Reflector structure with adjustable inclination angle, laser radar and robot

Abstract

The utility model discloses a reflector structure with an adjustable inclination angle, a laser radar and a robot, the reflector structure comprises a mounting seat and a reflector piece assembled on the mounting seat, the reflector piece at least comprises a reflection part used for reflecting distance measurement detection light, the reflector piece and the mounting seat are arranged at a gap, and the reflector piece is provided with an adjusting assembly. The reflecting surface of the reflecting part is inclined to the mounting seat, and the adjusting assembly is used for adjusting the height of gaps at different positions between the reflecting mirror piece and the mounting seat, so that the inclination angle between the reflecting surface of the reflecting part and the mounting seat can be adjusted, and the orientation of distance measuring detection light can be quickly and finely adjusted on the premise that a machine is not disassembled; and other optical structures of a distance measuring device such as a laser radar are not interfered.

Description

Technical Field

[0001] The utility model relates to the technical field of laser radars, and in particular to a reflector structure with adjustable inclination angle, a laser radar and a robot. Background Art

[0002] LiDAR is a distance measuring device that can measure distance. It emits laser light to the reflective part of the LiDAR, which then reflects it to the surface of the object being detected. It then receives the laser light reflected back from the surface of the object being measured to measure the distance to the object being measured.

[0003] Generally, the reflecting part of the laser radar is fixed at an angle on the reflector frame, and the reflector frame is fixed on the shell of the laser radar. In daily use, it is necessary to fine-tune the direction of the ranging detection light of the laser radar. However, without disassembling the machine, it is difficult to fine-tune the direction of the ranging detection light by adjusting the inclination angle of the reflecting part. Summary of the Invention

[0004] To this end, in order to solve the above problems, the present invention provides a reflector structure with adjustable inclination angle, a laser radar and a robot, which can freely adjust the inclination angle between the reflector and the mounting base to achieve fine-tuning of the direction of the ranging detection light.

[0005] To achieve the above purpose, the technical solutions provided by the present invention are as follows:

[0006] The utility model provides a reflector structure with adjustable inclination angle, comprising a mounting seat and a reflector component assembled on the mounting seat; the reflector component at least comprises a reflecting portion for reflecting ranging detection light, the reflector component and the mounting seat are arranged with a gap, and an adjustment component is provided; the reflecting surface of the reflecting portion is inclined with respect to the mounting seat, and the adjustment component is used to adjust the gap height at different positions between the reflector component and the mounting seat, so as to form an adjustable setting for the inclination angle between the reflecting surface of the reflecting portion and the mounting seat.

[0007] Furthermore, the mounting seat has a mounting window that matches the reflector component, and the reflector component is assembled in the mounting window to form an integrated connection arrangement.

[0008] Furthermore, the adjustment assembly includes a limit screw and an adjustment screw, the limit screw passing through the reflector component and the mounting seat so that the reflector component is limited by the mounting seat; the adjustment screw movably passes through the reflector component and can be raised and lowered to abut against the fixed part of the mounting seat so that the inclination angle is adjustable; and / or the limit screw is equipped with a gasket for adjusting the gap height between the reflector component and the mounting seat so that the inclination angle is adjustable.

[0009] Furthermore, the inner wall of the installation window has an installation step, and the reflector component has an abutment wall that matches the installation step, and the abutment wall is restricted by the installation step.

[0010] Furthermore, the reflective surface of the reflective portion is a coated surface or a metal reflective surface.

[0011] Furthermore, the reflector component includes a base portion and a partition portion respectively connected to the reflecting portion, the base portion is provided with an emitting through-hole for emitting ranging detection light toward the detected object and a receiving through-hole for receiving the ranging detection light reflected by the detected object; a plurality of partition portions are arranged at intervals from each other to separate an emitting window and receiving windows located on both sides of the emitting window; the reflecting portion, the emitting through-hole, and the emitting window jointly form an emitting light path, and the reflecting portion, the receiving through-hole, and the receiving window jointly form a receiving light path.

