CN221068898U

CN221068898U - Intelligent tray and robot

Info

Publication number: CN221068898U
Application number: CN202322782744.0U
Authority: CN
Inventors: 孙雄; 周博; 张琨
Original assignee: Shenzhen Youbihang Technology Co ltd; Ubtech Robotics Corp
Current assignee: Shenzhen Youbihang Technology Co ltd; Ubtech Robotics Corp
Priority date: 2023-10-16
Filing date: 2023-10-16
Publication date: 2024-06-04
Anticipated expiration: 2033-10-16

Abstract

The embodiment of the utility model provides an intelligent tray and a robot, and relates to the technical field of robots. The intelligent tray comprises a chassis, a pressure sensing layer and a protection pad, and is in communication connection with the controller; the protection pad, the pressure sensing layer and the chassis are sequentially stacked, and the pressure sensing layer comprises a flexible film pressure sensor and/or a three-dimensional single-point pressure sensor; the pressure sensing layer is used for detecting the pressure born by the intelligent tray, and when the pressure is greater than or equal to a pressure threshold value, the existence of an object to be detected on the intelligent tray is determined. The utility model has the advantages of portability, good applicability, capability of providing better user experience and the like.

Description

Intelligent tray and robot

Technical Field

The utility model relates to the technical field of robots, in particular to an intelligent tray and a robot.

Background

In the application of a meal delivery robot, the current main methods for detecting whether an article exists on a meal delivery tray are as follows: the presence of an item on the tray is detected by an infrared sensor or a TOF sensor (time of flight sensor), i.e. the item is detected as an obstacle by means of a photoelectric signal. However, due to the fact that the reflectivities of the light to different colors are different, false alarms exist on articles with partial colors, and the food delivery robot is inaccurate in detecting whether the articles exist on the food delivery tray.

Disclosure of utility model

In order to solve the technical problems, the embodiment of the application provides an intelligent tray and a robot.

In a first aspect, an embodiment of the present application provides an intelligent tray, where the intelligent tray includes a chassis, a pressure sensing layer, and a protection pad, and the intelligent tray is communicatively connected to a controller;

The protection pad, the pressure sensing layer and the chassis are sequentially stacked, and the pressure sensing layer comprises a flexible film pressure sensor and/or a three-dimensional single-point pressure sensor;

The pressure sensing layer is used for detecting the pressure born by the intelligent tray, and when the pressure is greater than or equal to a pressure threshold value, the existence of an object to be detected on the intelligent tray is determined.

In one embodiment, the flexible film pressure sensor comprises an elastic sensing module, a conversion module and a signal conditioning module;

The elastic sensing module is electrically connected with the conversion module, and the conversion module is electrically connected with the signal conditioning module.

In one embodiment, the elastic sensing module comprises a pressure sensitive composite layer, an isolated sensing area and a conductive composite layer;

The pressure-sensitive composite layer and the conductive composite layer are partially bonded through double-sided adhesive tape, and the non-bonded area is used as the isolation sensing area;

When the isolation sensing area is pressed, the pressure-sensitive composite layer is contacted with the corresponding area of the conductive composite layer and then is conducted.

In one embodiment, the pressure sensitive composite layer includes a first flexible film and a pressure sensitive layer disposed on the first flexible film.

In one embodiment, the pressure sensitive composite layer includes a second flexible film and conductive traces disposed on the second flexible film.

In one embodiment, the first flexible film and the second flexible film are mylar.

In one embodiment, the conversion module comprises a multipoint distribution varistor.

In one embodiment, the intelligent tray is electrically connected to a power module for powering the intelligent tray and the controller.

In an embodiment, the intelligent tray is electrically connected with the flexible LED, the power supply module is electrically connected with the flexible LED, and the controller is electrically connected with the flexible LED;

When the object to be detected exists on the intelligent tray, the controller controls the flexible LED to emit light.

In a second aspect, embodiments of the present application provide a robot comprising an intelligent tray as described in the first aspect.

