WO2020191688A1 - Sensing module and robot - Google Patents

Abstract

A sensing module and a robot using said sensing module, comprising a bottom base (10), a detection component (20), and a light homogenising member (30); the bottom base (10) is connected to the light homogenising member (30) to form an accommodating cavity (11), and the detection component (20) is fixed in the accommodating cavity (11); a light emitting member (21) is arranged on the detection component (20), the light rays emitted by the light emitting member (21) being externally projected after being homogenised by the light homogenising member (30). The sensing module has a light emitting function and is capable of homogenising the emitted light rays and externally projecting same, and can enhance visual effects, effectively providing position guidance and facilitating recognition and positioning of other electronic apparatuses or devices.

Description

Sensing module and robot 【Technical Field】

The invention belongs to the technical field of sensing detection, and particularly relates to a sensing module and a robot adopting the sensing module.

【Background technique】

In the structure of the robot, the sensor module is an important part. There is a type of sensor module whose function is to detect and recognize the blows outside the robot, such as the battle robot in the RoboMaster (international robot competition platform) competition. This type of robot needs to provide the position of the sensor module on the body surface for other robots to recognize the target during the battle to carry out bullet strikes. The existing position guidance structure is not intuitive enough to achieve effective position positioning. Therefore, a sensor module that can intuitively and effectively provide location guidance is needed.

[Content of the invention]

In order to solve the above-mentioned problem, the embodiment of the present invention provides a sensor module with a light homogenization function. The sensor module has luminescence and light homogenization performance on the basis of ensuring the sensor function, and can effectively provide position guidance of the sensor module. In addition, the embodiment of the present invention also provides a robot using the sensing module.

On the one hand, an embodiment of the present invention provides a sensor module for impact detection, including a base, a detection component, and a light homogenizing member; the base and the light homogenizing member are connected to each other to form an accommodating cavity, and the detection component It is fixed in the accommodating cavity; the detection component is provided with a light emitting element, and the light emitted by the light emitting element is uniformly processed by the light homogenizing element and then projected outward.

The sensor module provided by the present invention has a light-emitting function, and can perform uniform light processing on the emitted light before projecting it to the outside, can enhance the visual effect, effectively provide position guidance, and facilitate the identification and positioning of other electronic devices or electronic equipment.

On the other hand, an embodiment of the present invention provides a robot including a fuselage, armor provided on the outer side of the fuselage, and the above-mentioned sensor module. The armor is a light-transmitting structure, and the sensor module is located in the machine. Between the body and the armor, and the light distributing member is arranged in contact with the inner wall of the armor.

The robot provided by the present invention, by setting the armor as a light-transmitting structure, and arranging a sensor module with luminous and uniform light functions on the inside of the armor, can enhance the visual effect, effectively provide the position guidance of the sensor module, and facilitate other electronic devices or Identification and positioning of equipment.

【Explanation of drawings】

In order to explain the present invention or the solutions in the prior art more clearly, the following will briefly introduce the drawings needed in the description of the embodiments or prior art. Obviously, the drawings in the following description are of the present invention. For some embodiments, those of ordinary skill in the art can obtain other drawings based on these drawings without creative work.

FIG. 1 is an overall schematic diagram of a sensing module provided by an embodiment of the present invention;

Figure 2 is an exploded view of a sensing module provided by an embodiment of the present invention;

3 is a perspective view of a light homogenizing member provided by an embodiment of the present invention;

4 is a schematic diagram of the laser carving position of the homogenizing member provided by the embodiment of the present invention;

Figure 5 is a side view of a light homogenizing member provided by an embodiment of the present invention;

FIG. 6 is another perspective view of the light homogenizing member provided by the embodiment of the present invention;

FIG. 7 is a schematic diagram of assembling the armor and the sensor module according to an embodiment of the present invention;

FIG. 8 is a schematic diagram from another perspective of FIG. 7;

FIG. 9 is another schematic diagram of assembling the armor and the sensor module according to the embodiment of the present invention;

FIG. 10 is another schematic diagram of assembling the armor and the sensor module according to the embodiment of the present invention;

Figure 11 is a cross-sectional view of Figure 7;

Figure 12 is an exploded view of Figure 7.

