piece structure, such as Figure 13 As shown. In some embodiments, the cover 17 may also be a split structure; please refer to [reference needed]. Figure 14 The cover 17 comprises three parts: a first protective cover 171, a second protective cover 172, and a third protective cover 173. The first protective cover 171 is connected to the support member 11 and covers the first window 11a; the second protective cover 172 is connected to the support member 11 and covers the second window 11b; and the third protective cover 173 is connected to the support member 11 and covers the third window 11c.

[0089] The first protective cover 171, the second protective cover 172, and the third protective cover 173 all include a non-transparent area 17b and a transparent area 17a. In some embodiments, the transparent area 17a of the cover 17 includes five spaced-apart transparent windows 17c. Two of the transparent windows 17c are located on the first protective cover 171, and both transparent windows 17c are positioned, shaped, and sized to match the receiver 122 of the TOF module 12 and the RGB module 13, respectively. One transparent window 17c is located on the second protective cover 172, and this transparent window 17c is also positioned, shaped, and sized to match the laser 121 of the TOF module 12. The remaining two light-transmitting windows 17c are set on the third protective cover 173. One of the light-transmitting windows 17c is a transparent structure. The position, shape and size of the light-transmitting window 17c are matched with the light source of the supplementary lighting module 14. The other light-transmitting window 17c is an infrared-transmitting structure. The position, shape and size of the light-transmitting window 17c are matched with the pile-finding module 15.

[0090] The cover 17 and the support 11 are sealed together. They can be fixed together by welding, bonding or other methods, or they can be sealed by screws and tightening the sealing ring. This application does not limit the specific connection method.

[0091] In some embodiments, adhesive storage tanks 11h are provided on the sidewalls of the first window 11a, the second window 11b, and the third window 11c. The inner sides of the sidewalls of the first window 11a, the second window 11b, and the third window 11c can be configured as recessed structures, with the space cleared by the recessed portion used to store adhesive. The first protective cover 171, the second protective cover 172, and the third protective cover 173 are respectively bonded to the support member 11 using adhesive from the adhesive storage tanks 11h. The first protective cover 171 covers the first window 11a, the second protective cover 172 covers the second window 11b, and the third protective cover 173 covers the third window 11c, forming three sealed spaces to achieve waterproof and dustproof effects.

[0092] The TOF module 12, RGB module 13, supplementary lighting module 14, and marker locator module 15 are all mounted on the support member 11. The support member 11 can have an internal cavity to accommodate the main structures of the TOF module 12, RGB module 13, supplementary lighting module 14, and marker locator module 15. Alternatively, the support member 11 can have several support posts with threaded holes, and the TOF module 12, RGB module 13, supplementary lighting module 14, and marker locator module 15 can be mounted on the support posts with screws. Alternatively, the support member 11 can have several snap-fit ​​structures to connect the TOF module 12, RGB module 13, supplementary lighting module 14, and marker locator module 15 to the support member 11 via snap-fit ​​structures. This application does not limit the specific connection method between the TOF module 12, RGB module 13, supplementary lighting module 14, and marker locator module 15 and the support member 11.

[0093] Please see Figure 15 , Figure 16 and Figure 17 In some embodiments, the supplementary lighting module 14 and the marker-finding module 15 share the same circuit board 16. That is, the electronic components in both the supplementary lighting module 14 and the marker-finding module 15 are mounted on the same circuit board 16, and during installation, the supplementary lighting module 14 and the marker-finding module 15 are treated as a single component. Compared to related technologies where the supplementary lighting module 14 and the marker-finding module 15 are independently configured, the shared circuit board 16 in this application effectively increases the area of ​​the circuit board 16 where the supplementary lighting module 14 is located. Since the supplementary lighting LEDs 141 in the supplementary lighting module 14 are high-power lighting devices, increasing the area of ​​the circuit board 16 facilitates heat dissipation for the supplementary lighting module 14 and extends its lifespan.

[0094] Please see Figure 15 and Figure 18 In some embodiments, the support member 11 has a first receiving cavity 11d, in which the receiver 122 and laser 121 of the TOF module 12 are both located. The TOF module 12 is an integral structure, with its receiver 122 and laser 121 mounted on a circuit board 123. The TOF module 12 can be connected to the support member 11 by screws or clips, or the TOF module 12 can be interference-fitted with the first receiving cavity 11d, thereby fixing the main body of the TOF module 12 in the first receiving cavity 11d.

