CN217365664U - Upper cover structure, laser ranging assembly and self-moving robot - Google Patents

Abstract

The utility model discloses an upper cover structure, laser rangefinder subassembly and from mobile robot, the upper cover structure include: an upper cover body; the voice recognition module is arranged on the upper cover body and at least comprises a first microphone unit; the first microphone unit is located on the outer side of the upper cover body and used for picking up sound on the outer side of the upper cover body.

Description

Upper cover structure, laser ranging assembly and self-moving robot

Technical Field

The utility model belongs to the technical field of the robot of sweeping the floor, concretely relates to upper cover structure, laser rangefinder subassembly and self-moving robot.

Background

A floor sweeping robot is one of intelligent household appliances and can automatically complete the floor cleaning work in a room. When the floor sweeping robot works, sundries on the ground are sucked into the garbage storage box of the floor sweeping robot, and then the ground is wiped, so that the ground is cleaned.

Along with the diversification of use demands, in order to facilitate the user to operate the sweeping robot, the sweeping robot with the human-computer interaction function appears. Most of the existing floor sweeping robots with the human-computer interaction function are operated through contact type (solid keys) or APP, and pain points with inconvenient operation exist. Accordingly, there is a need for improvements in the art that overcome the deficiencies in the prior art.

SUMMERY OF THE UTILITY MODEL

Therefore, the utility model aims to solve the technical problem that an upper cover structure, laser rangefinder subassembly and self-moving robot that can realize human-computer interaction function through pronunciation are provided.

In order to solve the technical problem, the utility model provides an upper cover structure, include: an upper cover body; the voice recognition module is arranged on the upper cover body and at least comprises a first microphone unit; the first microphone unit is located on the outer side of the upper cover body and used for picking up sound on the outer side of the upper cover body.

Preferably, in the above-mentioned upper cover structure, the upper cover body includes a main housing and a laser ranging assembly disposed on the main housing; the first microphone unit is arranged at the top of the outer side of the laser ranging assembly.

Preferably, in the above-mentioned upper cover structure, the voice recognition module further includes a circuit board disposed on the top of the laser ranging assembly, and the first microphone unit is disposed on the circuit board.

Preferably, in the above-mentioned upper cover structure, the first microphone unit includes a plurality of first microphones, and the first microphones are disposed on the upper cover body in an annular array manner.

Preferably, in the above upper cover structure, the plurality of first microphones are distributed on the same circumference at equal intervals, and the diameter of the circumference ranges from 30mm to 80 mm.

Preferably, in the above-mentioned upper cover structure, the voice recognition module further includes a second microphone unit, and the second microphone unit is located inside the upper cover body and is configured to pick up sound inside the upper cover body.

Preferably, in the above-mentioned upper cover structure, the second microphone unit includes a second microphone and a damping member, wherein the second microphone is disposed on an inner wall of the upper cover body through the damping member.

Preferably, in the above upper cover structure, the damping member is made of a flexible material, the damping member is an annular cylindrical body, and the second microphone is disposed in an inner ring of the damping member.

Preferably, in the upper cover structure, a clamping structure for mounting the second microphone unit is arranged on the inner wall of the upper cover body; the clamping structure comprises a buckle, and the second microphone unit is arranged on the inner wall of the upper cover body through the buckle.

Preferably, in the above upper cover structure, the laser ranging assembly includes a housing base, and the circuit board is disposed on the top of the housing base; and a wiring channel for wiring is also arranged on the shell wall of the shell seat.

Preferably, in the above-mentioned upper cover structure, the housing base includes a base disposed on the main housing, a cover disposed above the base, and a connecting member for connecting the base and the cover, and the circuit board is disposed on the top of the cover; the wiring channel is formed in the connecting piece, one end of the wiring channel is communicated with the top of the cover body, and the other end of the wiring channel is suitable for being communicated with the inner side of the upper cover body.

Preferably, in the upper cover structure, the number of the connecting pieces is multiple, the connecting pieces are columnar, and the connecting pieces are located on the same cylindrical surface or conical surface; wherein, the connecting pieces are spaced apart to form a vacant area.

Preferably, in the upper cover structure, a protective cover is further disposed on the top of the housing base, and the protective cover is disposed on the periphery of the circuit board.

The utility model also provides a laser rangefinder subassembly, include: a laser radar; the shell seat is covered on the periphery of the laser radar; a voice recognition module comprising at least a first microphone unit; the first microphone unit is arranged on the shell seat, positioned on the outer side of the shell seat and used for picking up sound on the outer side of the shell seat.

