A detection module, mobile robot and robot system

Abstract

The application discloses a detection module, a mobile robot and a robot system, and belongs to the technical field of electrical equipment. The detection module comprises a main control board, a receiver, a transmitter, a transmitting circuit board and a supporting part, the receiver is electrically connected with the main control board, the transmitter is electrically connected with the transmitting circuit board, the supporting part is used for supporting the transmitter, and the supporting part is electrically connected with the ground end of the main control board and the transmitting circuit board. Since the supporting part is arranged between the transmitter and the main control board, the current path from the supporting part to the main control board is relatively small in the path from the transmitter to the main control board, the current path is reduced, the electromagnetic radiation surface is reduced, the electromagnetic radiation of the transmitting circuit board is reduced, the electromagnetic compatibility of the detection module is improved, the detection module provided by the application can meet the electromagnetic radiation standards of the related industries, and the related industry certification can be passed.

Description

Technical Field

[0001] This application belongs to the field of electrical equipment technology, and in particular relates to a detection module, a mobile robot, and a robot system. Background Technology

[0002] With the development of smart hardware technology, including but not limited to food delivery robots, robotic vacuum cleaners, and delivery robots, a series of intelligent vision products with autonomous navigation and pathfinding capabilities are emerging. There is a need to avoid obstacles and prevent collisions between the robots and personnel. This is especially true for robotic vacuum cleaners, which need to identify obstacles, detect the distance between themselves and obstacles, and clean the surrounding surfaces while avoiding them.

[0003] In related technologies, mobile robots use detection modules to detect the location of obstacles and the distance between the mobile robot and the obstacles. The detection module includes a receiver and a transmitter. The transmitter emits detection signals, and the receiver receives signals reflected back from the obstacles. The distance between the mobile robot and the obstacles can be calculated by the difference between the transmission time and the reception time.

[0004] However, the electromagnetic radiation emitted by the transmitter in the related technology is quite severe, making it difficult to meet the electromagnetic radiation standards of the relevant industries. Utility Model Content

[0005] This application aims to at least partially solve the technical problem of severe electromagnetic radiation from detection modules. To this end, this application provides a detection module, a mobile robot, and a robot system.

[0006] In a first aspect, an embodiment of this application provides a detection module, comprising: A main control board and a receiver, wherein the receiver is electrically connected to the main control board; A transmitter and a transmitter circuit board, wherein the transmitter is electrically connected to the transmitter circuit board; A support section is disposed between the main control board and the transmitter. The support section is used to support the transmitter and is electrically connected to the ground terminal of the transmitter circuit board and the main control board.

[0007] A support section is disposed between the transmitter and the main control board to support the transmitter. The support section can be a conductor, and the transmitting circuit board can be electrically connected to the ground terminal of the main control board through the support section. Because the support section is disposed between the transmitter and the main control board, the current path from the support section to the main control board is relatively small in the path from the transmitter to the main control board. The reduced current path can reduce the electromagnetic radiation area and improve the electromagnetic compatibility of the detection module. This allows the detection module provided in this application embodiment to meet the electromagnetic radiation standards of relevant industries and pass relevant industry certifications.

[0008] In an optional embodiment of this application, the transmitting circuit board includes a flexible board and a rigid board that are electrically connected. The transmitter is electrically connected to the rigid board, the flexible board is electrically connected to the main control board, and the rigid board is electrically connected to the support portion.

[0009] In an optional embodiment of this application, the rigid plate is disposed between the transmitter and the support portion, and the rigid plate is in contact with the support portion.

[0010] In an optional embodiment of this application, the detection module further includes a first conductive layer, which adheres to the rigid plate and the support portion, and the rigid plate is electrically connected to the support portion through the first conductive layer.

[0011] In an optional embodiment of this application, along the direction from the transmitter to the main control board, the projection of the rigid plate on the main control board covers the projection of the first conductive layer on the main control board.

[0012] In an optional embodiment of this application, along the direction from the transmitter to the main control board, the projection of the support portion on the main control board covers the projection of the rigid plate on the main control board.

