Encoder and laser radar detection device

Abstract

The utility model discloses an encoder and a laser radar detection device, and belongs to the technical field of detection equipment. The encoder provided by the utility model comprises a base, a first support, a rotating member and a second support. The first support is connected with the base, and a plurality of code teeth are arranged on the first support. The rotating part is arranged on the base, the rotating part is connected with the first support, the rotating part can drive the first support and the code teeth to rotate relative to the base, and the arrangement direction of the code teeth on the first support is perpendicular to the plane formed by the rotating circumference of the first support. The second support is connected with the base, the second support and the first support are arranged in a spaced mode, and a photoelectric switch is arranged on the second support. According to the encoder and the laser radar detection device, the situation that a coded disc shields part of laser beams in the prior art can be avoided, the actual detection angle of the laser radar detection device is made to be consistent with the preset detection angle, and troubles in the subsequent detection process are avoided.

Description

Technical Field

[0001] The utility model relates to the technical field of detection equipment, in particular to an encoder and a laser radar detection device. Background Art

[0002] The laser radar detection device is a device that uses laser beams for distance measurement and environmental perception. It determines the distance and position of the target object by emitting laser beams and receiving reflected laser signals, and calculating the propagation time of light. In the laser radar detection device, it includes a laser emission source, a reflector and an encoder. The encoder includes a code disk, a photoelectric switch and a rotating component. The reflector is set on each side of the rotating component. The rotating component can drive the code disk in the encoder to rotate. After the laser emission source emits the laser beam, the laser beam is irradiated on the reflector and reflected by the reflector to the laser radar detection device to detect the object to be measured. The photoelectric switch can record the angle information of the rotating component, thereby determining the emission direction and receiving direction of the laser beam, and then calculating the position and shape of the target object. The accuracy and stability of the encoder have an important impact on the measurement accuracy and reliability of the laser radar detection device.

[0003] In the prior art, when the code disk of the encoder is connected to the rotating component, since the side area of ​​the code disk connected to the rotating component is larger than the side area of ​​the code disk connected to the rotating component, the edge of the code disk will directly extend to the periphery of the side wall of the rotating component. In this case, there will be certain interference with the reflection of the laser beam on the reflector. When the laser beam emitted by the laser emission source irradiates near the connection between the rotating component and the code disk, part of the laser emission source will be reflected by the reflector and irradiate the code disk, causing the laser beam to be unable to pass through the laser radar detection device, so that the detection angle of the laser radar detection device is affected, and the actual detection angle of the laser radar detection device is inconsistent with the preset detection angle, thereby causing certain troubles in the subsequent detection process.

[0004] Therefore, it is urgent to study an encoder and a laser radar detection device to solve the above problems. Utility Model Content

[0005] The purpose of the utility model is to provide an encoder and a laser radar detection device, which can avoid the situation in the prior art that the code disk blocks part of the laser beam. Under the premise of ensuring the normal operation of the encoder, the encoder and the remaining structures of the laser radar detection device are prevented from interfering with each other, so that the actual detection angle of the laser radar detection device is consistent with the preset detection angle, thereby avoiding troubles in the subsequent detection process.

[0006] To achieve this purpose, the utility model adopts the following technical solutions:

[0007] An encoder, comprising:

[0008] Base,

[0009] A first bracket, the first bracket is connected to the base, and a plurality of code teeth are arranged on the first bracket;

[0010] A rotating member, the rotating member is arranged on the base, the rotating member is connected to the first bracket, and the rotating member can drive the first bracket and the code tooth to rotate relative to the base; the setting direction of the code tooth on the first bracket is perpendicular to the plane formed by the rotation circumference of the first bracket;

[0011] The second bracket is connected to the base, the second bracket is spaced apart from the first bracket, and a photoelectric switch is arranged on the second bracket.

[0012] Preferably, a sinking groove is provided on the first bracket, and the plurality of code teeth are all arranged on the bottom wall of the sinking groove.

[0013] Preferably, the distance between one end of the code tooth away from the bottom of the sinking groove and the bottom of the sinking groove is not greater than the depth of the sinking groove.

[0014] Preferably, the photoelectric switch is provided with an arc track, and the plurality of code teeth can pass through the arc track.

[0015] Preferably, the plurality of code teeth form a circular track at the setting position of the bottom of the sinking groove, and the plurality of code teeth are evenly distributed along the circular track.

[0016] Preferably, the plurality of code teeth are integrally formed with the first bracket.

[0017] Preferably, the rotating member includes a connecting member and a driving member, one end of the connecting member is connected to the output end of the driving member, and the other end of the connecting member is connected to the first bracket, and the driving member can drive the connecting member and the first bracket to rotate.

