CN218497370U

CN218497370U - Voice device and mobile robot

Info

Publication number: CN218497370U
Application number: CN202222132156.8U
Authority: CN
Inventors: 王悦林; 赖钦伟
Original assignee: Zhuhai Amicro Semiconductor Co Ltd
Current assignee: Zhuhai Amicro Semiconductor Co Ltd
Priority date: 2022-08-15
Filing date: 2022-08-15
Publication date: 2023-02-17
Anticipated expiration: 2032-08-15

Abstract

The utility model discloses a voice device and a mobile robot, wherein the voice device comprises a cover body, a voice acquisition assembly and a distance sensor; the voice acquisition assembly and the distance sensor are arranged at the corresponding height position in the cover body, so that the voice acquisition assembly does not shield the detection visual angle of the distance sensor. A sound collecting hole is formed in the top cover of the cover body and communicated with the voice collecting assembly; the circuit board is fixedly arranged in the cover body and is enclosed with the cover body to form an accommodating cavity, and the sound collecting hole penetrates through the top cover of the cover body and communicates the outside of the cover body with the accommodating cavity; the side of the cover body is provided with a signal receiving and transmitting opening, and the voice acquisition assembly does not shield the signal receiving and transmitting opening. The voice acquisition assembly comprises a circuit board and at least one microphone; the microphone and the circuit board do not shield the signal transceiving opening. The mobile robot comprises a top shell assembled on the machine body, and the voice device is assembled on the top shell.

Description

Voice device and mobile robot

Technical Field

The utility model relates to a speech control's technical field relates to a speech device and mobile robot.

Background

Generally, a robot with a voice control function uses a sound signal acquisition device such as a microphone on the surface of a housing to acquire a voice control command sent by a user, and then transmits the voice control command to a control unit to control an execution mechanism to execute commands such as sweeping, playing music, charging and the like. The upper surface of the shell of the speech control function robot that china utility model patent 202121823819X disclosed sets up protruding structure, and with the microphone setting the top of protruding structure sets up distance sensor in the protruding structure, then distance sensor's detection visual angle is sheltered from easily, can not compromise relevant distance sensor's mounted position moreover betterly and rather than the problem of surveying the visual angle for this type of robot product application scene is restricted.

SUMMERY OF THE UTILITY MODEL

In order to overcome the technical problem, the utility model discloses a speech device and mobile robot, the utility model discloses under the prerequisite of the cover body height at distance sensor place of considering, disclose following specific technical scheme:

a voice device comprises a cover body, a voice acquisition assembly and a distance sensor; the voice acquisition assembly and the distance sensor are arranged at the corresponding height position in the cover body, so that the voice acquisition assembly does not shield the detection visual angle of the distance sensor.

Furthermore, the top cover of the cover body is provided with a sound collecting hole which is communicated with the voice collecting component; the circuit board is fixedly arranged in the cover body and is enclosed with the cover body to form an accommodating cavity, and the sound collecting hole penetrates through the top cover of the cover body and communicates the outside of the cover body with the accommodating cavity; the side of the cover body is provided with a signal receiving and transmitting opening, wherein the voice collecting assembly does not shield the signal receiving and transmitting opening.

Further, the voice acquisition assembly comprises a circuit board and at least one microphone; the microphone and the circuit board do not shield the signal transceiving opening; wherein the microphone and the distance sensor are arranged on opposite sides of the circuit board; or both the microphone and the distance sensor are arranged above the circuit board or below the circuit board, so that the microphone and the distance sensor are located at different heights.

Further, when at least two microphones exist in the voice acquisition assembly, the at least two microphones surround the distance sensor and are uniformly distributed on the circuit board; each microphone does not obstruct the detection view of the distance sensor.

Further, when only one microphone exists in the voice collecting component, the microphone is arranged at any position on the surface of the circuit board, the microphone is arranged below the distance sensor, or the microphone is arranged above the distance sensor.

Further, when the microphone is arranged above the distance sensor, the first surface of the circuit board is over against the acoustic hole so that the first surface of the circuit board is arranged upwards, and the distance sensor is arranged on the second surface of the circuit board; or when the microphone is arranged above the distance sensor, the second surface of the circuit board is opposite to the sound receiving hole so that the second surface of the circuit board is arranged upwards, and the distance sensor is arranged on the first surface of the circuit board.

Furthermore, on the premise that the first surface of the circuit board is opposite to the sound receiving hole so that the first surface of the circuit board is arranged upwards, the voice collecting assembly further comprises a fixing pad, a first sound collecting hole is formed in the top of the microphone, and the bottom of the microphone is arranged to be in contact with the first surface of the circuit board so that the microphone is arranged on the first surface of the circuit board; the fixed pad covers the week side of establishing at the microphone, and the top of fixed pad is provided with the second and picks up the sound hole, and first sound hole and second sound hole intercommunication are picked up to the second, and second sound hole and sound receiving hole are linked together.

Furthermore, on the premise that the second surface of the circuit board is opposite to the sound receiving hole so that the second surface of the circuit board is arranged upwards, the voice collecting assembly further comprises a fixing pad, the bottom of the microphone is provided with a first sound collecting hole, and the bottom of the microphone is arranged to be in contact with the first surface of the circuit board so that the microphone is arranged on the first surface of the circuit board; the fixed cushion is sleeved on the periphery of the microphone, the circuit board is provided with a second pickup hole penetrating through the first surface and the second surface, the first pickup hole is communicated with the second pickup hole, and the second pickup hole is communicated with the acoustic hole.

Further, the voice collecting assembly further comprises a protective net, and the protective net covers the second sound picking hole or the first sound picking hole.

Further, when the microphone is disposed below the distance sensor or the microphone is disposed below the signal transceiving opening, the circuit board is disposed at the bottom of the cover or below the signal transceiving opening, and the microphone is disposed on a surface of the circuit board; the distance sensor is arranged at the center of the circuit board or above the circuit board so that the detection visual angle of the distance sensor covers the signal transceiving opening.

Furthermore, on the premise that the second surface of the circuit board is opposite to the top cover of the cover body so that the second surface of the circuit board is arranged upwards, the voice acquisition assembly further comprises a first fixing pad, a first sound pickup hole is formed in the bottom of the microphone, and the bottom of the microphone is arranged to be in contact with the first surface of the circuit board; the first fixing cushion is sleeved on the periphery of the microphone, the circuit board is provided with a second sound pickup hole penetrating through the first surface and the second surface, the first sound pickup hole is communicated with the second sound pickup hole, and the second sound pickup hole is communicated with the signal receiving and transmitting opening or the sound collecting hole.

Furthermore, on the premise that the first surface of the circuit board is opposite to the top cover of the cover body so that the first surface of the circuit board faces upwards, the voice acquisition assembly further comprises a first fixing pad, a first sound pickup hole is formed in the top of the microphone, and the bottom of the microphone is arranged to be in contact with the first surface of the circuit board; the first fixing pad is sleeved on the periphery of the microphone, a second sound pickup hole is formed in the top of the first fixing pad, the first sound pickup hole is communicated with the second sound pickup hole, and the second sound pickup hole is communicated with the signal transceiving opening or the sound collection hole.

Further, the voice collecting assembly further comprises a protective net and foam, the foam covers the second sound collecting hole, a third sound collecting hole is formed in the upper portion of the foam, the protective net covers the third sound collecting hole, the second sound collecting hole or the first sound collecting hole, the foam is further arranged on the periphery side of the protective net, and the third sound collecting hole is communicated with the first sound collecting hole.