[0012] Furthermore, a window lens is installed in the emission window, and a filter is installed in the receiving window.

[0013] Furthermore, the reflector component is integrally formed.

[0014] Furthermore, a window lens is installed in the emission window, and a filter is installed in the receiving window.

[0015] The utility model provides a laser radar, which at least comprises the above-mentioned reflector structure with adjustable inclination angle.

[0016] The utility model provides a robot, which at least comprises the above-mentioned laser radar.

[0017] The technical solution provided by the utility model has the following beneficial effects:

[0018] By arranging a gap between the reflector component and the mounting seat and cooperating with the adjustment component, it is easy to adjust the gap height at different positions between the reflector component and the mounting seat, and then adjust the inclination angle between the reflecting surface of the reflector component and the mounting seat, thereby achieving rapid fine-tuning of the direction of the ranging detection light without disassembling the device, and without interfering with other optical structures of the ranging device such as lidar. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 FIG2 is a schematic structural diagram of a reflector structure with adjustable inclination angle assembled on a fixed portion in the first embodiment;

[0020] Figure 2 FIG2 is a cross-sectional view of a reflector structure with adjustable inclination angle assembled on a fixing portion in the first embodiment;

[0021] Figure 3 Shown Figure 2 Enlarged schematic diagram of area A in the middle;

[0022] Figure 4 FIG2 is a schematic diagram of a reflective mirror assembly equipped with a window lens and a filter in Example 1;

[0023] Figure 5 Shown is a schematic diagram of the mounting base in Example 1;

[0024] Figure 6 The figure shows the appearance of the inclination-adjustable reflector structure assembled on the fixing part in the first embodiment. DETAILED DESCRIPTION

[0025] To further illustrate various embodiments, the present invention is provided with accompanying drawings. These drawings form part of the disclosure of this invention and are primarily used to illustrate the embodiments and, in conjunction with the relevant description in the specification, to explain the operating principles of the embodiments. By referring to these drawings, those skilled in the art will understand other possible implementations and the advantages of this invention. The components in the figures are not drawn to scale, and similar reference numerals are generally used to represent similar components.

[0026] The present invention will now be further described with reference to the accompanying drawings and specific implementation methods.

[0027] Example 1

[0028] Reference Figure 1 、 Figure 2 and Figure 6 As shown, embodiment 1 provides a reflector structure with adjustable inclination (hereinafter referred to as the reflector structure), which serves as part of the optical structure of a ranging device such as a laser radar, and can rotate circumferentially to ensure a 360° range scan of the detected object under the premise of the same detection light source, thereby realizing accurate measurement of the distance of the detected object.

[0029] The reflector structure includes a mounting seat 1 for fixing a fixing portion 4 of the distance measuring device and a reflector component 2 assembled on the mounting seat 1. Specifically, the fixing portion 4 is a shell portion of the distance measuring device.

[0030] The reflector 2 and the mounting base 1 are arranged in a gap, and are equipped with an adjustment component 3. The reflecting surface 111 of the reflector 2 is inclined to the mounting base 1. The adjustment component 3 is used to adjust the gap height at different positions between the reflector 2 and the mounting base 1 to adjust the gap between the reflecting surface 111 of the reflector 2 and the mounting base 1. Figure 6 The tilt angle β shown forms an adjustable setting.

[0031] In this embodiment, the mounting base 1 has a mounting window 11 that mates with the reflector 2. The reflector 2 is assembled in the mounting window 11 to form an integral connection, thereby reducing the number of assembly steps and significantly reducing manufacturing costs. In other embodiments, a non-integrated connection arrangement of the reflector 2 may also be used. Compared to a non-integrated connection arrangement, this embodiment not only helps avoid installation misalignment of the reflector structure of this embodiment and stray light interference caused by the reflector 2 itself, but also helps avoid the possibility of abnormal loosening of the reflective portion 21 after subsequent installation and commissioning due to other non-integrated connections such as glue.