Description of reference signs:

Base	10
Containing cavity	11
Buckle	12

The first limit	13
Hollow connecting column	14
Plug interface	15
Detection components	20
Second limit slot	201
Luminous parts	twenty one
Electrical connection port	twenty two
Circuit board	twenty three
Port installation position	231
Homogenizer	30
Light shielding part	31
Dodging part	32
Coating surface	321
Connection part	33
Speaker hole	34
Mounting holes	35
The first limit slot	36
The second limit part	37
speaker	40
Fastener	50
Armor	1
Holding tank	1a
Armor fitting surface	1b
Locator	1c
Sensing module	2
Connector	3

【detailed description】

Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the technical field of the present invention. The terms used in the description of the present invention herein are only for the purpose of describing specific embodiments, and are not intended to limit the present invention.

Reference to "embodiments" herein means that a specific feature, structure or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present invention. The appearance of the phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment mutually exclusive with other embodiments. Those skilled in the art clearly and implicitly understand that the embodiments described herein can be combined with other embodiments.

The embodiment of the present invention provides a sensor module for impact detection, including a base, a detection component, and a light homogenizing part; the base and the light homogenizing part are connected to each other to form an accommodating cavity, and the detection component is fixed at the In the accommodating cavity; the detection component is provided with a light emitting element, and the light emitted by the light emitting element is uniformly processed by the light homogenizing element and then projected to the outside. The sensor module provided by the present invention has a light-emitting function, and can perform uniform light processing on the emitted light before projecting it to the outside, can effectively provide position guidance, and facilitate the identification and positioning of other electronic devices or electronic equipment.

Based on the above-mentioned sensor module, an embodiment of the present invention also provides a robot, including a fuselage, armor provided on the outside of the fuselage, and the above-mentioned sensing module, the armor is a light-transmitting structure, and the sensing module is located Between the fuselage and the armor, and the light homogenizing member is arranged in contact with the inner wall of the armor. The robot provided by the present invention, by setting the armor as a light-transmitting structure, and arranging a sensor module with luminous and uniform light functions on the inside of the armor, can effectively provide the position guidance of the sensor module and facilitate the identification of other electronic devices or electronic equipment And positioning.

In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be described clearly and completely in conjunction with the accompanying drawings in the embodiments of the present invention.

The embodiment of the present invention provides a sensor module that can be applied to competitive robots, so that the robot can quickly recognize the sensor modules of other robots during a battle, so as to strike targets. Of course, in practical applications, The sensor module can also be applied to other scenes or other devices that have the requirement of hit detection, such as shooting training or shooting game scenes, which is not particularly limited here.

Please refer to Figures 1 and 2, which are respectively an overall schematic diagram and an exploded view of a sensing module provided by an embodiment of the present invention. The sensing module includes a base 10, a detection component 20, and a light homogenizing member 30; the base 10 When connected with the light homogenizing member 30, an accommodating cavity 11 can be formed, and the detecting member 20 is fixed in the accommodating cavity 11; the detecting member 20 is provided with a light emitting member 21, the light emitting member 21 The emitted light is projected to the outside after being homogenized by the light homogenizing member 30, which can enhance the visual effect, and the shape formed by the projected light can be captured by other devices or equipment as a visual recognition feature, so as to realize the sensing The visual recognition of the module can locate the position of the sensor module. When the sensor module is applied to a competitive robot, it can facilitate the automatic recognition and strike of the target by the competitive robot. The light passes through the uniform light. In addition, the visual effect formed by the element 30 makes the device or equipment using the sensor module more scientific and technological, and visually beautiful. In this embodiment, the light emitted by the light-emitting element 21 may be directly projected to the outside after being homogenized by the light homogenizing part 30, or it may pass through other components and then through the homogenizing part 30. After projection.

As shown in FIG. 3, in the embodiment of the present invention, the light homogenizing part 30 includes a light shielding part 31 and a light homogenizing part 32, and the light emitting part 21 is disposed toward the light homogenizing part 32. After the emitted light passes through the refraction of the incident surface and the exit surface of the light homogenizing portion 32 and the multiple reflections inside the light homogenizing portion 32, the local excessive light intensity of the light emitting element 21 can be balanced to form a uniform light. Light effect.