Preferably, in the laser distance measuring assembly, the voice recognition module further includes a second microphone unit, and the second microphone unit is located inside the housing seat.

The utility model also provides a from mobile robot, include as before the upper cover structure.

Preferably, in the self-moving robot, the self-moving robot is further provided with a sound amplifying device, and the self-moving robot is further provided with a third microphone unit for reducing or eliminating noise of the sound amplifying device.

The technical scheme provided by the utility model, following advantage has:

1. the first microphone unit is used for picking up the voice of a user, and the man-machine interaction function can be realized through voice, so that the microphone has the advantage of convenience in operation;

2. the first microphone unit is used for picking up the sound of an external user, and the second microphone unit is used for picking up the internal noise of the whole machine and optimizing the noise reduction effect, so that the first microphone unit can be used for accurately converting the sound of the user into an electronic signal, and the influence of the internal noise on the sound pickup of the first microphone unit is reduced;

3. first microphone equidistant distribution on same circumference, above-mentioned distribution mode can further reduce the influence of noise to first microphone pickup, has the effectual advantage of pickup.

Drawings

In order to clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following descriptions are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

Fig. 1 is a schematic view of an upper cover structure provided by the present invention;

FIG. 2 is a schematic diagram of the laser ranging module according to the present invention;

FIG. 3 is an exploded view of the laser ranging module of the present invention;

fig. 4 is a schematic cross-sectional structure view of the upper cover structure provided by the present invention;

FIG. 5 is an enlarged structural view of the area A in FIG. 4;

fig. 6 is a schematic diagram of a positional relationship between the middle main housing and the second microphone unit according to the present invention;

FIG. 7 is an enlarged view of the area B in FIG. 6;

FIG. 8 is a schematic structural view of the buckle and the curved shroud of FIG. 7;

fig. 9 is a schematic structural view of the middle housing seat of the present invention;

fig. 10 is a schematic sectional view of the shock absorbing member of the present invention.

Detailed Description

The technical solution of the present invention will be described clearly and completely with reference to the accompanying drawings, and obviously, the described embodiments are some, but not all embodiments of the present invention. The present invention will be described in detail below with reference to the accompanying drawings in conjunction with embodiments. It should be noted that, in the present invention, the embodiments and features of the embodiments may be combined with each other without conflict.

It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order.

In the present application, where the contrary is not intended, the use of directional words such as "upper, lower, top and bottom" is generally with respect to the orientation shown in the drawings, or with respect to the component itself in the vertical, perpendicular or gravitational direction; likewise, for ease of understanding and description, "inner and outer" refer to the inner and outer relative to the profile of the components themselves, but the above directional words are not intended to limit the invention.

Referring to fig. 1 to 10, the present invention provides a self-moving robot, which includes a base (not shown) and an upper cover structure disposed above the base, wherein a driving wheel set (not shown) is disposed at the bottom of the base, and the driving wheel set is used for driving the base to move on the ground.

In one illustrative scenario, the self-moving robot is a sweeping robot. It should be noted that the self-moving robot in the above example is a sweeping robot, and is only one possible application scenario. In other possible and not explicitly excluded scenarios, the self-moving robot may also be a meal delivery robot, a cruise robot, etc.

The following description will mainly use the self-moving robot as a sweeping robot. However, as can be seen from the above description, the scope of the embodiments of the present invention is not limited thereto.

Referring to fig. 1, the upper cover structure includes an upper cover body 100 and a voice recognition module disposed on the upper cover body 100, and the voice recognition module is used for implementing a human-computer voice interaction function, so that a user can communicate with the floor sweeping robot through simple sentences during use without setting physical keys or touch keys, thereby effectively simplifying the structure and facilitating human-computer interaction.

Referring to fig. 1 to 4, the voice recognition module at least includes a first microphone unit 200, and the first microphone unit 200 is used for picking up the sound outside the upper cover body 100, so that the first microphone unit 200 can pick up the sound of a user, and a human-computer interaction function can be realized through voice, thereby having an advantage of convenient operation.

Further, the voice recognition module further includes a second microphone unit 300 and a circuit board 400, and the first microphone unit 200 and the second microphone unit 300 are electrically connected to the circuit board 400, respectively.

The first microphone unit 200 and the circuit board 400 are located outside the upper cover body 100, and the second microphone unit 300 is located inside the upper cover body 100. The first microphone unit 200 is provided on the circuit board 400, and the second microphone unit 300 is connected to the circuit board 400 by a wire.