[0032] like Figure 4 As shown, the reflector component 2 includes a reflecting portion 21 for reflecting the ranging detection light. Specifically, the reflecting portion 21 is arranged at an angle relative to the mounting seat 1 to ensure that a certain angle is formed between the reflecting surface 111 of the reflecting portion 21 and the mounting seat 1, that is, the inclination angle β between the reflecting surface 111 of the reflector component 2 and the mounting seat 1. At this time, the reflecting surface 111 of the reflecting portion 21 is the reflecting surface 111 of the reflector component 2.

[0033] The reflector component 2 also includes a base portion 22 and a partition portion 23 respectively connected to the reflective portion 21, and the entire reflector component 2 is integrally formed through an injection molding process to ensure that the various optical structure dimensions of the reflector component 2 meet the design requirements and have good consistency, and the specific reflective surface 111 is a coating surface formed by an electroplating process. Of course, the reflective surface 111 of the reflective portion 21 can also be a metal reflective surface formed by a metal processing process.

[0034] In addition, the base portion 22 is provided with an emitting through hole 221 for emitting ranging detection light toward the detected object and two receiving through holes 222 for receiving ranging detection light reflected by the detected object. The four partition portions 23 are arranged at intervals from each other to separate an emitting window 24 and two receiving windows 25 located on both sides of the emitting window 24. The reflecting portion 21, the emitting through hole 221, and the emitting window 24 together form an emitting light path. The reflecting portion 21, the two receiving through holes 222, and the two receiving windows 25 together form two independent receiving light paths. A window lens 26 is installed in the emitting through hole 221, and a filter 27 is installed in the receiving window 25 to form a good ranging detection light signal.

[0035] By arranging the reflector component 2 and the mounting seat 1 with a gap and cooperating with the adjustment component 3, it is easy to adjust the gap height at different positions between the reflector component 2 and the mounting seat 1, and then adjust the inclination angle β between the reflecting surface 111 of the reflector component 2 and the mounting seat 1, thereby achieving rapid fine-tuning of the distance detection light direction without disassembling the device, and without interfering with other optical structures of the ranging device such as lidar.

[0036] In another preferred embodiment, Figure 5 The inner wall of the mounting window 11 of the mounting seat 1 shown has a protruding mounting step 111, as shown in FIG. Figure 3 and Figure 4 The base portion 22 of the reflector element 2 shown has an abutment wall 28 that matches the mounting step 111 . The abutment wall 28 is limited by the mounting step 111 to ensure that the reflector element 2 is firmly assembled on the mounting seat 1 .

[0037] More specifically, Figure 1 As shown, the adjustment assembly 3 includes two limit screws 31 and one adjustment screw 32. The two limit screws 31 are respectively passed through the reflector component 2 and the mounting seat 1, so that the base portion 22 of the reflector component 2 is limited by the mounting seat 1, and after the two limit screws 31 are tightened, there is still a certain gap between the abutting wall 28 of the reflector component 2 and the mounting step 111 of the mounting seat 1, so as to ensure that the next step of adjusting the screw 32 is to fine-tune the gap height at different positions.

[0038] like Figure 2 and Figure 3 As shown, the adjusting screw 32 is movably passed through the reflector component 2 and can be raised and lowered to abut against the fixing portion 4 of the ranging device. At this time, the fixing portion 4 and the mounting seat 1 are a whole and are in a stationary state. When the adjusting screw 32 is rotated, the screw connection relationship formed between the adjusting screw 32 and the reflector component 2 is used to drive the reflector component 2 to rise and fall relative to the mounting seat 1, thereby changing the gap height corresponding to the position of the adjusting screw 32, and finally adjusting the appropriate inclination angle β, and then forming a triangle limit through two limit screws 31 and one adjusting screw 32 to form a stable support.

[0039] Of course, in other embodiments, the limit screw 31 may also be equipped with a gasket for adjusting the gap height between the reflector component 2 and the mounting base 1. By changing the thickness of the gasket, the gap height at the position of each limit screw 31 can be adjusted, thereby adjusting the angle between the base portion 22 of the reflector component 2 and the mounting base 1.