Furthermore, the voice acquisition assembly also comprises a circuit shielding plate which is arranged below the circuit board fixedly assembled in the cover body; mounting holes are uniformly and annularly formed in the surface of the circuit board and the surface of the circuit shielding plate, mounting columns are uniformly and annularly arranged on the top cover of the cover body, the distance between the mounting holes of the circuit board is equal to the distance between the mounting holes of the circuit shielding plate, and the distance between the mounting columns of the top cover of the cover body is equal to the distance between the mounting holes of the circuit shielding plate; the center of the circuit board, the center of the circuit shielding plate and the center of the top cover of the cover body are positioned on the same preset axis; the mounting hole of the circuit board penetrates through two opposite surfaces of the circuit board; the mounting holes of the circuit shielding plate are all communicated with two opposite surfaces of the circuit shielding plate; the distance between the mounting hole of the circuit board and the preset axis is equal to the distance between the mounting hole of the circuit covering plate and the preset axis, and the distance between the mounting column of the top cover of the cover body and the preset axis is equal to the distance between the mounting hole of the circuit covering plate and the preset axis.

Furthermore, the microphones disposed on the circuit board and the mounting holes of the circuit board are spaced, any one of the microphones is soldered between the two mounting holes of the circuit board, and the distance between the microphone and the two mounting holes of the circuit board is equal.

A mobile robot includes a top case assembled to a body; the voice device is assembled on the top shell.

The utility model discloses an aspect can be with single microphone or microphone array setting in distance sensor's top, the corresponding internal idle space assembly who is in distance sensor's top of make full use of bears the circuit board of microphone, let the central point of circuit board position below can realize assembling distance sensor with no visual angle sheltering from, the mounted position of microphone is close to the top of the cover body, so that the noise source of robot is kept away from to the microphone, reduce the noise that robot self sent to the interference of microphone, so that make the robot can be more accurate gather user speech control instruction.

On the other hand, in a cover body with a fixed height special for the distance sensor, the distance sensor is arranged above a circuit board fixedly assembled at the bottom of the cover body, and a microphone fixedly welded on the first surface of the circuit board is arranged below the distance sensor, so that the detection visual angle of the distance sensor can cover a signal transmitting and receiving window arranged on the side surface of the cover body and is not shielded by the microphone fixedly welded on the first surface of the circuit board, and meanwhile, the structure can also timely detect that the upper part of the distance sensor collides with an obstacle to accelerate the escaping. Therefore, on the premise that the height of the robot is not increased, the voice acquisition assembly is ensured to be far away from a noise source of the robot, and a high-quality sound field signal and an optical signal are ensured to be obtained at the same time.

Therefore, this technical scheme realizes setting out the less structural cavity that receives the machine noise influence and putting the microphone array in its specific position department from top to bottom in the cover body, improving the utilization ratio of the accommodation space of laser radar cover body top and bottom to compromise the problem of relevant distance sensor's assembly height and detection visual angle, and then let this speech device be applicable to and assemble in the middle of more types of robot, carry out intelligent speech control and sound localization in order to realize at richer work scene.

Furthermore, foam or a fixed pad is arranged on the peripheral side of the microphone, so that the interference of an external noise source, including noise generated by rotation of the distance sensor, is reduced as much as possible in the process of collecting signals by the microphone; the fixed pad or the foam is arranged on the periphery of the microphone, so that the vibration resistance and the denoising performance of the voice acquisition assembly are ensured; still through set up the protection network and be equipped with the waterproof dirt resistance who guarantees the pronunciation collection subassembly in corresponding pick-up hole department, make its cleaning machines people who is more applicable to and has the speech control function clean the operation indoor. Secondly, a plurality of microphones are further arranged in a suitable cavity space in a circumferential array mode, and the fixed pad or foam is used for physically isolating noise, so that a high-quality sound field signal is acquired. The accuracy of the voice collection assembly for recognizing the voice direction can be guaranteed.

Drawings

Fig. 1 is a partially cut-away schematic view of the interior of a disclosed enclosure after assembly of a circuit board according to one embodiment of the present application.

Fig. 2 is a schematic structural diagram of a speech apparatus according to an embodiment of the present application.

Fig. 3 is a schematic view of an assembly structure of a voice device on a top case of a sweeping robot according to an embodiment of the present application.

Fig. 4 is a schematic disassembled structure view of a voice acquisition assembly according to an embodiment of the present application.

Fig. 5 is a schematic diagram of an embodiment of the present application disclosing an assembly of a protection net and foam on a circuit board.

Reference numerals are as follows:

when the microphone sets up in distance sensor's top, corresponding reference numeral is in proper order: 101. the microphone comprises a cover body, 102, a sound receiving hole, 103, a protective net, 104, a fixing pad, 105, microphones, 106, a circuit board, 107 and a signal transceiving opening.

20. The top shell of the machine body, 201, the sound-raising hole.

When the microphone sets up in distance sensor's below, corresponding reference numeral is in proper order: 301. the acoustic card comprises a cover body 302, a circuit board 303, a circuit covering board 304, a signal transceiving opening 305, a first fixing pad 306, a second sound pickup hole 307, a protective net 308 and foam.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, not all embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts all belong to the protection scope of the present invention.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and to simplify the description, but do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the present invention. 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 invention, "a plurality" means two or more unless specifically limited otherwise.

Aiming at the arrangement mode of a microphone array and an optical assembly disclosed by the prior art, especially the arrangement mode inside and outside a shell of a robot can generate the interference of an optical detection visual angle, the utility model provides a voice device capable of integrating a distance sensor and a voice acquisition assembly, which comprises a cover body, the voice acquisition assembly and the distance sensor, wherein the cover surface of the cover body can be in other shapes such as an ellipse or a rectangle and can be arranged into a protective shell matched with the distance sensor; the voice acquisition assembly and the distance sensor are arranged in the cover body and are respectively arranged at corresponding height positions in the cover body, so that the voice acquisition assembly does not shield the detection visual angle of the distance sensor, and the height of the cover body is not changed due to the change of the relative assembly position relationship of the voice acquisition assembly and the distance sensor; the assembly relationship between the voice acquisition assembly and the distance sensor is set as follows: the voice acquisition component does not shield the detection visual angle of the distance sensor; when the speech device is mounted on the upper surface of the housing of the robot, the cover body forms a raised structure of the upper surface of the housing of the robot, similar to a protective cover of a laser radar. In some embodiments, the cover, the voice acquisition assembly and the distance sensor are integrally formed; in other embodiments, the cover body, the voice acquisition component and the distance sensor are separately and independently processed and molded, then the cover body is fixedly connected to the upper surface of the shell of the robot in a bonding mode, a threaded connection mode and the like, and the voice acquisition component and the distance sensor are also assembled in groove positions with different heights or planes with the same height in the same cover body; when distance sensor is laser radar, if pronunciation collection subassembly and distance sensor assembly are at same height, then in order not to increase the assembly height, will the whole top cap of the cover body or the cover body is along transversely extending to encircle the microphone in same cover body and arrange in distance sensor's week side, wherein, the microphone with distance sensor is in a side of same circuit board, then the difference of the height that locates separately is less so that regard as equal, but the microphone can not lead to the fact the shelter from to distance sensor's detection visual angle or the coverage of detecting signal.

In some embodiments, on the same housing surface, the microphone array included in the voice collecting assembly is disposed around the distance sensor, and the detection view angles of the signal transmitting probe and the signal receiving probe of the distance sensor are not blocked by the voice collecting assembly. In some embodiments, the voice acquisition component and the distance sensor are not mounted at the same height, and the voice acquisition component does not obstruct the detection view angle of the distance sensor; in same fixed height cover internally, the speech acquisition subassembly is not installed on the coplanar with distance sensor not the structural feature of installing in same height department specifically, be promptly in the inside of the same cover body, the speech acquisition subassembly is installed in distance sensor's below and is communicate with the outside speech propagation demand of cover body with the speech acquisition subassembly with the high demand of the actual environment that adapts to and survey through relevant pick-up hole, furthermore, under the prerequisite of the height that does not increase the cover body, the speech acquisition subassembly also can be installed in distance sensor's top in order to weaken noise signal.

