LiDAR assembly and robotics

Abstract

The present invention belongs to the field of radar detection technology, and in particular, relates to a laser radar device and a robot. Among them, the laser radar device includes: a platform; a turntable, which is rotatably mounted on the platform; a power mechanism, which is mounted on the platform, and the power mechanism drives the turntable to rotate; a laser structure, which is mounted on the turntable, and the laser structure emits laser light to illuminate the object to be detected; a filter structure, which is mounted on the platform, and the filter structure performs spectral filtering on the laser reflected from the object to be detected; a photosensitive chip, which is mounted on the turntable, and the photosensitive chip receives the reflected light filtered by the filter structure. The technical solution of the embodiment of the present invention solves the problem that the current laser radar cannot scan and detect the color of the surface of the object to be detected, resulting in poor layering of the image obtained by scanning and detection.

Description

Technical Field

[0001] The present invention belongs to the field of radar detection technology, and in particular relates to a laser radar device and a robot. Background Art

[0002] At present, most of the laser radars used on robots use triangulation to scan and detect objects to be detected. They can detect the position and distance information of the objects to be detected, and then draw a physical map based on the obtained position. However, the current laser radar cannot scan and detect the color of the surface of the object to be detected, and then the color of the surface of the object to be detected cannot be reflected in the physical map. In other words, at present, the physical map drawn by scanning and detecting the objects to be detected by laser radar can only represent the distance information of the objects to be detected in black and white, but cannot present the color information of the objects to be detected, and the graphic layering is poor. Summary of the invention

[0003] The purpose of the present invention is to provide a laser radar device and a robot, aiming to solve the problem that the current laser radar cannot scan and detect the color of the surface of the object to be detected, resulting in poor layering of the image obtained by scanning and detection.

[0004] To achieve the above-mentioned purpose, the technical solution adopted by the present invention is: a laser radar device, comprising: a platform; a turntable, which is rotatably mounted on the platform; a power mechanism, which is mounted on the platform and drives the turntable to rotate; a laser structure, which is mounted on the turntable and emits laser light to illuminate the object to be detected; a filter structure, which is mounted on the platform and performs spectral filtering on the laser reflected from the object to be detected; and a photosensitive chip, which is mounted on the turntable and receives the reflected light filtered by the filter structure.

[0005] Optionally, the filtering structure includes a filter disc and a driving gear component, the filter disc is rotatably mounted on the turntable, a plurality of filters are circumferentially arranged on the filter disc, the driving gear component is mounted on the platform, the rotation axis of the driving gear component is coaxial with the rotation axis of the turntable, the turntable drives the driving gear component to rotate relative to the platform, the driving gear component drives the filter disc to rotate relative to the turntable, and the rotation axis of the driving gear component and the rotation axis of the filter disc are perpendicular to each other; or, the filtering structure includes a filter disc, a driving gear component and a motor assembly, the filter disc is rotatably mounted on the turntable, a plurality of filters are circumferentially arranged on the filter disc, the driving gear component is rotatably mounted on the turntable or the platform, the motor assembly is installed on the turntable or the platform, the motor assembly is drivingly connected to the driving gear component, the rotation axis of the driving gear component is coaxial with the rotation axis of the turntable, the driving gear component is drivingly connected to the filter disc, and the rotation axis of the driving gear component and the rotation axis of the filter disc are perpendicular to each other.

[0006] Optionally, a transmission ratio between the driving gear member and the filter disk is 1:N, wherein N is an integer and N≥3.

[0007] Optionally, the laser radar device also includes a bracket, which is fixedly mounted on the turntable, and the laser structure, filter disc and photosensitive chip are all assembled on the bracket, and the filter disc is located between the laser mechanism and the photosensitive chip.

[0008] Optionally, the laser structure includes a laser emitter, and the laser emitter is offset installed so that a line connecting the light output of the laser emitter and the object to be detected forms an angle β with a line connecting the photosensitive chip and the object to be detected.

[0009] Optionally, the laser structure further includes an angle adjustment mechanism, and the laser emitter is assembled on the bracket via the angle adjustment mechanism, and the angle adjustment mechanism is used to adjust the size of the angle β.

[0010] Optionally, the angle β has an angle value range of: 7°≤β<90°.

[0011] Optionally, the laser radar device also includes a lens barrel structure, which is fixedly mounted on the bracket and located between the photosensitive chip and the filter disk.

[0012] Optionally, the power mechanism includes a motor and a transmission belt. The motor is mounted on the platform, and the motor and the turntable are connected via a transmission belt.

