Scanning distance measuring device

Abstract

The utility model discloses a scanning distance measuring device which comprises a base, a signal transmitting module and a signal receiving module are fixedly arranged on the base, and light paths of the signal transmitting module and the signal receiving module do not coincide; the reflecting mirror assembly is rotatably arranged on the base and provided with a transmitting signal reflecting area and a receiving signal reflecting area, and the signal transmitting module and the signal receiving module are located on the same side of the reflecting mirror assembly; the transmitting signal reflecting area is arranged corresponding to the signal transmitting module, and the receiving signal reflecting area and the signal receiving module are both arranged on the periphery of the rotating axis of the reflector assembly. According to the embodiment of the invention, the reflector assembly is set to be rotatable, and the reflector assembly is not connected with any signal line and power line, so that the rotation of the reflector assembly is not limited, and 360-degree continuous rotation can be realized.

Description

Technical Field

[0001] This application relates to the field of optical detection technology, and particularly to a scanning ranging device. Background Art

[0002] In recent years, with the continuous development of artificial intelligence, robotics, and sensor technologies, cleaning robots have become increasingly intelligent and functional. Among them, lidar technology has played an important role in promoting the development of cleaning robots.

[0003] Lidar is an active remote sensing technology that determines the distance to a target by emitting laser pulses and measuring the time it takes for the reflected light to return to the sensor. Lidar can provide high-precision, real-time three-dimensional information of the surrounding environment, and is very suitable for environmental perception and navigation of cleaning robots.

[0004] During operation, lidar needs to rotate 360° to determine the information of surrounding objects. In the prior art, the rotation of lidar is achieved by the rotation of the signal transceiver module. However, since the signal transceiver module is usually connected with signal lines and power lines, in order to avoid wire entanglement, a 360° rotation detection is usually not achievable. Summary of the Utility Model

[0005] The purpose of the embodiments of this application is to provide a scanning ranging device that can solve the above problems existing in the prior art.

[0006] To achieve the above purpose, this application adopts the following technical solutions:

[0007] On the one hand, a scanning ranging device is provided, including:

[0008] A base, on which a signal transmitting module and a signal receiving module are fixedly arranged, and the optical paths of the signal transmitting module and the signal receiving module do not overlap;

[0009] A mirror assembly, rotatably arranged on the base, having a transmitted signal reflection area and a received signal reflection area, and the signal transmitting module and the signal receiving module are located on the same side of the mirror assembly;

[0010] The transmitted signal reflection area corresponds to the signal transmitting module, and the received signal reflection area and the signal receiving module are both arranged on the circumference of the rotation axis of the mirror assembly.

[0011] Optionally, the signal transmitting module is arranged on the rotation axis of the mirror assembly.

[0012] Optionally, the mirror assembly includes a mirror lens. An area of the mirror lens near the rotation axis forms the emission signal reflection area, and a peripheral portion of the emission signal reflection area forms a reception signal reflection area.

[0013] Optionally, the mirror assembly includes a first mirror and a second mirror arranged in parallel with each other. The size of the second mirror is larger than that of the first mirror, and the second mirror and the first mirror are arranged overlapping each other in the optical path direction of the emission signal.

[0014] The first mirror is located between the signal emission module and the second mirror. A surface of the first mirror close to the signal emission module forms the emission signal reflection area.

[0015] An area of the second mirror close to the signal reception module and not overlapping with the first mirror forms the reception signal reflection area.

[0016] Optionally, the signal emission module and the signal reception module are arranged in different mounting planes on the base, and along the optical path direction, the signal emission module is located within the range of the emission signal reflection area, and the signal reception module is located between the edge of the emission signal reflection area and the base.

[0017] Optionally, the base includes a first mounting platform and a second mounting platform. The first mounting platform and the second mounting platform are arranged in sequence along the optical signal emission path direction. The second mounting platform is used for mounting the signal emission module, and the first mounting platform is used for mounting the signal reception module.

[0018] Optionally, the signal emission module and the signal reception module are arranged on the same mounting surface of the base.

[0019] Optionally, the mirror assembly further includes a mirror bracket. The mirror lens is fixedly arranged in the mirror bracket, and the mirror bracket is rotatably arranged on the base.

[0020] Optionally, the mirror bracket is a light-transmitting cover or a support shaft.

[0021] Optionally, it further includes a rotation driving device for driving the mirror assembly to rotate. The rotation driving device is in transmission connection with the mirror bracket.

[0022] Optionally, the rotation driving device is arranged above, below or on the side of the base.