In the embodiment of the present invention, there are mainly two ways of combining the light shielding portion 31 and the light uniforming portion 32. In one way, the light uniforming portion 32 is embedded in the through hole of the light shielding portion 31. The light homogenizing member 30 is formed in the light homogenizing member 30. At this time, the light homogenizing member 30 is made of a light-transmitting material with a light homogenizing function, and the light shielding portion 31 may be an opaque material or a surface coating of the light shielding portion 31. There is an opaque material; in another way, the light homogenizing part 32 and the light shielding part 31 are an integral structure, such as injection molding. At this time, the light homogenizing member 30 is made of a material with a light homogenizing function, The light shielding portion 31 includes a light shielding material layer disposed on the side of the light homogenizing member 30 away from the base 10, and the light uniforming portion 32 is formed by applying a light shielding material layer on the surface of the light homogenizing member 30. The laser engraving is formed. The area corresponding to the section line shown in FIG. 4 is the area for laser engraving. During the laser engraving process, the exit surface of the light homogenizing part 32 can be laser engraved into a rough matte surface for convenience Diffuse reflection occurs when the light exits, so that the brightness of the light emitted by the light homogenizing part 32 is more uniform, wherein the light shielding material layer may be formed by spraying light shielding material on the side of the light homogenizing member 30 away from the base 10, specifically Yes, black paint can be sprayed on the entire side of the homogenizing member 30 away from the base 10, and then part of the black paint layer is laser-carved to remove the paint to obtain the homogenizing part 32. It should be noted that, The side of the light homogenizing member 30 facing the base 10 serves as a light incident surface, and it is necessary to avoid spraying light shielding materials such as black paint.

In the embodiment of the present invention, the shape of the light homogenizing member 30 is configured to fit the external structure, and different shapes can be configured according to different external structures. Specifically, the light homogenizing part 32 and the light shielding part 31 The side of the light homogenizing member 30 away from the base 10 is configured as a flat surface or a special-shaped curved surface for bonding to an external structure.

In some embodiments, the light homogenizing part 32 can be provided protrudingly on the side of the light homogenizing member 30 away from the base 10, when the detection component 20 is installed on an external structure and the light homogenizing member 30 contacts the outside In the structure, in one case, only the light homogenizing part 32 can be attached to other structures, as shown in FIG. 5. At this time, the light homogenizing part 32 is away from the side of the base 10, and the light homogenizing part 32 is called here. Part bonding surface 321, the uniform light bonding surface 321 can be configured as a plane or a special-shaped curved surface for bonding to the external structure; in another case, it can also be the light shielding portion 31 and the The uniform light portions 32 are all bonded to other structures. At this time, the shape of the bonding surface of the external structure is adapted to the bonding surface formed by the light shielding portion 31 and the light uniform portion 32.

In some embodiments, the side of the uniform light portion 32 facing the base 10 is subjected to a surface treatment process, such as a plastic sunburning process, to form a light incident surface with a certain roughness. When the light emitted by the light emitting element 21 enters When the light enters the surface, it will be refracted at multiple angles, that is, the incident light is homogenized, and the homogenized light effect is better.

In the embodiment of the present invention, the light homogenizing part 32 presents a certain shape, for example, as shown in FIGS. 1 to 5, the projection of the light homogenizing part 32 on the surface of the light homogenizing member 30 is in the shape of a circular racetrack. When the light is emitted from the light homogenizing part 32, a circular racetrack-like light effect can be formed; the shape of the light homogenizing part 32 can be configured according to the actual situation, for example, it can also be configured as some simple symbols or text, graphics, etc. By setting a specific shape, it can be used as the identification of a specific type of sensor module. For example, when a competitive robot is in a team battle, the shape of the sensor module 32 of a team of competitive robots is configured as the letter A. The shape of the homogenizing part 32 of the sensor module installed on the competitive robot of the other team is configured as the letter B. The group configured as A only recognizes and strikes the group configured as B. Similarly, the group configured as B Only identify and attack the configuration A, and so on.

