Sensing component of a robot and robot

Abstract

The utility model provides a kind of robot's perception component and robot, and perception component includes shell, vision module and radar module.Formation first accommodating space and second accommodating space in shell, shell includes first shell plate, and first shell plate forms first opening and second opening on it.Vision module is located in first accommodating space, and the camera end of the camera of vision module is at least partially located in first opening.Radar module is located in second accommodating space, and the detection end of the laser radar of radar module is at least partially located in second opening.The utility model's perception component uses integration and modularization design, and the element such as vision module and radar module of perception component is integrated together, forms a whole module structure, improves the integration of perception component, and simplifies the structure of perception component.

Description

Technical Field

[0001] This utility model belongs to the field of legged robot technology, specifically relating to a robot's sensing component and the robot itself. Background Technology

[0002] Legged robots, with their superior terrain adaptability, have shown great application potential in complex environment inspection, rescue, exploration, and transportation in specific scenarios. This excellent mobility relies heavily on their powerful and reliable sensing components. These components include a large number of elements such as visual cameras and LiDAR, which can acquire real-time information about the robot's status and surrounding environment, forming the basis for robot gait planning, obstacle avoidance navigation, and balance control.

[0003] However, the existing legged robot's sensing components have significant shortcomings in design and integration. Components such as vision cameras and lidar are mostly installed independently and distributed in various parts of the robot. This not only requires cumbersome assembly steps when assembling the sensing components onto the body components, but also makes the robot's overall structure very bulky, affecting the robot's dynamic balance and movement flexibility.

[0004] The information disclosed in this background section is intended only to enhance the understanding of the overall background of this utility model and should not be construed as an admission or in any way implying that the information constitutes prior art known to those skilled in the art. Utility Model Content

[0005] The purpose of this invention is to provide a sensing component for a robot, which solves the problems of low integration and bulky structure of existing sensing components.

[0006] To achieve the above objectives, a specific embodiment of this utility model provides a sensing component, including a housing, a vision module, and a radar module. The housing has a first accommodating space and a second accommodating space inside. The housing includes a first shell plate with a first opening communicating with the first accommodating space and a second opening communicating with the second accommodating space. The vision module is disposed within the first accommodating space and includes a camera, with at least a portion of the camera's image sensor located within the first opening. The radar module is disposed within the second accommodating space and includes a lidar, with at least a portion of the lidar's detection end located within the second opening.

[0007] In one or more embodiments of this utility model, the first shell plate has a third opening communicating with the first accommodating space, and the vision module further includes a supplementary light, the light-emitting end of which is at least partially located within the third opening. The supplementary light can extend the sensing capability of the sensing component in low-light environments, improve image quality through active illumination, and enable the sensing component to achieve accurate sensing in all weather conditions.

[0008] In one or more embodiments of this utility model, the first opening, the third opening, and the second opening are arranged sequentially from top to bottom. The camera occupies the highest point, obtaining a relatively wide field of view. The supplementary light is close to the bottom of the camera, which can provide uniform illumination to the camera without obstruction, further improving the camera's terrain recognition capability in low-light environments. The lower position of the lidar can reduce obstruction of the supplementary light and reduce detection blind spots.

[0009] In one or more embodiments of this utility model, two supplementary lights are provided, and the distance between the central axes of the two supplementary lights gradually increases in the light emission direction. The two supplementary lights are set at a certain angle, which can expand the effective field of view of the overall illumination through the superposition and extension of the light coverage area.

[0010] In one or more embodiments of this utility model, the sensing component further includes a protective cover fitted around the periphery of the lidar. The protective cover includes a protective portion located outside the housing, and a first light-transmitting port exposed on the protective portion. The protective cover can protect the lidar, and the first light-transmitting port of the protective cover can expose the transmitting end of the lidar, preventing the protective cover from affecting the lidar's sensing capability.

[0011] In one or more embodiments of this utility model, the protective part includes two spherical cap structures arranged around the central axis of the lidar, with a first light-passing opening formed between the two spherical cap structures. The spherical cap structures have relatively strong structural strength and buffering capacity, which can evenly disperse the impact force received by themselves and reduce the probability of the protective part breaking or deforming after being impacted.

