A sensor arrangement for a head and neck

Abstract

The utility model provides a kind of arrangement structure of sensor and head and neck, including head, neck and sensor, the neck is connected between the head and torso, and the lower part of the neck is inclined forward, so that the front side of the neck and the chin between the head form the arrangement space of forward opening;The sensor is housed in the arrangement space;On horizontal plane, the blocking angle of the neck to the circumferential visual angle of the sensor is less than 90 °, reduces the blocking of neck structure to sensor, to significantly improve the environmental perception ability of robot.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, and in particular to a sensor arrangement structure for the head and neck. Background Technology

[0002] With advancements in artificial intelligence and robotics, humanoid robots have found widespread application in various scenarios, including reception, tour guiding, and educational assistance. To achieve autonomous movement, environmental perception, and interaction, integrating high-performance sensors (such as LiDAR) into the robot's head has become a key technology. The core function of LiDAR is to accurately detect the areas directly in front of and to the sides, which is fundamental for the robot's safe navigation and obstacle avoidance.

[0003] In the prior art, a common solution is to embed the sensor in the robot's neck. For example, Chinese patent document CN222755459U discloses a head and neck structure for a humanoid robot, in which a lidar is placed in the neck space formed by a front neck support and a rear neck support.

[0004] Although the solution takes into account avoiding obstruction by the head structure, the front neck support located directly in front of the lidar will severely obstruct its most important forward perception field of view, greatly weakening the core function of the lidar and posing a serious threat to the robot's forward movement and obstacle avoidance safety. Utility Model Content

[0005] The purpose of this invention is to address the shortcomings of existing technologies by providing a sensor and head and neck arrangement structure that reduces the obstruction of the sensor (especially the front and side areas) by the neck structure, thereby significantly improving the robot's environmental perception capabilities.

[0006] To achieve the above objectives, this utility model provides the following technical solution: A sensor arrangement structure in the head and neck region, comprising: head; The neck connects the head and the torso, and the lower part of the neck is tilted forward, so that a forward-open arrangement space is formed between the front side of the neck and the chin of the head. A sensor, wherein the sensor is housed within the arrangement space; Specifically, on the horizontal plane, the occlusion angle of the neck on the circumferential view of the sensor is less than 90°.

[0007] In a preferred embodiment, the neck includes: At least one neck side plate, the neck side plate including a neck vertical plate and a neck inclined plate, the neck vertical plate being connected between the head and the neck inclined plate, and the neck inclined plate being connected between the neck vertical plate and the torso; The connection between the neck ramp and the torso is located in front of the connection between the neck ramp and the neck vertical plate.

[0008] In a preferred embodiment, the number of neck side plates is two, and the two neck side plates are spaced apart.

[0009] In a preferred embodiment, the two neck side plates are arranged symmetrically about the axis of the sensor.

[0010] In a preferred embodiment, the neck also includes: The upper neck plate is connected to the upper ends of the two neck side plates on both sides, and is connected to the head. The upper neck plate is located above the sensor. The lower neck plate is connected to the lower ends of the two neck side plates on both sides, and is connected to the torso. The lower neck plate is located below the sensor.

[0011] As a preferred embodiment, it also includes: A first motor, the housing of which is fixed to the torso, and the output shaft of which is connected to the lower neck plate, are used to drive the neck and the head to rotate about the axis of the first motor.

[0012] As a preferred embodiment, it also includes: A second motor is embedded in the head, the housing of the second motor is connected to the upper plate of the neck, and the output shaft of the second motor is connected to the head for driving the head to rotate around the axis of the second motor. The axis of the second motor is perpendicular to the axis of the first motor.

[0013] In a preferred embodiment, the sensor is fixed to the chin of the head.

[0014] In a preferred embodiment, the sensor includes: A base, which is embedded in the head, and the base overlaps the neck vertical plate in the vertical direction; An optical window is located below the base and exposed to the outside. The optical window is spherical, and at least a portion of the optical window is higher than the upper end of the neck ramp.