[0095] Please see Figure 15 and Figure 18In some embodiments, the TOF module 12 is bonded to the support member 11. A glue storage tank 11h is provided on the wall of the first receiving cavity 11d. The glue storage tank 11h is used to store adhesive. The circuit board 123 of the TOF module is bonded to the support member 11 through the adhesive in the glue storage tank 11h. The circuit board 123 of the TOF module covers the opening of the first receiving cavity 11d, making the first receiving cavity 11d a sealed space. The electronic components of the TOF module 12 are located in this sealed space, achieving a waterproof and dustproof effect. The inner side of the cavity wall of the first receiving cavity 11d can be set as a recessed structure, and the space freed up by the recessed portion can be used to store adhesive.

[0096] Please see Figure 18 In some embodiments, the support member 11 has a support portion 117 located in the first receiving cavity 11d, and the circuit board 123 of the TOF module rests on the support portion 117 and is bonded to the support member 11. In some embodiments, adhesive can also be provided on the support portion 117 to bond the circuit board 123 of the TOF module to the support portion 117.

[0097] Please see Figure 18 and Figure 19 In some embodiments, the support member 11 is provided with a second light-blocking portion 112, which is located in the first receiving cavity 11d. The receiving portion 122 and the laser 121 of the TOF module 12 are both located in the first receiving cavity 11d and are distributed on both sides of the second light-blocking portion 112. The second light-blocking portion 112 blocks the emitted beam of the laser 121 of the TOF module 12 from returning directly to the receiving portion 122 of the TOF module 12, thus avoiding optical crosstalk.

[0098] When the support member 11 is provided with a first light-blocking part 111, the first light-blocking part 111 and the second light-blocking part 112 are positioned correspondingly, and the first light-blocking part 111 and the second light-blocking part 112 form a complete light-blocking structure that extends from the front of the support member 11 to the back of the support member 11. The light-blocking structure prevents the emitted beam of the laser 121 of the TOF module 12 from returning directly to the receiving part 122 of the TOF module 12, thus avoiding optical crosstalk.

[0099] Please see Figure 18 and Figure 19 In some embodiments, the support member 11 is provided with a light guide path 113, which guides a portion of the emitted beam from the laser 121 of the TOF module 12 into the receiving section 122 of the TOF module 12. That is, the light guide path 113 can directionally and quantitatively guide the emitted beam from the laser 121 of the TOF module 12 into the receiving section 122 of the TOF module 12, and the guided portion of the emitted beam can be used as a reference zero-position beam to calibrate the ranging information of the TOF module 12.

[0100] The light guide path 113 can be disposed in the first light-blocking part 111 and / or the second light-blocking part 112. The light guide path 113 can be a through channel 11f disposed in the first light-blocking part 111 and / or the second light-blocking part 112, allowing light to pass freely. See also... Figure 19 In some embodiments, the light guide path 113 may also be a component made of light guide material, and a through channel 11f is provided in the first light blocking part 111 and / or the second light blocking part 112, and the light guide path 113 is embedded in the through channel 11f.

[0101] In some embodiments, the light guiding direction of the light guide path 113 can be parallel to the arrangement direction of the receiver 122 and the laser 121 of the TOF module 12. For example, if the receiver 122 and the laser 121 of the TOF module 12 are arranged side-by-side, the light guiding direction of the light guide path 113 is also in a left-right direction. In other embodiments, the light guiding direction of the light guide path 113 can also be set at an angle to the arrangement direction of the receiver 122 and the laser 121 of the TOF module 12. Since the laser 121 of the TOF module 12 emits a beam of light outward, the light guiding direction of the light guide path 113 is also set at an angle to the emission direction of the emitted beam.

[0102] Please see Figure 18 and Figure 19 In some embodiments, the support member 11 has a second receiving cavity 11e, in which the RGB module 13 is located. The second receiving cavity 11e is arranged side by side with the first receiving cavity 11d, and both the first receiving cavity 11d and the second receiving cavity 11e can be grooves provided on the back of the support member 11. The RGB module 13 can be connected to the support member 11 by screws or clips, or the RGB module 13 can be interference-fitted with the second receiving cavity 11e, thereby fixing the main body of the RGB module 13 in the second receiving cavity 11e.

