Perception module and robot

Abstract

The application provides a perception module and a robot, and relates to the technical field of robots.The perception module comprises a cover and a plurality of perception units.The cover comprises an enclosing part and a plurality of installation parts.The plurality of installation parts respectively protrude from the outer side wall of the enclosing part towards different directions.The installation parts surround an installation cavity.The enclosing part surrounds a containing cavity.The installation cavity and the containing cavity are in communication.The plurality of perception units correspond to the plurality of installation parts one by one, which enables the installation parts to position the perception units.Thus, the plurality of perception units are installed in the same cover through the cooperation of the enclosing part and the plurality of installation parts, which can improve the installation accuracy of the perception units, thereby ensuring the positioning accuracy of the robot.Compared with the independent installation and dismounting of a plurality of radar cameras, the perception module of the application can realize the installation and dismounting of a plurality of perception units at one time, thereby improving the convenience of dismounting and replacement.

Description

Technical Field

[0001] This application relates to the field of robotics, and in particular to a sensing module and a robot. Background Technology

[0002] With the development of robotics technology, robots are being used more and more widely. To ensure the safety and efficiency of autonomous robot operation, robots are generally equipped with radar cameras to identify their surrounding environment.

[0003] In existing robots, multiple radar cameras need to be independently installed to cover different angles and distances. However, these cameras need to be mounted separately at different locations on the robot using fasteners. This requires high installation precision, and a deviation in the position of even one camera can affect the robot's positioning accuracy. Furthermore, installing multiple cameras independently is time-consuming and labor-intensive. Utility Model Content

[0004] In view of this, this application provides a perception module and a robot to address, to some extent, the problem that a deviation in the position of a radar camera in a robot may affect the robot's positioning accuracy.

[0005] According to one aspect of this application, a sensing module is provided, the sensing module including a housing and a plurality of sensing units, the housing including an enclosing portion and a plurality of placement portions, the plurality of placement portions protruding from the outer side wall of the enclosing portion in different directions, the placement portions enclosing a placement cavity, the enclosing portion enclosing a receiving cavity, the placement cavity communicating with the receiving cavity, and the plurality of sensing units corresponding one-to-one with the plurality of placement portions.

[0006] Preferably, the sensing unit is a radar camera.

[0007] Preferably, for any one of the plurality of sensing units, the sensing portion of the sensing unit extends into the corresponding placement cavity, and the mounting and fixing portion of the sensing unit is located in the receiving cavity and connected to the surrounding portion.

[0008] Preferably, the cover further includes a fixing member, and each of the placement portions is provided with at least one fixing member, the fixing member protruding from the cavity wall of the receiving cavity toward the receiving cavity; Each of the aforementioned fasteners is provided with a corresponding fastener. The sensing unit abuts against the fastener, and the fastener passes through the sensing unit and is connected to the fastener.

[0009] Preferably, the placement part has a through opening, and the through opening communicates with the placement cavity; The cover also includes multiple sealing plates, each of which corresponds to one of the mounting portions. The sealing plates are connected to the corresponding mounting portions to close the through openings on the corresponding mounting portions.

[0010] Preferably, the included angle between the protruding directions of two adjacent placement portions in the plurality of placement portions is greater than or equal to 50 degrees and less than or equal to 70 degrees.

[0011] Preferably, the surrounding portion has an opening that communicates with the receiving cavity; The sensing module also includes a closure member that is detachably connected to the surrounding portion to close the opening.

[0012] Preferably, the sensing module further includes a seal disposed between the surrounding portion and the closure, the seal being compressed.

[0013] Preferably, each of the sensing units is connected to a connecting wire, and the closure has a wire-passing hole through which a portion of the connecting wire extends.

[0014] According to another aspect of this application, a robot is provided, the robot including the aforementioned perception module.