The application has the following beneficial effects:

The intelligent tray provided by the embodiment of the application has the advantages that the whole structure is an integrated structure, the detection precision is high, the power consumption is low, and the intelligent tray can be applied to various occasions. The embodiment of the application has the advantages of portability, good applicability, capability of providing better user experience and the like.

Drawings

In order to more clearly illustrate the technical solutions of the present application, the drawings that are required for the embodiments will be briefly described, it being understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope of the present application. Like elements are numbered alike in the various figures.

FIG. 1 is a schematic diagram of a hardware module of an intelligent pallet according to an embodiment of the present application;

FIG. 2 illustrates one of a modeling schematic of an intelligent tray provided by an embodiment of the present application;

FIG. 3 illustrates a second modeling diagram of an intelligent tray provided by an embodiment of the present application;

FIG. 4 is a schematic diagram of a flexible film pressure sensor according to an embodiment of the present application.

Description of main reference numerals: 110-a protective pad; 120-a pressure sensing layer; 130-chassis; 210-an elastic sensitive module; 220-a conversion module; 230-a signal conditioning module.

Detailed Description

The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present application, but not all embodiments.

The components of the embodiments of the present application generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the application, as presented in the figures, is not intended to limit the scope of the application, as claimed, but is merely representative of selected embodiments of the application. All other embodiments, which can be made by a person skilled in the art without making any inventive effort, are intended to be within the scope of the present application.

The terms "comprises," "comprising," "including," or any other variation thereof, are intended to cover a specific feature, number, step, operation, element, component, or combination of the foregoing, which may be used in various embodiments of the present application, and are not intended to first exclude the presence of or increase the likelihood of one or more other features, numbers, steps, operations, elements, components, or combinations of the foregoing.

Furthermore, the terms "first," "second," "third," and the like are used merely to distinguish between descriptions and should not be construed as indicating or implying relative importance.

Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which various embodiments of the application belong. The terms (such as those defined in commonly used dictionaries) will be interpreted as having a meaning that is the same as the context of the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein in connection with the various embodiments of the application.

Example 1

In intelligent robot applications, some robots have a pallet structure. For example, the meal delivery robot detects the presence of objects on the meal tray to alert the user and attendant if the meal or objects are removed.

Currently, the detection of the articles on the tray mainly uses an infrared sensor or a TOF sensor to detect whether the articles are on the tray. Namely: the object is detected as an obstacle. However, since infrared light or TOF (Time of flight) sensors are mainly detected by photoelectric signals. While the reflectivity of light for different colors is different, resulting in some colors of articles not being detectable. The false alarm rate is relatively high.

Another common method for detecting objects is similar to an electronic scale, a layered tray is designed, one layer is a lower supporting layer, the other layer is an upper object placing layer, the two layers are connected in a floating manner, and then a sensor for sensing gravity change is arranged at the floating connection position. However, with the need for tray integration, such obviously layered trays are no longer suitable.

Based on this, an embodiment of the present application provides an intelligent tray, which includes a chassis 130, a pressure sensing layer 120, and a protection pad 110, and is communicatively connected to a controller; the protection pad 110, the pressure sensing layer 120 and the chassis 130 are sequentially stacked, and the pressure sensing layer 120 includes a flexible film pressure sensor and/or a three-dimensional single-point pressure sensor; the pressure sensing layer 120 is configured to detect a pressure applied to the intelligent tray, and determine that an object to be detected exists on the intelligent tray when the pressure is greater than or equal to a pressure threshold.

Specifically, the chassis 130, which is a main disc of the intelligent tray, may be made of materials such as iron, resin, etc., and plays a supporting role. The pressure sensing layer 120 is attached to the bottom layer, and the protection pad 110 is disposed on the top layer. The three are stacked and fixed relatively, namely the whole intelligent tray is integrated. Referring to fig. 1 and 2, in fig. 1, 110 is a protection pad 110, 120 is a pressure sensing layer 120, and 130 is a chassis 130. Fig. 2 and 3 are schematic diagrams of practical applications, fig. 2 is a schematic modeling diagram of an assembled intelligent tray, fig. 3 is a schematic modeling diagram of each layer of the intelligent tray, and the protective pad 110, the pressure sensor, and the chassis 130 are sequentially arranged from top to bottom.