[0103] Please see Figure 18 and Figure 19 In some embodiments, the cavity wall of the second receiving cavity 11e is provided with a third positioning part 118 protruding into the cavity. The third positioning parts 118 are distributed circumferentially along the cavity wall of the second receiving cavity 11e. The RGB module 13 is limited by a plurality of third positioning parts 118 distributed on the outer periphery to prevent it from falling off under vibration and impact.

[0104] In some embodiments, the RGB module 13 is bonded to the support member 11. See Figure 8 and... Figure 19The second receiving cavity 11e has an adhesive storage tank 11h on its cavity wall. The adhesive storage tank 11h is used to store adhesive. The inner side of the cavity wall of the first receiving cavity 11d can be made into a sunken structure, and the space freed up by the sunken part can be used to store adhesive. The circuit board 131 of the RGB module 13 is bonded to the support member 11 through the adhesive in the adhesive storage tank 11h. The circuit board 131 of the RGB module 13 covers the cavity opening of the second receiving cavity 11e, so that the second receiving cavity 11e forms a sealed space. The electronic components of the RGB module 13 are located in this sealed space, achieving the effect of waterproofing and dustproofing.

[0105] When there is a height difference between the designed shooting range and the actual shooting range of the RGB module 13, the RGB module 13 can be set to have a certain tilt angle or elevation angle, so that the actual shooting range of the RGB module 13 coincides with the designed shooting range. In some embodiments, the portion of the second receiving cavity 11e used to support the RGB module 13 is set at an angle relative to the vertical direction, so that the RGB module 13 has a certain tilt angle after installation. In other embodiments, a pad can also be provided between the RGB module 13 and the support member 11, so that the RGB module 13 has a certain tilt angle after installation.

[0106] The various electronic components of the supplementary lighting module 14 and the target locator module 15 are mounted on the circuit board 16. The circuit board 16 can be connected to the support member 11 by screws or clips, or it can be glued to the support member 11. The specific connection method is not limited in this application.

[0107] Please see Figure 18 and Figure 19 In some embodiments, the circuit board 16 is connected to the support member 11 by fasteners 18. The support member 11 is provided with a plurality of mounting posts 116 with threaded holes. The circuit board 16 is placed on the mounting posts 116 and locked by fasteners 18.

[0108] Because the supplementary lighting module 14 and the target locator module 15 share the same circuit board 16, the circuit board 16 is relatively large. Please refer to [link / reference]. Figure 18 and Figure 19 In some embodiments, the support member 11 is provided with a first positioning part 114, and the circuit board 16 is positioned and engaged with the first positioning part 114. A positioning hole can be provided on the circuit board 16, and the first positioning part 114 is set as a positioning shaft. Positioning is achieved through shaft-hole engagement, which facilitates the alignment of the mounting hole 125a on the circuit board 16 with the threaded hole on the mounting post, and prevents the circuit board 16 from shifting during screw driving.

[0109] The light source of the supplementary lighting module 14 can be a point light source or a surface light source. The supplementary lighting module 14 actively supplements the RGB module 13, increasing the applicability of the RGB module 13 in dark environments. Please refer to [link / reference]. Figure 18 and Figure 17 In some embodiments, the supplementary lighting module 14 includes supplementary lighting LED beads 141 and a light-diffusing element 142. The supplementary lighting LED beads 141 are mounted on the circuit board 16, and the light-diffusing element 142 is located on the light-emitting side of the supplementary lighting LED beads 141. The number of supplementary lighting LED beads 141 is set according to actual needs, and can be a single or multiple beads.

[0110] The light-diffusing element 142 can be pre-fixed to the circuit board 16, for example, by adhesive. The light-diffusing element 142 can also be installed independently of the supplementary lighting LED 141. Please refer to... Figure 18 , Figure 19 and Figure 17 In some embodiments, the support member 11 is provided with a second positioning part 115, and the light-diffusing member 142 is positioned and engaged with the second positioning part 115. Positioning holes can also be provided on the light-diffusing member 142, and the second positioning part 115 can be configured as a positioning shaft, achieving positioning through shaft-hole engagement. After the circuit board 16 is fixed, the circuit board 16 and the support member 11 clamp the light-diffusing member 142, limiting the position of the light-diffusing member 142 and preventing it from shifting due to vibration or external impact during use of the module assembly 10. The light-diffusing member 142 can be a light-diffusing plate or a light-diffusing cover; its specific structure is not limited in this application.

