360-degree laser radar range finder

Abstract

The invention discloses a 360-degree laser radar range finder, and the range finder comprises an optical outer cover which is of a polyhedral structure and is installed on a pedestal assembly, and the optical outer cover and the pedestal assembly form an internal installation cavity; the internal optical module is arranged in the internal mounting cavity and comprises a laser ranging module and a wireless power supply amp; the motor module and the laser ranging module are rotationally mounted on the wireless power supply amp; a motor module; a wireless power supply amp; the motor module is installed on the base assembly. The sealing connection position of the optical outer cover and the base assembly comprises a first rib position, a second rib position and a sealing ring, and the first rib position and the second rib position are oppositely arranged up and down and press the sealing ring up and down. According to the invention, accurate distance measurement, navigation and obstacle avoidance are realized, the system can be stably used, and related scenes such as underwater, high-pressure and low-pressure industrial construction laboratories, negative pressure areas caused by high flow velocity difference, negative pressure isolation wards in the medical field and other conventional scenes are involved.

Description

Technical Field

[0001] The present application belongs to the field of laser ranging technology, which is applicable to high pressure, negative pressure and conventional dry environments, and specifically relates to a 360° laser radar rangefinder. Background Art

[0002] Conventional rangefinders are difficult to achieve long-term stable operation in harsh environments, especially in scenarios involving high and low pressures, and are prone to failure and other problems. In high-pressure environments, when operating at depths of 5 meters or less, the high pressure generated by the water can significantly impact the rangefinder. Firstly, the water pressure can cause deformation of the device's internal precision components, leading to inaccurate ranging and significant deviations between measured data and actual distance. Secondly, high pressure can severely impact the device's sealing performance, making it susceptible to leaks. Water seepage can damage the device's circuitry, significantly shortening its lifespan and making it unsuitable for long-term underwater operations. Low or negative pressure environments, such as those at high altitudes, can also pose challenges for rangefinders. These low or negative pressure environments can affect the device's internal sensors, reducing their accuracy and ultimately causing inaccurate ranging, impacting the reliability of measurement results.

[0003] Therefore, it is necessary to develop a 360° lidar rangefinder suitable for underwater, high-pressure, low-pressure and negative-pressure scenarios. Summary of the Invention

[0004] In response to the shortcomings or deficiencies of the above-mentioned existing technologies, the technical problem to be solved by this application is a 360° lidar rangefinder that achieves precise ranging, navigation, and obstacle avoidance and can be used stably. The scenarios involved include underwater, high-pressure and low-pressure industrial building laboratories, negative pressure areas caused by high flow rate differences (inside the ventilation system and near the air outlet), negative pressure isolation wards in the medical field, etc., or other conventional scenarios.

[0005] To solve the above technical problems, this application is implemented through the following technical solutions: On one hand, the present application proposes a 360° laser radar rangefinder, comprising: An optical cover having a polyhedral structure, the optical cover is sealed and mounted on the base assembly, and forms an internal mounting cavity with the base assembly; An internal optical module is disposed in the internal mounting cavity, comprising: a laser ranging module and a wireless power supply and motor module. The laser ranging module is rotatably mounted on the wireless power supply and motor module. Driven by the wireless power supply and motor module, the laser ranging module can achieve 360° rotation. The wireless power supply and motor module is mounted on the base assembly. The sealing connection position between the optical cover and the base assembly includes a first rib provided on the optical cover, a second rib provided on the base assembly, and a sealing ring provided for filling; The first rib is arranged to protrude outward from the optical cover, and the second rib is arranged to protrude outward from the base assembly, and the first rib and the second rib are axially symmetrical structures; When the optical cover is sealed to the base assembly, the first rib and the second rib are arranged vertically opposite to each other and press the sealing ring upward and downward.

[0006] Further optionally, it further includes: waterproof screws, through which the optical cover and the base assembly are connected together.

[0007] Further optionally, the sealing ring is made of silicone with a hardness of 40°-50°.

[0008] Further optionally, the base assembly includes: a PCBA device, and the PCBA device is electrically connected to the wireless power supply & motor module.