[0015] In a preferred embodiment, the sensor includes a lidar or a camera.

[0016] Compared with existing technologies, this technical solution has the following advantages: Because the sensor is positioned on the front of the neck, rather than being built into the neck as in the prior art, the neck avoids obstructing the key sensing area directly in front of the sensor.

[0017] On the horizontal plane, the occlusion angle of the neck on the circumferential view of the sensor is limited to within 90°, reducing the blind spots on both sides and greatly improving the robot's navigation and obstacle avoidance safety. Attached Figure Description

[0018] Figure 1 This is a schematic diagram showing the arrangement of the sensor with the head and neck and the assembly with the torso of the present invention. Figure 2 This is a schematic diagram of the arrangement of the sensor and the head and neck according to the present invention; Figure 3 This is a front view of the arrangement structure of the sensor and head and neck described in this utility model; Figure 4 for Figure 3 Sectional view along the AA direction; Figure 5 for Figure 3 Sectional view along the BB direction; Figure 6 This is a schematic diagram of the assembly of the head support and neck support described in this utility model; Figure 7 This is a schematic diagram of the neck structure described in this utility model.

[0019] In the diagram: 100 Head, 110 Head support, 111 First head side plate, 112 Second head side plate, 113 Head base plate, 114 Head top plate, 120 Head shell, 121 Opening, 130 Motor support, 131 First motor side plate, 132 Second motor side plate, 133 Motor enclosure, 134 Motor ramp, 135 Motor base plate, 200 Neck, 200a Arrangement space, 210 Neck side plate, 211 Neck vertical plate, 212 Neck ramp, 220 Neck upper plate, 230 Neck lower plate, 300 Torso, 400 Sensor, 410 Base, 420 Optical window, 510 First motor, 520 Second motor. Detailed Implementation

[0020] The following description is intended to disclose the present invention so that those skilled in the art can implement it. The preferred embodiments described below are merely examples, and other obvious variations will occur to those skilled in the art. The basic principles of the present invention defined in the following description can be applied to other embodiments, modifications, improvements, equivalents, and other technical solutions that do not depart from the spirit and scope of the present invention.

[0021] Please refer to Figure 1An embodiment of this utility model provides a sensor arrangement structure in the head and neck region, comprising: Head 100; Neck 200, which is connected between head 100 and torso 300, and the lower part of neck 200 is tilted forward, so that a forward-open arrangement space 200a is formed between the front side of neck 200 and the chin of head 100. Sensor 400, which is housed within the arrangement space 200a; Specifically, on the horizontal plane, the occlusion angle of the neck 200 on the circumferential viewing angle of the sensor 400 is less than 90°.

[0022] The upper end of the neck 200 is connected to the rear side of the head 100, while the lower end extends towards the middle of the torso 300, thus forming a forward-sloping lower part of the neck 200. This allows the front surface of the neck 200 and the lower region of the head 100 to jointly define a forward-open arrangement space 200a. "Forward-open" means that within the horizontal forward field of view of the sensor 400, there are no structural obstructions in front of the arrangement space 200a.

[0023] The sensor 400 is housed within the arrangement space 200a. Because the sensor 400 is positioned on the front side of the neck 200, rather than being built into the neck as in the prior art, the neck 200 avoids obstruction of the critical sensing area directly in front of the sensor 400.

[0024] On the horizontal plane, the occlusion angle of the neck 200 on the circumferential view of the sensor 400 is limited to within 90°. This design ensures that the sensor 400 has a maximum effective sensing range of at least 270°, reduces the sensing blind spots on both sides, and greatly improves the robot's navigation and obstacle avoidance safety.

[0025] like Figure 2 and Figure 7 As shown, the neck 200 includes: At least one neck side plate 210, the neck side plate 210 including a neck vertical plate 211 and a neck inclined plate 212, the neck vertical plate 211 being connected between the head 100 and the neck inclined plate 212, and the neck inclined plate 212 being connected between the neck vertical plate 211 and the torso 300.