In the embodiment of the present invention, referring to FIG. 6, the side of the light homogenizing member 30 facing the base 10 is provided with at least one connecting portion 33 for connecting to the base 10, and the connecting portion 33 may be a hole structure Or a buckle structure. The connecting portion 33 shown in FIG. 6 is a form of a buckle structure with a bayonet. With reference to FIG. 2, the side wall in the base 10 is provided with a corresponding buckle structure.的扣部12.

Further, referring to Fig. 2 again, the inner wall of the base 10 is also provided with a first limiting portion 13 for limiting the light homogenizing member 30. In some embodiments, the first limiting portion 13 may also A limiting structure for limiting the detection component 20 is provided, or in other words, while the first limiting portion 13 limits the light homogenizing member 30, it also limits the detection component 20 , Specifically, the first limiting portion 13 may be a limiting strip provided on a side wall in the base 10, and the limiting strip is in sequence with the first limiting groove 36 on the homogenizing member 30 It is matched with the second limiting slot 201 on the detecting component 20.

In the embodiment of the present invention, referring again to FIG. 3, a speaker hole 34 and/or at least one mounting hole 35 for the external connection member to pass through is also provided on the light homogenizing member 30; the speaker hole 34 is directly opposite The speaker 40 arranged in the accommodating cavity 11, specifically, the speaker 40 may be installed on the detecting component 20.

In some embodiments, referring again to FIG. 3, the light uniforming portion 32 may be arranged around the speaker hole 34 and/or the mounting hole 35, and the light uniforming portion 32 in FIG. The sound hole 34 and the mounting hole 35.

In some embodiments, the base 10 is provided with a hollow connecting column 14 extending from the bottom to the light homogenizing member 30, and the hollow connecting column 14 passes through the detection component 20 and is connected to the mounting hole 35. The external connecting piece can be inserted into the mounting hole 35 and the hollow connecting column 14 in sequence.

In the embodiment of the present invention, the detection component 20 includes at least one electrical connection port 22, and the electrical connection port 22 corresponds to the insertion port 15 provided on the side wall of the base 10 with each other. In some embodiments, as shown in FIG. 2, the detection component 20 includes a circuit board 23. The circuit board 23 can be fixed to the base 10 by a fixing member 50. The opposite ends of the circuit board are each One electrical connection port 22 is provided. Specifically, the electrical connection port 22 is provided at the port installation position 231 on the circuit board 23, and the two electrical connection ports 22 are opposite to the two opposite ones on the base 10. The sockets 15 provided on the side walls correspond to each other, and the circuit board 23 may be a printed circuit board or a flexible printed circuit board.

Further, as shown in FIG. 6, the light homogenizing member 30 is provided with at least one second limiting portion 37 for limiting the detection component 20 on the side facing the base 10, the second limiting portion 37 The restricting portion 37 restricts the electrical connection port 22.

In the embodiment of the present invention, at least one light-emitting element 21 is provided on the detection component 20, and the light-emitting element 21 is provided on the detection component 20 corresponding to the uniform light portion 32, wherein the light-emitting element 21 can be an LED (Light Emitting Diode, light emitting diode) lamp.

Since the light-emitting element 21 generally has a specific light-emitting angle, for example, the light-emitting angle of an LED lamp is 120 degrees, the light emitted by the light-emitting element 21 can only illuminate a part of the area, so the size of the light homogenizing part 32 can be , The uniform light portion 32 is divided into areas, each area is provided with at least one light-emitting element 21, and at the same time, the position of the light-emitting element 21 corresponding to each area on the detection component 20 (or each position The relative distance between the light-emitting elements 21), the distance between the light-emitting elements 21 and the light homogenizing portion 32, etc., to obtain the best light energy distribution, for example, the detection component 20 shown in FIG. 2 is provided with 8 said light-emitting elements 21. In a further embodiment, at least two light-emitting elements 21 may be provided on the detection component 20, and each of the light-emitting elements 21 is uniformly distributed on the detection component 20 corresponding to the light homogenization portion 32 .

In some embodiments, the light-emitting element 21 may be a light-emitting element with adjustable light-emitting color, which can emit light of any color through software control, such as displaying one color when used for position identification, and displaying the other color when a blow is detected. The third color is displayed when the cumulative number of hits reaches the threshold, and so on; of course, a group of light-emitting elements can also be installed in the same installation position, and each light-emitting element in the reorganized light-emitting element can emit a single color To replace light-emitting elements that can emit light of different colors.