[0013] According to another aspect of the present invention, a robot is provided. Specifically, the robot includes the laser radar device as described above.

[0014] The present invention has at least the following beneficial effects:

[0015] The laser radar device is used to scan and detect the object to be detected. The laser structure emits laser light to illuminate the object to be detected and reflects the laser light. The reflected laser light is then spectrally filtered by the filter structure. Since the laser light emitted from the surface of the object to be detected contains the wavelength light of the surface color of the object to be detected, the wavelength light of various corresponding colors is filtered by the filter structure and transmitted to the photosensitive chip. The photosensitive chip converts the wavelength light of the corresponding color into a corresponding voltage signal, thereby identifying the surface color of the object to be detected. In this way, the photosensitive chip can process a detection image with the same shape and surface color as the object to be detected, so that the detected image has more layering. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0017] Figure 1 A schematic diagram of a top view of the structure of a laser radar device according to an embodiment of the present invention;

[0018] Figure 2 for Figure 1 A left side view of the laser radar device is shown;

[0019] Figure 3 Schematic diagram of the structure of the filter disk of the laser radar device according to an embodiment of the present invention.

[0020] Among them, the reference numerals in the figure are:

[0021] 10. Platform; 20. Turntable; 30. Power mechanism; 31. Motor; 32. Transmission belt; 40. Laser structure; 41. Laser emitter; 42. Angle adjustment mechanism; 50. Filter structure; 51. Filter disc; 511. Filter; 52. Driving gear component; 60. Photosensitive chip; 70. Bracket; 80. Lens barrel structure; 100. Object to be detected. DETAILED DESCRIPTION

[0022] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0023] In the description of the present invention, it should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0024] In addition, the terms "first", "second", etc. are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first", "second", etc. may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0025] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0026] like Figure 1 and Figure 2 As shown, the laser radar device of the embodiment of the present invention includes a platform 10, a turntable 20, a power mechanism 30, a laser structure 40, a filter structure 50 and a photosensitive chip 60. The platform 10 serves as a supporting frame of the entire laser radar device. The turntable 20 is rotatably mounted on the platform 10, and the power mechanism 30 and the turntable 20 are installed in parallel on the platform 10, and the power mechanism 30 drives the turntable 20 to rotate. Then, the laser structure 40 is fixedly mounted on the turntable 20, the filter structure 50 is assembled on the platform 10, and the photosensitive chip 60 is installed on the turntable 20. In the process of scanning and detecting using the laser radar device, the laser structure 40 is used to emit laser light to irradiate the object to be detected 100, the laser reflected from the object to be detected 100 is spectrally filtered by the filter structure 50, and the photosensitive chip 60 receives the reflected light filtered by the filter structure 50.

[0027] The laser radar device is used to scan and detect the object 100 to be detected. The laser structure 40 emits a laser to illuminate the object 100 to be detected and reflects the laser. The reflected laser is then spectrally filtered by the filter structure 50. Since the laser light emitted from the surface of the object 100 to be detected contains the wavelength light of the surface color of the object 100 to be detected, the wavelength lights of various corresponding colors are filtered by the filter structure 50 and transmitted to the photosensitive chip 60. The photosensitive chip 60 converts the wavelength lights of the corresponding colors into corresponding voltage signals, thereby identifying the surface color of the object 100 to be detected. In this way, the photosensitive chip 60 can process and obtain a detection image with the same shape and surface color as the object 100 to be detected, so that the detected image has more layering.

[0028] The laser radar device is also provided with a control module, and the power mechanism 30, the laser structure 40 and the photosensitive chip 60 are electrically connected to the control module respectively, specifically, by printing a circuit on the turntable 20, and then connecting to the power mechanism 30, the laser structure 40 and the photosensitive chip 60 respectively through wires. By inputting corresponding parameters in the control module, automatic control, automatic adjustment and other automatic operations of the power mechanism 30, the laser structure 40 and the photosensitive chip 60 can be realized.