It should be noted that the distance sensor includes various types, such as a laser radar (single line laser sensor, and multi line laser sensor), a single point TOF sensor, a multi point TOF sensor, and the like, and is mainly used for signal detection of a plane area. In this embodiment, the pronunciation collection subassembly passes through the microphone and realizes the collection of the outside sound of speech device, more specifically, there are a plurality of microphones, and the homogeneous phase sets up in the high position department of adaptation for distance sensor, both can obtain more accurate sound field signal, can guarantee again to detect and cover reasonable optical signal. Additionally, the utility model discloses a speech device carries out the use scene of sound identification location, including speech recognition and the sound source location of places such as family, market, school to the robot.

As an embodiment, the voice collecting assembly comprises a circuit board and at least one microphone, wherein the circuit board belongs to a printed circuit board; the microphones and the distance sensors are arranged on two opposite sides of the circuit board, and in some embodiments, the microphones and the distance sensors are allowed to be respectively arranged on two opposite sides (such as an upper surface and a lower surface) of the circuit board, and of course, the microphones are arranged around the periphery of the distance sensors, wherein the microphones and the distance sensors are arranged on the front and back surfaces of the same circuit board, so that the difference of the heights of the microphones and the distance sensors is small, and the longitudinal height space is saved. In other embodiments, the microphone and the distance sensor are disposed above or below the circuit board, specifically at different height positions above a surface of the circuit board or below a surface of the circuit board, and ensure that the microphone does not obstruct a detection view angle of the distance sensor or a coverage of a detection signal. Preferably, corresponding to fig. 1, the microphone 105 is arranged on the upper side of the circuit board 106, in particular, the microphone 105 is soldered to the upper surface of the circuit board 106 in the form of a chip package, corresponding to the first surface of the circuit board, which may be defined as the soldering surface of the circuit board, and the distance sensor is arranged below the microphone.

Corresponding to fig. 4, the microphone is disposed at the lower side of the circuit board 302 and is covered by the first fixing pad 305 to fill the gap between the microphone and the circuit board 302 except for the sound pickup hole; the first fixing pad 305 is provided with a back adhesive for adhering the first fixing pad 305 and the circuit board 302 together; thereby enabling the microphone to be mounted to the first surface of the circuit board 302 in the form of a gasket (black cube 305 in fig. 4) package, the distance sensor being arranged above the microphone. It should be noted that, for simplicity of description, in the same circuit board, as to the microphone, which side of the front and back sides of the circuit board is soldered with the microphone is defined as a first surface, and a surface of the circuit board opposite to the first surface is a second surface.

Accordingly, referring to fig. 1 and fig. 2, the top cover of the cover 101 is provided with an acoustic hole 102, the acoustic hole 102 is communicated with the voice collecting component, specifically, the microphone 105 is in acoustic communication with the acoustic hole 102; the circuit board 106 is fixedly disposed inside the cover 101, and encloses an accommodating cavity with the cover 101, and the acoustic opening 102 penetrates through the top cover of the cover 101 and communicates the outside of the cover 101 with the accommodating cavity. A signal transceiving opening 107 is formed in the side surface of the cover body 101, the signal transceiving opening 107 is not shielded by the circuit board and the microphone, specifically, the signal transceiving opening 107 is arranged around the middle or the lower part of the side surface of the cover body to form an arc-shaped or oval-shaped opening, and a wire slot is reserved in the side surface of the cover body to insert a data wire of the distance sensor and the circuit board; circuit board 106 is located the top of signal transceiver opening 107, and the microphone setting is in the top of circuit board 106, the chamber that holds in the cover body 101 provides accommodation space and pickup hole site for the microphone, then signal transceiver opening 107 forms distance sensor is to the outside detection visual angle of cover body 101, the detection visual angle of distance sensor's probe can cover signal transceiver opening 107 completely.

Referring to fig. 4, a signal transceiving opening 304 is formed in a side surface of the cover 301, so as to form a detection view angle of the distance sensor to the outside of the cover 301, and the detection view angle of the distance sensor covers the signal transceiving opening. The signal transceiving opening 304 is not covered by the circuit board 302 and the microphone, specifically, the circuit board 302 is located below the signal transceiving opening 304, preferably at the bottom of the cover 301, the microphone is located below the circuit board 302, and since the microphone is welded on the surface of the circuit board 302 in a chip form, the occupied space volume is smaller, the volume of the accommodating space required by the microphone below the circuit board 302 is smaller, and the idle accommodating space existing at the bottom of the cover 301 is fully utilized, compared with the prior art, an assembling slot or an assembling rack is not required to be arranged at the top of the cover 301 to fix the circuit board, so that the assembling height of the cover is not increased.

In one embodiment, when at least two microphones are present in the voice collecting assembly, the at least two microphones surround the distance sensor and are uniformly distributed on the circuit board, so that the microphones are also symmetrically distributed around the center of the circuit board; wherein each microphone does not shield the detection view angle of the distance sensor, and certainly does not shield the signal transceiving opening; specifically, each microphone is disposed below the distance sensor, or each microphone is disposed above the distance sensor. The present embodiment defines that the number of microphones annularly and uniformly distributed on the circuit board is in the range of 2 to 8. In this embodiment, the number of the microphones may be any, for example, 4, 6, 8, and the like, in order to enable the robot to better collect the voice signal controlled by the user, in this embodiment, it is preferable that the number of the microphones is 6, and the 6 microphones are uniformly distributed in an annular shape, the 6 microphones are regarded as being uniformly distributed on a circle, the distance from each microphone to the center of the circle is the radius of the circle, and the central angle between two adjacent microphones is 60 degrees. The plurality of microphones which are uniformly distributed in a ring shape can uniformly collect sound signals transmitted from all angles so as to ensure the accuracy and the consistency of the collected user voice control signals and the sound source positioning. Of course, in other embodiments, the six microphones do not need to be uniformly distributed in a ring shape, and only need to be distributed in an arrangement of two, front, four and back. The arrangement mode has the advantages that when the voice device walks on the ground, the voice control command sent by a user is delayed in transmission in media such as air, the front microphone can only collect a small amount of voice signals, most of the voice signals need to be collected by the rear microphone, and the microphones are additionally arranged at the rear part, so that the voice signals can be better collected, and the accuracy of the collected voice signals is ensured. Therefore, the foregoing embodiment may integrate a plurality of annularly arranged microphones at the top or the bottom of the housing of the self-moving robot by providing the integrated voice collecting component.

As an embodiment, when there is only one microphone in the voice collecting assembly, the microphone is arranged at any position on the surface of the circuit board, wherein the surface of the circuit board comprises the upper surface of the circuit board and the lower surface of the circuit board; the microphones do not block the detection view angle of the distance sensor and the signal transceiving opening, and specifically, the microphones are all arranged below the distance sensor, or each microphone is arranged above the distance sensor; when only one microphone needs to be welded on the circuit board, the area of the circuit board is reduced relative to the area of the distance sensor in the transverse area, the area occupied by the cover body in the transverse area is correspondingly reduced for fixing the circuit board, and on the premise that the volume of the distance sensor is not changed, the shape of the longitudinal surface of the cover body is changed into a gourd shape with a wide top and a narrow bottom when the microphone is arranged below the distance sensor, and the horizontal area of the top cover of the cover body is larger than the horizontal area of the bottom of the cover body; when the microphone is arranged above the distance sensor, the shape of the longitudinal surface of the cover body is changed into a calabash shape with a narrow top and a wide bottom, and the horizontal area of the top cover of the cover body is smaller than that of the bottom of the cover body. In other embodiments, of course, the circuit board can still horizontally cover the distance sensor, that is, a microphone is welded at any position in the surface of a relatively large circuit board, the microphone is packaged in the form of a chip, and a sound pick-up hole is reserved at the top or bottom of the microphone to collect an external voice signal.