[0009] Further optionally, a waterproof wiring harness is also provided on the base assembly, and the waterproof wiring harness is installed by glue pouring through a glue pouring groove provided on the base assembly.

[0010] Further optionally, the base assembly also includes: a base body and a bottom cover sealed to the base body, wherein the base body and the bottom cover are sealed by ultrasonic welding; and / or, the connection between the base body and the bottom cover is pre-filled with bimolecular epoxy resin glue, and then the base body and the bottom cover are installed together, and a high-strength seal is formed after the bimolecular epoxy resin glue is cured.

[0011] Further optionally, the draft angle of the optical cover is 0.3°.

[0012] Further optionally, the optical cover adopts a stepped structure, including at least two stepped structures.

[0013] Further optionally, the optical cover adopts a non-step structure.

[0014] Further optionally, a test hole is provided at the bottom of the base assembly, and the test hole is used to connect an exhaust fan to confirm whether it is sealed by reading; after the test is completed, a sealing nameplate is pasted on the test hole.

[0015] Compared with the existing technology, this application has the following technical effects: This application can achieve accurate ranging in various high-pressure, low-pressure, negative-pressure, and other scenarios. It can operate stably and continuously without leakage in a 10-meter underwater usage scenario. It can be installed in a variety of high-pressure and negative-pressure scenarios, such as underwater and high-altitude inspection robots, providing navigation and obstacle avoidance capabilities. At the same time, the product is small in size, has a high structural strength, and is low in cost. In the present application, a sealing ring, a first rib, and a second rib are provided between the optical housing and the base assembly. After the optical housing and the base assembly are installed, the lower side of the sealing ring has an interference fit of 0.15 mm. After the interference fit, the side edges are squeezed to form a double seal on the side edges. Simultaneously, the first and second ribs are used to press the upper and lower sides together to form a third seal, further improving the sealing effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Other features, objects and advantages of the present application will become more apparent upon reading the detailed description of non-limiting embodiments made with reference to the following drawings: Figure 1 : Schematic diagram of the external structure of a 360° laser radar rangefinder according to an embodiment of the present application; Figure 2 : A cross-sectional view of a 360° laser radar rangefinder according to an embodiment of the present application; Figure 3 :like Figure 2 A partial enlarged view of the structure I shown; Figure 4 : Schematic diagram of the bottom structure of a 360° lidar rangefinder according to an embodiment of the present application.

[0017] Figure numerals: 10-optical cover, 11-first rib position, 20-internal optical module, 21-laser ranging module, 22-wireless power supply & motor module, 30-base assembly, 31-second rib position, 32-test hole, 33-glue filling groove, 40-waterproof wiring harness and 50-sealing ring. DETAILED DESCRIPTION

[0018] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0019] like Figure 1 and Figure 2 As shown, in one embodiment of the present application, a 360° laser radar rangefinder includes: The optical cover 10 is a polyhedron structure, and the optical cover 10 is sealed and mounted on the base assembly 30, and forms an internal mounting cavity with the base assembly 30; An internal optical module 20 is disposed in the internal mounting cavity. The internal optical module 20 includes: a laser ranging module 21 and a wireless power supply and motor module 22. The laser ranging module 21 is rotatably mounted on the wireless power supply and motor module 22. Driven by the wireless power supply and motor module 22, the laser ranging module 21 can achieve 360° rotation. The wireless power supply and motor module 22 is mounted on the base assembly 30. like Figure 3 As shown, the sealed connection between the optical housing 10 and the base assembly 30 includes a first rib 11 provided on the optical housing 10, a second rib 31 provided on the base assembly 30, and a sealing ring 50 provided therein. The first rib 11 protrudes outward from the optical housing 10, and the second rib 31 protrudes outward from the base assembly 30. The first rib 11 and the second rib 31 are axially symmetrical. When the optical housing 10 and the base assembly 30 are sealed together, the first rib 11 and the second rib 31 are vertically opposed and press the sealing ring 50 upward and downward. The sealed connection between the optical housing 10 and the base assembly 30 forms a stable sealed cavity, protecting the internal core module and ensuring stable operation without affecting the internal structure due to external pressure and environmental changes.