[0029] In this embodiment, the filter structure 50 includes a filter disc 51 and a driving gear member 52. The filter disc 51 is rotatably mounted on the turntable 20, and the driving gear member 52 is mounted on the platform 10. Figure 3 As shown, a plurality of filters 511 are circumferentially arranged on the filter disc 51, and each filter 511 corresponds to a wavelength of light of a different color, so that the wavelength of light of the corresponding color passes through the corresponding filter 511 and is transmitted to the photosensitive chip 60. In the process of using the laser radar device to scan and detect the object 100 to be detected, the turntable 20 drives the driving gear member 52 to rotate relative to the platform 10, and the rotation axis of the driving gear member 52 is coaxial with the rotation axis of the turntable 20, that is, the power mechanism 30 drives the turntable 20 to rotate, and then the turntable 20 drives the driving gear member 52 to rotate. Specifically, a transmission structure with an increase in speed is arranged between the turntable 20 and the driving gear member 52, so that the rotation speed of the driving gear member 52 relative to the platform 10 is greater than the rotation speed of the turntable 20 relative to the platform 10. Then, the driving gear member 52 drives the filter disc 51 to rotate relative to the turntable 20, and the rotation axis of the driving gear member 52 is perpendicular to the rotation axis of the filter disc 51. In the laser radar device of the present embodiment, the absolute value of the rotation speed of the driving gear member 52 relative to the turntable 20 is equal to the absolute value of the rotation speed of the turntable 20 relative to the platform 10, and the transmission ratio of the driving gear member 52 to the filter disk 51 is 1:N, wherein N is an integer and N≥3, that is, the driving gear member 52 drives the filter disk 51 to rotate in a speed-increasing transmission manner. Specifically, in the present embodiment, the transmission ratio of the driving gear member 52 to the filter disk 51 is 1:3, which ensures that when the photosensitive chip 60 rotates 1° relative to the platform 10, three filters 511 on the filter disk 51 pass through the photosensitive chip 60, that is, three wavelengths of light of corresponding colors are filtered and transmitted to the photosensitive chip 60 and converted into corresponding voltage signals, thereby achieving the purpose of detecting the wavelength light of the surface color of the object 100 to be detected.

[0030] In another feasible embodiment, the filter structure 50 includes not only the filter disc 51 and the driving gear member 52, but also a motor assembly (not shown) in order to make the driving gear member 52 rotate relative to the turntable 20. The motor assembly can be installed on the turntable 20 and connected to the driving gear member 52, or the motor assembly can be installed on the platform 10 and connected to the driving gear member 52. Specifically, the motor assembly is composed of a motor and a transmission gear set, and the power output by the motor is transmitted to the driving gear member 52 after being decelerated by the transmission gear set to rotate it; or the motor assembly can be only the motor, in which case the motor directly drives the driving gear member 52 to rotate. Similar to the above embodiment, the filter disc 51 is rotatably mounted on the turntable 20, and a plurality of filters 511 are circumferentially arranged on the filter disc 51. In this embodiment, the driving gear member 52 can be rotatably mounted on the turntable 20 or on the platform 10, and the rotation axis of the driving gear member 52 is coaxial with the rotation axis of the turntable 20 (when the driving gear member 52 is rotatably mounted on the platform 10, the driving gear member 52 passes through the center of the turntable 20, and there is no motion interference between the driving gear member 52 and the filter disc 51). The driving gear member 52 is in transmission connection with the filter disc 51, and the rotation axis of the driving gear member 52 is perpendicular to the rotation axis of the filter disc 51. When the driving gear member 52 is mounted on the turntable 20, the absolute value of the rotation speed of the driving gear member 52 relative to the turntable 20 is equal to the absolute value of the rotation speed of the turntable 20 relative to the platform 10; when the driving gear member 52 is mounted on the platform 10, the absolute value of the rotation speed of the driving gear member 52 relative to the platform 10 is equal to the absolute value of the rotation speed of the turntable 20 relative to the platform 10, and the rotation of the filter disc 51 with the turntable 20 relative to the platform 10 does not affect the transmission between the driving gear member 52 and the filter disc 51. The transmission ratio of the driving gear member 52 and the filter disk 51 is 1:N, where N is an integer and N≥3, that is, the driving gear member 52 drives the filter disk 51 to rotate in a speed-increasing transmission manner. Specifically, in the present embodiment, the transmission ratio of the driving gear member 52 and the filter disk 51 is 1:3, which ensures that when the photosensitive chip 60 rotates 1° relative to the platform 10, three filters 511 on the filter disk 51 pass through the photosensitive chip 60, that is, three wavelengths of light of corresponding colors are filtered and transmitted to the photosensitive chip 60 and converted into corresponding voltage signals, thereby achieving the purpose of detecting the wavelength light of the surface color of the object 100 to be detected.

[0031] The filter disc 51 is provided with a mark, which can be made into a convex or concave mark, and the mark is used to indicate which filter 511 corresponds to the wavelength of 800nm ​​to 850nm. The switching frequency of the light sensing chip 60 needs to match the conversion frequency of the filter 511 on the filter disc 51. When each frame is turned on, the light of the corresponding wavelength just passes through the corresponding filter 511 and irradiates the photosensitive chip 60; when each frame of data is turned off, the light hits the opaque part of the filter disc 51.