[0012] In one or more embodiments of this invention, one or more second light-transmitting ports are formed on the spherical cap structure. These second light-transmitting ports can further reduce the impact of the protective element on the lidar's sensing capability.

[0013] In one or more embodiments of this utility model, the sensing component further includes a protective beam. The protective beam comprises two horizontal beam segments located on both sides of the housing and extending towards the front of the housing, vertical beam segments corresponding to the two horizontal beam segments and extending upwards, and a crossbeam segment connected to the top of the two vertical beam segments. The protective beam is a multi-dimensional three-dimensional protective structure that can resist collisions and impacts from all directions, providing all-round protection for the sensing component.

[0014] In one or more embodiments of this invention, the vertical beam segment is inclined upward and extends away from the housing. This forward extension of the vertical beam segment allows it to extend forward, increasing the protection range, dispersing frontal impact forces, and reducing the blind spot of the lidar.

[0015] In one or more embodiments of this invention, the sensing component further includes a base support disposed at the bottom of the housing, with a protective beam disposed on the base support. The base support is used to connect the robot's body assembly. The base support can be used to support the housing and the protective beam, enhancing the connection strength between the sensing component and the body assembly.

[0016] In one or more embodiments of this invention, the sensing component further includes a UWB module disposed on the top of the housing. The UWB module can improve the positioning accuracy of the sensing component.

[0017] In one or more embodiments of this invention, the sensing component further includes an indicator light module disposed on the top of the housing. The indicator light module can visually display the robot's working status.

[0018] In one or more embodiments of this utility model, the housing includes a detachably connected front housing, a rear housing, and a top housing, with a first shell plate formed on the front housing. The housing adopts a split assembly structure design, which reduces the assembly difficulty of the various components of the sensing component and improves the assembly efficiency of the sensing component.

[0019] In one or more embodiments of this invention, the sensing component further includes a wiring harness electrically connected to the vision module and / or radar module. The housing also includes a second shell plate disposed opposite to the first shell plate, with a through hole formed on the second shell plate, through which the wiring harness is led out to the outside of the housing. The wiring harness can electrically connect the vision module or radar module to the robot's body assembly, transmitting data collected by the vision module or radar module to the control module within the body assembly.

[0020] In one or more embodiments of this utility model, the housing further includes a connecting portion disposed opposite to the first housing plate, the connecting portion having one or more hole structures for mounting bolts connecting the housing and the fuselage assembly. The connecting portion enables the connection between the sensing component and the fuselage assembly.

[0021] In another aspect, this utility model also provides a robot that includes the aforementioned sensing components.

[0022] In one or more embodiments of this invention, the robot further includes a body assembly, and two sensing components are provided and connected one-to-one to opposite sides of the body assembly. The two sensing components can expand the sensing range of the sensing components, eliminate blind spots at the rear of the robot, and achieve 360° omnidirectional perception.

[0023] Compared with the prior art, the sensing component of this utility model adopts an integrated and modular design, integrating the vision module and radar module of the sensing component together to form an overall modular structure, which improves the integration of the sensing component, simplifies the steps of assembling the sensing component onto the robot's body component, improves the overall assembly efficiency of the robot, and simplifies the structure of the sensing component. Attached Figure Description

[0024] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0025] Figure 1 This is a three-dimensional structural diagram of the sensing component in one embodiment of the present invention from a first-view perspective;

[0026] Figure 2 This is a three-dimensional structural diagram of the sensing component in one embodiment of the present invention from a second perspective;

[0027] Figure 3 This is a three-dimensional structural diagram of the sensing component in one embodiment of the present invention from a third-person perspective;

[0028] Figure 4 This is a three-dimensional structural diagram of the sensing component in one embodiment of the present invention from a fourth perspective;

[0029] Figure 5 This is an exploded view of the sensing component in one embodiment of the present invention.

[0030] Key reference numerals: 1. Housing; 11. Front housing; 111. First housing plate; 12. Rear housing; 121. Second housing plate; 122. Connecting part; 13. Top housing; 2. Vision module; 21. Camera; 22. Fill light; 3. Radar module; 31. LiDAR; 4. Wiring harness; 5. Protective cover; 51. Protective part; 511. Spherical crown structure; 52. Loop part; 6. Protective beam; 61. Horizontal beam segment; 62. Vertical beam segment; 63. Transverse beam segment; 7. Base support; 8. UWB module; 9. Indicator light module. Detailed Implementation

[0031] To enable those skilled in the art to better understand the technical solutions in this disclosure, the technical solutions in the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this disclosure, and not all embodiments. Based on the embodiments in this disclosure, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of this disclosure.