[0015] In the sensing module of this application, the sensing module includes a housing and multiple sensing units. The housing includes an enclosing portion and multiple mounting portions. The multiple mounting portions protrude from the outer wall of the enclosing portion in different directions. The mounting portions enclose mounting cavities, and the enclosing portion encloses receiving cavities. The mounting cavities and receiving cavities are connected. The multiple sensing units correspond one-to-one with the multiple mounting portions, which enables the mounting portions to position the sensing units. Thus, through the cooperation of the enclosing portion and the multiple mounting portions, multiple sensing units can be installed on the same housing, which improves the installation accuracy of the sensing units and thus ensures the positioning accuracy of the robot. Compared to the independent installation and removal of multiple radar cameras, the sensing module of this application can realize the installation and removal of multiple sensing units at one time, improving the convenience of disassembly, assembly, and replacement. Attached Figure Description

[0016] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 A schematic diagram of the three-dimensional structure of the sensing module is shown; Figure 2An exploded view from the perspective of the sensing module is shown; Figure 3 An exploded view showing another perspective of the perception module; Figure 4 A schematic diagram of the casing structure is shown; Figure 5 A schematic diagram of the sensing unit is shown; Figure 6 A schematic diagram showing the perspective of the three sensing units is provided. Figure 7 A three-dimensional structural diagram of the head assembly is shown; Figure 8 An exploded view of the head assembly is shown; Figure 9 A schematic diagram of the robot's structure is shown.

[0018] Icons: 100-Sensing module; 110-Sensing unit; 111-Base plate; 112-Stabilizing hole; 113-Camera; 114-Radar; 120-Cover; 121-Enclosure; 122-Hosting part; 123-Through port; 124-Fixed part; 125-Threaded hole; 130-Sealing part; 131-Wire hole; 140-Sealing part; 150-Sealing cover plate; 160-Bolt; 200-Head assembly; 210-Head cover; 211-Face shell; 212-Extension part; 213-Mounting port; 220-Bracket; 300-Robot body. Detailed Implementation

[0019] The following detailed embodiments are provided to help the reader gain a comprehensive understanding of the methods, apparatus, and / or systems described herein. However, various changes, modifications, and equivalents of the methods, apparatus, and / or systems described herein will be apparent after understanding the disclosure of this application. For example, the order of operations described herein is merely illustrative and is not limited to the order set forth herein; changes that will be apparent after understanding the disclosure of this application are possible, except for operations that must occur in a specific order. Furthermore, for clarity and brevity, descriptions of features known in the art may be omitted.

[0020] The features described herein may be implemented in different forms and should not be construed as being limited to the examples described herein. Rather, the examples described herein have been provided merely to illustrate some of the many feasible ways of implementing the methods, apparatus, and / or systems described herein that will be apparent upon understanding the disclosure of this application.

[0021] Throughout the specification, when an element (such as a layer, region, or substrate) is described as being "on" another element, "connected to" another element, "bonded to" another element, "on" another element, or "covering" another element, it may be directly "on" another element, "connected to" another element, "bonded to" another element, "on" another element, or "covering" another element, or there may be one or more other elements in between. In contrast, when an element is described as being "directly on" another element, "directly connected to" another element, "directly bonded to" another element, "directly on" another element, or "directly covering" another element, there may be no other elements in between.

[0022] As used herein, the term “and / or” includes any one of the relevant items listed and any combination of any two or more items.

[0023] Although terms such as “first,” “second,” and “third” may be used herein to describe individual components, assemblies, regions, layers, or parts, these components, assemblies, regions, layers, or parts are not limited by these terms. Rather, these terms are used only to distinguish one component, assembly, region, layer, or part from another. Therefore, without departing from the teachings of the examples described herein, the first component, assembly, region, layer, or part referred to as the second component, assembly, region, layer, or part may also be referred to as the second component, assembly, region, layer, or part.

[0024] For ease of description, spatial relation terms such as “above,” “upper,” “below,” and “lower” are used herein to describe the relationship between one element and another, as shown in the accompanying drawings. Such spatial relation terms are intended to include not only the orientation depicted in the drawings but also different orientations of the device during use or operation. For example, if the device in the drawings is flipped, an element described as being “above” or “upper” relative to another element will subsequently be “below” or “lower” relative to that other element. Therefore, the term “above” includes both “above” and “below” orientations depending on the spatial orientation of the device. The device may also be positioned in other ways (e.g., rotated 90 degrees or in other orientations), and the spatial relation terms used herein will be interpreted accordingly.