The distance sensor is a camera module or a laser ranging module having a circular structure, and the distance sensor may have another shape such as an ellipse or a rectangle. Preferably, a plurality of microphones are arranged in a circumferential array relative to the longitudinal axis of the camera shooting assembly, so that a high-quality sound field signal is acquired; alternatively, the plurality of microphones are arranged in a circumferential array relative to the longitudinal axis of the laser ranging assembly. Since the voice collecting component is not arranged on the periphery of the distance sensor but at different height positions, the annular diameter of the microphone arranged on the surface of the circuit board is not related to the shooting angle range of the camera component and the axis angle of the camera.

Further, in some embodiments, the distance sensor is disposed at the top of the housing of the robot, and is used to measure the distance between the obstacle and the robot in front of the moving direction of the robot, so that when the distance between the two reaches a set distance threshold, the robot can stop moving or change the moving path to prevent the robot and the obstacle from colliding even if the user control voice signal does not indicate stopping. In other embodiments, the distance sensor is rotatably arranged on the top of the shell of the robot, and can rotate 360 degrees relative to the top of the shell of the robot to detect the layout of furniture, walls and the like in the workspace, then draw a map in the workspace and work according to the drawn map to improve the work efficiency. Including but not limited to depth cameras and line laser sensors. In some embodiments, the distance sensor and the voice collecting component are arranged on the same accommodating structure, the microphone can be arranged above the distance sensor, and the microphone can also be arranged below the distance sensor, so that the distance sensor and the microphone do not need to be provided with protrusions separately, the centralization degree of the voice device can be improved as much as possible, and the design height of the voice device can be reduced as much as possible.

As an embodiment of the microphone disposed above the distance sensor, as can be seen from fig. 1 and 2, the first surface of the circuit board 106 (the upper surface of the circuit board 106) faces the acoustic opening 102, so that the first surface of the circuit board is disposed upward to form the front surface of the circuit board; the microphone 105 is arranged on the first surface of the circuit board 106, so that the microphone 105 forms a sound propagation channel with a short distance from the outside of the housing through the acoustic opening 102; the distance sensor is disposed below a second surface (a lower surface of the circuit board 106) of the circuit board 106 (the distance sensor is not shown in the drawing), forming a back surface of the circuit board; the distance sensor may also be disposed directly on the second surface of the circuit board 106. As can be seen from fig. 1 and 2, the voice collecting assembly further includes a fixing pad 104, a top of the microphone 105 is provided with a first sound collecting hole, the microphone 105 in the embodiment shown in fig. 1 is a microphone sensor with a sound collecting hole on a top of a package, and a bottom of the microphone 105 is arranged to contact the first surface of the circuit board 106, that is, a pad on the bottom of the package of the microphone 105 is electrically connected to a pad on the first surface of the circuit board 106; fixing pad 104 cover is established in microphone 105's week side, cover microphone 105, it sticks together through the gum between the first surface of fixing pad 104 and circuit board 106, fixing pad 104 sets up on circuit board 106 and encloses into the microphone 105 external packaging who has the chamber of holding with circuit board 106, microphone 105 sets up in this chamber of holding, circuit board 106 and microphone 105 all with the control unit communication connection, microphone 105 gathers outside sound signal from corresponding pickup hole and transmits for the control unit through circuit board 106, the control unit control assembly user speech control instruction that sound signal contained is carried out to speech device's robot. The top of the fixed pad 104 is provided with a second sound pickup hole, the first sound pickup hole is communicated with a second sound pickup hole, the second sound pickup hole is communicated with the sound collection hole 102, specifically, the central area of the top cover of the cover body 101 is provided with the sound collection hole 102 corresponding to the second sound pickup hole of the fixed pad 104, and the sound collection hole 102 is used for collecting a sound signal (generally, a voice control command sent by a user) from the top. The sound receiving hole 102 is preferably a cylinder, and a vibration cavity is formed between the microphone 105 and the fixing pad 104 and between the fixing pad 104 and the sound receiving hole 102, and the vibration cavity is communicated with the outside only through the sound receiving hole 102 to collect the voice signal transmitted from the outside of the housing 101.

With continued reference to fig. 1 and 2, the fixing pad 104 is adhered to the circuit board 106, and the distance sensor is fixedly connected inside the casing 101 or below the circuit board 106 by a connector such as a screw (not shown), so as to realize a fixed connection relationship between the microphone 105 and the casing 101, and prevent the microphone 105 from falling off during the movement of the speech device. It should be noted that each microphone is sleeved with a fixing pad, the fixing pad is preferably a sealing silica gel sleeve to play a role in damping and eliminating vibration, the sealing silica gel sleeve is provided with a back adhesive, and after the microphone is assembled, the sealing silica gel sleeve needs to be pressed forcefully to ensure that the sealing silica gel sleeve is firmly adhered to the circuit board. The fixed pad 104 can reduce the effect of vibration on the microphone 105 generated during the operation of the robot after the speech device is assembled to the robot, and the fixed pad 104 can absorb noise from the robot. Especially for the sweeping robot, the sweeping robot generally works on the ground, and the user sends out voice control from a high position, the voice signals controlled by the user can be collected easily by the second sound pick-up hole and the sound receiving hole 102, and the noise sent by the robot can be blocked by the fixing pad 104, so that the interference of the noise on the signals collected by the microphone 105 can be reduced.

Further, the voice collecting assembly further comprises a protective net 103, wherein the protective net 103 covers the second sound pickup hole of the fixing pad 104 or the first sound pickup hole of the microphone 105; the fixing pad 104 is disposed on the periphery of the protection net 103, and the gap between the protection net 103 and the circuit board 106 is configured to be sleeved on the periphery of the corresponding microphone 105, and the microphone 105 adopted in this embodiment has no sound pickup hole on the bottom thereof. In other embodiments, the voice collecting assembly further comprises foam, and it can be understood that the foam can not only block noise from the robot itself from entering the first sound-collecting hole, but also can absorb part of the noise. The protective net 103 is a waterproof and dustproof sound-transmitting film, which is disposed on the fixing pad 104 and covers the second sound-collecting hole thereof, so as to prevent water or dust from falling into the microphone through the second sound-collecting hole and the first sound-collecting hole, and affecting the effect of collecting sound signals by the microphone.