[0023] The beneficial effects of the present application are as follows: In the embodiments of the present application, by setting the mirror assembly to be rotatable, since no signal lines or power lines are connected thereto, its rotation is not restricted, and 360° continuous rotation can be achieved.

[0024] Meanwhile, by arranging the signal transmitting module and the signal receiving module on the same side of the mirror assembly and ensuring that their optical paths do not overlap, stacking the signal transmitting module and the signal receiving module is avoided, which can reduce the cost of the convex lens. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The present application will be further described in detail below with reference to the drawings and embodiments.

[0026] Figure 1 It is a schematic diagram of the overall structure of the scanning and ranging device according to an embodiment of the present application;

[0027] Figure 2 It is a schematic diagram of the overall structure of the scanning and ranging device according to another embodiment of the present application;

[0028] Figure 3 It is a schematic diagram of the overall structure of the scanning and ranging device according to still another embodiment of the present application;

[0029] Figure 4 It is a schematic diagram of the overall structure of the scanning and ranging device according to still another embodiment of the present application;

[0030] Figure 5 It is a schematic diagram of the overall structure of the scanning and ranging device according to still another embodiment of the present application;

[0031] Figure 6 It is a schematic diagram of the overall structure of the scanning and ranging device according to still another embodiment of the present application;

[0032] Figure 7 It is a schematic diagram of the overall structure of the scanning and ranging device according to still another embodiment of the present application.

[0033] In the figure:

[0034] 100, base; 110, signal transmitting module; 120, signal receiving module; 130, first mounting platform; 140, second mounting platform; 200, reflecting lens; 300, first mirror; 400, second mirror; 500, light-transmitting cover; 600, support shaft; 700, rotation driving device; 800, lens; 900, object to be measured; X1, rotation axis. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0035] To make the technical problems solved by this application, the technical solutions adopted, and the achieved technical effects clearer, the technical solutions of the embodiments of this application will be further described in detail below. Obviously, the described embodiments are only a part of the embodiments of this application, rather than all of them. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative efforts belong to the scope protected by this application.

[0036] In the description of this application, unless otherwise clearly defined and limited, the terms "connected", "connected to", and "fixed" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two components or the interaction relationship between two components. For those of ordinary skill in the art, the specific meanings of the above terms in this utility model can be understood according to specific circumstances.

[0037] In this application, unless otherwise clearly defined and limited, the first feature being "above" or "below" the second feature can include the direct contact between the first and second features, or can also include the situation where the first and second features are not in direct contact but in contact through other features between them. Moreover, the first feature being "above", "above the top of", and "on the top of" the second feature includes that the first feature is directly above and obliquely above the second feature, or simply means that the first feature is at a higher horizontal height than the second feature. The first feature being "below", "below the bottom of", and "under the bottom of" the second feature includes that the first feature is directly below and obliquely below the second feature, or simply means that the first feature is at a lower horizontal height than the second feature.

[0038] In the description herein, it should be understood that the orientation or positional relationships such as "above", "below", "left", "right", etc. are only for the convenience of description and simplifying operations, rather than indicating or implying that the device or component referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation to this application. In addition, the terms "first" and "second" are only used for distinction in description and have no special meaning.

[0039] In the description of this specification, the description referring to terms such as "one embodiment" and "example" means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of this utility model. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment or example.

[0040] In addition, it should be understood that although this specification is described in terms of embodiments, not every embodiment contains only one independent technical solution. This narrative manner of the specification is only for clarity. Those skilled in the art should regard the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

[0041] LiDAR is an active remote sensing technology that determines the distance to a target by emitting laser pulses and measuring the time required for the reflected light to return to the sensor. LiDAR can provide high-precision, real-time three-dimensional information of the surrounding environment and is very suitable for environmental perception and navigation of cleaning robots.

[0042] During the operation of LiDAR, it needs to rotate 360° to determine the information of surrounding objects. In the prior art, the rotation of LiDAR is achieved by the rotation of the signal transceiver module. However, since the signal transceiver module is usually connected with signal lines and power lines, in order to avoid wire entanglement, it is usually impossible to achieve 360° rotation detection.

[0043] Based on the above situation, there is an urgent need to provide a LiDAR that can avoid wire entanglement interference during rotation detection and can achieve 360° rotation scanning.