The pressure sensor plays a main role in detecting objects, and can detect the pressure born by the tray in real time, so that whether the object to be detected exists on the tray or not and the position of the object are judged.

Illustratively, the pressure sensing layer 120 includes a flexible thin film pressure sensor and/or a three-dimensional single point pressure sensor.

When the pressure sensing layer 120 is a flexible film pressure sensor, the flexible film pressure sensor uses flexible circuit board technology to sense the pressure generated by the object by using piezoresistor type multipoint sensing, so as to detect whether the object exists.

Referring to fig. 4, in one embodiment, the flexible film pressure sensor includes an elastic sensing module 210, a conversion module 220, and a signal conditioning module 230; the elastic sensing module 210 is electrically connected to the conversion module 220, and the conversion module 220 is electrically connected to the signal conditioning module 230.

Wherein the elastic sensing module 210 is used for generating strain when the object to be detected exists, and the conversion module 220 is used for generating resistance change according to the strain of the elastic sensing module 210; the signal conditioning module 230 is configured to convert the resistance change into a voltage signal.

By way of example, the flexible thin film pressure sensor may be structurally a pressure sensing element sandwiched between two flexible substrates, the pressure sensing element may be a single sensor that detects pressure at a specific location, or an array of sensors that monitor pressure distribution over a large area.

In one embodiment, the elastic sensing module 210 includes a pressure sensitive composite layer, an isolated sensing region, and a conductive composite layer; the pressure-sensitive composite layer and the conductive composite layer are partially bonded through double-sided adhesive tape, and the non-bonded area is used as the isolation sensing area; when the isolation sensing area is pressed, the pressure-sensitive composite layer is contacted with the corresponding area of the conductive composite layer and then is conducted.

The pressure-sensitive composite layer and the conductive composite layer are both structures of circuits or elements with specific functions and polymer flexible films. In one embodiment, the pressure sensitive composite layer includes a first flexible film and a pressure sensitive layer disposed on the first flexible film. In one embodiment, the pressure sensitive composite layer includes a second flexible film and conductive traces disposed on the second flexible film. In one embodiment, the first flexible film and the second flexible film are mylar.

The pressure sensitive layer is made of nanoscale pressure sensitive materials, and the conductive circuits are made of high-conductivity materials. The pressure-sensitive composite layer and the non-conductive part of the conductive composite layer are attached by double faced adhesive tape, the circuits in the conductive composite layer are disconnected from each other, the pressure-sensitive layer and the conductive circuit are contacted only when the isolated sensing area is pressed, and the circuits originally disconnected from each other in the conductive circuit are conducted by the pressure-sensitive layer on the top layer, so that the whole resistance output value of the conversion module 220 is reduced. The greater the pressure, the less the resistance. Subsequently, the signal conditioning module 230 outputs a corresponding voltage signal according to the change of the resistance, and the process of converting the non-electric quantity (deformation) into the electric quantity is completed. In one embodiment, the conversion module 220 includes a multi-point distributed varistor.

The flexible film pressure sensor realizes the function that when an object applies pressure, the film material of the sensor deforms to change electrical characteristics (such as resistance or capacitance), so that the pressure can be measured. The flexible glass has the advantages of good flexibility, suitability for object surfaces with different shapes and curved surfaces, high sensitivity, light weight, portability, easy integration, low power consumption, excellent wear resistance and corrosion resistance and the like. In addition, because the flexible film pressure sensor is fixed on the integrated tray, compared with the traditional floating connection mode, the flexible film pressure sensor is hardly disturbed, and the accuracy of the detection result is high.

When the pressure sensing layer 120 is a three-dimensional single-point pressure sensor, the three-dimensional single-point pressure sensor is a sensor capable of measuring and detecting pressure distribution in three directions (positions in X-axis and Y-axis directions and forces in Z-axis directions). It is usually composed of a pressure sensitive element with multiple sensitive areas, which can measure pressures from different directions. With these sensors, the pressure exerted by the object on the sensor can be monitored and analyzed in real time and detailed information about the pressure distribution is provided.