Specifically, the second microphone unit 300 is used to pick up sound inside the upper cover body 100. When the sweeping robot runs, the noise interference of the whole machine is large, and the influence on the success rate of voice recognition is large. In this embodiment, the second microphone unit 300 can actively collect the noise inside the robot for optimizing the noise reduction effect, so as to facilitate the first microphone unit 200 to more accurately convert the user's voice into an electronic signal, thereby reducing the influence of the noise inside the robot on the first microphone unit 200.

In addition, the problem of low awakening rate of the voice recognition module of the sweeping robot can be solved by arranging the second microphone unit 300. The "wake-up rate" can be understood as a voice wake-up rate, which is also called keyword detection, that is, a target keyword is detected in continuous voice, so as to wake up the sweeping robot. After the second microphone unit 300 achieves a better noise reduction effect, the accuracy of picking up the voice of the user by the first microphone unit 200 can be effectively improved, the success rate of voice recognition is high, and therefore the awakening rate of the floor sweeping robot is effectively improved.

Further, the upper cover body 100 includes a main housing 110 and a laser ranging assembly 120 disposed on the main housing 110. In operation, the laser ranging assembly 120 is located on top of the main housing 110 for measuring the distance between the sweeping robot and the obstacle.

Referring to fig. 2 and fig. 3, the laser ranging assembly 120 includes a laser radar 122 and a housing seat 121, wherein the housing seat 121 is disposed on the main housing 110 and covers an outer periphery of the laser radar 122. The first microphone unit 200 and the circuit board 400 of the voice recognition module are disposed on the housing seat 121 and located at the top of the outer side of the housing seat 121, and the second microphone unit 300 of the voice recognition module is located at the inner side of the housing seat 121. As shown in fig. 9, a wiring channel K for wiring is further disposed on the housing wall of the housing seat 121, and the wiring channel K is used for a circuit connecting the circuit board 400 and the second microphone unit 300 to pass through.

As shown in fig. 9, the housing 121 includes a base 1211 disposed on the main housing 110, a cover 1212 disposed above the base 1211, and a connector 1213 for connecting the base 1211 and the cover 1212, and the circuit board 400 is disposed on the top of the cover 1212. A plurality of connecting pieces 1213 are provided, the plurality of connecting pieces 1213 are columnar, and the plurality of connecting pieces 1213 are located on the same cylindrical surface or conical surface. The connecting members 1213 are spaced apart to form vacant areas. The "blank space" is a scanning window of the lidar 122, and light emitted by the lidar 122 is emitted to the external environment through the blank space.

In this embodiment, the connecting member 1213 has the wiring channel K formed therein, and one end of the wiring channel K is communicated with the top of the cap body 1212, and the other end is adapted to be communicated with the inside of the upper cap body 100. The wiring channel K is arranged in the connecting piece 1213, so that the wiring structure is simplified, the scanning light path of the laser radar 122 can be guaranteed not to be shielded by the circuit, and the scanning blind area of the laser radar 122 is effectively reduced.

Further, a protective cover 500 is disposed on the top of the housing seat 121, the protective cover 500 covers the periphery of the circuit board 400, and the circuit board 400 and the first microphone unit 200 are disposed in the protective cover 500. The protective cover 500 serves to protect the circuit board 400 and the first microphone unit 200 from dust and water in the external environment.

Regarding the installation of the protection cover 500, the protection cover 500 is detachably disposed on the top of the housing seat 121, for example, the detachable connection can be realized by bolts, snaps, screw connections, and the like. In this embodiment, the top of the cover 1212 is provided with a protrusion 1214, the protrusion 1214 is used for supporting the circuit board 400, and after the circuit board 400 is placed on the protrusion 1214, the housing seat 121 and the protection cover 500 are connected together by a bolt, so that the circuit board 400 and the first microphone unit 200 are confined between the housing seat 121 and the protection cover 500.

Referring to the first microphone unit 200, as shown in fig. 3, the first microphone unit 200 includes a plurality of first microphones 210, and the first microphones 210 are disposed on a top end surface or a bottom end surface of the circuit board 400.

In order to further reduce the influence of the noise of the whole sweeping robot on the success rate of the speech recognition of the first microphone unit 200 during the work, the first microphones 210 are arranged on the upper cover body 100 in an annular array. The plurality of first microphones 210 are distributed on the same circumference at equal intervals, the larger the diameter of the circumference where the first microphones 210 are located is, the better the sound pickup and noise reduction effect of the first microphones 210 is, but in view of the limitation of the actual installation space, the value range of the diameter of the circumference is 30-80 mm.