[0013] In an optional embodiment of this application, the detection module further includes a shielding shell, which is electrically connected to the grounding terminal of the transmitting circuit board to form a shielding cavity; at least a portion of the transmitter is disposed in the shielding cavity.

[0014] In an optional embodiment of this application, the transmitting circuit board is disposed between the shielding shell and the support portion.

[0015] In an optional embodiment of this application, the detection module further includes a second conductive layer, and the support portion is electrically connected to the ground terminal of the main control board through the second conductive layer.

[0016] In an optional embodiment of this application, the second conductive layer is disposed between the support portion and the main control board.

[0017] In an optional embodiment of this application, the support portion is a metal support portion.

[0018] Secondly, embodiments of this application provide a mobile robot, including a main body and the detection module provided in the first aspect, wherein the detection module is installed on the main body.

[0019] The beneficial effects of the mobile robot provided in the second aspect are the same as those of the detection module provided in the first aspect, and will not be repeated here.

[0020] Thirdly, embodiments of this application provide a robot system, including a base station and the mobile robot described in the second aspect, wherein the mobile robot is capable of docking with the base station.

[0021] The beneficial effects of the robot system described in the third aspect are the same as those of the mobile robot provided in the second aspect, and will not be repeated here. Attached Figure Description

[0022] 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.

[0023] Figure 1 This paper shows a schematic diagram of the first view of the detection module provided in an embodiment of this application.

[0024] Figure 2 A schematic diagram of the second perspective of the detection module provided in the embodiment of this application is shown.

[0025] Figure 3 It shows Figure 1 Sectional view at point AA.

[0026] Figure 4 It shows Figure 1 A magnified view of a section AA in the middle.

[0027] Figure 5 A partial structural schematic diagram of the detection module is shown.

[0028] Figure 6 A schematic diagram of the structure of the mobile robot provided in an embodiment of this application is shown.

[0029] Figure 7 A schematic diagram of the structure of the robot system provided in an embodiment of this application is shown.

[0030] Reference numerals: 100-detection module, 110-housing, 1121-first mounting cavity, 1122-transmission window, 1123-first groove, 1141-second mounting cavity, 1142-receiving window, 1143-second groove, 116-frame, 117-first cover plate, 118-second cover plate; 120-Receiver, 130-Transmitter, 140-Transmitting circuit board, 142-Flexible board, 144-Rigid board, 150-Support part, 152-First support section, 154-Second support section, 160-Main control board, 170-First conductive layer, 180-Second conductive layer, 190-Shielding shell; 10 - Mobile robot, 200 - Main body, 20 - Base station, 1 - Robot system. Detailed Implementation

[0031] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0032] It should be noted that all directional indications in this utility model embodiment 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.

[0033] In this utility model, unless otherwise explicitly specified and limited, the terms "connection," "fixing," etc., should be interpreted broadly. For example, "fixing" 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 explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0034] Furthermore, in this utility model, descriptions involving "first," "second," etc., are 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, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. Additionally, the technical solutions of the various embodiments can be combined with each other, but only on the basis of being achievable by those skilled in the art. When the combination of technical solutions is contradictory or impossible to implement, such a combination of technical solutions should be considered non-existent and not within the scope of protection claimed by this utility model.

[0035] With the development of smart hardware technology, including but not limited to food delivery robots, robotic vacuum cleaners, and delivery robots, a series of intelligent vision products with autonomous navigation and pathfinding capabilities are emerging. There is a need to avoid obstacles and prevent collisions between the robots and personnel. This is especially true for robotic vacuum cleaners, which need to identify obstacles, detect the distance between themselves and obstacles, and clean the surrounding surfaces while avoiding them.

[0036] In related technologies, mobile robots use detection modules to detect the location of obstacles and the distance between the mobile robot and the obstacles. The detection module includes a receiver and a transmitter. The transmitter emits detection signals, and the receiver receives signals reflected back from the obstacles. The distance between the mobile robot and the obstacles can be calculated by the difference between the transmission time and the reception time.