[0032] Color information: The voltage value sensed and converted by the 940nm wavelength light is subtracted from the voltage values ​​sensed and converted by the other wavelength light. The one with the largest difference is the color of the surface of the object 100 to be detected corresponding to the wavelength light of the frame. During the scanning detection process, the photosensitive chip 60 outputs the voltage information converted by the corresponding wavelength light. By checking the wavelength, the color of the surface of the object 100 to be detected can be obtained. For example, if the voltage sensed and converted by the 940nm wavelength light minus the voltage sensed and converted by the 750nm wavelength light is the largest difference, then the color of the surface of the object 100 to be detected corresponding to the frame is red. In addition, for the surface of the object 100 to be detected that is a mirror surface and the object 100 to be detected that is a metal object, the reflected light of each wavelength is very strong, which can be judged separately as a special case.

[0033] like Figure 1 As shown, in the laser radar device of this embodiment, the power mechanism 30 includes a motor 31 and a transmission belt 32. The motor 31 is installed on the platform 10. The motor 31 provides rotational power (the power required for the turntable 20 to rotate and the power required for the driving gear component 52 to rotate). The motor 31 and the turntable 20 are connected through the transmission belt 32.

[0034] like Figure 1 and Figure 2 As shown, the laser radar device also includes a bracket 70, which is fixedly mounted on the turntable 20. The laser structure 40, the filter disk 51 and the photosensitive chip 60 are all assembled on the bracket 70. The bracket 70 is used to fix the distance between the laser structure 40 and the photosensitive chip 60. The filter disk 51 is located between the laser structure and the photosensitive chip 60.

[0035] like Figure 1As shown, the laser structure 40 includes a laser emitter 41, and the laser emitter 41 is offsetly installed so that the line between the light output of the laser emitter 41 and the object to be detected 100 and the line between the photosensitive chip 60 and the object to be detected 100 form an angle β. The angle value range of the angle β is: 7°≤β<90°. For example, when the angle β is about 8°, the laser emitted by the laser emitter 41 can irradiate the surface of the object to be detected 100 between 10 meters and 15 meters, and then the laser is reflected back by the object to be detected 100 and enters the filter 511 to be filtered, and then the corresponding color wavelength light is filtered and transmitted to the photosensitive chip 60 and converted into a corresponding voltage signal. By adjusting and determining the angle value of the angle β, the distance between the object to be detected 100 and the laser emitter 41 can be calculated, and the distance between the object to be detected 100 and the photosensitive chip 60 can be calculated.

[0036] In this embodiment, the laser emitter 41 is assembled with a multi-spectrum laser to emit multi-spectrum light to illuminate the surface of the object to be detected 100. The multi-spectrum laser emits light to illuminate the surface of the object to be detected 100, and the reflected light is filtered by the filter 511 on the filter disk 51, and then illuminates the photosensitive chip 60.

[0037] Furthermore, the laser structure 40 also includes an angle adjustment mechanism 42, and the angle adjustment mechanism 42 is used to adjust the size of the angle β. During specific assembly, the laser emitter 41 is assembled on the bracket 70 through the angle adjustment mechanism 42. The size of the angle β of the laser emitter 41 relative to the photosensitive chip 60 is adjusted by the angle adjustment mechanism 42, so as to adapt to the scanning and detection of the object 100 to be detected at different distances. Specifically, the angle adjustment mechanism 42 is composed of an adjustment motor, a reduction transmission structure and a connecting shaft. The adjustment motor, the reduction transmission structure and the connecting shaft are all assembled on the platform 10, and the adjustment motor is electrically connected to the control module. The adjustment motor drives the reduction transmission structure to rotate, and then the reduction transmission structure drives the connecting shaft to rotate. The connecting shaft is connected to the laser emitter 41, thereby driving the laser emitter 41 to rotate to adjust the size of the angle β of the laser emitter 41 relative to the photosensitive chip 60.

[0038] The laser is emitted from the laser emitter 41 and irradiated on the surface of the object to be detected 100. Then the laser is emitted and the light is dispersed during the propagation process. In order to concentrate the light reflected to the photosensitive chip 60, Figure 1 and Figure 2As shown, the laser radar device also includes a lens barrel structure 80, through which the light transmitted from the filter 511 is focused, so that the light can be irradiated more concentratedly onto the photosensitive chip 60 to convert the voltage signal. During assembly, the lens barrel structure 80 is fixedly mounted on the bracket 70, and the lens barrel structure 80 is located between the photosensitive chip 60 and the filter disk 51. Specifically, the lens barrel structure 80 includes a barrel shell and a plurality of lenses, and the plurality of lenses are assembled in the barrel shell. The light transmitted from the filter 511 is refracted and propagated through the plurality of lenses to achieve focusing, and then emitted to the photosensitive chip 60.