Compared with the prior art, the sensing module provided by the embodiment of the present invention has at least the following beneficial effects:

The sensor module provided by the present invention has a light-emitting function, and can perform uniform light processing on the emitted light before projecting it to the outside, can enhance the visual effect, effectively provide position guidance, and facilitate the identification and positioning of other electronic devices or electronic equipment. In addition, to a certain extent, the device or equipment using the sensor module is more scientific and technological, and visually beautiful.

Based on the sensor module provided in the above embodiment, the embodiment of the present invention also provides a robot, as shown in FIG. 7 and FIG. 8. The robot includes a fuselage (not shown), and armor provided on the outside of the fuselage. 1 and the sensor module 2, the armor 1 is a light-transmitting structure, the sensor module 2 is located between the fuselage and the armor 1, and the light homogenizing member 30 is attached to the armor 1 The structure of the sensor module 2 can refer to the relevant content in the above-mentioned embodiment for details, which will not be expanded here. When describing the structure of the robot provided by the embodiment of the present invention, it will be selectively combined with FIGS. 1 to 6 Reference is made to the components mentioned in the above embodiments.

The robot provided by the embodiment of the present invention can be used in robot competitions. Since the armor 1 is a light-transmitting structure, by attaching the light homogenizing member 30 to the armor 1, a mark can be mapped on the surface of the armor 1. The light-emitting pattern at the position of the sensor module 2, such as a light ring, can be recognized by other electronic devices or equipment, so as to achieve the purpose of target recognition, wherein the light uniforming member 30 is attached to the armor 1 and can be concentrated The luminous energy maximizes the light utilization rate, so that the boundary of the luminous pattern generated by the light homogenizer 30 is clear, thereby obtaining the best light effect.

In the embodiment of the present invention, multiple sensor modules 2 can be installed in the same robot. For example, the armor 1 and the sensor modules 2 can be installed in the front, rear, left, and right directions of the robot, as shown in Figs. 9 and 10 respectively show the assembly diagrams of the armor 1 and the sensor module 2 arranged at three different positions outside the fuselage of the robot according to the embodiment of the present invention. The armor at these three positions 1 The appearance is slightly different, but the internal structure of each armor 1 and the assembly method of the sensor module 2 are the same. Take the structure shown in Figure 7 as an example, combined with the cross-sectional view shown in Figure 11 and The exploded view shown in FIG. 12 illustrates the coordination of the armor 1 and the sensor module 2 in detail. Specifically, the inner wall of the armor 1 is provided with a receiving groove 1a, and the sensor module 2 is wholly or partially arranged in In the receiving groove 1a, the shape of the receiving groove 1a facing the groove wall of the sensor module 2 (that is, the armor fitting surface 1b shown in FIG. 11) and the side of the uniforming plate away from the base 10 For example, the armor fitting surface 1b can be a flat surface or a special-shaped curved surface. It can be seen that the armor fitting surface 1b in FIG. 11 is a curved surface.

In some embodiments of the present invention, as shown in FIG. 12, a positioning member 1c is further provided in the receiving groove 1a, and the positioning member 1c is provided through the sensor module 2. Specifically, the positioning member shown passes through Through the hollow connecting column 14 provided on the sensor module 2, and the robot also includes a connecting piece 3, the positioning member 1c passing through the hollow connecting column 14 is connected to the connecting piece 3, which can realize all The armor 1 and the sensor module 2 are relatively fixed.

The robot provided by the present invention can enhance the visual effect by arranging the armor 1 as a light-transmitting structure and disposing the sensor module 2 with light emitting and uniform light function inside the armor 1, which can effectively provide the position guidance of the sensor module 2 and is convenient Identification and positioning of other electronic devices or electronic equipment.

Obviously, the above-described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. The drawings show preferred embodiments of the present invention, but do not limit the patent scope of the present invention. The present invention can be implemented in many different forms. On the contrary, the purpose of providing these embodiments is to make the understanding of the disclosure of the present invention more thorough and comprehensive. Although the present invention has been described in detail with reference to the foregoing embodiments, for those skilled in the art, they can still modify the technical solutions described in the foregoing specific embodiments, or equivalently replace some of the technical features. . Any equivalent structure made by using the contents of the specification and drawings of the present invention, directly or indirectly used in other related technical fields, is similarly within the protection scope of the present invention.