[0111] Please see Figure 20 According to a second aspect of this application, a robot device 100 is provided, including a device body 20 and a module assembly 10 as described in the first aspect embodiment. The module assembly 10 is connected to the device body 20. The robot device 100 can be a cleaning robot such as a sweeping robot, a mopping robot, a sweeping and mopping robot, a floor scrubber, or a vacuum cleaner, or it can be a food delivery robot, a nursing robot, etc. The specific type of the robot device 100 is not limited in this application.

[0112] The module assembly 10 can be mounted on the top or front of the device body 20. Please refer to... Figure 20 In some embodiments, the module assembly 10 is located on the side of the front end of the device body 20 along the travel direction. In other embodiments, the module assembly 10 may be installed inside the device body 20, and a drive device is provided on the device body 20. When the robot device 100 is working, the drive device drives the module assembly 10 to extend outside the device body 20, and when the robot device 100 is not working, the drive device drives the module assembly 10 to retract into the device body 20, thereby protecting the module assembly 10 and reducing the space occupied by the robot device 100.

[0113] When the robot device 100 is working, its controller controls the rotation of the walking wheels 30, and the main body 20 moves forward under the guidance of the walking wheels 30. The TOF module 12 acquires point cloud data within the shooting range, quickly generates depth information of the environment, and detects the distance and position of obstacles for navigation, obstacle avoidance, and map building. The RGB module 13 acquires color image information within the shooting range, generates a two-dimensional color image, and identifies the color, texture, and shape of objects, thereby helping the robot distinguish different objects and scenes. The controller fuses the information acquired by the TOF module 12 and the RGB module 13, and controls the driving state of the walking wheels 30 based on this information to achieve high-precision navigation and obstacle avoidance. When the ambient light is low, the controller controls the supplementary lighting module 14 to work, and the supplementary lighting module 14 actively supplements the shooting range of the RGB module 13, increasing the applicability of the RGB module 13 in dark environments.

[0114] Please see Figure 21 According to a third aspect of this application, a robot system 1000 is provided, including a base station 200 and a robot device 100 as described in the second aspect embodiment above. The robot device 100 can dock with the base station 200 for charging. When needed, the robot device 100 can be detached from the base station 200.

[0115] Please see Figure 22 In some embodiments, the base station 200 is equipped with a locator unit 210, and the locator module 15 of the robot device 100 is signal-coupled with the locator unit 210 to guide the robot device 100 into the base station 200. The locator module 15 can be a transmitter, for example, a locator light; then the locator unit 210 on the base station 200 is a receiver, for example, an optical signal receiving module. In other embodiments, the locator module 15 can also be a receiver, for example, an optical signal receiving module; correspondingly, the locator unit 210 on the base station 200 is a transmitter, for example, a locator light.

[0116] The installation height of the locator module 15 is limited by the locator unit 210 on the base station 200. In some embodiments, the installation height of the locator module 15 is matched with the installation height of the locator unit 210, and the installation height of the locator module 15 and the installation height of the locator unit 210 can be substantially the same (e.g., the height difference does not exceed 10mm) to ensure that the locator receiver can receive the signal from the locator transmitter.

[0117] In some embodiments, the robot device 100 is a cleaning robot. The robot device 100 drives into the base station 200, and the base station 200 can perform at least one of the following operations on the robot device 100: charging the robot device 100, cleaning the cleaning parts of the robot device 100, drying the cleaning parts of the robot device 100, adding cleaning liquid to the robot device 100, and collecting garbage from the dust storage chamber of the robot device 100.

[0118] For the base station 200 of the robot system 1000 and other undetailed structures of the robot device 100, please refer to the relevant disclosures in the prior art; this application does not impose any restrictions.

[0119] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature being directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0120] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", and "counterclockwise" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0121] It should be noted that all directional indications in the embodiments of this application are only used to explain the relative positional relationship and movement of each component in a specific posture. If the specific posture changes, the directional indications will also change accordingly.