[0032] In the description of this utility model, it should be understood that the terms "top", "bottom", "upper", "lower", "front", "rear", "left", "right", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model 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 utility model.

[0033] Furthermore, the term "first" is used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, features defined as "second" or "first" may explicitly or implicitly include one or more of the stated features. In the description of this utility model, "a plurality of" means two or more, unless otherwise explicitly specified.

[0034] In one embodiment, reference is made to Figures 1 to 5 As shown, this application provides a sensing component that adopts an integrated and modular design, integrating the various functional modules of the robot's sensing component together to form an overall modular structure.

[0035] Specifically, the sensing component includes a housing 1, a vision module 2, and a radar module 3. The housing 1 has a first accommodating space and a second accommodating space inside. The housing 1 includes a first shell plate 111 with a first opening and a second opening, both generally circular. The first opening communicates with the first accommodating space, and the second opening communicates with the second accommodating space. The vision module 2 is installed in the first accommodating space, and the radar module 3 is installed in the second accommodating space, thus integrating the vision module 2 and the radar module 3 into one unit. The vision module 2 mainly includes a camera 21. The camera end of the camera 21 (generally the lens portion) is at least partially located within the first opening, allowing the camera 21 to clearly collect information about the surrounding environment and assist the robot in judging the surrounding situation. The radar module 3 mainly includes a lidar 31. The detection end of the lidar 31 (generally the area where the lidar 31 emits and receives detection lasers) is at least partially located within the second opening, allowing the lidar 31 to accurately emit and receive detection lasers.

[0036] In one embodiment, reference is made to Figure 5 As shown, the housing 1 adopts a split assembly structure design. The housing 1 includes a front housing 11, a rear housing 12 and a top housing 13 that can be detachably connected. The front housing 11, the rear housing 12 and the top housing 13 can be detachably connected by components such as bolts or clips.

[0037] Furthermore, the sensing components are mounted in front of the robot's body assembly, with a first shell plate 111 formed on the front shell 11 to facilitate the vision module 2 and radar module 3 in accurately acquiring environmental information in front. The shape of the first shell plate 111 can be set as a relatively smooth flat plate structure, a stepped structure, or an irregular structure with a partially curved surface.

[0038] Furthermore, the housing 1 also includes a connecting portion 122, which is disposed opposite to the first housing plate 111. The connecting portion 122 is constructed as a rectangular shell-like structure. Multiple holes are formed on the shell plate of the connecting portion 122, which can cooperate with corresponding holes on the body assembly to install bolts, thereby fixing the housing 1 to the robot's body assembly. Alternatively, in other embodiments, the shell plate of the connecting portion 122 may only have a single hole, connecting the housing 1 and the body assembly with a single bolt. In this case, other connection structures (such as snap-fit ​​structures) can generally be provided to appropriately enhance the connection strength between the shell plate and the body assembly, preventing the housing 1 from separating from the body assembly after being impacted during robot movement.

[0039] In one embodiment, reference is made to Figures 1 to 3 As shown, the first shell plate 111 has a third opening, which is generally a circular opening. The third opening is connected to the first accommodating space. The vision module 2 also includes a supplementary light 22. The light-emitting end of the supplementary light 22 is at least partially located inside the third opening so that the supplementary light 22 can project light to the outside of the shell 1 to provide auxiliary light to the camera 21 and help the camera 21 to collect clear image information.

[0040] Furthermore, two supplementary lights 22 are provided, which are roughly at the same horizontal height and spaced apart in the left-right direction of the robot. In the light emission direction of the supplementary lights 22, the distance between the central axes of the two supplementary lights 22 gradually increases, so that the two supplementary lights 22 are set at a certain angle, which can expand the effective field of view of the overall illumination through the superposition and extension of the light coverage area.