The diameter of the circumference where the plurality of first microphones 210 are located may be an integer number such as 30mm, 40mm, 50mm, 60mm, 70mm, 80mm, or an increase in diameter between 30mm and 80mm in units of 0.1mm, 0.2mm, 0.3mm, 0.4mm, 0.5mm, 0.6mm, 0.7mm, 0.8mm, 0.9 mm.

Regarding the second microphone unit 300, the second microphone unit 300 includes a second microphone 310, and in order to reduce the influence of the vibration of the whole robot on the second microphone 310 during the operation of the sweeping robot, the second microphone unit 300 further includes a vibration absorbing member 320, and the second microphone 310 is disposed on the inner wall of the upper cover body 100 through the vibration absorbing member 320.

Referring to fig. 5, 7 and 10, the damping member 320 is a cylindrical ring, the second microphone 310 is disposed at an inner ring of the damping member 320, and the damping member 320 mainly functions as: for damping the second microphone 310. The shock absorbing members 320 are made of a flexible material, which means a material having an elastic deformation capability, such as rubber, silicone, etc.

In connection with the installation of second microphone 310, first hole 321 and second hole 322 are formed coaxially in the inner ring of damper 320, wherein the inner diameter of the inner ring of damper 320 is D3, the diameter of first hole 321 is D1, the diameter of second hole 322 is D2, D3 < D1 < D2, second microphone 310 is installed in second hole 322 after passing through first hole 321, and since diameter D2 of second hole 322 is larger than D1 and D3, second microphone 310 does not fall off from the inner ring of damper 320.

The outer diameter of second microphone 310 is equal to or slightly smaller than the diameter D2 of second hole portion 322 and larger than the diameter D1 of first hole portion 321 than the diameter D2 of second hole portion 322, and it can be understood that since damper 320 is made of flexible material, although the outer diameter of second microphone 310 is larger than the diameter D1 of first hole portion 321, second microphone 310 can be smoothly installed in second hole portion 322 by the deformation capability of damper 320.

In this embodiment, the inner wall of the upper cover body 100 is provided with a clamping structure 130 for mounting the second microphone unit 300, and the shock absorbing member 320 is disposed on the inner wall of the upper cover body 100 through the clamping structure 130. The latch structure 130 may be disposed on an inner wall of the main housing 110, or on an inner wall of the base 1211, and preferably, the latch structure 130 is disposed on an inner wall of the main housing 110.

Referring to fig. 6 to 8, regarding the fastening structure 130, the fastening structure 130 includes a buckle 131, and the second microphone unit 300 is disposed on the inner wall of the main housing 110 through the buckle 131. The number of the buckles 131 can be one pair, or a plurality of the buckles 131 are distributed at intervals.

In one embodiment, the number of the hooks 131 is one pair, and the hooks 131 are spaced 180 ° apart. The catch 131 includes a catch plate 1311 extending in the axial direction of the shock absorbing member 320 and a hook portion 1312 provided at one end of the catch plate 1311, wherein the other end of the catch plate 1311 is provided on the inner wall of the main casing 110. When the damper 320 is mounted, it is inserted into the space surrounded by the hook 1312 into the space surrounded by the hook 131.

Further, an arc-shaped enclosing plate 132 is further arranged between the buckles 131, and the arc-shaped enclosing plate 132 and the buckles 131 are arranged at intervals. The stability and reliability of the installation of the shock absorbing member 320 can be improved by providing the arc-shaped enclosing plate 132. The inner wall of the arc-shaped enclosing plate 132 is convexly provided with a convex rib 1321 extending along the axial direction of the shock absorbing piece 320, and the convex rib 1321 is used for reducing the friction force between the arc-shaped enclosing plate 132 and the outer ring of the shock absorbing piece 320 so as to facilitate the disassembly and assembly of the shock absorbing piece 320.

With respect to the first microphone 210 and the second microphone 310, the first microphone 210 and the second microphone 310 may be digital silicon microphones, analog silicon microphones, electret microphones, etc., or other types of microphones. The number of the second microphones 310 may be one, two or more, which may be determined according to the actual situation. In the present embodiment, the number of the first microphones 210 is four, and the number of the second microphones 310 is one.

Further, a control component is arranged in the self-moving robot, and the control component can draw a map about the surrounding environment of the self-moving robot according to the measurement result of the laser ranging component 120, control the whole robot to walk, and communicate with the voice recognition module.