The power supply module can be a button battery or a dry battery, a storage battery and the like, and can supply power to the intelligent tray through the battery, and a small MCU (micro controller unit) is additionally arranged as a controller to enable the intelligent tray to be used independently. Of course, a circuit interface may be provided in connection with the robot body to power the intelligent tray, for example as part of a meal delivery robot.

When the intelligent tray is independently used, in an embodiment, the intelligent tray is electrically connected with the flexible LED, the power supply module is electrically connected with the flexible LED, and the controller is electrically connected with the flexible LED; when the object to be detected exists on the intelligent tray, the controller controls the flexible LED to emit light.

Thus, the controller lights up the flexible led strip once an item is perceived. The toy tray can be used as a tray of a pet training machine/pet entertainment machine/pet feeder and also can be used as a toy tray for training the contact feeling of hands of children.

When the intelligent tray is used as a part of the robot, whether articles exist or not can be perceived, and the robot system gives out prompts so that a user can respond timely.

The intelligent tray that this embodiment provided, overall structure is integrated structure, detects the precision height and the low power dissipation, can be applied to multiple occasion. The embodiment of the application has the advantages of portability, good applicability, capability of providing better user experience and the like.

Example 2

In addition, the embodiment of the application provides a robot.

By way of example, the robot provided in this embodiment may be a robot in which the intelligent tray is combined with other functions, such as a meal delivery robot, a pet robot, or the like.

The robot may comprise e.g. a mechanical structure consisting of joints, links, bearings etc. and may take different forms of structure depending on the task. Or other sensors than pressure sensors such as cameras, lidar, tactile sensors, accelerometers, etc. And a control system such as an MCU for processing the sensor data and performing corresponding actions. Such as a central processing unit, a motor control module, etc. A communication module may also be included for communicating with an external device or other robot. The communication module may be a wireless communication module, such as Wi-Fi, bluetooth, etc., or a wired communication module, such as ethernet, USB, etc.

The robot provided by the embodiment comprises the intelligent tray provided by the embodiment 1, wherein the intelligent tray comprises a chassis, a pressure sensing layer and a protection pad, and the intelligent tray is in communication connection with a controller;

The robot provided by the embodiment has the following beneficial effects:

The detection precision is high, the power consumption is low, and the method can be applied to various occasions. The embodiment of the application has the advantages of portability, good applicability, capability of providing better user experience and the like.

It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or terminal that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or terminal. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or terminal that comprises the element.

The embodiments of the present application have been described above with reference to the accompanying drawings, but the present application is not limited to the above-described embodiments, which are merely illustrative and not restrictive, and many forms may be made by those having ordinary skill in the art without departing from the spirit of the present application and the scope of the claims, which are to be protected by the present application.

Claims

1. The intelligent tray is characterized by comprising a chassis, a pressure sensing layer and a protection pad, and is in communication connection with a controller;

2. The intelligent tray of claim 1, wherein the flexible thin film pressure sensor comprises an elastic sensing module, a conversion module, and a signal conditioning module;

3. The intelligent tray of claim 2, wherein the elastic sensing module comprises a pressure sensitive composite layer, an isolated sensing area, and a conductive composite layer;

4. A smart tray according to claim 3, wherein the pressure sensitive composite layer comprises a first flexible film and a pressure sensitive layer disposed on the first flexible film.

5. The intelligent tray of claim 4, wherein the pressure sensitive composite layer comprises a second flexible film and conductive traces disposed on the second flexible film.

6. The intelligent tray of claim 5, wherein the first flexible film and the second flexible film are mylar.

7. The intelligent tray of claim 2, wherein the conversion module comprises a multipoint distribution of piezoresistors.

8. The intelligent tray of claim 1, wherein the intelligent tray is electrically connected to a power module for powering the intelligent tray and the controller.

9. The intelligent tray of claim 8, wherein the intelligent tray is electrically connected to a flexible LED, the power module is electrically connected to the flexible LED, and the controller is electrically connected to the flexible LED;

10. A robot comprising an intelligent tray according to any one of claims 1-9.