[0041] Furthermore, the two supplementary lights 22 are arranged approximately symmetrically to balance the coverage of the illumination on both sides. During the robot's walking motion, regardless of how the robot's posture is adjusted, the illumination range and brightness distribution of the two supplementary lights 22 remain basically stable, ensuring uniform illumination around the robot and providing relatively clear lighting conditions for the sensing components, thus minimizing the sensing blind spots of the sensing components.

[0042] Furthermore, there are two or more cameras 21, which are spaced apart in the left and right directions of the robot. Multiple cameras 21 work together to collect environmental image information from different directions, expand the image acquisition range, improve the image acquisition accuracy, eliminate blind spots, enable the robot to perceive the surrounding environment more accurately, and reduce the probability of the robot bumping into things or missing a step during movement.

[0043] Furthermore, each camera 21 can be a wide-angle camera 21, a telephoto camera 21, or a zoom camera 21 of the same type. Alternatively, some cameras 21 may use one of the wide-angle camera 21, telephoto camera 21, and zoom camera 21, while other cameras 21 may use another one or two of these. The specific type and number of cameras 21 can be selected according to actual needs, and will not be elaborated further in this application.

[0044] In one embodiment, reference is made to Figure 4 As shown, the sensing component also includes a wiring harness 4, which is electrically connected to any one or all of the vision module 2 and the radar module 3. The housing 1 also includes a second housing plate 121 disposed opposite to the first housing plate 111. The second housing plate 121 has a through hole, through which the wiring harness 4 is led out to the outside of the housing 1, so that the vision module 2 or the radar module 3 can be electrically connected to the robot's body assembly via the wiring harness 4, and the data collected by the vision module 2 or the radar module 3 can be transmitted to the control module inside the body assembly.

[0045] Furthermore, a second shell plate 121 is formed on the rear shell 12 to facilitate electrical connection between the vision module 2 or the radar module 3 and the control module inside the fuselage assembly via the wiring harness 4. The shape of the second shell plate 121 can also be configured as a relatively smooth flat plate structure, a stepped structure, or an irregular structure with a partially curved surface.

[0046] In one embodiment, reference is made to Figures 1 to 3As shown, the sensing component also includes a protective cover 5, which is fitted onto the lidar 31 to protect it. The protective cover 5 includes a protective part 51 and a collar part 52. The collar part 52 is fitted onto the columnar area of ​​the lidar 31, and the protective part 51 extends from the collar part 52 to the outside of the housing 1. The protective part 51 can protect the lidar 31 from the outside of the housing 1, preventing the lidar 31 from colliding or scraping with obstacles in the surrounding environment during the robot's walking movement, preventing scratches or cracks on the optical window of the lidar 31, and ensuring that the sensing capability of the lidar 31 is always maintained at a high level.

[0047] Furthermore, a first light-transmitting port for exposing the lidar 31 is formed on the protective part 51. The transmitting end of the lidar 31 is exposed through the first light-transmitting port between the two protective parts 51. The lidar 31 can emit detection lasers to the area in front and receive the reflected lasers through the first light-transmitting port, so as to avoid affecting the sensing ability of the lidar 31 after the protective part 51 is set up, and ensure that the sensing ability of the lidar 31 is always kept at a high level.

[0048] Furthermore, the protective part 51 includes two symmetrically arranged spherical crown structures 511, which surround the central axis of the lidar 31 and are spaced apart. A first light-transmitting port is formed between the two spherical crown structures 511. The spherical crown structure 511 can be regarded as part of the spherical shell 1. The spherical crown structure 511 has relatively strong structural strength and buffering capacity. When an external impact force (such as the impact force from a collision or compression) acts on a certain point of the spherical crown structure 511, the impact force will be evenly distributed along the continuous curved surface on the spherical crown structure 511 to the entire spherical crown structure 511, rather than concentrated in a certain area. This avoids the generation of stress concentration areas on the protective part 51, thereby reducing the probability of the protective part 51 cracking or deforming under impact.

[0049] Furthermore, the spherical crown structure 511 adopts a hollow design, with multiple second light-transmitting ports formed on it. The laser emitted by the lidar 31 can be projected into the environment through these ports, further reducing the impact of the protective part 51 on the lidar 31's sensing capability. Of course, in other embodiments, the spherical crown structure 511 may also have only one second light-transmitting port, similarly reducing the impact of the protective part 51 on the lidar 31's sensing capability. In addition, the hollow design of the spherical crown structure 511 can also reduce the weight of the sensing component to some extent, facilitating a lightweight design for the sensing component.