[0026] The upper end of the neck vertical plate 211 is connected to the rear side of the head 100, and the front side of the head 100 is the robot's face. The lower end of the neck vertical plate 211 is connected to the upper end of the neck inclined plate 212, and the lower end of the neck inclined plate 212 is connected to the middle position of the torso 300. The middle position refers to the middle area from the front side to the rear side of the torso 300.

[0027] It should be noted that connecting the lower end of the neck ramp 212 to the middle of the torso 300 is for the sake of overall structural stability. The connection position of the neck ramp 212 to the torso 300 is closer to the center of gravity projection area of ​​the torso 300, which can significantly shorten the lever arm of the neck support structure, thereby reducing the overturning moment generated by the head 100 when it moves or is subjected to external forces, effectively enhancing stability and preventing violent shaking or tipping.

[0028] The neck vertical plate 211 and the neck inclined plate 212 can be integrally formed, and the neck side plate 210 can be made of rigid materials such as metal and high-strength engineering plastics, such as aluminum alloy.

[0029] The connection point between the neck ramp 212 and the torso 300 is located in front of the connection point between the neck ramp 212 and the neck vertical plate 211. This causes the neck ramp 212 to be tilted forward, thereby forming an L-shaped neck 200 together with the neck vertical plate 211, and creating the required arrangement space 200a between it and the chin of the head 100.

[0030] Preferably, the included angle between the neck inclined plate 212 and the neck vertical plate 211 is 120°-150°, so as to achieve the best balance between ensuring structural stability and obtaining the maximum arrangement space.

[0031] like Figure 3 and Figure 4 As shown, the thickness of the neck side plate 210 not only affects the overall mechanical strength of the neck 200, but also determines the occlusion angle of the sensor 400's circumferential viewing angle. Therefore, this embodiment designs two neck side plates 210 arranged at intervals. The thickness of each neck side plate 210 is designed to meet the minimum requirement for structural safety under rated load, while the distance between the two neck side plates 210 forms a gap that provides a rearward viewing angle for the sensor 400.

[0032] refer to Figure 6The distance from the front to the rear of the neck side plate 210 is significantly greater than the thickness of the neck side plate 210, ensuring that the neck 200 has sufficient bending strength. Simultaneously, the two neck side plates 210 are located on the rear side of the sensor 400 and are symmetrically arranged about the axis of the sensor 400, avoiding any obstruction of the left and right sides of the sensor 400 by the neck side plates 210.

[0033] Continue to refer to Figure 4 Each of the neck side plates 210 is designed to have an occlusion angle (denoted as a) of less than 45° in the circumferential field of view of the sensor 400, which ensures that the total occlusion angle generated by the two neck side plates 210 is less than 90°, thereby providing a structural guarantee for the sensor 400 to achieve an effective field of view of at least 270°.

[0034] like Figures 5 to 7 As shown, the neck 200 further includes: The upper neck plate 220 is connected to the upper ends of the two neck side plates 210 on both sides, the upper neck plate 220 is connected to the head 100, and the upper neck plate 220 is located above the sensor 400. The lower neck plate 230 is connected to the lower ends of the two neck side plates 210 on both sides, and is connected to the torso 300. The lower neck plate 230 is located below the sensor 400.

[0035] The upper neck plate 220, the lower neck plate 230, and the two neck side plates 210 constitute a complete frame neck 200, providing stable support for the head 100.

[0036] like Figure 1 and Figure 2 As shown, the arrangement structure of the sensor and the head and neck also includes: A first motor 510, the housing of which is fixed to the torso 300, and the output shaft of which is connected to the lower neck plate 230, are used to drive the neck 200 and the head 100 to rotate around the axis of the first motor 510.