Claims (22)

1. A sensor module used for impact detection, characterized in that it comprises a base, a detection component and a homogenizing part;

   The base and the light homogenizing part are connected to each other to form an accommodating cavity, and the detecting part is fixed in the accommodating cavity; the detecting part is provided with a light emitting part, and the light emitted by the light emitting part passes through the homogenizing part. The light parts are projected to the outside after homogenization treatment.
2. The sensor module according to claim 1, wherein the light homogenizing member comprises a light shielding part and a light homogenizing part, and the light emitting part is arranged toward the light homogenizing part.
3. The sensor module according to claim 2, wherein the light homogenizing part is protrudingly provided on a side of the light homogenizing member away from the base.
4. The sensor module according to claim 2 or 3, wherein the side of the light homogenizing part away from the base is configured as a special-shaped curved surface for fitting to an external structure.
5. The sensor module according to claim 2 or 3, wherein at least one light-emitting element is provided on the detection component, and the light-emitting element is provided on the detection component corresponding to the light homogenizing part.
6. The sensor module according to claim 2 or 3, wherein the projection of the light homogenizing part on the surface of the light homogenizing member is in the shape of an annular racetrack.
7. The sensor module according to claim 6, wherein at least two light-emitting elements are provided on the detection component, and each of the light-emitting elements is evenly distributed on the detection component corresponding to the uniform light portion .
8. The sensor module according to claim 2 or 3, wherein the light shielding part comprises a light shielding material layer disposed on a side of the light homogenizing member away from the base;

   The homogenizing part is formed by laser engraving the light shielding material layer on the surface of the homogenizing member.
9. 8. The sensor module according to claim 8, wherein the light shielding material layer is formed by spraying a light shielding material on a side of the light homogenizing member away from the base.
10. The sensor module according to claim 1, wherein the side of the light homogenizing member facing the base is provided with at least one connecting portion for connecting the base.
11. The sensor module according to claim 10, wherein the connecting portion is a hole structure or a snap structure.
12. The sensor module according to claim 10, wherein the inner wall of the base is further provided with a first limiting portion for limiting the light homogenizing member.
13. The sensor module according to claim 12, wherein the first limiting portion is further provided with a limiting structure for limiting the detection component.
14. The sensing module according to claim 1, wherein the detection component comprises at least one electrical connection port, and the electrical connection port corresponds to a plug-in port provided on a side wall of the base.
15. The sensor module according to claim 14, wherein the side of the light homogenizing member facing the base is provided with at least one second limiting portion for limiting the detection component, the The second limiting part limits the electrical connection port.
16. The sensor module according to claim 14 or 15, wherein the detection component comprises a circuit board, and one electrical connection port is provided at opposite ends of the circuit board;

    The two electrical connection ports correspond to the insertion ports provided on the two opposite side walls of the base respectively.
17. The sensor module according to claim 1, wherein the light homogenizing member is further provided with a speaker hole and/or at least one mounting hole for the external connection member to pass through;

    The speaker hole is directly opposite to the speaker arranged in the accommodating cavity.
18. The sensor module according to claim 17, wherein the light homogenizing part is arranged around the speaker hole and/or the mounting hole.
19. The sensor module according to claim 17, wherein the base is provided with a hollow connecting column extending from the bottom to the light homogenizing member, and the hollow connecting column passes through the detection component and the mounting The holes are butted, and the external connecting piece can be inserted into the mounting hole and the hollow connecting column in sequence.
20. A robot, characterized by comprising a fuselage, armor arranged on the outer side of the fuselage, and the sensor module according to any one of claims 1 to 19, wherein the armor is a light-transmitting structure, and the sensor module It is located between the fuselage and the armor, and the light homogenizing member is arranged in close contact with the inner wall of the armor.
21. The robot according to claim 20, wherein the inner wall of the armor is provided with a containing groove, and the sensor module is wholly or partly arranged in the containing groove.
22. The robot according to claim 21, wherein a positioning member is further provided in the containing groove, and the positioning member is provided through the sensing module.

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