[0050] In one embodiment, reference is made to Figure 1As shown, the sensing component also includes a protective beam 6, which protects the vision module 2 and the radar module 3, particularly the radar module 3. The protective beam 6 includes two horizontal beam segments 61, two vertical beam segments 62, and a transverse beam segment 63. The two horizontal beam segments 61 are approximately symmetrically distributed on both sides of the housing 1 and extend towards the front of the housing 1. The two vertical beam segments 62 are connected to the two horizontal beam segments 61 in a one-to-one correspondence and extend upwards from the end of the horizontal beam segment 61 away from the housing 1. The transverse beam segment 63 connects to the top of both vertical beam segments 62, and its height is slightly higher than the top height of the lidar 31, preventing the transverse beam segment 63 from obstructing the detection laser emitted by the lidar 31.

[0051] Furthermore, the protective beam 6 is designed as an integrally formed structure, wherein the transverse beam segment 63 is roughly arc-shaped, forming an arch structure in the top region of the protective beam 6. The arch structure can convert the vertical load applied to it into a force along its axial direction and disperse the force to both ends, avoiding stress concentration. This arch structure can withstand relatively large loads.

[0052] Furthermore, the two vertical beam segments 62 are symmetrically arranged and both tilt upwards and extend away from the shell 1. In the direction away from the first shell plate 111, the horizontal distance between the geometric centers of the vertical beam segment 62 and the horizontal beam segment 61 gradually increases. The extension direction of the vertical beam segment 62 allows it to extend forward, increasing its protection range. When the protective beam 6 experiences a frontal collision or scrape, the tilted vertical beam segment 62 can decompose the frontal impact force, preventing the impact force from directly acting on the connection between the vertical beam segment 62 and the horizontal beam segment 61, thus reducing the probability of the protective beam 6 bending or breaking. Moreover, the tilted vertical beam segment 62 allows the main structure of the protective beam 6 to be as far away from the lidar 31 as possible, creating a wider, interference-free field of view for the lidar 31 and greatly reducing the blind zone of the lidar 31.

[0053] In one embodiment, reference is made to Figure 1 As shown, the sensing component also includes a base 7 located at the bottom of the housing 1. The base 7 is generally constructed as a shell structure and is used to connect the robot's body assembly. The crossbeam segment 61 of the protective beam 6 is disposed on the base 7. The base 7 forms a support platform to support the housing 1 and the protective beam 6, and also forms an installation structure, improving the connection strength between the sensing component and the body assembly.

[0054] In one embodiment, reference is made to Figure 1 and Figure 2As shown, the perception components also include a UWB module 8 (Ultra-Wideband Module), which is located on the top of the housing 1. The UWB module 8 is mainly used to compensate for the shortcomings of the vision module 2 and the radar module 3. In specific working scenarios, multiple positioning base stations can be deployed. The UWB module 8 can communicate with these positioning base stations to determine the robot's precise position in the working scenario in real time, maintain a certain distance from other moving objects, avoid collisions, and make the robot's positioning more stable and reliable.

[0055] Furthermore, the UWB module 8 is an optional module (or expansion module) for the robot in some cases. Therefore, the UWB module 8 is equipped with an independent housing. When the UWB module 8 is required, the housing of the UWB module 8 can be installed on the top outer surface of the top housing 13 by means of bolts or clips.

[0056] In one embodiment, reference is made to Figures 1 to 5 As shown, the sensing component also includes an indicator light module 9, which is located on the top of the housing 1. The indicator light module 9 generally includes a lampshade and an indicator light inside the lampshade. The indicator light module 9 is mainly used to convey the robot's operating status. Through different colors and flashing patterns, the indicator light module 9 can intuitively tell the user the robot's current working status.

[0057] Furthermore, the indicator light module 9 is embedded in the top housing 13.

[0058] In one embodiment, this application provides a robot that includes the sensing components of any of the above embodiments, as well as other necessary components for achieving walking movement and human-computer interaction.