As another embodiment that the microphone is disposed above the distance sensor, when the microphone is disposed above the distance sensor, the second surface of the circuit board faces the sound collecting hole, so that the second surface of the circuit board faces upward, and the distance sensor is disposed below the first surface of the circuit board, so that the microphone forms a sound propagation channel with a short distance from the sound collecting hole and the sound collecting hole disposed on the surface of the circuit board to the outside of the cover; the distance sensor is arranged below the first surface of the circuit board (the surface of the circuit board which is arranged downwards) (the distance sensor is not shown in the figure), and the distance sensor is not directly arranged on the first surface of the circuit board. Specifically, the subassembly is gathered to pronunciation still includes the fixed bolster, and the bottom of microphone is provided with first sound collecting hole, and the microphone is the encapsulation bottom and sets up the microphone sensor who picks up the sound hole, and the bottom of microphone sets up to the first surface contact with the circuit board, and the circuit board is provided with the second that link up first surface and second surface and picks up the sound hole, and first sound collecting hole communicates with the second sound collecting hole, and the second is picked up the sound hole and is linked together with the sound collecting hole, and the first surface electrical connection of microphone and circuit board. The fixing pad is set around the microphone, the fixing pad is set on the circuit board and encloses with the circuit board to form the microphone outer package with containing cavity, the microphone is set in the containing cavity. Specifically, a sound collecting hole is formed in the central area of the top cover of the cover body, and corresponds to the second sound collecting hole formed in the circuit board, and the sound collecting hole is used for collecting sound signals (generally voice control commands sent by a user) from the top. A vibration cavity is formed among the microphone, the second sound pickup hole and the sound collection hole, and the vibration cavity is communicated with the outside only through the sound collection hole so as to collect voice signals transmitted from the outside of the cover body. Preferably, each microphone is sleeved with a fixing pad, the fixing pad is preferably a sealing silica gel sleeve and plays a role in damping and eliminating vibration, the sealing silica gel sleeve is provided with a back adhesive, and no gap exists between the fixing pad and the circuit board through the adhesive effect of the back adhesive after the microphone is assembled. The fixing pad can reduce the influence of vibration generated in the working process of the robot on the microphone after the voice device is assembled to the robot on the one hand, and can absorb noise from the robot on the other hand. Especially for the sweeping robot, the sweeping robot generally works on the ground, the user sends out voice control from a high position, the second sound collecting hole and the sound collecting hole are positioned to easily collect voice signals of the voice control of the user, noise sent by the robot can be blocked by the fixing pad, and interference of the noise to signals collected by the microphone can be reduced. Further, the voice acquisition assembly further comprises a protective net, and the protective net covers the second sound pickup hole arranged in the circuit board; can adopt the top to be provided with the fixed bolster or the cotton setting of bubble of picking up the sound hole all sides at the protection network to and the space between protection network and the circuit board, establish all sides that correspond the microphone with the cover, not only can block the noise that comes from robot self and get into first picking up the sound hole, can also absorb partial noise, wherein, the protection network belongs to waterproof dustproof sound-transmitting membrane, and this waterproof dustproof sound-transmitting membrane sets up to hiding the second picking up the sound hole to prevent that water or dust from falling into the microphone through second picking up the sound hole and first picking up the sound hole, and influence the effect that the microphone collected the sound signal.

As an embodiment in which the microphone is disposed below the distance sensor, as can be seen from fig. 4 and 5, the design height of the cover is reduced compared to the embodiment in which the microphone is disposed above the distance sensor, the circuit board 302 is disposed at the bottom of the cover 301, and the distance sensor is disposed above or below the circuit board 302. In this embodiment, the voice capturing assembly further includes a first fixing pad 305, the bottom of the microphone adopted in this embodiment is provided with a first sound pickup hole, the bottom of the microphone is configured to contact with the first surface of the circuit board 302, in the embodiment shown in fig. 4, the second surface of the circuit board 302 is disposed upward to form the front surface of the circuit board, the first surface of the circuit board 302 is disposed downward to form the back surface of the circuit board, and the microphone is also disposed downward, wherein the bottom of the microphone is configured to contact with the first surface of the circuit board 302, that is, the pad at the bottom of the package of the microphone is electrically connected to the pad at the first surface of the circuit board 302; the first fixing pad 305 is sleeved on the periphery of the microphone, the first fixing pad 305 is preferably a sealing silica gel sleeve, the first fixing pad 305 wraps the periphery of the microphone to play a role in damping and eliminating vibration, a back adhesive is arranged on the outer surface of the first fixing pad 305, and the first fixing pad is adhered to the circuit board through the back adhesive after the microphone is sleeved with the first fixing pad 305, so that no gap exists between the first fixing pad 305 and the circuit board. The circuit board 302 is provided with a second sound pickup hole penetrating through the first surface and the second surface, the second sound pickup hole is provided with a pad on the periphery of the first surface so as to fix the microphone, and is electrically connected with the circuit board after the microphone is welded to the corresponding pad of the circuit board, the first sound pickup hole is communicated with the second sound pickup hole, preferably, the second sound pickup hole is communicated with the sound collecting hole, or the second sound pickup hole is communicated with the signal transceiving opening 304 so as to collect a voice signal outside the cover body; in addition, a sound collecting hole is formed in a central region of the top cover of the cover 301, corresponding to the first sound collecting hole, for collecting a sound signal (typically, a voice control command from a user) from the top. The shape space of the sound receiving hole is preferably a cylinder, a vibration cavity is formed between the microphone and the fixing pad and is communicated with the outside only through the sound receiving hole so as to collect voice signals transmitted from the outside of the cover body. When the distance sensor is a lidar, the distance sensor is rotatably disposed at the center of the second surface of the circuit board such that the distance sensor is disposed on the upper side of the circuit board 302/above the circuit board 302.

Specifically, the first fixing pad 305 is disposed on the circuit board 302 and encloses a microphone with an accommodating cavity with the circuit board 302 in a sealing manner so as to weaken vibration transmitted from the outside, the circuit board 302 and the microphone are both in communication connection with the control unit, the microphone collects external sound signals from corresponding sound pickup holes and then transmits the external sound signals to the control unit through the circuit board 302, and the control unit controls the robot equipped with the voice device to execute user voice control commands contained in the sound signals.

On the basis of the above embodiment, the voice collecting assembly further includes a protective mesh 307 and a foam 308, the foam 308 covers the second sound pickup hole 306 of the circuit board 302, a third sound pickup hole is formed at the upper portion of the foam 308, the protective mesh 307 covers the third sound pickup hole or the second sound pickup hole, the foam 308 is further disposed at the peripheral side of the protective mesh 307 to cover the first sound pickup hole of the corresponding microphone, and the third sound pickup hole is communicated with the first sound pickup hole, so that a vibration cavity is formed between the foam 308 and the first fixing pad 305. It can be understood that the foam can not only block the noise from the robot into the first sound-collecting hole, but also absorb part of the noise. The protective net 307 is a waterproof and dustproof sound-transmitting film, and the waterproof and dustproof sound-transmitting film covers the second sound pickup hole 306 to prevent water or dust from falling into the microphone through the second sound pickup hole and the first sound pickup hole and affecting the effect of the microphone for collecting sound signals. Or, the voice collecting component further comprises a protective net and a second fixing pad, the second fixing pad covers the second sound collecting hole 306, a third sound collecting hole is formed in the upper portion of the second fixing pad, the protective net covers the third sound collecting hole, the second sound collecting hole or the first sound collecting hole, the second fixing pad is further arranged on the periphery of the protective net to cover the first sound collecting hole of the corresponding microphone, and the third sound collecting hole is communicated with the first sound collecting hole to form a vibration cavity between the second fixing pad and the first fixing pad.

As another embodiment, the microphone is disposed below the distance sensor, the circuit board is disposed at the bottom of the cover, and the distance sensor is disposed at the center of or above the circuit board. The voice collecting assembly further comprises a first fixing pad, a first sound collecting hole is formed in the top of the microphone, the bottom of the microphone is arranged to be in contact with the first surface of the circuit board, the first surface of the circuit board is opposite to the top cover of the cover body, so that the first surface of the circuit board faces upwards, the first sound collecting hole of the microphone is driven to face upwards, the second surface of the circuit board faces downwards, the bottom of the microphone is arranged to be in contact with the first surface of the circuit board, and namely a bonding pad at the bottom of the package of the microphone is electrically connected with a bonding pad on the first surface of the circuit board; the first fixing cushion cover is arranged on the peripheral side of the microphone and is adhered to the first surface of the circuit board; the top of the first fixing pad is provided with a second sound pickup hole, the first sound pickup hole is communicated with the second sound pickup hole, and preferably, the central area of the top cover of the cover body is provided with a sound collecting hole corresponding to the second sound pickup hole; in this embodiment, the sound receiving hole or the signal transceiving opening disposed on the side of the cover body is used for collecting the sound signal (usually the voice control command sent by the user) from the top of the cover body or the peripheral side of the cover body. The shape space of the acoustic hole is preferably a cylinder, a vibration cavity is formed between the microphone and the first fixing pad and can be communicated with the outside through the acoustic hole and the signal transceiving opening so as to collect voice signals transmitted from the outside of the cover body. When the distance sensor is a laser radar, the distance sensor is rotatably arranged at the center of the first surface of the circuit board, the assembly height of the distance sensor is larger than that of the first fixing pad, and the detection visual angle of the distance sensor covers the signal receiving and transmitting opening. The voice acquisition assembly further comprises a protective net and foam, the foam covers the second sound pickup hole of the first fixing pad, a third sound pickup hole is formed in the upper portion of the foam, the protective net covers the third sound pickup hole or the second sound pickup hole, the foam is further arranged on the periphery side of the protective net to cover the first sound pickup hole corresponding to the microphone, and the fixing pad is arranged on the periphery side of the foam or on the periphery side of the protective net; the third sound pickup hole is communicated with the first sound pickup hole to form a vibration cavity. The third sound pickup hole can also be communicated with the sound collecting hole, or the third sound pickup hole can also be communicated with the signal receiving and transmitting opening so as to collect voice signals outside the cover body. It can be understood that the protective net is a waterproof dustproof sound-transmitting film, and the waterproof dustproof sound-transmitting film covers the third sound-collecting hole to prevent water or dust from falling into the microphone through the third sound-collecting hole and affecting the effect of the microphone on collecting sound signals.