[0037] In related technologies, the transmitter and main control board are separated by a certain distance, resulting in a poor connection path between the transmitter's drive circuit and the main control board. This increases the electromagnetic radiation area, leading to severe electromagnetic radiation, which can affect the accuracy of the detection module's components. This is especially problematic when the detection module is used in mobile robots, which serve users; excessive electromagnetic radiation could negatively impact users. It also results in poor electromagnetic compatibility (EMC) of the detection module, making it difficult to pass relevant industry certifications. The detection module, mobile robot, and robot system provided in this application can improve the above problems. The detection module, mobile robot, and robot system provided in this application can reduce the electromagnetic radiation of the detection module, thereby improving the detection accuracy and electromagnetic compatibility.

[0038] This application is described below with reference to the accompanying drawings and specific embodiments: Figure 1 This paper shows a schematic diagram of the first view of the detection module 100 provided in an embodiment of this application, as shown below. Figure 1 As shown, this application embodiment provides a detection module 100. The detection module 100 provided by this application embodiment can reduce the electromagnetic radiation of the detection module 100, reduce the interference of electromagnetic radiation on the measurement of the detection module 100, thereby improving the detection accuracy of the detection module 100 and improving electromagnetic compatibility.

[0039] Figure 2 This illustration shows a structural schematic diagram of the detection module 100 provided in an embodiment of this application from a second perspective. Figure 3 It shows Figure 1 The sectional view at point AA, as shown Figure 1 , Figure 2 and Figure 3As shown in the embodiment of this application, the detection module 100 includes: a housing 110, a receiver 120, and a transmitter 130. The housing 110 is generally a cuboid, having a length direction, a width direction, and a thickness direction. The length direction is the direction of the longest side of the housing 110. The transmitter 130 and receiver 120 are arranged along the length direction of the housing 110. The side where the transmitter 130 is located can be defined as left, and the side where the receiver 120 is located as right. The direction of emission from the transmitter 130 is the thickness direction of the housing 110. The side where the main control board 160 is located in the thickness direction is designated as down, and the side where the transmitter 130 is located is designated as up. The width direction is perpendicular to both the length and thickness directions.

[0040] In some embodiments, the housing 110 has: a first mounting cavity 1121 and a second mounting cavity 1141, with the transmitter 130 disposed in the first mounting cavity 1121 and the receiver 120 disposed in the second mounting cavity 1141; the first mounting cavity 1121 and the second mounting cavity 1141 are independent of each other to avoid light crosstalk.

[0041] Specifically, the housing 110 includes a frame 116, a first cover plate 117 and a second cover plate 118. A first mounting cavity 1121 and a second mounting cavity 1141 are disposed in the frame 116. The frame 116 has a transmitting window 1122 communicating with the first mounting cavity 1121 and a receiving window 1142 communicating with the second mounting cavity 1141. The first cover plate 117 covers the transmitting window 1122, and the second cover plate 118 covers the window. The reflective surface is located on the side of the first cover plate 117 near the first mounting cavity 1121 and / or the reflective surface is located on the side of the second cover plate 118 near the second mounting cavity 1141.

[0042] The first cover plate 117 can be a glass cover plate. The first cover plate 117 covers the transmitting window 1122, making the first mounting cavity 1121 a closed cavity, thereby preventing external impurities from entering the first mounting cavity 1121. The glass cover plate has a certain light transmittance, so that the detection signal can be emitted from the glass cover plate to the outside of the housing 110.

[0043] Similarly, the second cover plate 118 can be a glass cover plate. The second cover plate 118 covers the receiving window 1142, making the second mounting cavity 1141 a closed cavity, thereby preventing external impurities from entering the second mounting cavity 1141. The glass cover plate has a certain light transmittance, so that the detection signal reflected by the obstacle can enter the second mounting cavity 1141 from the glass cover plate.