[0018] Preferably, the first bracket is provided with a first connecting hole and a positioning hole;

[0019] The connecting piece comprises:

[0020] A connecting rod, the connecting rod being able to pass through the positioning hole, one end of the connecting rod being connected to the output end of the driving member;

[0021] A connecting plate, the connecting plate being connected to the other end of the connecting rod, the connecting plate being provided with a second connecting hole, the second connecting hole corresponding to the first connecting hole;

[0022] The connecting screw, the first connecting hole and the second connecting hole are both threaded holes, and the connecting screw can be threadedly connected to the inside of the first connecting hole and the second connecting hole at the same time.

[0023] Preferably, a receiving cavity is provided on a side of the first bracket facing away from the code tooth, and the rotating member can be located inside the receiving cavity.

[0024] A laser radar detection device, comprising:

[0025] The above encoder;

[0026] A housing, wherein the base in the encoder is connected to the housing;

[0027] A reflector, wherein the reflector is arranged on a side wall of the first bracket in the encoder;

[0028] A laser emission source is connected to the shell and is used for emitting laser.

[0029] Beneficial effects of the utility model:

[0030] In the encoder provided by the utility model, by setting code teeth on the first bracket to replace the code disk in the prior art, it is possible to avoid the situation in which the code disk in the prior art blocks part of the laser beam. Under the premise of ensuring the normal operation of the encoder, the encoder is prevented from interfering with the remaining structures of the laser radar detection device, so that the actual detection angle of the laser radar detection device is consistent with the preset detection angle, avoiding troubles in the subsequent detection process. The setting direction of the code teeth on the first bracket is perpendicular to the plane formed by the rotation circle of the first bracket, which is equivalent to limiting the setting position of the code teeth to the interior of the space of the first bracket, avoiding the code teeth from extending out of the periphery of the first bracket, thereby avoiding the influence on the laser beam.

[0031] In the laser radar detection device provided by the utility model, the reflector is directly arranged on the side wall of the first bracket. When the laser emission source emits a laser beam and irradiates it on the reflector, the influence of the code teeth on the laser beam can be directly avoided, ensuring that the laser beam can be reflected out of the outside of the laser radar detection device along a preset angle. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 It is an axonometric diagram of the encoder provided by the utility model;

[0033] Figure 2 It is an exploded view of the first bracket and the rotating member of the encoder provided by the utility model;

[0034] Figure 3It is an axonometric diagram of the first bracket of the encoder provided by the utility model.

[0035] In the figure:

[0036] 1. first bracket; 11. code teeth; 12. sinking groove; 13. first connecting hole; 14. positioning hole; 15. accommodating cavity;

[0037] 2. Rotating member; 21. Connecting member; 211. Connecting rod; 212. Connecting plate; 2121. Second connecting hole; 213. Connecting screw;

[0038] 3. Second bracket; 31. Photoelectric switch; 311. Arc track. DETAILED DESCRIPTION

[0039] The embodiments of the present invention are described in detail below, and examples of the embodiments 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.

[0040] In the description of the present invention, it should be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply 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. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance. Among them, the terms "first position" and "second position" are two different positions.

[0041] Unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", and "fixed" should be understood in a broad sense, for example, it can be a fixed connection or a detachable 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 this utility model can be understood according to specific circumstances.

[0042] Unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include the first feature being in direct contact with the second feature, or may include the first feature being in contact with the second feature through another feature between them instead of being in direct contact. Moreover, a first feature being "above", "above" and "above" a second feature includes the first feature being directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes the first feature being directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0043] The technical solution of the utility model is further explained below with reference to the accompanying drawings and through specific implementation methods.

[0044] like Figures 1 to 3 As shown, the utility model provides an encoder and a laser radar detection device, which can avoid the situation in the prior art that the code disk blocks part of the laser beam. Under the premise of ensuring the normal operation of the encoder, the encoder and the remaining structures of the laser radar detection device are prevented from interfering with each other, so that the actual detection angle of the laser radar detection device is consistent with the preset detection angle, thereby avoiding troubles in the subsequent detection process.

[0045] The encoder provided by the utility model comprises a base, a first bracket 1, a rotating member 2 and a second bracket 3. The first bracket 1 is connected to the base, and a plurality of code teeth 11 are arranged on the first bracket 1. The rotating member 2 is arranged on the base, and the rotating member 2 is connected to the first bracket 1. The rotating member 2 can drive the first bracket 1 and the code teeth 11 to rotate relative to the base, and the setting direction of the code teeth 11 on the first bracket 1 is perpendicular to the plane formed by the rotation circle of the first bracket 1. The second bracket 3 is connected to the base, and the second bracket 3 is arranged at an interval with the first bracket 1, and a photoelectric switch 31 is arranged on the second bracket 3.