The communication mode between the control assembly and the voice recognition module is as follows: USB bus, UART transmitter, I2C bus, SPI interface, SDIO interface, CAN module, I2S bus, PCM, PDM, TDM and the like. The circuit board 400 of the speech recognition module is provided with a processor (not shown) for processing the audio picked up by the first microphone 210 and the second microphone 310 and communicating with the control component. The electric energy required by the voice recognition module is provided by the control component.

In this embodiment, the self-moving robot is further provided with a third microphone unit (not shown), and the third microphone unit is used for reducing or eliminating noise generated by a sound amplifying device on the self-moving robot. Wherein, the public address set is a horn arranged on the sweeping robot. The third microphone unit is also wired to the circuit board 400 and the processor on the circuit board 400 is also used to process the audio picked up by the third microphone unit.

It is obvious that the above described embodiments are only some of the embodiments of the present invention, and not all of them. Based on the embodiments in the present invention, a person skilled in the art can make changes or changes in other different forms without creative work, and all should belong to the protection scope of the present invention.

Claims (17)

1. An upper cover structure, comprising:

an upper cover body;

the voice recognition module is arranged on the upper cover body and at least comprises a first microphone unit;

the first microphone unit is located on the outer side of the upper cover body and used for picking up sound on the outer side of the upper cover body.

2. The lid structure of claim 1,

the upper cover body comprises a main shell and a laser ranging assembly arranged on the main shell;

the first microphone unit is arranged at the top of the outer side of the laser ranging assembly.

3. The lid structure of claim 2,

the voice recognition module further comprises a circuit board arranged at the top of the laser ranging assembly, and the first microphone unit is arranged on the circuit board.

4. The cover structure of claim 1,

the first microphone unit comprises a plurality of first microphones, and the first microphones are arranged on the upper cover body in an annular array mode.

5. The lid structure of claim 4,

the plurality of first microphones are distributed on the same circumference at equal intervals, and the diameter of the circumference ranges from 30mm to 80 mm.

6. The cover structure according to any one of claims 1 to 5,

the voice recognition module further comprises a second microphone unit, and the second microphone unit is located on the inner side of the upper cover body and used for picking up sound on the inner side of the upper cover body.

7. The lid structure of claim 6,

the second microphone unit comprises a second microphone and a damping piece, wherein the second microphone is arranged on the inner wall of the upper cover body through the damping piece.

8. The lid structure of claim 7,

the damping piece is made of flexible materials, the damping piece is an annular cylindrical body, and the second microphone is arranged on the inner ring of the damping piece.

9. The lid structure of claim 6,

a clamping structure for mounting the second microphone unit is arranged on the inner wall of the upper cover body;

the clamping structure comprises a buckle, and the second microphone unit is arranged on the inner wall of the upper cover body through the buckle.

10. The lid structure of claim 3,

the laser ranging assembly comprises a shell seat, and the circuit board is arranged at the top of the shell seat;

and a wiring channel for wiring is also arranged on the shell wall of the shell seat.

11. The cover structure of claim 10,

the shell seat comprises a base arranged on the main shell, a cover body positioned above the base and a connecting piece used for connecting the base and the cover body, and the circuit board is arranged at the top of the cover body;

the wiring channel is formed in the connecting piece, one end of the wiring channel is communicated with the top of the cover body, and the other end of the wiring channel is suitable for being communicated with the inner side of the upper cover body.

12. The lid structure of claim 11,

the number of the connecting pieces is multiple, the connecting pieces are columnar, and the connecting pieces are positioned on the same cylindrical surface or conical surface;

wherein, the connecting pieces are spaced apart to form a vacant area.

13. The cover structure of claim 10,

the top of shell seat still is equipped with the safety cover, the safety cover is located the periphery of circuit board.

14. A laser ranging assembly, comprising:

a laser radar;

the shell seat is covered on the periphery of the laser radar;

a voice recognition module comprising at least a first microphone unit;

the first microphone unit is arranged on the shell seat, positioned on the outer side of the shell seat and used for picking up sound on the outer side of the shell seat.

15. The laser ranging assembly of claim 14, wherein the voice recognition module further comprises a second microphone unit located inside the housing base.

16. A self-moving robot, characterized by comprising a cover structure according to any one of claims 1 to 13.

17. The self-moving robot as claimed in claim 16, wherein the self-moving robot is further provided with a sound amplifying device, and a third microphone unit for reducing or eliminating noise of the sound amplifying device is further provided on the self-moving robot.

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