[0037] The first motor 510 is embedded in the torso 300 and is arranged vertically. In this way, the first motor 510 drives the neck 200 and the head 100 to rotate horizontally around the vertical axis, that is, the head 100 rotates left and right. At the same time, the sensor 400 also rotates horizontally with the head 100.

[0038] like Figure 5 and Figure 6As shown, the head 100 includes a head support 110 and a head shell 120. The head shell 120 covers the head support 110. An opening 121 is provided at the bottom of the head shell 120. The upper end of the neck 200 passes through this opening 121 and is connected to the head support 110.

[0039] The sensor 400 can be fixed to the chin of the head 100, that is, the sensor 400 can also be accommodated in the area of ​​the card hole 121 and fixed to the head support 110.

[0040] like Figure 5 and Figure 6 As shown, taking lidar as an example, the sensor 400 includes: The base 410 is embedded in the head 100 and connected to the head support 110. The base 410 contains a laser emitter, a receiver, a scanning module, etc. An optical window 420 is spherical and is located below the base 410 and exposed to the outside. The optical window 420 provides an optical channel for the emission and return signals of the laser beam.

[0041] The base 410 is enclosed by the head shell 120, while the optical window 420 protrudes outside the head shell 120, directly facing the external environment. The sensor 400 can also be a camera.

[0042] like Figure 5 As shown, the base 410 overlaps with the neck vertical plate 211 in the vertical direction, and at least a portion of the optical window 420 is higher than the upper end of the neck inclined plate 212 to prevent the optical window 420 from being installed too low and causing structural interference with the neck inclined plate 212 and the torso 300.

[0043] like Figures 5 to 7 As shown, the arrangement structure of the sensor and the head and neck also includes: The second motor 520 is embedded in the head 100. The housing of the second motor 520 is connected to the upper neck plate 220. The output shaft of the second motor 520 is connected to the head 100 and is used to drive the head 100 to rotate around the axis of the second motor 520. The axis of the second motor 520 is perpendicular to the axis of the first motor 510.

[0044] The output shaft of the second motor 520 is connected to the head support 110 of the head 100, driving the head support 110 and the head shell 120 to rotate around the axis of the second motor 520, thus realizing the up-and-down swaying of the head 100. The sensor 400 sways up and down with the head 100.

[0045] like Figure 7 As shown, the second motor 520 is mounted on the upper neck plate 220 via a motor bracket 130. The motor bracket 130 includes: First motor side plate 131; The second motor side plate 132, the second motor 520 is held between the first motor side plate 131 and the second motor side plate 132, the housing of the second motor 520 is connected to the second motor side plate 132, and the output shaft of the second motor 520 passes through the second motor side plate 132. Motor enclosure 133 is disposed around the second motor 520 and connected between the first motor side plate 131 and the second motor side plate 132; Motor inclined plate 134, the motor inclined plate 134 is connected between the motor enclosure plate 133 and the motor base plate 135; Motor base plate 135, which is fixed to the neck upper plate 220.

[0046] like Figure 6 As shown, the head support 110 includes: First head side plate 111; Second head side plate 112; A head base plate 113 is connected between the first head side plate 111 and the second head side plate 112. A top head plate 114 is connected between the first head side plate 111 and the second head side plate 112.

[0047] The sensor 400 is fixed to the lower surface of the head base plate 113. The first head side plate 111 is located outside the first motor side plate 131. A frustum is provided on the outer side of the first motor side plate 131, and a circular hole is provided on the first head side plate 111. The frustum and the circular hole cooperate to achieve a rotatable connection. The second head side plate 112 is located outside the second motor side plate 132, and the second head side plate 112 is connected to the output shaft of the second motor 520. In this way, the second motor 520 drives the head support 110, the head shell 120, and the sensor 400 to rotate.

[0048] It should be noted that the frustum is coaxially arranged with the second motor 520 to ensure the stability of the rotation of the head support 110, etc.