[0046] In the encoder provided by the utility model, by setting the code teeth 11 on the first bracket 1 to replace the code disk in the prior art, it is possible to avoid the situation in which the code disk in the prior art blocks part of the laser beam. Under the premise of ensuring the normal operation of the encoder, the encoder is prevented from interfering with the remaining structures of the laser radar detection device, so that the actual detection angle of the laser radar detection device is consistent with the preset detection angle, avoiding troubles in the subsequent detection process. The setting direction of the code teeth 11 on the first bracket 1 is set perpendicular to the plane formed by the rotating circumference of the first bracket 1, which is equivalent to limiting the setting position of the code teeth 11 to the interior of the space of the first bracket 1, avoiding the code teeth 11 from extending out of the periphery of the first bracket 1, thereby avoiding the influence on the laser beam.

[0047] In this embodiment, the first bracket 1 is configured as a pentagonal prism structure, and five code teeth 11 are provided. The five code teeth 11 are all arranged on the upper end surface of the first bracket 1 .

[0048] Furthermore, in order to protect the code teeth 11, in this embodiment, a sinking groove 12 is provided on the first bracket 1, and a plurality of code teeth 11 are arranged on the bottom wall of the sinking groove 12. By setting the code teeth 11 to be sunken, the side walls of the sinking groove 12 are arranged around the code teeth 11, so that a certain protection can be provided to the code teeth 11. In this embodiment, the sinking groove 12 is set as a circular groove structure, and the center of the sinking groove 12 is consistent with the center of the pentagon on the upper bottom surface of the pentagonal prism.

[0049] Furthermore, the distance between the end of the code tooth 11 away from the bottom of the sinking groove 12 and the bottom of the sinking groove 12 is not greater than the depth of the sinking groove 12. Through the above arrangement, the surface of the first bracket 1 where the end of the code tooth 11 away from the bottom of the sinking groove 12 does not protrude can further protect the code tooth 11.

[0050] In this embodiment, the photoelectric switch 31 is provided with an arc track 311, and a plurality of code teeth 11 can pass through the arc track 311. The photoelectric switch 31 obtains the relevant rotation data of the first bracket 1 by counting the time each code tooth 11 passes through the arc track 311.

[0051] In order to facilitate the code teeth 11 to pass through the arc track 311, in this embodiment, the plurality of code teeth 11 form a circular track at the arrangement position of the bottom of the sinking groove 12, and the plurality of code teeth 11 are evenly distributed along the circular track. Through the above arrangement, when the first bracket 1 rotates, the rotation circular track of each code tooth 11 is the same circle, which makes it easier to pass through the arc track 311.

[0052] In this embodiment, for the shape setting of the code tooth 11, the cross section of the code tooth 11 is an arc segment between two concentric circles. The side of the code tooth 11 close to the center of the circle is defined as the inner side, the side of the code tooth 11 away from the center of the circle is defined as the outer side, the circumference formed by the inner sides of multiple code teeth 11 is defined as the inner circle, the circumference formed by the outer sides of multiple code teeth 11 is defined as the outer circle, and the circular trajectory formed by the setting position of multiple code teeth 11 at the bottom of the sinking groove 12 is defined as the center circle. The radii of the inner circle, the center circle and the outer circle are selected according to the frequency of the encoder, and the height of the code tooth 11 is also selected by the frequency of the encoder.

[0053] In this embodiment, in order to ensure the stability of the connection between the code teeth 11 and the first bracket 1, the plurality of code teeth 11 and the first bracket 1 are directly configured to be integrally formed.

[0054] As for the rotating member 2, in this embodiment, the rotating member 2 includes a connecting member and a driving member, one end of the connecting member 21 is connected to the output end of the driving member, and the other end of the connecting member 21 is connected to the first bracket 1, and the driving member can drive the connecting member 21 and the first bracket 1 to rotate. The driving member provides power, and the connecting member 21 transmits power, thereby driving the first bracket 1 and the code teeth 11 to rotate.

[0055] Specifically, the first bracket 1 is provided with a first connecting hole 13 and a positioning hole 14. The connecting member 21 includes a connecting rod 211, a connecting plate 212 and a connecting screw 213. The connecting rod 211 can be inserted into the positioning hole 14, and one end of the connecting rod 211 is connected to the output end of the driving member. The connecting plate 212 is connected to the other end of the connecting rod 211, and a second connecting hole 2121 is provided on the connecting plate 212, and the second connecting hole 2121 corresponds to the first connecting hole 13. The first connecting hole 13 and the second connecting hole 2121 are both threaded holes, and the connecting screw 213 can be threadedly connected to the first connecting hole 13 and the second connecting hole 2121 at the same time. The staff first inserts the end of the connecting rod 211 without the connecting plate 212 into the positioning hole 14, and connects it to the output end of the driving member, and then uses the connecting screw 213 to connect the connecting plate 212 to the first bracket 1. The connection mode provided can ensure the connection stability between the connecting member 21 and the first bracket 1, and ensure the stability of the power transmission between the driving member and the first bracket 1. Furthermore, a plurality of first connection holes 13 and second connection holes 2121 are provided, and a plurality of connection screws 213 are also provided, so as to strengthen the connection strength between the first bracket 1 and the connecting plate 212.