[0039] According to another aspect of the present invention, a robot (not shown) is provided. Specifically, the robot includes a laser radar device as described above. Specifically, the robot provided by the present invention can be a cleaning robot for home use, such as a sweeping robot or a mopping robot, or a delivery robot used in a hotel or restaurant, as well as robots in other application scenarios, which are not limited here. By applying the laser radar device provided in the embodiment of the present invention, the robot is assembled on the robot to perform mapping and establish a physical map, so as to obtain a physical map with a strong color hierarchy through scanning and mapping, which is convenient for users to analyze and refer to. For example, when the sweeping robot scans and detects the indoor living room to draw a physical map, since the laser radar device provided in the embodiment of the present invention is used for scanning and detection, the placement of the coffee table, sofa and other seats in the living room can be presented by color, and these furniture will be moved during long-term life use. Since these furniture are presented by color in the physical map drawn by scanning, they are analyzed in the sweeping robot, so that the robot performs comparative analysis when scanning and detecting these areas next time, and then determines whether these areas are cleaned.

[0040] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A laser radar device, characterized in that: include: platform; a turntable rotatably mounted on the platform; A power mechanism, the power mechanism is installed on the platform, and the power mechanism drives the turntable to rotate; A laser structure, the laser structure is mounted on the turntable, the laser structure emits laser light to illuminate the object to be detected, the laser structure includes a laser emitter, and the laser emitter is assembled using a multi-spectrum laser to emit multi-spectrum light to illuminate the surface of the object to be detected; A filter structure, the filter structure is mounted on the platform, the filter structure performs spectral filtering on the laser reflected from the object to be detected, the filter structure comprises a filter disc, the filter disc is rotatably mounted on the turntable, a plurality of filters are circumferentially arranged on the filter disc, and the plurality of filters are respectively used to transmit light of different wavelengths; A photosensitive chip, the photosensitive chip is mounted on the rotating disk, and the photosensitive chip receives reflected light filtered by the plurality of filters of the filter disk; The filter structure comprises a driving gear member, the driving gear member is rotatably mounted on the platform, the rotation axis of the driving gear member is coaxial with the rotation axis of the rotating disk, the rotating disk drives the driving gear member to rotate relative to the platform, the driving gear member drives the filter disk to rotate relative to the rotating disk, and the rotation axis of the driving gear member and the rotation axis of the filter disk are perpendicular to each other; Alternatively, the filter structure includes a driving gear component and a motor assembly, wherein the driving gear component is rotatably mounted on the turntable or the platform, the motor assembly is installed on the turntable or the platform, the motor assembly is drivingly connected to the driving gear component, the rotation axis of the driving gear component is coaxial with the rotation axis of the turntable, the driving gear component is drivingly connected to the filter disc, and the rotation axis of the driving gear component and the rotation axis of the filter disc are perpendicular to each other.

2. The laser radar device according to claim 1, characterized in that: The transmission ratio between the driving gear component and the filter disk is 1:N, wherein N is an integer and N≥3.

3. The laser radar device according to claim 1, characterized in that: The laser radar device also includes a bracket, which is fixedly mounted on the turntable. The laser structure, the filter disc and the photosensitive chip are all assembled on the bracket, and the filter disc is located between the laser mechanism and the photosensitive chip.

4. The laser radar device according to claim 3, characterized in that: The laser structure includes a laser emitter, and the laser emitter is offsetly mounted so that a line connecting the light emitted by the laser emitter and the object to be detected forms an angle β with a line connecting the photosensitive chip and the object to be detected.

5. The laser radar device according to claim 4, characterized in that: The laser structure further comprises an angle adjustment mechanism, through which the laser emitter is assembled on the bracket, and the angle adjustment mechanism is used to adjust the size of the included angle β.

6. The laser radar device according to claim 5, characterized in that: The angle β has an angle value range of: 7°≤β<90°.

7. The laser radar device according to any one of claims 3 to 6, characterized in that: The laser radar device also includes a lens barrel structure, which is fixedly mounted on the bracket and located between the photosensitive chip and the filter disk.

8. The laser radar device according to claim 7, characterized in that: The power mechanism comprises a motor and a transmission belt. The motor is mounted on the platform. The motor and the turntable are connected via the transmission belt.

9. A robot, characterized in that: include: A laser radar device as described in any one of claims 1 to 8.

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