[0044] The frame 116 has a first groove 1123 and a second groove 1143. The transmitting window 1122 is disposed on the bottom wall of the first groove 1123. The first cover plate 117 is disposed in the first groove 1123 to facilitate the installation and fixation of the first cover plate 117. The receiving window 1142 is disposed on the bottom wall of the second groove 1143. The second cover plate 118 is disposed in the second groove 1143 to facilitate the installation and fixation of the second cover plate 118.

[0045] Figure 4 It shows Figure 1 A magnified view of a section at point AA. Figure 5 A schematic diagram of the partial structure of the detection module 100 is shown, as follows: Figure 4 and Figure 5 As shown, in some embodiments, the detection module 100 further includes a main control board 160, a transmitting circuit board 140, and a support part 150. The receiver 120 is electrically connected to the main control board 160; the transmitter 130 is electrically connected to the transmitting circuit board 140; the support part 150 is used to support the transmitter 130, and the support part 150 is electrically connected to the ground terminal of the transmitting circuit board 140 and the main control board 160.

[0046] The transmitter 130 is mainly used to transmit detection signals, and the receiver 120 is mainly used to receive the detection signals reflected back by the obstacle. The distance between the detection module 100 and the obstacle can be calculated based on the flight time and speed of the detection signal between the transmitter 130 and the receiver 120. Specifically, the distance between the detection module 100 and the obstacle is: half the flight time multiplied by the flight speed.

[0047] The main control board 160 is the carrier for signal transmission of the detection module 100. It can drive the transmitter 130 to transmit detection signals and can also receive detection signals reflected back from obstacles by the receiver 120. The circuit board also provides a mounting base for electronic components such as the receiver 120 and the transmitter 130, allowing them to be mounted on the main control board 160 to form a whole.

[0048] Since the detection module 100 calculates the distance between the detection module 100 and the obstacle based on the flight time and speed of the detection signal between the transmitter 130 and the receiver 120, and the detection signal emitted by the transmitter 130 needs to be emitted from the entire detection module 100, in order to avoid the detection signal emitted by the transmitter 130 being directly emitted from the inside of the entire detection module 100 to the receiver 120, interfering with the receiver 120 receiving the detection signal reflected back from the obstacle, or the detection signal fed back from the obstacle interfering with the transmission signal emitted by the transmitter 130, the transmitting surface of the transmitter 130 and the receiving surface of the receiver 120 can be located on the same plane as much as possible, thereby reducing the interference between the detection signal emitted by the module transmitter 130 and the detection signal reflected back from the obstacle to a certain extent.

[0049] The receiver 120 can be directly connected to the main control board 160. Since the height of the receiver 120 is greater than the height of the transmitter 130, there is a certain distance between the transmitter 130 and the main control board 160. The transmitter 130 can be supported by the support part 150, ensuring that the transmitting surface of the transmitter 130 and the receiving surface of the receiver 120 are on the same plane. To enable the main control board 160 to transmit signals to the transmitter 130, a transmitting circuit board 140 can be used as an intermediary between the transmitter 130 and the main control board 160, thus enabling signal transmission between them.

[0050] Because there is a certain distance between the main control board 160 and the transmitter 130, the transmitting circuit board 140 also has a certain path during transmission, resulting in an excessively long line and an increased electromagnetic radiation area. If the electromagnetic radiation is large, the electromagnetic compatibility (EMC) of the detection module 100 will be poor, making it difficult to pass relevant industry certifications.

[0051] In some embodiments, a support portion 150 is disposed between the transmitter 130 and the main control board 160. The support portion 150 supports the transmitter 130 and can be a conductor. The transmitting circuit board 140 can be electrically connected to the ground terminal of the main control board 160 through the support portion 150. Because the support portion 150 is disposed between the transmitter 130 and the main control board 160, the path of current flowing from the support portion 150 to the main control board 160 in the path from the transmitter 130 to the main control board 160 is relatively small. The smaller current path can reduce the electromagnetic radiation area, reduce the electromagnetic radiation of the transmitting circuit board 140, and thus reduce the impact on the transmitter 130, receiver 120 or other electronic components, thereby improving the detection accuracy of the detection module 100.

