CN214795211U

CN214795211U - Robot sensor and robot

Info

Publication number: CN214795211U
Application number: CN202120418268.2U
Authority: CN
Inventors: 李少海; 钱亮; 李昂; 郭盖华
Original assignee: Shenzhen LD Robot Co Ltd
Current assignee: Shenzhen LD Robot Co Ltd
Priority date: 2021-02-25
Filing date: 2021-02-25
Publication date: 2021-11-19
Anticipated expiration: 2031-02-25

Abstract

The utility model discloses a robot sensor and a robot, which comprises a control circuit board, a transmitter, a first receiver and a second receiver; the transmitter, the first receiver and the second receiver are all electrically connected with the control circuit board; the first receiver receives signals transmitted by the transmitter and reflected by an obstacle, and the second receiver is used for receiving external signals. The second receiver for receiving an external signal instruction, the transmitter for transmitting the obstacle avoidance detection signal outwards and the first receiver for receiving the obstacle avoidance detection signal reflected by the obstacle are integrally arranged on the control circuit board, so that the device can receive the internal and external signals. And the control system and the hardware structure of the robot are simplified, thereby reducing the production cost.

Description

Robot sensor and robot

Technical Field

The utility model belongs to the technical field of the sensor technique and specifically relates to indicate a robot sensor and robot.

Background

With the continuous improvement of modern technology level, more and more robots enter the lives of people, and the production and living efficiency of people is greatly improved.

Obstacle avoidance sensors and signal receiving sensors are generally used on the robots in the prior art. Obstacle avoidance sensors and signal receiving sensors are multiple and are respectively arranged at different positions of the robot, namely the obstacle avoidance sensors and the signal receiving sensors are designed in a split mode, the arrangement can complicate a control system and a hardware structure, and meanwhile, the production cost can be increased.

SUMMERY OF THE UTILITY MODEL

An object of the embodiment of the application is to provide a robot sensor and a robot, and the problem of how to simplify the structure and reduce the cost is solved. To achieve the object.

The technical scheme adopted by the application is as follows: providing a robot sensor comprising a control circuit board, a transmitter, a first receiver and a second receiver; the transmitter, the first receiver and the second receiver are all electrically connected with the control circuit board; the first receiver receives signals transmitted by the transmitter and reflected by an obstacle, and the second receiver is used for receiving external signals.

In one embodiment, the second receiver is located between the transmitter and the first receiver.

In one embodiment, the transmitter, the first receiver and the second receiver are all located on the same side of the board surface of the control circuit board.

In one embodiment, the transmitter is an infrared laser and correspondingly, the first receiver is an optical receiver.

In one embodiment, the infrared laser is a line laser or a spot laser.

In one embodiment, the inline laser is perpendicular to the working plane of the robot.

In one embodiment, the first receiver and the second receiver have different receive bands.

In one embodiment, the second receiver is an infrared receiver that receives an external infrared encoded signal.

In one embodiment, the transmitter, the first receiver and the second receiver are all vertically arranged on the control circuit board.

Another object of the present invention is to provide a robot, including the robot sensor, the robot sensor is installed in the side of the robot.

The beneficial effect of this application lies in: the second receiver for receiving an external signal instruction, the transmitter for transmitting the obstacle avoidance detection signal outwards and the first receiver for receiving the obstacle avoidance detection signal reflected by the obstacle are integrally arranged on the control circuit board, so that the device can receive the internal and external signals. And the control system and the hardware structure of the robot are simplified, thereby reducing the production cost.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.

FIG. 1 is a perspective view of a preferred embodiment of the present invention;

fig. 2 is an exploded view of the preferred embodiment of the present invention.

Wherein, in the figures, the respective reference numerals:

10. control circuit board 11 and mounting hole

20. Transmitter 30, first receiver

40. A second receiver.

Detailed Description

In order to make the technical problems, technical solutions and advantageous effects to be solved by the present application clearer, the present application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.

It will be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like, as used herein, refer to an orientation or positional relationship indicated in the drawings that is solely for the purpose of facilitating the description and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be considered as limiting the present application.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", may explicitly or implicitly include one or more of the described features. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.

Referring to fig. 1 and 2, an embodiment of the present invention provides a robot sensor including a control circuit board 10, a transmitter 20, a first receiver 30, and a second receiver 40.

The transmitter 20, the first receiver 30 and the second receiver 40 are all electrically connected to the control circuit board 10. The second receiver 40 is used for receiving external signals; the transmitter 20 transmits an obstacle avoidance detection signal to the outside to sense an obstacle. The first receiver 30 is configured to receive the obstacle avoidance detection signal reflected back by the obstacle. By integrally arranging the transmitter 20 and the first and

second receivers

30 and 40 on the control circuit board 10, the hardware structure and the control system of the robot are simplified, thereby saving the production cost.