[0020] This embodiment, based on the existing first and second ribs and sealing rings, innovatively designs a multi-labyrinth sealing system. Specifically, it can also include a primary sealing layer and an auxiliary sealing layer. The primary sealing layer retains the original axisymmetric rib structure, with the cross-sections of the first and second ribs designed as trapezoidal bosses. This layer, combined with a fluororubber-metal composite sealing ring (with an inner fluororubber layer to ensure sealing and an outer metal skeleton to enhance pressure resistance), achieves a primary seal through top-to-bottom compression. The auxiliary sealing layer incorporates a labyrinth structure consisting of annular grooves and bosses between the first and second ribs. The grooves are filled with a nano-scale waterproof and breathable membrane, which not only prevents the intrusion of liquids and dust but also balances the air pressure between the internal cavity and the outside world, avoiding negative pressure in the cavity caused by temperature differences. Furthermore, the above-mentioned sealing structure of this embodiment can also be provided with a redundant sealing layer: an annular elastic buffer pad is provided at the connection edge between the base assembly and the optical cover, and is made of water-swelling rubber material. When a small amount of water penetrates here, the rubber automatically expands to further block the water flow, thereby improving the overall sealing level and being able to further adapt to harsh environments such as high-pressure washing, high temperature and high humidity.

[0021] Furthermore, in this embodiment, the base assembly further includes: a base body and a bottom cover sealed to the base body, wherein the base body and the bottom cover are sealed by ultrasonic welding. The base body and the bottom cover are ultrasonically welded together to form a seal. This sealing solution provides high sealing strength, and the bottom cover has no screw holes, resulting in a neat appearance.

[0022] Furthermore, in this embodiment, the connection between the base body and the bottom cover is pre-filled with bimolecular epoxy resin glue, and then the base body and the bottom cover are assembled together. After the bimolecular epoxy resin glue cures, a high-strength seal is formed. This sealing solution has a high sealing strength, and there are no screw holes on the bottom cover, which looks neat.

[0023] Of course, in specific implementation, the above different technical solutions can be used in combination, and can also be used in combination with other existing technologies.

[0024] In another embodiment of the present application, the optical cover 10 is a polyhedron structure. Figure 1 As shown. Further preferably, in this embodiment, the optical cover 10 is a regular polyhedron structure. The regular polyhedron structure includes, but is not limited to, a regular tetrahedron, a regular hexahedron, a regular octahedron, or a regular decahedron structure. The accompanying drawings illustrate only a regular octahedron. Of course, in other embodiments, the optical cover 10 may also adopt a non-regular polyhedron structure, which is not limited here.

[0025] The draft angle of the optical cover 10 is 0.3°.

[0026] In this embodiment, the polyhedron structure and smaller draft angle are intended to reduce the gap between the internal optical module 20 and the optical housing 10. This reduces optical ranging errors caused by the lens effect formed by the air and water within the optical housing 10 and the internal optical module 20 in high-pressure scenarios, thereby improving the laser ranging distance and accuracy in water and other liquids and atomized water droplet environments.

[0027] In this application, the three modules mentioned above cooperate with each other. The optical cover 10 is responsible for protecting the internal components while transmitting optical information. The internal optical module 20 is used as a functional component to achieve 360° detection on the optical side.

[0028] Continue to refer Figure 3As shown, this embodiment provides a sealing ring 50, a first rib 11, and a second rib 31 between the optical housing 10 and the base assembly 30. With this arrangement, after the optical housing 10 and the base assembly 30 are installed, the sealing ring 50 has an interference fit of 0.15 mm on the underside. After the interference fit, the side edges are squeezed to form a double seal on the side edges. Simultaneously, the first rib 11 and the second rib 31, which are axially symmetrically arranged, are pressed together to form a third seal on the upper and lower sides, further improving the sealing effect.

[0029] Further preferably, in this embodiment, the setting height of the first rib position 11 and the second rib position 31 is preferably 0.1-0.3 mm, and further preferably, the setting height of the first rib position 11 and the second rib position 31 is preferably 0.2 mm.

[0030] To further improve the sealing effect, in this embodiment, the sealing ring 50 is made of silicone with a hardness of 40°-50°.