[0044] Refer to Figures 1-3 As shown, an embodiment of a scanning and ranging device in this application includes:

[0045] A base 100, on which a signal transmitting module 110 and a signal receiving module 120 are fixedly arranged, and the optical paths of the signal transmitting module 110 and the signal receiving module 120 do not overlap;

[0046] A mirror assembly, rotatably arranged on the base 100, having a transmitted signal reflection area and a received signal reflection area, and the signal transmitting module 110 and the signal receiving module 120 are located on the same side of the mirror assembly;

[0047] The signal transmitting module 110 is arranged on the rotation axis X1 of the mirror assembly, the transmitted signal reflection area is arranged corresponding to the signal transmitting module 110, and the received signal reflection area and the signal receiving module 120 are both arranged on the circumference of the rotation axis X1.

[0048] In the embodiment of this application, by setting the mirror assembly to be rotatable, since no signal lines and power lines are connected to it, its rotation is not restricted and 360° continuous rotation can be achieved.

[0049] Meanwhile, by arranging the signal transmitting module 110 and the signal receiving module 120 on the same side of the mirror assembly and ensuring that their optical paths do not overlap, stacking the signal transmitting module 110 and the signal receiving module 120 can be avoided, thereby reducing the cost of the convex lens 800.

[0050] It can be understood that, generally, during the operation of the scanning ranging device, it is necessary to use the convex lens 800 to focus the laser into a small spot to improve the sensitivity and spatial resolution of laser detection. When the signal transmitting module 110 and the signal receiving module 120 are stacked, two lenses 800 of different sizes need to be stacked simultaneously to adapt to the different focal lengths caused by different distances. The size of the convex lens 800 affects its cost. Therefore, the stacked convex lens 800 will significantly increase the product cost. In this application, by arranging the convex lenses 800 corresponding to the signal transmitting module 110 and the signal receiving module 120 separately, lenses 800 of the same size and smaller size can be used for focusing, thus saving costs.

[0051] The rotation of the mirror assembly can adjust the direction in which the measurement light emitted by the signal transmitting module 110 is reflected, realizing 360° rotational measurement. At the same time, the specific area of the mirror assembly corresponding to the signal receiving module 120 is adjusted.

[0052] In this application, the specific structure of the mirror assembly can be various. Referring to Figures 1-3 As shown, in some optional embodiments, the mirror assembly includes a reflecting lens 200. The area of the reflecting lens 200 close to the rotation axis X1 forms the emission signal reflection area, and the peripheral part of the emission signal reflection area forms the reception signal reflection area.

[0053] In this embodiment, by only arranging one reflecting lens 200 and making part of its area the emission signal reflection area and part of its area the reception signal reflection area, the product structure can be simplified, the cost of product accessories and assembly cost can be reduced. At the same time, the installation space can also be reduced, thereby reducing the volume of the product.

[0054] It can be understood that taking the reflecting lens 200 as a circle as an example, the rotation axis X1 passes through the circle of the reflecting lens 200. In this application, the emission signal reflection area is a circular area with the center of the reflecting lens 200 as the center and a radius of 1 / 10 to 1 / 5 of the radius of the reflecting lens 200, and the remaining annular area of the reflecting lens 200 is the reception signal reflection area.

[0055] It should be noted that the above-mentioned signal transmitting module 110 being arranged on the rotation axis X1 of the mirror assembly is not a limitation to this application. In other embodiments, the signal transmitting module 110 can also be eccentrically arranged with respect to the rotation axis X1 of the mirror assembly. Refer to Figure 7 As shown, a signal transmitting module 110 and a signal receiving module 120 are respectively arranged on both sides of the rotation axis X1 of the mirror assembly. With such an arrangement, the upper and lower sides of the mirror assembly can be switched between the transmitted signal reflection area and the received signal reflection area in real time according to different rotation angles. The distance between the transmitted signal light and the received signal light is farther, which can further reduce the mutual interference between the transmitted signal light and the received signal light.

[0056] Preferably, in this embodiment, the transmitted signal reflection area is a circle with the center of the reflecting lens 200 as the center and a radius of 1 / 8 of the radius of the reflecting lens 200.

[0057] In the embodiment of this application, lenses 800 are arranged between the signal transmitting module 110 and the transmitted signal reflection area and between the signal receiving module 120 and the received module reflection area.

[0058] In this embodiment, the specific arrangement forms of the signal transmitting module 110 and the signal receiving module 120 can be various. For example, in Figure 1 In an optional embodiment as shown, the signal transmitting module 110 and the signal receiving module 120 are arranged in different mounting planes on the base 100, and along the optical path direction, the signal transmitting module 110 is within the range of the transmitted signal reflection area, and the signal receiving module 120 is between the edge of the transmitted signal reflection area and the base 100.