[0052] In some embodiments, since the support portion 150 is disposed between the transmitter 130 and the main control board 160, the path of current flowing from the support portion 150 to the main control board 160 in the path from the transmitter 130 to the main control board 160 is relatively small. After the current path is reduced, the electromagnetic radiation surface can be reduced, the electromagnetic compatibility of the detection module 100 can be improved, and the detection module provided in this application embodiment can meet the electromagnetic radiation standards of relevant industries and pass the relevant industry certifications.

[0053] In addition, by using the support part 150 as a conductor for electrically connecting the transmitting circuit board 140 and the main control board 160, there is no need to set other conductors between the transmitter 130 and the main control board 160. By using the structure of the detection module 100 itself as a conductor, the number of components of the detection module 100 is not increased while reducing electromagnetic radiation, making the detection module 100 more compact.

[0054] It should be noted that in some embodiments, the detection module 100 may not include the housing 110, and the main control board 160, transmitter 130, receiver 120 and other structures may be assembled on the corresponding electrical equipment.

[0055] like Figure 4 and Figure 5 As shown, in some embodiments, the transmitting circuit board 140 includes a flexible board 142 and a rigid board 144 that are electrically connected. The transmitter 130 is electrically connected to the rigid board 144, the flexible board 142 is electrically connected to the main control board 160, and the rigid board 144 is electrically connected to the support portion 150.

[0056] The rigid plate 144 is used to connect the transmitter 130, and the flexible plate 142 is used to connect the rigid plate 144 and the main control board 160. Since there is a certain distance between the transmitter 130 and the main control board 160, and the flexible plate 142 is a soft structure, it can be appropriately deformed according to the position of the rigid plate 144 and the main control board 160 when connecting the rigid plate 144 and the main control board 160, thereby facilitating the electrical connection between the transmitter 130 and the main control board 160.

[0057] Because the support portion 150 is positioned between the transmitter 130 and the main control board 160 to support the transmitter 130, the flexible board may bend to avoid the support portion 150 when connecting the rigid board 144 and the main control board 160. This means the flexible board may have corners, increasing its path length. The rigid board 144 is electrically connected to the support portion 150, allowing current from the rigid board 144 to flow through the support portion 150 to the main control board 160. This reduces the current flow path, decreases the electromagnetic radiation surface of the entire transmitting circuit board 140, and improves the electromagnetic compatibility of the detection module 100. This ensures the detection module provided in this embodiment meets relevant industry electromagnetic radiation standards and obtains relevant industry certifications. It also reduces the electromagnetic radiation of the transmitting circuit board 140, thereby reducing its impact on the transmitter 130, receiver 120, or other electronic components, and improving the detection accuracy of the detection module 100.

[0058] In some embodiments, along the direction from transmitter 130 to main control board 160, the projection of support portion 150 on main control board 160 covers the projection of rigid plate 144 on main control board 160.

[0059] The support part 150 can be a regular shape such as a column or a platform, or it can be other irregular shapes. The shape of the support part 150 is not limited, as long as it can support the transmitter 130.

[0060] The direction from transmitter 130 to main control board 160 refers to the direction from top to bottom along the thickness direction of housing 110. The projection of support part 150 on main control board 160 covers the projection of rigid plate 144 on main control board 160, indicating that along the thickness direction of housing 110, the projected area of ​​support part 150 on main control board 160 is larger than the projected area of ​​rigid plate 144 on main control board 160. If support part 150 is a regular shape, for example, if support part 150 is a column, it means that the cross-sectional area of ​​support part 150 in the planes in the length and width directions is relatively large.

[0061] A larger cross-sectional area of ​​the support portion 150 results in a smaller impedance when current passes through it, thus reducing the likelihood of electromagnetic radiation. This arrangement also reduces electromagnetic radiation from the transmitting circuit board 140 to some extent, improving the electromagnetic compatibility of the detection module 100. This allows the detection module provided in this embodiment to meet relevant industry electromagnetic radiation standards and pass relevant industry certifications. It also reduces the impact on the transmitter 130, receiver 120, or other electronic components, improving the detection accuracy of the detection module 100.