[0025] The terminology used herein is for the purpose of describing various examples only and is not intended to limit this disclosure. Unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. The terms “comprising,” “including,” and “having” enumerate the stated features, quantities, operations, components, elements, and / or combinations thereof, but do not exclude the presence or addition of one or more other features, quantities, operations, components, elements, and / or combinations thereof.

[0026] Variations in the shapes shown in the accompanying drawings may occur due to manufacturing techniques and / or tolerances. Therefore, the examples described herein are not limited to the specific shapes shown in the accompanying drawings, but include changes in shape that may occur during manufacturing.

[0027] The features of the examples described herein can be combined in various ways that will be apparent upon understanding the disclosure of this application. Furthermore, although the examples described herein have a wide variety of constructions, other constructions are possible, as will be apparent upon understanding the disclosure of this application.

[0028] According to one aspect of this application, a sensing module 100 is provided, such as... Figures 1 to 6 As shown, the sensing module 100 includes a housing 120 and multiple sensing units 110. The housing 120 includes an enclosing portion 121 and multiple mounting portions 122. The mounting portions 122 protrude from the outer wall of the enclosing portion 121 in different directions. The mounting portions 122 enclose a mounting cavity, and the enclosing portion 121 encloses a receiving cavity. The mounting cavity and the receiving cavity are connected. Each sensing unit 110 corresponds one-to-one with a mounting portion 122, enabling the mounting portion 122 to position the sensing unit 110. Thus, through the cooperation of the enclosing portion 121 and the multiple mounting portions 122, multiple sensing units 110 can be installed on the same housing 120, which improves the installation accuracy of the sensing units 110 and thus ensures the positioning accuracy of the robot. Compared to the independent installation and removal of multiple radar cameras, the sensing module 100 of this application can realize the installation and removal of multiple sensing units 110 at one time, improving the convenience of installation, removal, and replacement.

[0029] In the embodiments of this application, such as Figure 3 and Figure 4 As shown, the surrounding portion 121 has a hollow structure, thereby enclosing a receiving cavity. An opening is formed on the surrounding portion 121, which communicates with the receiving cavity. Thus, the sensing unit 110 can be installed into the interior of the surrounding portion 121 through the opening. For any one of the plurality of sensing units 110, the sensing part of the sensing unit 110 extends into the corresponding placement cavity, and the mounting and fixing part of the sensing unit 110 is located in the receiving cavity and connected to the surrounding portion 121, thereby fixing the sensing module 100.

[0030] Preferably, the sensing unit 110 is a radar camera. In this case, the sensing part includes a camera 113 and a radar 114, and the mounting and fixing part includes a base plate 111. The radar 114 and the camera 113 are both mounted on the base plate 111. The base plate 111 is located in the receiving cavity, and the radar 114 and the camera 113 extend into the corresponding mounting cavity.

[0031] Furthermore, such as Figure 3 and Figure 4 As shown, the housing 120 also includes a fixing member 124, which is block-shaped and protrudes from the inner wall of the surrounding portion 121 toward the receiving cavity. Each placement portion 122 is provided with at least one fixing member 124, and the portion of the sensing unit 110 located in the receiving cavity abuts against the placement portion 122. Each fixing member 124 is provided with a fastener, which passes through the sensing unit 110 and is threadedly connected to the fixing member 124, thereby fixing the sensing unit 110.

[0032] Preferably, the fastener is a bolt 160, and the fixing member 124 has a threaded hole 125 that mates with the fastener. The base plate 111 of the sensing unit 110 has a stabilizing hole 112. By passing the fastener through the stabilizing hole 112 and into the threaded hole 125 on the fixing member 124, the sensing unit 110 can be installed.

[0033] Optionally, each mounting part 122 is provided with a plurality of fasteners 124, which are arranged around the mounting part 122.