In one embodiment, the second receiver 40 is located between the transmitter 20 and the first receiver 30. Since the transmitter 20 and the first receiver 30 perform ranging based on the principle of triangulation, the distance between the transmitting and receiving devices is far enough to improve the ranging accuracy. Of course, the transmitter 20 and the first receiver 30 may be disposed on the control circuit board 10 in a close arrangement, and when the inclination angle of the light emitted by the transmitter 10 is large, the influence on the receiving effect of the first receiver 30 is relatively small even when the transmitting and receiving installation distances are relatively close.

The emitter 20, the first receiver 30 and the second receiver 40 are all located on the same side of the control circuit board 10, and the second receiver 40 is located between the emitter 20 and the first receiver 30, so that the same side of the element is arranged, and the processing and the production are facilitated.

In one embodiment, the control circuit board 10 has two mounting holes 11 formed therethrough, and the mounting holes 11 are used for connecting screws to pass through so as to screw the control circuit board to other structural members. And two mounting holes 11 are arranged diagonally, and mounting holes 11 are diagonally arranged, and the screw passes through and fixes more firmly.

In one embodiment, the transmitter 20 is an infrared laser and correspondingly, the first receiver 30 is an optical receiver. The transmitter 20 emits a transverse or longitudinal line laser beam, which, when it strikes an obstacle, enables the line lidar to perform ranging. The reflected transverse or longitudinal line laser light is simultaneously collected by the first receiver 30, i.e. a sample of the collected data is added. The samples of the collected data are fed back to the control circuit board 10, and then the distance between the obstacle and the robot is calculated by the control circuit board 10 according to the samples of the collected data through preset parameters.

Optionally, the infrared laser is a line laser or a point laser, and of course, the infrared laser is not limited to the line laser or the point laser, and may also be a laser with other structures. When the infrared laser is a linear laser, the linear laser is parallel or vertical to the working plane of the robot. At this time, the inclination angle of the light emitted by the emitter 20 is small, so that the distance between the second receiver 40 and the emitter 20 needs to be set slightly far, which is beneficial for the second receiver 40 to receive signals and improves the ranging accuracy.

In one embodiment, the first receiver 30 and the second receiver 40 have different receiving bands, and the first receiver 30 and the second receiver 40 receive different signal bands or characteristics, so that there is no signal interference between the two.

Optionally, the second receiver 30 is an infrared receiver for receiving an external infrared encoding signal, and of course, the second receiver 40 may also be other signal receivers, which is not limited. The external infrared coding signal is sent by a robot base station, remote control equipment or equipment existing in the environment; and the number of the robot base station or the remote control device is plural.

In one embodiment, the transmitter 20, the first receiver 30 and the second receiver 40 are all vertically disposed on the control circuit board 10. I.e. the angle of inclination of the light emitted by the emitter 20 is small, and is thus suitable for arrangements in which the second receiver 40 is sandwiched between the emitter 20 and the first receiver 30, i.e. a larger distance between the emitter 20 and the first receiver 30.

Further, the embodiment of the utility model discloses a robot, this robot includes according to above-mentioned embodiment robot sensor. The robot can be a sweeper or a mobile robot.

The above description is only exemplary of the present application and should not be taken as limiting the present application, as any modification, equivalent replacement, or improvement made within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims

1. A robot sensor is characterized by comprising a control circuit board, a transmitter, a first receiver and a second receiver; the transmitter, the first receiver and the second receiver are all electrically connected with the control circuit board; the first receiver receives signals transmitted by the transmitter and reflected by an obstacle, and the second receiver is used for receiving external signals.

2. A robotic sensor as claimed in claim 1, wherein: the second receiver is located between the transmitter and the first receiver.

3. A robotic sensor as claimed in claim 2, wherein: the transmitter is an infrared laser, and correspondingly, the first receiver is an optical receiver.

4. A robotic sensor as claimed in claim 3, wherein: the infrared laser is a linear laser or a point laser.

5. A robotic sensor as claimed in claim 4, wherein: the linear laser is perpendicular to the working plane of the robot.

6. A robotic sensor as claimed in claim 2, wherein: the first receiver and the second receiver have different receiving bands.

7. A robotic sensor as claimed in claim 1, wherein: the transmitter, the first receiver and the second receiver are all located on the same side of the board surface of the control circuit board.

8. A robotic sensor as claimed in any one of claims 1 to 7, wherein: the second receiver is an infrared receiver for receiving external infrared coding signals.

9. A robotic sensor as claimed in claim 1, wherein: the emitter, the first receiver and the second receiver are vertically arranged on the control circuit board.

10. A robot comprising a robot sensor according to any of claims 1-9, the robot sensor being mounted on a side of the robot.