[0059] Furthermore, the robot also includes a body assembly, which can be the robot's torso and is generally used to house components such as battery modules, control modules, and sensors. The body assembly is also used to connect the sensing components and the leg components.

[0060] Furthermore, the robot has two sensing components, which are connected one-to-one to opposite sides of the body assembly. Typically, after being connected to the body assembly, the two sensing components are located at the front and rear of the robot, respectively, eliminating the blind spot at the rear and achieving 360° omnidirectional perception.

[0061] It will be apparent to those skilled in the art that this disclosure is not limited to the details of the exemplary embodiments described above, and that this disclosure can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of this disclosure is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within this disclosure. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0062] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A sensing component for a robot, characterized in that, The sensing component includes: The housing (1) has a first accommodating space and a second accommodating space inside it. The housing (1) includes a first shell plate (111), on which a first opening communicating with the first accommodating space and a second opening communicating with the second accommodating space are formed. A vision module (2) is disposed in the first accommodating space. The vision module (2) includes a camera (21), and the camera end of the camera (21) is at least partially located in the first opening. A radar module (3) is disposed in the second accommodating space. The radar module (3) includes a lidar (31), and the detection end of the lidar (31) is at least partially located in the second opening.

2. The sensing component according to claim 1, characterized in that, The first shell plate (111) has a third opening that communicates with the first accommodating space. The vision module (2) also includes a fill light (22), the light-emitting end of which is at least partially located within the third opening.

3. The sensing component according to claim 2, characterized in that, The first opening, the third opening, and the second opening are arranged sequentially from top to bottom.

4. The sensing component according to claim 2, characterized in that, Two supplementary lights (22) are provided, and the distance between the central axes of the two supplementary lights (22) gradually increases in the light emission direction of the supplementary lights (22).

5. The sensing component according to claim 1, characterized in that, The sensing component also includes a protective cover (5) fitted around the periphery of the lidar (31). The protective cover (5) includes a protective part (51) located outside the housing (1). A first light-transmitting port for exposing the lidar (31) is formed on the protective part (51).

6. The sensing component according to claim 5, characterized in that, The protective part (51) includes two spherical crown structures (511) arranged around the central axis of the lidar (31), and a first light-transmitting port is formed between the two spherical crown structures (511).

7. The sensing component according to claim 6, characterized in that, One or more second light-transmitting ports are formed on the spherical cap structure (511).

8. The sensing component according to claim 1, characterized in that, The sensing component also includes a protective beam (6), which includes two horizontal beam segments (61) located on both sides of the housing (1) and extending toward the front of the housing (1), vertical beam segments (62) connected to the two horizontal beam segments (61) and extending upward, and a cross beam segment (63) connected to the top of the two vertical beam segments (62).

9. The sensing component according to claim 8, characterized in that, The vertical beam segment (62) extends upwards and in a direction away from the shell (1); and / or, The sensing component also includes a base (7) located at the bottom of the housing (1), and the protective beam (6) is located on the base (7). The base (7) is used to connect the robot's body components.

10. The sensing component according to claim 1, characterized in that, The sensing component also includes a UWB module (8) disposed on the top of the housing (1); and / or, The sensing component also includes an indicator light module (9) located on the top of the housing (1); and / or, The housing (1) includes a detachably connected front housing (11), a rear housing (12), and a top housing (13), with the first shell plate (111) formed on the front housing (11); and / or, The housing (1) further includes a connecting portion (122) disposed opposite to the first housing plate (111), the connecting portion (122) having one or more hole structures for installing bolts connecting the housing (1) and the fuselage assembly.

11. The sensing component according to claim 1, characterized in that, The sensing component also includes a wiring harness (4) electrically connected to the vision module (2) and / or the radar module (3). The housing (1) also includes a second housing plate (121) disposed opposite to the first housing plate (111). A wire hole is formed on the second housing plate (121), and the wiring harness (4) is led out to the outside of the housing (1) through the wire hole.

12. A robot, characterized in that, The robot includes a sensing component as described in any one of claims 1 to 11.

13. The robot according to claim 12, characterized in that, The robot also includes a body assembly, and the sensing components are provided in two pairs and are connected one-to-one to the opposite sides of the body assembly.

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