[0034] Preferably, each mounting portion 122 is provided with four fasteners 124, wherein two fasteners 124 protrude downward from the upper wall of the surrounding portion 121, and the other two fasteners 124 protrude upward from the lower wall of the surrounding portion 121.

[0035] In the embodiments of this application, the angle between the protruding directions of two adjacent placement portions 122 is greater than or equal to 50 degrees and less than or equal to 70 degrees. Thus, by defining the protruding direction of the placement portions 122, the orientation of the sensing unit 110 can be limited, ensuring that the angle between the frontal faces of two adjacent sensing units 110 is greater than or equal to 50 degrees and less than or equal to 70 degrees, thereby guaranteeing the spectral coverage effect of the multiple sensing units 110.

[0036] Preferably, there are three sensing units 110 and three mounting portions 122. The angle between the protruding directions of two adjacent mounting portions 122 is 60 degrees. At this time, the angle between the front faces of two adjacent sensing units 110 is 60 degrees. The relative positions of the viewing angle ranges of the three sensing units 110 are as follows: Figure 6 As shown, the sensing module 100 covers at least 180° of the robot's front face.

[0037] like Figure 3 and Figure 4 As shown, the mounting section 122 has multiple through-holes 123, which communicate with the mounting cavity. The positions of the through-holes 123 correspond to the positions of the sensing parts in the sensing unit 110 to ensure the normal operation of the sensing unit 110. When the sensing unit 110 is a radar camera, there can be three through-holes 123. The position of the middle through-hole 123 corresponds to the position of the camera 113, and the positions of the through-holes 123 on both sides correspond to the radar to ensure the normal operation of the radar camera 113.

[0038] Furthermore, the housing 120 also includes multiple sealing covers 150, the number of which is the same as the number of mounting portions 122, and each sealing cover 150 corresponds to a mounting portion 122. The sealing cover 150 is connected to the corresponding mounting portion 122, thereby closing the through opening 123 on the mounting portion 122. In this way, the sealing cover 150 can protect the sensing unit 110 from direct external impact, thereby reducing the risk of damage to the sensing unit 110.

[0039] Preferably, the cover plate 150 can be a glass plate.

[0040] Alternatively, the fastener 124, the surrounding portion 121, and the mounting portion 122 may be integrally formed.

[0041] It should be noted that, although Figures 2 to 5 The diagram shows that the enclosure 121 is in the form of a frustum shape. However, the shape of the enclosure 121 is not limited to this. The shape of the enclosure 121 can be adaptively adjusted based on the shape of the headgear 210 for mounting the camera module, while ensuring the positioning accuracy of the robot, so as to meet the appearance requirements of different robots.

[0042] In the embodiments of this application, such as Figure 2 and Figure 3 As shown, the housing 120 also includes a closure 130, which is plate-shaped and detachably connected to the surrounding portion 121 so that the closure 130 can close the opening of the surrounding portion 121. Thus, the sensing unit 110 can be installed and removed by separating the surrounding portion 121 from the closure 130, which improves the ease of installation of the sensing unit 110.

[0043] Optionally, both the closure 130 and the cover 120 are provided with connection holes, so that the cover 120 and the closure 130 can be connected by bolts 160.

[0044] Furthermore, the sensing module 100 also includes a seal 140, which is disposed between the surrounding portion 121 and the closing member 130 and is compressed. Thus, the seal 140 achieves a seal between the surrounding portion 121 and the closing member 130, thereby providing a waterproof effect.

[0045] Alternatively, the seal 140 can be a sealing strip.

[0046] In addition, each sensing unit 110 is connected to a connecting wire, and the closure 130 has a wire hole 131 through which part of the connecting wire extends out, so that the sensing unit 110 can be connected to the outside through the connecting wire.

[0047] According to another aspect of this application, a robot is provided, which includes the aforementioned perception module 100 and has the same technical effects as the aforementioned perception module 100, which will not be described again here.