In summary, on the one hand, a single microphone or a microphone array can be arranged above the distance sensor, the circuit board for bearing the microphone is assembled by fully utilizing the idle space above the distance sensor in the corresponding cover body, the distance sensor can be assembled under the central position of the circuit board in a view-angle-free shielding manner, and the assembly position of the microphone is close to the top of the cover body, so that the microphone is far away from the noise source of the robot, the interference of the noise emitted by the robot on the microphone is reduced, and the robot can more accurately acquire the user voice control command. On the other hand, in a cover body with a fixed height special for the distance sensor, the distance sensor is arranged above a circuit board fixedly assembled at the bottom of the cover body, and a microphone fixedly welded on the first surface of the circuit board is arranged below the distance sensor, so that the detection visual angle of the distance sensor can cover a signal transmitting and receiving window arranged on the side face of the cover body and is not shielded by the microphone fixedly welded on the first surface of the circuit board, and meanwhile, the structure can timely detect that the upper part of the distance sensor collides with an obstacle to accelerate the escape. Therefore, on the premise that the height of the robot is not increased, the voice acquisition assembly is ensured to be far away from a noise source of the robot, and a high-quality sound field signal and an optical signal are ensured to be obtained. Therefore, this technical scheme realizes setting out the less structural cavity that receives the machine noise influence and putting the microphone array in its specific position department from top to bottom in the cover body, improving the utilization ratio of the accommodation space of laser radar cover body top and bottom to compromise the problem of relevant distance sensor's assembly height and detection visual angle, and then let this speech device be applicable to and assemble in the middle of more types of robot, carry out intelligent speech control and sound localization in order to realize at richer work scene.

It should be noted that, the fixing pad in the foregoing embodiments may be made of various materials, such as sponge, silica gel, etc., and the embodiment is preferably a silica gel shock pad to ensure the shock absorbing effect. The microphone is an acoustic sensor and is arranged on a circuit board in a chip form, and the generated longitudinal height is extremely small (negligible). And a waterproof dustproof sound-transmitting film is arranged in each sound pick-up hole and covers the sound pick-up hole. Optionally, after the foam is arranged on the peripheral side of the microphone, a fixing pad can be continuously arranged between the foam and the circuit board and is firmly bonded; or, set up the fixed bolster in week side of microphone after, can continue to set up the cotton gap of filling of bubble between fixed bolster and circuit board, the in-process of guaranteeing microphone collection signal both can reduce external noise source's interference, also can guarantee the anti-vibration nature of pronunciation collection subassembly, can also guarantee the waterproof nature of pronunciation collection subassembly. Moreover, the heights (thicknesses) of the waterproof and dustproof sound-transmitting membrane, the foam and the fixing pad are set to be smaller as much as possible, and at least can be smaller than the thickness of the top cover of the cover body or the thickness of the shell of the robot to which the voice device needs to be assembled, so that the voice acquisition assembly is as close as possible to the surface of the robot or the upper surface of the cover body. Therefore, the utility model ensures that the interference of external noise sources, including the noise generated by the rotation of the distance sensor, is reduced as much as possible in the process of collecting signals by the microphone by arranging the foam or the fixed cushion on the peripheral side of the microphone; the fixed pad or the foam is arranged on the periphery of the microphone, so that the vibration resistance and the denoising performance of the voice acquisition assembly are ensured; still through set up the protection network and be equipped with the waterproof dirt resistance who guarantees the pronunciation collection subassembly in corresponding pick-up hole department, make its cleaning robot who is more applicable to and has the speech control function clean the operation indoor. Secondly, a plurality of microphones are further arranged in a circumferential array in a proper cavity space, and fixed pads or foam are used for physically isolating noise, so that a high-quality sound field signal is acquired. The accuracy of the voice recognition direction of the voice collection assembly can be guaranteed.

As an embodiment, referring to fig. 4, the voice collecting assembly further includes a circuit shielding plate 303, where the circuit shielding plate 303 is disposed below the fixedly assembled circuit board 302 in the housing 301; mounting holes are uniformly and annularly formed in the surface of the circuit board 302 and the surface of the circuit covering plate 303, mounting posts are uniformly and annularly formed in the top cover of the cover body 301, the distance between the mounting holes of the circuit board 302 is equal to the distance between the mounting holes of the circuit covering plate 303, and the distance between the mounting posts of the top cover of the cover body 301 is equal to the distance between the mounting holes of the circuit covering plate 303; the center of the circuit board 302, the center of the circuit shielding plate 303, and the center of the top cover of the cover body 301 are located on the same preset axis, and the preset axis is a central axis of the voice device; the mounting holes of the circuit board 302 penetrate through two opposite sides of the circuit board 302, including the first surface and the second surface of the circuit board 302; the mounting holes of the circuit shielding plate 303 are all through the two opposite surfaces of the circuit shielding plate, and include the first surface and the second surface of the circuit shielding plate 303. The distance between the mounting hole of the circuit board 302 and the preset axis is equal to the distance between the mounting hole of the circuit covering plate 303 and the preset axis, and the distance between the mounting post of the top cover of the cover body 301 and the preset axis is equal to the distance between the mounting hole of the circuit covering plate 303 and the preset axis. The mounting holes of the circuit board 302, the mounting holes of the circuit covering board 303 and the mounting posts of the top cover of the cover body 301 are aligned, when the circuit covering board 303 is fixedly mounted at the bottom of the circuit board 302, the mounting holes of the circuit board 302 and the mounting holes of the circuit covering board 303 are fixed together through screws or other connecting pieces, and then the circuit board is fixedly connected in the cover body or the distance sensor through connecting pieces such as screws, so that the fixed connection relationship between the microphone and the cover body can be realized, and the microphone is prevented from falling off from the housing of the robot in the process of driving the robot assembled with the voice device.

Preferably, the microphones disposed on the circuit board and the mounting holes of the circuit board are spaced, any one of the microphones is soldered between the two mounting holes of the circuit board, and the distances between the microphone and the two mounting holes of the circuit board are equal. Preferably, the number of microphones is equal to the number of mounting holes and the microphones are spaced apart. And a microphone array formed by the microphones on the circuit board and a mounting hole array formed by the mounting holes on the same circuit board are both annular arrays, namely the microphones and the mounting holes are arranged at equal intervals, and the circuit board, the circuit covering plate and the top cover of the cover body are circular in shape.

Preferably, the circuit board is further provided with an indicator light array for indicating a sound direction, the indicator light array comprises a plurality of indicator lights arranged around the center of the circuit board, each indicator light is fixed on the circuit board, each indicator light is arranged on a connecting line of a corresponding microphone and the center of the circuit board, the indicator light array and the microphone array form concentric circles, and the radius of the indicator light array is smaller than that of the microphone array; thereby the setting through the pilot lamp makes the sound source direction that obtains demonstrate for the user more directly perceivedly, and convenient to use person observes.