[0122] In this application, unless otherwise expressly specified and limited, the terms "connection," "fixed," etc., should be interpreted broadly. For example, "fixed" can mean a fixed connection, a detachable connection, or an integral part; it can mean a mechanical connection or an electrical connection; it can mean a direct connection or an indirect connection through an intermediate medium; it can mean the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0123] Furthermore, the use of terms such as "first" and "second" in this application is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, features defined with "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.

[0124] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. In addition, those skilled in the art can combine and integrate the different embodiments or examples described in this specification.

[0125] Furthermore, the technical solutions of the various embodiments can be combined with each other, but only if they are based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such combination of technical solutions does not exist and is not within the scope of protection claimed in this application.

[0126] Although embodiments of this application have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of this application, the scope of which is defined by the claims and their equivalents.

Claims

1. A module assembly, comprising: include: The mounting structure is equipped with a limiting part; as well as A laser is connected to the mounting structure; the laser includes a laser source and a diffuser. The diffuser is located on the light-emitting side of the laser source; the limiting part restricts the movement of the diffuser, and the diffuser is located in the detection area of ​​the laser source.

2. The module assembly of claim 1, wherein The mounting structure has a through mounting hole; the diffuser is positioned corresponding to the mounting hole; the limiting part is located around the mounting hole.

3. The module assembly according to claim 2, characterized in that, Along the laser emission direction of the laser source, the diffuser is located between the laser source and the limiting part, and the diffuser and the limiting part have an overlapping area.

4. The module assembly according to claim 3, characterized in that, The distance between the diffuser and the periphery of the mounting hole is less than the thickness of the diffuser.

5. The module assembly of claim 4, wherein, The limiting part is a gripper disposed on the outer periphery of the mounting hole; the distance between the gripper tip and the periphery of the mounting hole is not less than the dimensional tolerance of the laser.

6. The module assembly according to any one of claims 1-5, characterized in that, The mounting structure includes a support member and a cover; the laser is mounted on the support member; the cover is fitted over the laser; and the limiting part is provided on the support member and / or the cover.

7. The module assembly according to claim 6, characterized in that, The module assembly includes a TOF module; the TOF module includes: The circuit board is connected to the support member; A receiving unit is mounted on the circuit board and electrically connected to the circuit board; The laser is mounted on the circuit board and electrically connected to the circuit board; and The cover is connected to the circuit board; the limiting part is provided on the cover.

8. The module assembly according to claim 7, characterized in that, The cover is a metal shield; the metal shield is soldered to the circuit board.

9. The module assembly of claim 8, wherein, The circuit board includes a main circuit board and a sub-circuit board; the laser source is electrically connected to the sub-circuit board, the sub-circuit board and the receiving part are respectively electrically connected to the main circuit board, and the main circuit board is connected to the support member.

10. The module assembly according to claim 9, characterized in that, The TOF module also includes: The metal base is bonded to the circuit ground of the main circuit board using conductive adhesive; the circuit sub-board is mounted on the metal base.

11. The module assembly of claim 6, wherein, The module assembly further includes at least one of an RGB module, a fill light module, and a marker-finding module; the RGB module, the fill light module, and the marker-finding module are respectively connected to the support member.

12. The module assembly of claim 11, wherein, The module assembly also includes a TOF module, the RGB module, the fill light module, and the anchor-finding module; the TOF module and the RGB module are arranged side by side; The fill light module and the marker-finding module are arranged side by side; both the fill light module and the marker-finding module are located above or below the TOF module and the RGB module.

13. The module assembly according to any one of claims 1-5, characterized in that, The mounting structure includes a support member; the support member has a through hole; the laser is positioned corresponding to the through hole; and the limiting part is located around the through hole.

14. A robotic device, characterized in that, It includes a device body and a module assembly as described in any one of claims 1-13; the module assembly is connected to the device body.

15. The robot device according to claim 14, characterized in that, The module assembly is located on the side of the front end of the main body of the device along the direction of travel.

16. A robot system, characterized in that, It includes a base station and the robotic device as described in claim 14 or 15; the robotic device can dock with the base station or leave the base station.

Images