[0062] like Figure 4 and Figure 5As shown, in some embodiments, the support portion 150 includes a first support segment 152 and a second support segment 154, the first support segment 152 and the second support segment 154 are connected to each other, the end of the first support segment 152 away from the second support segment 154 supports the transmitter 130, and the end of the second support segment 154 away from the first support segment 152 is in contact with the main control board 160.

[0063] Specifically, the end of the first support segment 152 furthest from the second support segment 154 is connected to the rigid plate 144. Along the length of the housing 110, the width of the first support segment 152 is greater than the width of the second support segment 154. That is, the end of the entire support portion 150 closest to the main control board 160 is smaller, while the end used to support the transmitter 130 is larger. The second support segment 154 is positioned close to the main control board 160. The smaller width of the second support segment 154 avoids interference with other components on the main control board 160. The larger width of the first support segment 152 increases the contact area with the rigid plate 144, reduces the contact resistance between the support portion 150 and the rigid plate 144, thereby reducing electromagnetic radiation and improving electromagnetic compatibility.

[0064] The first support section 152 and the second support section 154 can be integrally formed, that is, the entire support part 150 can be integrally formed, which can reduce manufacturing processes and manufacturing costs.

[0065] The support part 150 is a metal support part 150. Specifically, it can be copper, aluminum, or a copper-aluminum alloy.

[0066] In some embodiments, a rigid plate 144 is disposed between the transmitter 130 and the support portion 150, and the rigid plate 144 contacts the support portion 150. The support portion 150 is disposed between the transmitter 130 and the main control board 160, and the rigid plate 144 is disposed between the transmitter 130 and the support portion 150 such that the transmitter 130, the rigid plate 144, the support portion 150, and the main control board 160 are arranged sequentially from top to bottom, that is, the transmitter 130, the rigid plate 144, the support portion 150, and the main control board 160 are stacked from top to bottom. This arrangement allows the transmitter 130, the rigid plate 144, the support portion 150, and the main control board 160 to occupy space in the thickness direction of the housing 110, reducing the space occupied in the width and length directions of the housing 110, making the overall structure more compact.

[0067] Of course, in some other embodiments, the rigid plate 144 can be arranged side by side with the transmitter 130 on the support portion 150. This arrangement results in a larger cross-sectional area of ​​the support portion 150, a lower impedance when current passes through the support portion 150, and a lower probability of electromagnetic radiation when current passes through the support portion 150. This arrangement can also reduce the electromagnetic radiation of the transmitting circuit board 140 to a certain extent, improve the electromagnetic compatibility of the detection module 100, and enable the detection module provided in this application embodiment to meet the electromagnetic radiation standards of relevant industries and pass relevant industry certifications. It can also reduce the impact on the transmitter 130, receiver 120, or other electronic components, and improve the detection accuracy of the detection module 100.

[0068] like Figure 4 and Figure 5 As shown, in some embodiments, the detection module 100 further includes a first conductive layer 170, which adheres to the rigid plate 144 and the support portion 150. The rigid plate 144 is electrically connected to the support portion 150 through the first conductive layer 170.

[0069] The first conductive layer 170 can be conductive adhesive, specifically conductive silver paste. The conductive silver paste needs to be activated. After the detection module 100 is assembled, electricity can be applied to the first conductive layer 170 to activate the conductive silver paste, thereby reducing the impedance of the first conductive layer 170. This further reduces the impedance between the rigid board 144 and the main control board 160, weakens the electromagnetic radiation intensity, and reduces electromagnetic radiation, so that the detection module provided in this application embodiment can meet the electromagnetic radiation standards of relevant industries and pass relevant industry certifications.

[0070] In some embodiments, along the direction from transmitter 130 to main control board 160, the projection of rigid plate 144 on main control board 160 covers the projection of first conductive layer 170 on main control board 160.