The utility model also discloses a mobile robot, which can be known by referring to fig. 3 and comprises a top shell 20 assembled on the machine body; the voice device disclosed in the foregoing embodiment is mounted on the top case 20, and particularly, is mounted on the upper surface of the top case 20 to protrude from the body. First, the mobile robot according to the present application will be schematically explained. The mobile robot mentioned in the present application can be various intelligent devices with cleaning functions, for example, a sweeping robot with sweeping and cleaning functions, a cleaning robot with cleaning function alone, and the like are included. The mobile robot is provided with sensors for following functions, such as a camera, a pulse radio (UWB), a laser radar and the like, and the sensors are matched with a proper algorithm to realize an effective and robust drawing establishing function.

A complete intelligent mobile robot can integrate many functions, for example, a floor sweeping robot, such as a sweeping and mopping body, a large dust box, a large water tank, laser vision navigation, microphone voice man-machine interaction and the like. Correspondingly, also for example, the sweeping robot may comprise a cleaning system, specifically, the cleaning system comprises a side brush assembly, a rolling brush assembly, a dust box assembly, a fan assembly, a water tank assembly, and the like. The side brush assembly comprises a left side brush assembly and a right side brush assembly, which are used as the first dust-raising functional module of the cleaning system and are generally arranged in front of the whole machine.

Under the general condition, the noise of self of intelligent mobile robot is produced by functions such as drive element, limit brush, round brush and/or fan to these parts are located and hold intracavity or its bottom, the utility model discloses in with the microphone setting at the internal portion of cover of the top shell 20 of robot and consider that this cover should correspond the integrality of the scanning visual angle of the lidar of matching originally, so that the noise source of robot is kept away from to the microphone in certain height range, reduce the noise that robot self sent and to the interference of microphone, so that make the robot can be more accurate gather user speech control instruction, this user speech control instruction is including beginning to sweep the floor, broadcast music, stop to sweep the floor, go to charge etc. technical personnel in the art can set for corresponding function according to the actual demand of robot.

More specifically, the number of microphones as the sound sensor may be plural, and the microphones may be uniformly disposed in the top cover body of the mobile robot, and are specifically fitted below or above the signal transmission/reception opening of the protective cover of the laser radar, thereby obtaining more accurate sound signals and ranging signals in a limited spatial range.

In addition, the mobile robot of the present application performs voice recognition in a use scene including the ground of a home, a mall, a school, and the like, and may include surfaces of various objects, for example, a flat board surface. In the present application, the mobile robot is not limited to various shapes such as an oval, a circle, a convex polygon, etc., and the mobile robot may implement the method logic of controlling the motion of the mobile robot by installing software, APP, or writing a program in a corresponding device inside the mobile robot in a controller used with the self-moving robot.

In some embodiments, a microphone array composed of microphones may track a sound source by using a time difference of sound reaching each microphone, and acquire angle information of the sound source, where the angle range is one week, i.e. 0 to 360 degrees. The laser radar can obtain the object distance information surrounding the laser radar by rotating the distance measurement. The utility model provides a speech device can set up microphone array and laser radar coaxial in not co-altitude position and electricity and connect, can acquire the angle information of sound source through microphone array earlier from this, the distance on this angular direction of rethread laser radar detection is as the distance information of sound source, the two-dimensional plane coordinate location of the barrier of sound source position is realized, even the barrier is collided to the cover body on top shell surface, also can in time be scanned by laser radar and detect out and in time remind mobile robot to get rid of poverty. The utility model provides a speech device installs back on mobile robot, and the in-process that sound production and mobile robot constantly are close to the sound source no longer behind the sound source calling robot still can acquire sound source and speech device's interval. Further, if the zero-degree angle direction of the pre-configured microphone array is the same as the zero-degree angle direction of the laser radar, and the angle increase positive direction of the microphone array is the same as the angle increase positive direction of the laser radar, the algorithm required by sound source positioning can be simpler and easier to deploy.

In summary, in the overall structure of the mobile robot, based on the assembly relationship between the top case, the cover body, and the voice collecting component and the distance sensor inside the cover body, on one hand, a single microphone or a microphone array can be disposed above the distance sensor, the circuit board for carrying the microphone is assembled by fully utilizing the idle space above the distance sensor in the corresponding cover body, the distance sensor can be assembled under the center position of the circuit board without viewing angle shielding, the assembly position of the microphone is close to the top of the cover body, so that the microphone is far away from the noise source of the robot, the interference of the noise emitted by the robot to the microphone is reduced, and the robot can more accurately collect the user voice control command. On the other hand, in a cover body with a fixed height specially used for the distance sensor, the distance sensor is arranged above the circuit board at the bottom of the cover body, and the microphone fixedly welded on the first surface of the circuit board is arranged below the distance sensor, so that the signal transmitting and receiving window arranged on the side surface of the cover body is not shielded by the microphone fixedly welded on the first surface of the circuit board. Therefore, on the premise that the height of the robot is not increased, the voice acquisition assembly is ensured to be far away from a noise source of the robot, and a high-quality sound field signal and an optical signal are ensured to be obtained at the same time. Therefore, this technical scheme realizes setting out the less structural cavity that is influenced by machine noise and putting the microphone array in its specific position from top to bottom in the cover body, improves laser radar cover body top and bottom accommodation space's utilization ratio to let this speech device be applicable to assemble in the middle of more types of robot, carry out intelligent speech control and sound localization in order to realize carrying out in richer work scene.

As an embodiment, referring to fig. 3, the top case 20 is further provided with two sound emitting holes 201, and the two sound emitting holes 201 are symmetrically arranged on two sides of the voice device along a transverse central axis of the mobile robot, and specifically, may be symmetrically arranged on the front and rear sides of the cover body, or symmetrically arranged on the left and right sides of the cover body. The mobile robot further comprises a speaker, which may be a loudspeaker (horn), which is disposed inside the top shell 20 of the robot body and is in communication with the control unit of the mobile robot, which is configured to play the sound mode of the mobile robot, such as music. After the user entered this broadcast mode through remote controller or APP control mobile robot, the music of storage in the control unit was broadcast out through the speaker, corresponds to in the middle of fig. 3, and the sound hole 201 is the broadcast hole of speaker.

Preferably, the sound emitting holes 201 may be oriented at a certain inclination angle with respect to the upper surface of the top case 20, but not parallel to the sound receiving holes of the top cover of the cover, so as to prevent the sound signals played by the speaker from interfering with the sound signals of the microphone for collecting the voice control sound signals or other sound sources emitted by the user. More specifically, the sound receiving hole of the top cover of the cover body faces to be perpendicular to the upper surface of the top case, and the included angle formed by the facing direction of the sound emitting hole 201 and the upper surface of the top case 20 is not equal to 90 degrees.

It should be noted that the division standard of the front and rear parts of the top case 20 is based on the shape of the top case 20, and the front part is the area located at the front side of the top case 20, and the rear part is the area located at the rear side of the top case. For example: taking the embodiment shown in fig. 3 as an example, the top case 20 of the body of the circular robot is divided into a front semicircular area and a rear semicircular area in the front-rear direction, the front semicircular area defining the front portion, and the rear semicircular area defining the rear portion. It can be understood that one of the two sound-emitting holes 201 is located in the front of the top shell, and the other is located in the rear of the top shell, so that the two are kept at a sufficient distance relative to the middle cover body, thereby further reducing the interference of the sound signal played by the mobile robot to the microphone arranged in the cover body, and the mobile robot can more accurately collect the voice control instruction of the user and accurately execute the instruction, or acquire the angle information of the sound source and realize the two-dimensional plane coordinate positioning of the sound source through laser radar ranging.