[0059] Specifically, refer to Figure 1 As shown, the base 100 includes a first mounting platform 130 and a second mounting platform 140. The first mounting platform 130 and the second mounting platform 140 are arranged in sequence along the optical signal transmission path direction. The second mounting platform 140 is used to mount the signal transmitting module 110, and the first mounting platform 130 is used to mount the signal receiving module 120.

[0060] In the embodiment of this application, taking the scanning distance measuring device placed vertically to measure the distances of objects around it as an example for illustration, in this embodiment, the upper side mentioned refers to the side of the scanning distance measuring device farther from the ground, and the lower side refers to the side of the scanning distance measuring device closer to the ground.

[0061] Refer to Figure 1As shown, by arranging the signal transmitting module 110 closer to the top, the measuring light reflected by the object under test 900 can pass through the bottom of the signal transmitting module 110, and thus will not interfere with the measuring light emitted by the signal transmitting module 110, thereby improving the accuracy of detection and eliminating noise interference.

[0062] It is understandable that the above-mentioned arrangement of the signal transmitting module 110 and the signal receiving module 120 on installation platforms at different heights is not a limitation of the present application. In another optional embodiment of the present application, referring to Figure 2 As shown, the signal transmitting module 110 and the signal receiving module 120 are disposed on the same mounting surface of the base 100 .

[0063] In order to support the reflector lens 200 , the reflector assembly in the embodiment of the present application further includes a reflector bracket, the reflector lens 200 is fixedly disposed in the reflector bracket, and the reflector bracket is rotatably disposed on the base 100 .

[0064] Optionally, the specific form of the reflector bracket can be a light-transmitting cover 500, which is arranged above the base 100, and the signal transmitting module 110, the signal receiving module 120 and the reflective lens 200 are all arranged inside the light-transmitting cover 500. The reflector bracket is provided with a lens mounting groove, and the reflective lens 200 is clamped in the lens mounting groove.

[0065] The light-transmitting cover 500 described in the embodiment of the present application is used to support the reflective lens 200 and can also serve as a transmission component. It can be connected to the rotation driving device 700 and provide driving force through the rotation driving device 700 to drive the light-transmitting cover 500 to rotate, and at the same time drive the reflective lens 200 installed therein to rotate.

[0066] In the present application, the transmission connection between the rotation drive device 700 and the light-transmitting cover 500 can be a belt transmission connection or a gear transmission connection. The specific implementation method belongs to the conventional technical means used by those skilled in the art and will not be described in detail in this embodiment.

[0067] The rotary drive device 700 is preferably a drive motor, which can be arranged above the base 100 , can be arranged below the base 100 with a power output shaft passing through the base 100 and connected to the light-transmitting cover 500 , or can be arranged on the side of the base 100 .

[0068] It should be noted that the reflector bracket is a light-transmitting cover 500 and this is not a limitation to the present application. Figure 3 As shown, in other embodiments, the reflector bracket may also adopt a support shaft 600 .

[0069] In another alternative embodiment of the present application, referring to Figures 4-6 as shown, the mirror assembly includes a first mirror 300 and a second mirror 400 arranged in parallel with each other. The size of the second mirror 400 is larger than that of the first mirror 300, and the second mirror 400 and the first mirror 300 are arranged to overlap each other in the direction of the transmitted signal optical path;

[0070] The first mirror 300 is located between the signal transmitting module 110 and the second mirror 400. The surface of the first mirror 300 close to the signal transmitting module 110 forms the transmitted signal reflection area;

[0071] The area of the second mirror 400 close to the signal receiving module 120 and not overlapping with the first mirror 300 forms the received signal reflection area.

[0072] In this embodiment, the signal transmitting module 110 and the signal receiving module 120 can also be arranged on different mounting planes of the base 100, and along the optical path direction, the signal transmitting module 110 is located within the range of the transmitted signal reflection area, and the signal receiving module 120 is located between the edge of the transmitted signal reflection area and the base 100.

[0073] Referring to Figure 4 as shown, the base 100 includes a first mounting platform 130 and a second mounting platform 140. The first mounting platform 130 and the second mounting platform 140 are arranged in sequence along the optical signal transmitting optical path direction. The second mounting platform 140 is used to mount the signal transmitting module 110, and the first mounting platform 130 is used to mount the signal receiving module 120.

[0074] In the case where the mirror assembly includes a first mirror 300 and a second mirror 400, referring to Figure 5 as shown, a technical solution can also be adopted in which the signal transmitting module 110 and the signal receiving module 120 are arranged on the same mounting surface of the base 100. The other structures of this solution are the same as those of the structure in which the mirror assembly includes a single mirror lens 200.