[0071] The direction along the transmitter 130 to the main control board 160 refers to the thickness direction of the housing 110, which is also from top to bottom. The projection of the rigid plate 144 on the main control board 160 covers the projection of the first conductive layer 170 on the main control board 160, indicating that the area of ​​the rigid plate 144 is larger than the area of ​​the first conductive layer 170. Along the thickness direction of the housing 110, the rigid plate 144 can cover the first conductive layer 170, preventing the first conductive layer 170 from being exposed and affecting the other structures of the detection module 100.

[0072] like Figure 4 and Figure 5 As shown, in some implementations, the detection module 100 also includes a second conductive layer 180, and the support portion 150 is electrically connected to the ground terminal of the main control board 160 through the second conductive layer 180.

[0073] The second conductive layer 180 can be a conductive adhesive, specifically a conductive silver paste. The conductive silver paste needs to be activated. After the detection module 100 is assembled, electricity can be applied to the second conductive layer 180 to activate the conductive silver paste, reducing the impedance of the second conductive layer 180. This further reduces the impedance between the support 150 and the main control board 160, weakening the electromagnetic radiation intensity, lowering electromagnetic radiation, and improving the electromagnetic compatibility of the detection module 100. This allows the detection module provided in this embodiment to meet the electromagnetic radiation standards of relevant industries and pass relevant industry certifications. It can also improve the detection accuracy of the detection module 100.

[0074] In some embodiments, a second conductive layer 180 is disposed between the support portion 150 and the main control board 160. The second conductive layer 180 can bond the support portion 150 and the main control board 160, thereby fixing the support portion 150 and the main control board 160. By bonding the second conductive layer 180 between the support portion 150 and the main control board 160, the contact area between the second conductive layer 180 and the support portion 150, and between the second conductive layer 180 and the main control board 160, can be increased, thereby improving the fixing effect.

[0075] like Figure 4 and Figure 5 As shown, in some embodiments, the detection module 100 further includes a shielding shell 190, which is electrically connected to the ground terminal of the transmitting circuit board 140 to form a shielding cavity; at least a portion of the transmitter 130 is disposed in the shielding cavity.

[0076] The shielding shell 190 is placed over the transmitter 130, so that the shielding shell 190 and the rigid plate 144 of the transmitting circuit board 140 can form a shielding cavity. The shielding shell 190 can be connected to the grounding terminal of the transmitting circuit board (which is actually the rigid plate 144), so that the electromagnetic waves radiated by the transmitter 130 on the shielding shell 190 can be transmitted through the shielding shell 190 to the rigid plate 144, and then flow to the main control board 160 through the first conductive layer 170, the support part 150, and the second conductive layer 180, thus achieving the effect of electromagnetic shielding.

[0077] In some embodiments, the transmitting circuit board 140 is disposed between the shielding shell 190 and the support portion 150. Specifically, a rigid plate 144 is disposed between the shielding shell 190 and the support portion 150, that is, from top to bottom, the shielding shell 190 (the transmitter 130 is disposed inside the shielding shell 190), the rigid plate 144, the first conductive layer 170, the support portion 150, the second conductive layer 180, and the main control board 160 are stacked from top to bottom. This arrangement allows the transmitter 130, the rigid plate 144, the support portion 150, and the main control board 160 to occupy space in the thickness direction of the shell 110, reducing the space occupied in the width and length directions of the shell 110, making the overall structure more compact.

[0078] In summary, the detection module 100 provided in this application embodiment has a support portion 150 disposed between the transmitter 130 and the main control board 160 to support the transmitter 130. The support portion 150 can be a conductor, and the transmitting circuit board 140 can be electrically connected to the ground terminal of the main control board 160 through the support portion 150. Because the support portion 150 is disposed between the transmitter 130 and the main control board 160, the path of current flowing from the support portion 150 to the main control board 160 in the path from the transmitter 130 to the main control board 160 is relatively small. The reduced current path can reduce the electromagnetic radiation area, reduce the electromagnetic radiation of the transmitting circuit board 140, improve the electromagnetic compatibility of the detection module 100, and enable the detection module 100 to pass relevant industry certifications.