[0040] In addition, the number of the limit screws 31 and the adjustment screws 32 is not limited thereto, and the specific number is determined according to the structure of the distance measuring device.

[0041] In addition, the adjustable setting means between the reflector component 2 and the mounting seat 1 can also adopt a non-threaded connection method, such as installing a limiting marble on the mounting seat 1, and the outer wall of the reflector component 2 is provided with a plurality of limiting slots that match the limiting marbles, and the limiting slots are distributed in an array. The limiting marbles can be retractably connected to the corresponding limiting slots to achieve the reflector component 2 being fixed to the mounting seat 1 with an adjustable inclination angle β.

[0042] Example 2

[0043] The second embodiment provides a laser radar, which at least includes the tilt-adjustable reflector structure of the first embodiment.

[0044] Example 3

[0045] Embodiment 3 provides a robot comprising at least the laser radar of embodiment 2.

[0046] Although the present invention has been specifically shown and described in conjunction with the preferred embodiments, those skilled in the art should understand that various changes can be made to the form and details of the present invention without departing from the spirit and scope of the present invention as defined by the appended claims, and all of these changes are within the scope of protection of the present invention.

Claims

1. A reflector structure with adjustable inclination angle, characterized in that: It comprises a mounting base and a reflector component assembled on the mounting base; The reflector component includes at least a reflecting part for reflecting ranging detection light, the reflector component and the mounting seat are arranged with a gap, and are equipped with an adjustment component; the reflecting surface of the reflector component is inclined to the mounting seat, and the adjustment component is used to adjust the gap height at different positions between the reflector component and the mounting seat to form an adjustable setting for the inclination angle between the reflecting surface of the reflector component and the mounting seat.

2. The tilt-adjustable reflector structure according to claim 1, characterized in that: The mounting seat has a mounting window that matches the reflector component, and the reflector component is assembled in the mounting window to form an integral connection arrangement.

3. The tilt-adjustable reflector structure according to claim 2, characterized in that: The adjustment assembly includes a limit screw and an adjustment screw, the limit screw passes through the reflector component and the mounting seat so that the reflector component is limited by the mounting seat; the adjustment screw movably passes through the reflector component and can be raised and lowered to abut against the fixed part of the mounting seat so that the inclination angle can be adjusted; and / or the limit screw is equipped with a gasket for adjusting the gap height between the reflector component and the mounting seat so that the inclination angle can be adjusted.

4. The tilt-adjustable reflector structure according to claim 2, wherein: The inner wall of the installation window has an installation step, and the reflector component has an abutment wall that matches the installation step, and the abutment wall is restricted by the installation step.

5. The tilt-adjustable reflector structure according to any one of claims 1 to 4, characterized in that: The reflecting surface of the reflecting part is a coating surface or a metal reflecting surface.

6. The tilt-adjustable reflector structure according to any one of claims 1 to 4, characterized in that: The reflector component includes a base portion and a partition portion respectively connected to the reflecting portion, the base portion is provided with an emitting through-hole for emitting ranging detection light toward the detected object and a receiving through-hole for receiving the ranging detection light reflected by the detected object; a plurality of partition portions are arranged at intervals from each other to separate an emitting window and receiving windows located on both sides of the emitting window; the reflecting portion, the emitting through-hole, and the emitting window jointly form an emitting light path, and the reflecting portion, the receiving through-hole, and the receiving window jointly form a receiving light path.

7. The tilt-adjustable reflector structure according to claim 6, characterized in that: A window lens is installed in the emission window, and a filter is installed in the receiving window.

8. The tilt-adjustable reflector structure according to claim 6, characterized in that: The reflector component is integrally formed.

9. A laser radar, characterized in that: The invention comprises at least the tilt-adjustable reflector structure according to any one of claims 1 to 8.

10. A robot, characterized in that: At least including the laser radar described in claim 9.

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