[0056] In this embodiment, a receiving cavity 15 is provided on the side of the first bracket 1 away from the code teeth 11, and the rotating member 2 can be located inside the receiving cavity 15. Through the above arrangement, the rotating member 2 can be arranged inside the receiving cavity 15, which can reduce the volume of the encoder and reduce the space occupied by the encoder in the laser radar detection device.

[0057] The laser radar detection device provided by the utility model comprises the above-mentioned encoder, a housing, a reflector and a laser emission source. The base in the above-mentioned encoder is connected to the housing. The reflector is arranged on the side wall of the first bracket 1 in the encoder, and the laser emission source is connected to the housing, and the laser emission source is used to emit laser. In this embodiment, five reflectors are arranged, which are respectively arranged on the five side walls of the first bracket 1.

[0058] In the laser radar detection device provided by the utility model, the reflector is directly arranged on the side wall of the first bracket 1. When the laser emission source emits a laser beam and irradiates it on the reflector, the influence of the code teeth 11 on the laser beam can be directly avoided, ensuring that the laser beam can be reflected out of the outside of the laser radar detection device along a preset angle.

[0059] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the implementation methods of the present invention. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all implementation methods here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention shall be included in the protection scope of the claims of the present invention.

Claims

1. An encoder, characterized in that: include: Base, A first bracket (1), the first bracket (1) being connected to the base, and the first bracket (1) being provided with a plurality of code teeth (11); a rotating member (2), the rotating member (2) being arranged on the base, the rotating member (2) being connected to the first bracket (1), the rotating member (2) being capable of driving the first bracket (1) and the code tooth (11) to rotate relative to the base; the arrangement direction of the code tooth (11) on the first bracket (1) being perpendicular to the plane formed by the rotation circle of the first bracket (1); A second bracket (3), the second bracket (3) is connected to the base, the second bracket (3) is spaced apart from the first bracket (1), and a photoelectric switch (31) is provided on the second bracket (3).

2. The encoder according to claim 1, characterized in that The first bracket (1) is provided with a sinking groove (12), and the plurality of code teeth (11) are all arranged on the bottom wall of the sinking groove (12).

3. The encoder according to claim 2, characterized in that The distance between one end of the code tooth (11) away from the bottom of the sinking groove (12) and the bottom of the sinking groove (12) is not greater than the depth of the sinking groove (12).

4. The encoder according to claim 2, characterized in that The photoelectric switch (31) is provided with an arc track (311), and the plurality of code teeth (11) can all pass through the arc track (311).

5. The encoder according to claim 4, characterized in that The plurality of code teeth (11) form a circular track at the arrangement position of the bottom of the sinking groove (12), and the plurality of code teeth (11) are evenly distributed along the circular track.

6. The encoder according to any one of claims 1 to 5, characterized in that: The plurality of code teeth (11) are integrally formed with the first bracket (1).

7. The encoder according to claim 1, characterized in that The rotating member (2) comprises a connecting member (21) and a driving member, one end of the connecting member (21) is connected to the output end of the driving member, the other end of the connecting member (21) is connected to the first bracket (1), and the driving member can drive the connecting member (21) and the first bracket (1) to rotate.

8. The encoder according to claim 7, characterized in that The first bracket (1) is provided with a first connecting hole (13) and a positioning hole (14); The connecting member (21) comprises: A connecting rod (211), wherein the connecting rod (211) can be inserted into the positioning hole (14), and one end of the connecting rod (211) is connected to the output end of the driving member; a connecting plate (212), the connecting plate (212) being connected to the other end of the connecting rod (211), the connecting plate (212) being provided with a second connecting hole (2121), the second connecting hole (2121) corresponding to the first connecting hole (13); A connecting screw (213), wherein the first connecting hole (13) and the second connecting hole (2121) are both threaded holes, and the connecting screw (213) can be threadedly connected to the inside of the first connecting hole (13) and the second connecting hole (2121) at the same time.

9. The encoder according to claim 1, characterized in that A receiving cavity (15) is provided on the side of the first bracket (1) facing away from the code tooth (11), and the rotating member (2) can be located inside the receiving cavity (15).

10. A laser radar detection device, characterized in that: include: The encoder according to any one of claims 1 to 9 above; A housing, wherein the base in the encoder is connected to the housing; A reflector, the reflector being arranged on a side wall of the first bracket (1) in the encoder; A laser emission source is connected to the shell and is used for emitting laser.

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