[0075] Referring to Figure 6As shown, the reflector assembly further includes a reflector bracket, the reflector lens 200 is fixedly disposed in the reflector bracket, and the reflector bracket is rotatably disposed on the base 100. In this embodiment, the reflector bracket is a support shaft 600, and the support shaft 600 is a hollow structure. The first reflector 300 is located inside the hollow shaft, and the second reflector 400 is sleeved outside the hollow shaft. The hollow shaft is provided with a through hole that allows the measurement light reflected by the first reflector 300 to pass through, or the support shaft 600 is a light-transmitting shaft made of a transparent material.

[0076] Reference Figure 6 As shown, the embodiment of the present application further includes a rotation driving device 700 for driving the reflector assembly to rotate, and a power output end of the rotation driving device 700 is transmission-connected to the end of the support shaft 600 at the top.

[0077] In other embodiments of the present application, the rotation driving device 700 may also be disposed below or to the side of the base 100 .

[0078] The technical principles of the present application are described above in conjunction with specific embodiments. These descriptions are only for explaining the principles of the present application and cannot be interpreted as limiting the scope of protection of the present application in any way. Based on the explanations herein, those skilled in the art can think of other specific implementation methods of the present application without creative work, and these methods will fall within the scope of protection of the present application.

Claims

1. A scanning ranging device, characterized in that, Comprising: A base (100) on which a signal transmitting module (110) and a signal receiving module (120) are fixedly arranged, and the optical paths of the signal transmitting module (110) and the signal receiving module (120) do not coincide; A mirror assembly rotatably arranged on the base (100), having a signal transmitting reflection area and a signal receiving reflection area, and the signal transmitting module (110) and the signal receiving module (120) are located on the same side of the mirror assembly; The signal transmitting reflection area is arranged corresponding to the signal transmitting module (110), and the signal receiving reflection area and the signal receiving module (120) are both arranged on the circumference of the rotation axis (X1) of the mirror assembly.

2. The scanning ranging device according to claim 1, wherein The signal transmitting module (110) is arranged on the rotation axis (X1) of the mirror assembly.

3. The scanning and ranging device according to claim 1, characterized in that, The mirror assembly includes a reflecting lens (200), and the area of the reflecting lens (200) close to the rotation axis (X1) forms the signal transmitting reflection area, and the circumference of the signal transmitting reflection area forms the signal receiving reflection area.

4. The scanning ranging device according to claim 2, wherein The mirror assembly includes a first mirror (300) and a second mirror (400) arranged in parallel with each other, the size of the second mirror (400) is larger than that of the first mirror (300), and the second mirror (400) and the first mirror (300) are arranged overlapping each other in the signal transmitting optical path direction; The first mirror (300) is located between the signal transmitting module (110) and the second mirror (400), and the surface of the first mirror (300) close to the signal transmitting module (110) forms the signal transmitting reflection area; The area of the second mirror (400) close to the signal receiving module (120) and not overlapping with the first mirror (300) forms the signal receiving reflection area.

5. The scanning and ranging device according to claim 2, characterized in that, The signal transmitting module (110) and the signal receiving module (120) are arranged in different mounting planes on the base (100), and along the optical path direction, the signal transmitting module (110) is located within the range of the signal transmitting reflection area, and the signal receiving module (120) is located between the edge of the signal transmitting reflection area and the base (100).

6. The scanning ranging device according to claim 5, characterized in that, The base (100) includes a first mounting platform (130) and a second mounting platform (140), the first mounting platform (130) and the second mounting platform (140) are arranged in sequence along the optical signal transmitting optical path direction, the second mounting platform (140) is used for mounting the signal transmitting module (110), and the first mounting platform (130) is used for mounting the signal receiving module (120).

7. The scanning and ranging device according to claim 1, wherein The signal transmitting module (110) and the signal receiving module (120) are arranged in the same mounting surface on the base (100).

8. The scanning and ranging device according to claim 3, characterized in that, The mirror assembly further includes a mirror bracket, the mirror lens (200) is fixedly arranged in the mirror bracket, and the mirror bracket is rotatably arranged on the base (100); the mirror bracket is a light-transmitting cover (500) or a support shaft (600).

9. The scanning ranging device according to claim 8, characterized in that, It further includes a rotation driving device (700) for driving the mirror assembly to rotate, and the rotation driving device (700) is in transmission connection with the mirror bracket.

10. The scanning ranging device according to claim 9, wherein The rotation driving device (700) is arranged above, below or on the side of the base (100).

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