In the present disclosure, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may comprise direct contact between the first and second features, or may comprise contact between the first and second features not directly. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

The above disclosure provides many different embodiments or examples for implementing different features of the invention. In order to simplify the disclosure of the present invention, the components and arrangements of specific examples are described above. Of course, they are merely examples and are not intended to limit the present invention. Furthermore, the present invention may repeat reference numerals and/or reference letters in the various examples, which have been repeated for purposes of simplicity and clarity and do not in themselves dictate a relationship between the various embodiments and/or arrangements discussed. In addition, the present disclosure provides examples of various specific processes and materials, but one of ordinary skill in the art may recognize applications of other processes and/or use of other materials.

The above-described embodiments of the apparatus are merely schematic, where the units described as separate parts may or may not be physically separate, and the parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the embodiment. One of ordinary skill in the art can understand and implement without inventive effort.

Claims

1. A voice device is characterized by comprising a cover body, a voice acquisition assembly and a distance sensor; the voice acquisition assembly and the distance sensor are arranged at the corresponding height position in the cover body, so that the voice acquisition assembly does not shield the detection visual angle of the distance sensor.

2. The speech device according to claim 1, wherein the top cover of the housing defines a sound-absorbing hole, the sound-absorbing hole being in communication with the speech acquisition assembly; the circuit board is fixedly arranged in the cover body and is enclosed with the cover body to form an accommodating cavity, and the sound collecting hole penetrates through the top cover of the cover body and communicates the outside of the cover body with the accommodating cavity;

the side of the cover body is provided with a signal receiving and transmitting opening, wherein the voice collecting assembly does not shield the signal receiving and transmitting opening.

3. The speech device of claim 2, wherein the speech acquisition component comprises a circuit board and at least one microphone; the microphone and the circuit board do not shield the signal transceiving opening;

wherein the microphone and the distance sensor are arranged on opposite sides of the circuit board; or both the microphone and the distance sensor are arranged above or below the circuit board, so that the microphone and the distance sensor are located at different heights.

4. The speech device according to claim 3, wherein when at least two microphones are present in the speech acquisition assembly, the at least two microphones surround the distance sensor and are uniformly distributed on the circuit board; each microphone does not obstruct the detection view angle of the distance sensor.

5. The speech device of claim 3, wherein the speech acquisition assembly includes only one microphone, the microphone being disposed at any location on the surface of the circuit board, the microphone being disposed below the distance sensor, or the microphone being disposed above the distance sensor.

6. The audio device according to claim 3, wherein when the microphone is disposed above the distance sensor, the first surface of the circuit board faces the sound receiving hole such that the first surface of the circuit board is disposed upward, and the distance sensor is disposed on the second surface of the circuit board;

or when the microphone is arranged above the distance sensor, the second surface of the circuit board is opposite to the sound receiving hole so that the second surface of the circuit board is arranged upwards, and the distance sensor is arranged on the first surface of the circuit board.

7. The audio device as claimed in claim 6, wherein the voice collecting assembly further comprises a fixing pad, the top of the microphone is provided with a first sound collecting hole, and the bottom of the microphone is configured to contact the first surface of the circuit board so that the microphone is disposed on the first surface of the circuit board, on the premise that the first surface of the circuit board faces the sound collecting hole so that the first surface of the circuit board faces upward; the fixing pad is sleeved on the periphery of the microphone, a second sound pickup hole is formed in the top of the fixing pad, the first sound pickup hole is communicated with the second sound pickup hole, and the second sound pickup hole is communicated with the sound collecting hole.

8. The audio device as claimed in claim 6, wherein the voice collecting assembly further comprises a fixing pad, the bottom of the microphone is provided with a first sound collecting hole, and the bottom of the microphone is configured to contact the first surface of the circuit board so that the microphone is disposed on the first surface of the circuit board, on the premise that the second surface of the circuit board faces the sound collecting hole so that the second surface of the circuit board faces upward; the fixed cushion cover is arranged on the periphery of the microphone, the circuit board is provided with a second sound pickup hole which penetrates through the first surface and the second surface, the first sound pickup hole is communicated with the second sound pickup hole, and the second sound pickup hole is communicated with the sound collection hole.

9. The speech device of claim 7 or 8, wherein the speech acquisition assembly further comprises a protective mesh covering the second sound pickup aperture or the first sound pickup aperture.

10. The speech device according to claim 3, wherein the microphone is disposed below the distance sensor or below the signal transceiving opening, the circuit board is disposed at the bottom of the housing or below the signal transceiving opening, and the microphone is disposed on a surface of the circuit board; the distance sensor is arranged at the center of the circuit board or above the circuit board so that the detection visual angle of the distance sensor covers the signal transceiving opening.

11. The speech device of claim 10 wherein the speech capturing assembly further comprises a first mounting pad, wherein the microphone has a bottom portion with a first sound pickup hole, and wherein the microphone has a bottom portion configured to contact the first surface of the circuit board, provided that the second surface of the circuit board faces the top cover of the housing such that the second surface of the circuit board faces upward; the first fixing pad is sleeved on the periphery of the microphone, the circuit board is provided with a second pickup hole penetrating through the first surface and the second surface, the first pickup hole is communicated with the second pickup hole, and the second pickup hole is communicated with the signal transceiving opening or the sound collecting hole.

12. The speech device of claim 10 wherein the speech capturing assembly further comprises a first mounting pad, wherein the top of the microphone is provided with a first sound pickup hole, and the bottom of the microphone is configured to contact the first surface of the circuit board, provided that the first surface of the circuit board faces the top cover of the housing such that the first surface of the circuit board faces upward; the first fixing cushion is sleeved on the periphery of the microphone, a second sound pickup hole is formed in the top of the first fixing cushion and communicated with the second sound pickup hole, and the second sound pickup hole is communicated with the signal receiving and transmitting opening or the sound pickup hole.

13. The speech device according to claim 11 or 12, wherein the speech acquisition component further comprises a protective mesh and foam, the foam covers the second sound pickup hole, a third sound pickup hole is formed in an upper portion of the foam, the protective mesh covers the third sound pickup hole, the second sound pickup hole or the first sound pickup hole, the foam is further disposed on a peripheral side of the protective mesh, and the third sound pickup hole is communicated with the first sound pickup hole.

14. The speech mechanism of claim 13 wherein the speech acquisition assembly further comprises a circuit cover disposed within the housing below the fixedly mounted circuit board;

mounting holes are uniformly and annularly formed in the surface of the circuit board and the surface of the circuit shielding plate, mounting columns are uniformly and annularly arranged on the top cover of the cover body, the distance between the mounting holes of the circuit board is equal to the distance between the mounting holes of the circuit shielding plate, and the distance between the mounting columns of the top cover of the cover body is equal to the distance between the mounting holes of the circuit shielding plate; the center of the circuit board, the center of the circuit shielding plate and the center of the top cover of the cover body are positioned on the same preset axis; the mounting hole of the circuit board penetrates through two opposite surfaces of the circuit board; the mounting holes of the circuit shielding plate are all communicated with two opposite surfaces of the circuit shielding plate;

the distance between the mounting hole of the circuit board and the preset axis is equal to the distance between the mounting hole of the circuit covering plate and the preset axis, and the distance between the mounting column of the top cover of the cover body and the preset axis is equal to the distance between the mounting hole of the circuit covering plate and the preset axis.

15. The speech apparatus of claim 14, wherein the microphones disposed on the circuit board and the mounting holes of the circuit board are spaced apart, and each microphone is soldered between two mounting holes of the circuit board, and the distance between the microphone and the two mounting holes of the circuit board is equal.

16. A mobile robot includes a top case assembled to a body; characterized in that the speech device according to any one of claims 1 to 15 is mounted on the top housing.