[0031] Furthermore, this embodiment further includes waterproof screws (not shown) that connect the optical housing 10 and the base assembly 30. Through the overall design, when the optical housing 10 and the base assembly 30 are placed together, the waterproof screws further lock them together and further compress the sealing ring 50, thereby further improving the sealing effect.

[0032] Furthermore, the wireless power supply & motor module 22 is configured with a wireless charging module, a motor module, a drive motor, and a bearing matched with the drive motor. Specifically, the laser ranging module 21 is mounted on the drive shaft of the drive motor, and the drive motor can drive the laser ranging module 21 to rotate. Among them, the drive motor preferably adopts a permanent magnet brushless motor, which is small in size, suitable for assembly in a small space, can be easily adjusted in speed, and has high operating efficiency; in addition, a bearing is also sleeved on the output shaft of the drive motor, preferably a ball bearing, to support the output shaft. In addition, since the laser ranging module 21 needs to rotate with the drive motor, a wireless power supply coil is also wound around the outside of the output shaft of the drive motor. The electromagnetic effect between the rotation of the laser ranging module 21 and the wireless power supply coil fixedly mounted on the base assembly 30 generates current, thereby realizing wireless power supply to the laser ranging module 21.

[0033] In this embodiment, the motor module preferably utilizes a brushless DC motor. Because it possesses the characteristics of a brushed DC motor and is also a frequency-variable device, it is also known as a DC variable frequency motor (BLDC). The operating efficiency, low-speed torque, and speed accuracy of a brushless DC motor surpass those of any inverter using any control technology.

[0034] Furthermore, in this embodiment, the optical cover 10 adopts a stepped structure, including at least two steps. Figure 1 As shown. The laser radar's transmitting layer and receiving layer can be arranged in two different stepped layers. Of course, in another embodiment, the optical housing 10 can also adopt a non-stepped structure.

[0035] In another embodiment of the present application, the base assembly 30 includes a PCBA component (not shown), which is electrically connected to the wireless power supply and motor module 22. The base assembly 30 can form a stable frame that absorbs vibration and reduces noise while accommodating the PCBA component.

[0036] like Figure 1 、 Figure 2 as well as Figure 4 As shown, a waterproof harness 40 is further provided on the base assembly 30. The waterproof harness 40 is used to establish a communication connection with an external host to achieve data exchange.

[0037] Furthermore, in this embodiment, the waterproof harness 40 is installed by glue pouring through a glue pouring groove 33 provided on the base assembly 30. The glue pouring groove 33 is provided on the base assembly 30, and the sealing effect can be further improved by glue pouring.

[0038] like Figure 4 As shown, a test hole 32 is further provided at the bottom of the base assembly 30 , and the test hole 32 is used to connect an exhaust fan and confirm whether it is sealed by reading; after the test is completed, a sealing nameplate is pasted on the test hole 32 .

[0039] The device is fixed to a specific location on the operating equipment and connected to the host computer via an external wiring harness. It performs 360-degree ranging scanning in both amphibious and underwater environments, generating point cloud information within the range. When the operating equipment approaches an obstacle, the point cloud information within the device changes. The host computer uses this feedback to identify the obstacle's position and angle, and, through software control, circumvents the obstacle, completing autonomous underwater navigation.

[0040] The product of this embodiment can be fixed in a working device and can perform 360-degree rotational ranging scanning in different environments. The scanned point cloud is fed back to the device processor. After processing, the location of obstacles in the environment can be obtained for reference in obstacle avoidance and automatic movement. The equipment of this application can be used in high-pressure, low-pressure, and negative-pressure scenarios, as well as underwater and other slightly corrosive liquids.

[0041] This application can achieve precise ranging in various high-pressure, low-pressure, negative-pressure and other scenarios, and can operate continuously and stably without leakage in the use scenario of 10 m underwater. It can be assembled in a variety of high-pressure and negative-pressure scenarios, such as inspection robots used underwater and at high altitudes, providing navigation and obstacle avoidance capabilities. At the same time, the product is small in size, has high structural strength and low cost. In this application, a sealing ring, a first rib and a second rib are set between the optical cover and the base assembly. Through the above settings, after the optical cover and the base assembly are installed, the lower side of the sealing ring has an interference of 0.15mm, and the side is squeezed after the interference to form two layers of seals on the side. At the same time, the first rib and the second rib are used to press the upper and lower sides to form a third seal on the upper and lower sides, further improving the sealing effect. In summary, this application has good market application prospects.