[0048] Furthermore, such as Figure 7 , Figure 8 and Figure 9 As shown, the robot includes a head assembly 200, which includes a head cover 210 and a support 220. The head cover 210 has a mounting port 213. The support 220 is connected to the head cover 210. A surrounding part 121 is disposed inside the head cover 210, and a placement part 122 is exposed outside the head cover 210 through the mounting port 213 to meet the working requirements of the sensing module 100.

[0049] Optionally, the sensing module 100 and the head assembly 200 can be locked together with screws.

[0050] In addition, the robot also includes a robot body 300, and a bracket 220 can be connected to the robot body 300 by means of bolts 160, snap-fit, or other methods. The entire head assembly 200 has a modular design, which facilitates the assembly and disassembly of the head assembly 200 from the robot body 300.

[0051] Optionally, the headgear 210 includes a face shell 211 and an extension 212. The face shell 211 and the extension 212 can be integrally formed. The face shell 211 has an installation port 213. The extension 212 can be connected to the bracket 220 by means of bolts 160, snap-fit, etc.

[0052] It should be noted that, although Figure 7 and Figure 8 The diagram shows the headgear 210 in the form of a face shell 211 and an extension 212. However, the form of the headgear 210 is not limited to this. Its specific shape can be adaptively adjusted based on the robot's appearance requirements without affecting the robot's positioning accuracy. At this time, the shape of the support 220 can also be adjusted based on the shape of the headgear 210.

[0053] Optionally, the robot can be a quadruped robot, a bipedal robot, etc. When the robot is a quadruped robot, the sensing module 100 is installed in the head component 200 of the quadruped robot. When the robot is another type of robot, the sensing module 100 can be installed in different positions based on the robot's own needs to meet the usage requirements of different robots.

[0054] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model, and are not intended to limit it. Although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this utility model.

Claims

1. A sensing module, characterized in that, The sensing module includes a housing and multiple sensing units. The housing includes an enclosing portion and multiple placement portions. The multiple placement portions are oriented in different directions from the outer side wall of the enclosing portion. The placement portions enclose a placement cavity, and the enclosing portion encloses a receiving cavity. The placement cavity and the receiving cavity are in communication. The multiple sensing units correspond one-to-one with the multiple placement portions.

2. The sensing module according to claim 1, characterized in that, The sensing unit is a radar camera.

3. The sensing module according to claim 1 or 2, characterized in that, For any one of the plurality of sensing units, the sensing part of the sensing unit extends into the corresponding placement cavity, and the mounting and fixing part of the sensing unit is located in the receiving cavity and connected to the surrounding part.

4. The sensing module according to claim 1, characterized in that, The cover also includes a fixing member, and each of the placement portions is provided with at least one fixing member, the fixing member protruding from the cavity wall of the receiving cavity toward the receiving cavity; Each of the aforementioned fasteners is provided with a corresponding fastener. The sensing unit abuts against the fastener, and the fastener passes through the sensing unit and is connected to the fastener.

5. The sensing module according to claim 1, characterized in that, The placement part has a through opening, and the through opening communicates with the placement cavity; The cover also includes multiple sealing plates, each of which corresponds to one of the mounting portions. The sealing plates are connected to the corresponding mounting portions to close the through openings on the corresponding mounting portions.

6. The sensing module according to claim 1, characterized in that, The included angle between any two adjacent placement portions in the plurality of placement portions is greater than or equal to 50 degrees and less than or equal to 70 degrees.

7. The sensing module according to claim 1, characterized in that, The surrounding portion has an opening that communicates with the receiving cavity; The sensing module also includes a closure member that is detachably connected to the surrounding portion to close the opening.

8. The sensing module according to claim 7, characterized in that, The sensing module also includes a seal disposed between the surrounding portion and the closure, and the seal is compressed.

9. The sensing module according to claim 7, characterized in that, Each of the sensing units is connected to a connecting wire, and the closure has a wire-passing hole through which a portion of the connecting wire extends.

10. A robot, characterized in that, The robot includes the perception module as described in any one of claims 1-7.

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