[0079] Figure 6 A schematic diagram of the structure of the mobile robot 10 provided in an embodiment of this application is shown, as follows: Figure 6 As shown, based on the same inventive concept, this application provides a mobile robot 10. The mobile robot 10 includes a main body 200 and the aforementioned detection module 100, which is mounted on the main body 200. The detection module 100 can be located on the front side, the rear side, the left side, or the right side of the main body 200; the specific location is not limited.

[0080] Figure 7 A schematic diagram of the structure of the robot system 1 provided in an embodiment of this application is shown, as follows: Figure 7 As shown, based on the same inventive concept, this application also provides a robot system 1, which includes a base station 20 and the aforementioned mobile robot 10. The mobile robot 10 can dock with the base station 20 so that the base station 20 can charge the mobile robot 10. The base station 20 is also used to place and accommodate the mobile robot 10. In the case that the mobile robot 10 is a sweeping robot, the base station 20 can also clean the cleaning components of the sweeping robot.

[0081] 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.

[0082] 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.

[0083] 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 probe module, characterized by include: A main control board (160) and a receiver (120), wherein the receiver (120) is electrically connected to the main control board (160); A transmitter (130) and a transmitting circuit board (140), wherein the transmitter (130) is electrically connected to the transmitting circuit board (140); A support part (150) is disposed between the transmitter (130) and the main control board (160). The support part (150) is used to support the transmitter (130). The support part (150) is electrically connected to the ground terminal of the transmitter circuit board (140) and the main control board (160).

2. The probe module of claim 1, wherein, The transmitting circuit board (140) includes a flexible board (142) and a rigid board (144) that are electrically connected. The transmitter (130) is electrically connected to the rigid board (144), the flexible board (142) is electrically connected to the main control board (160), and the rigid board (144) is electrically connected to the support part (150).

3. The probe module of claim 2, wherein, The rigid plate (144) is disposed between the transmitter (130) and the support (150), and the rigid plate (144) is in contact with the support (150).

4. The probe module of claim 2, wherein, The detection module (100) further includes a first conductive layer (170), which bonds the rigid plate (144) and the support portion (150). The rigid plate (144) is electrically connected to the support portion (150) through the first conductive layer (170).

5. The probe module of claim 4, wherein, Along the direction from the transmitter (130) to the main control board (160), the projection of the rigid plate (144) on the main control board (160) covers the projection of the first conductive layer (170) on the main control board (160).

6. The probe module of claim 2, wherein, Along the direction from the transmitter (130) to the main control board (160), the projection of the support (150) on the main control board (160) covers the projection of the rigid plate (144) on the main control board (160).

7. The probe module of any one of claims 1-6, wherein, The detection module (100) further includes a shielding shell (190), which is electrically connected to the grounding terminal of the transmitting circuit board (140) to form a shielding cavity; at least a portion of the transmitter (130) is disposed in the shielding cavity.

8. The probe module of claim 7, wherein, The transmitting circuit board (140) is disposed between the shielding shell (190) and the support (150).

9. The probe module of any one of claims 1-6, wherein, The detection module (100) also includes a second conductive layer (180), and the support part (150) is electrically connected to the grounding terminal of the main control board (160) through the second conductive layer (180).

10. The probe module of claim 9, wherein, The second conductive layer (180) is disposed between the support (150) and the main control board (160).

11. The detection module according to any one of claims 1-6, characterized in that, The support part (150) is a metal support part (150).

12. A mobile robot, characterized by It includes a main body (200) and a detection module (100) as described in any one of claims 1-11, the detection module (100) being mounted on the main body (200).

13. A robot system, characterized by Includes a base station (20) and a mobile robot (10) as described in any one of claims 12, wherein the mobile robot (10) is capable of docking with the base station (20).

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