[0042] In the description of this application, unless otherwise expressly specified or limited, the terms "connected," "connect," and "fixed" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integration; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and can refer to internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in this application based on specific circumstances.

[0043] In this application, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may include the first and second features being in direct contact, or may include the first and second features being in contact not directly but through another feature between them. Moreover, a first feature being "above," "above," and "above" a second feature may include the first feature being directly above or obliquely above the second feature, or may simply mean that the first feature is higher in level than the second feature. A first feature being "below," "below," and "below" a second feature may include the first feature being directly below or obliquely below the second feature, or may simply mean that the first feature is lower in level than the second feature.

[0044] In the description of this embodiment, the terms "upper," "lower," "left," "right," and other orientations or positional relationships are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely for ease of description and simplified operation. They do not indicate or imply that the devices or components referred to must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on this application. Furthermore, the terms "first" and "second" are used solely for descriptive purposes and have no special meanings.

[0045] The above embodiments are intended only to illustrate the technical solutions of the present application and are not intended to limit the present application. The present application is described in detail with reference to the preferred embodiments. It should be understood by those skilled in the art that the technical solutions of the present application may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present application and should be included within the scope of the claims of the present application.

Claims

1. A 360° laser radar rangefinder, characterized in that: include: An optical cover having a polyhedral structure, the optical cover is sealed and mounted on the base assembly, and forms an internal mounting cavity with the base assembly; An internal optical module is disposed in the internal mounting cavity, comprising: a laser ranging module and a wireless power supply and motor module. The laser ranging module is rotatably mounted on the wireless power supply and motor module. Driven by the wireless power supply and motor module, the laser ranging module can achieve 360° rotation. The wireless power supply and motor module is mounted on the base assembly. The sealing connection position between the optical cover and the base assembly includes a first rib provided on the optical cover, a second rib provided on the base assembly, and a sealing ring provided for filling; The first rib is arranged to protrude outward from the optical cover, and the second rib is arranged to protrude outward from the base assembly, and the first rib and the second rib are axially symmetrical structures; When the optical cover is sealed to the base assembly, the first rib and the second rib are arranged vertically opposite to each other and press the sealing ring upward and downward.

2. The 360° laser radar rangefinder according to claim 1, characterized in that: Also includes: A waterproof screw is used to connect the optical cover and the base assembly together.

3. The 360° laser radar rangefinder according to claim 1, characterized in that: The hardness of the sealing ring is 40°-50° silicone.

4. The 360° laser radar rangefinder according to claim 1, characterized in that: The base assembly includes: a PCBA component, and the PCBA component is electrically connected to the wireless power supply & motor module.

5. The 360° laser radar rangefinder according to claim 1, characterized in that: The base assembly is also provided with a waterproof wiring harness, which is installed by glue pouring through a glue pouring groove provided on the base assembly.

6. The 360° laser radar rangefinder according to any one of claims 1 to 5, characterized in that: The base assembly also includes: a base body and a bottom cover sealed with the base body, wherein the base body and the bottom cover are sealed with each other by ultrasonic welding; and / or, the connection between the base body and the bottom cover is pre-filled with bimolecular epoxy resin glue, and then the base body and the bottom cover are installed together, and a high-strength seal is formed after the bimolecular epoxy resin glue is cured.

7. The 360° laser radar rangefinder according to any one of claims 1 to 5, characterized in that: The draft angle of the optical cover is 0.3°.

8. The 360° laser radar rangefinder according to any one of claims 1 to 5, characterized in that: The optical cover adopts a stepped structure, including at least two steps.

9. The 360° laser radar rangefinder according to any one of claims 1 to 5, characterized in that: The optical cover adopts a non-step structure.

10. The 360° laser radar rangefinder according to any one of claims 1 to 5, characterized in that: A test hole is also provided at the bottom of the base assembly, and the test hole is used to connect an exhaust fan and confirm whether it is sealed by reading; after the test is completed, a sealing nameplate is pasted on the test hole.

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