[0049] Unless otherwise specified, the “connection” or “fixation” of the components in this utility model can be achieved by conventional technical means in the field, such as bolt connection, screw connection, welding, riveting or snap connection, and should not be construed as a limitation of this utility model. In summary, a forward-open arrangement space 200a is formed below the head 100 and in front of the neck 200, while the occlusion angle of the neck 200 is less than 90°, reducing the obstruction of the sensor 400's horizontal forward field of view. The sensor 400 can rotate with the first motor 510 and the second motor 520, thus obtaining a wider field of view.

[0050] The embodiments described above are only used to illustrate the technical ideas and features of this utility model. Their purpose is to enable those skilled in the art to understand the content of this utility model and implement it accordingly. The scope of patent application of this utility model should not be limited by these embodiments. That is, any equivalent changes or modifications made in accordance with the spirit disclosed in this utility model still fall within the patent scope of this utility model.

Claims

1. A sensor arrangement structure in the head and neck region, characterized in that, include: Head (100); The neck (200) is connected between the head (100) and the torso (300), and the lower part of the neck (200) is tilted forward, so that a forward-open arrangement space (200a) is formed between the front side of the neck (200) and the chin of the head (100). A sensor (400) is housed within the arrangement space (200a); In the horizontal plane, the occlusion angle of the neck (200) on the circumferential view of the sensor (400) is less than 90°.

2. The sensor arrangement structure with the head and neck as described in claim 1, characterized in that, The neck (200) includes: At least one neck side plate (210), the neck side plate (210) including a neck upright plate (211) and a neck inclined plate (212), the neck upright plate (211) being connected between the head (100) and the neck inclined plate (212), and the neck inclined plate (212) being connected between the neck upright plate (211) and the torso (300); The connection between the neck ramp (212) and the torso (300) is located in front of the connection between the neck ramp (212) and the neck vertical plate (211).

3. The sensor arrangement structure with the head and neck as described in claim 2, characterized in that, The number of the neck side plates (210) is two, and the two neck side plates (210) are spaced apart.

4. The sensor arrangement structure with the head and neck as described in claim 3, characterized in that, The two neck side plates (210) are arranged symmetrically about the axis of the sensor (400).

5. The sensor arrangement structure with the head and neck as described in claim 3, characterized in that, The neck (200) also includes: The upper neck plate (220) is connected to the upper ends of the two neck side plates (210) on both sides respectively. The upper neck plate (220) is connected to the head (100) and is located above the sensor (400). The lower neck plate (230) is connected to the lower ends of the two neck side plates (210) on both sides, and is connected to the torso (300). The lower neck plate (230) is located below the sensor (400).

6. The sensor arrangement structure with the head and neck as described in claim 5, characterized in that, Also includes: A first motor (510) is fixed to the torso (300) with its housing attached. The output shaft of the first motor (510) is connected to the lower neck plate (230) for driving the neck (200) and the head (100) to rotate around the axis of the first motor (510).

7. The sensor arrangement structure with the head and neck as described in claim 6, characterized in that, Also includes: The second motor (520) is embedded in the head (100), the housing of the second motor (520) is connected to the upper neck plate (220), and the output shaft of the second motor (520) is connected to the head (100) for driving the head (100) to rotate around the axis of the second motor (520). The axis of the second motor (520) is perpendicular to the axis of the first motor (510).

8. The sensor arrangement structure with the head and neck as described in claim 2, characterized in that, The sensor (400) is fixed to the chin of the head (100).

9. The sensor arrangement structure with the head and neck as described in claim 8, characterized in that, The sensor (400) includes: A base (410) is embedded in the head (100), and the base (410) overlaps with the neck upright plate (211) in the vertical direction; An optical window (420) is located below the base (410) and exposed to the outside. The optical window (420) is spherical and at least a portion of the optical window (420) is higher than the upper end of the neck ramp (212).

10. The sensor arrangement structure with the head and neck as described in claim 1, characterized in that, The sensor (400) includes a lidar or a camera.

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