Rotary distance measuring device

Abstract

The utility model discloses a rotary distance measuring device, and the device comprises a base which is fixedly provided with a signal transmitting module and a signal receiving module; the signal transmitting module and the signal receiving module are coaxially arranged; the optical assembly is rotatably arranged on the base and comprises a reflector assembly and a lens assembly, the lens assembly is provided with a first light-transmitting area and a second light-transmitting area, the first light-transmitting area and the second light-transmitting area have different focal lengths, the first light-transmitting area is used for converging the measurement light emitted by the signal emission module and then reflecting the measurement light to a measured object, and the second light-transmitting area is used for converging the measurement light emitted by the signal emission module; the second light-transmitting area is used for converging measuring light reflected by a measured object and then reflecting the measuring light to the signal receiving module, the rotating mirror assembly rotates to adjust the reflected direction of the measuring light transmitted by the signal transmitting module, 360-degree rotating measurement is achieved, and meanwhile the lens assembly is arranged to be the first light-transmitting area and the second light-transmitting area which have different focal lengths. The focal length of the second light-transmitting area is larger than that of the first light-transmitting area, so that the size of the rotary distance measuring device in the axis direction of the light-transmitting assembly can be reduced, and more space is saved.

Description

Technical Field

[0001] The present application relates to the field of optical detection technology, and in particular to a rotary distance measuring 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 provides highly accurate, real-time three-dimensional information about the surrounding environment, making it ideal for environmental perception and navigation in cleaning robots.

[0004] During operation, the laser radar needs to rotate 360° to determine information about surrounding objects. In the existing technology, the rotation of the laser radar needs to be achieved through the rotation of the signal transceiver module. However, since the signal transceiver module is usually connected to a signal line and a power line, in order to avoid wire entanglement, 360° rotation detection is usually not possible. Utility Model Content

[0005] The purpose of the embodiments of the present application is to provide a rotation distance measuring device that can solve the above-mentioned problems existing in the prior art.

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

[0007] A rotary distance measuring device is provided, comprising:

[0008] A base, on which a signal transmitting module and a signal receiving module are fixedly arranged; the signal transmitting module and the signal receiving module are coaxially arranged;

[0009] An optical component is rotatably arranged on the base, including a reflector component and a lens component, wherein the lens component has a first light-transmitting area and a second light-transmitting area, the first light-transmitting area and the second light-transmitting area have different focal lengths, the first light-transmitting area is used to converge the measurement light emitted by the signal transmitting module and reflect it to the object to be measured, and the second light-transmitting area is used to converge the measurement light reflected back by the object to be measured and reflect it to the signal receiving module.

[0010] Optionally, the lens assembly is arranged between the reflector assembly and the object to be measured.

[0011] Optionally, the lens assembly is arranged between the signal transmission module and the reflector assembly.

[0012] Optionally, the first light-transmitting area is located in a central area of the lens assembly, and the second light-transmitting area is located at a periphery of the first light-transmitting area.

[0013] Optionally, the lens assembly includes a first lens and a second lens, a through hole is provided in the middle of the second lens, the first lens is provided in the through hole, the first lens forms the first light-transmitting area, and the second lens forms the second light-transmitting area.

[0014] Optionally, the signal transmitting module and the signal receiving module are located on the same side of the lens assembly and are spaced apart from each other, and the signal transmitting module is located between the signal receiving module and the reflector assembly.

[0015] Optionally, the reflector assembly has a transmission signal reflection area and a reception signal reflection area;

[0016] The transmission signal reflection area is provided corresponding to the signal transmission module, and the reception signal reflection area is provided around the transmission signal reflection area.

[0017] Optionally, the optical axis of the signal transmitting module, the optical axis of the signal receiving module and the rotation axis of the optical component are coaxially arranged.

[0018] Optionally, a rotation driving device for driving the optical component to rotate is further included, and the rotation driving device includes a driving motor and a rotating mirror bracket, and the rotating mirror bracket is transmission-connected to the power output end of the driving motor.

[0019] Optionally, a rotary encoder is further included, and the rotary encoder is fixedly arranged on the rotating mirror bracket.

[0020] The beneficial effects of the present application are as follows: In the embodiment of the present application, by setting the rotating mirror assembly to be rotatable, since it is not connected to any signal lines or power lines, its rotation is unrestricted and can achieve 360° continuous rotation. Rotation of the rotating mirror assembly can adjust the direction in which the measurement light emitted by the signal transmission module is reflected, achieving 360° rotation measurement;

[0021] At the same time, in the present application, the lens assembly is arranged to have a first light-transmitting area and a second light-transmitting area with different focal lengths, and the focal length of the second light-transmitting area is greater than the focal length of the first light-transmitting area. Such an arrangement can make the first light-transmitting area and the second light-transmitting area arranged in the same plane, reducing the size of the rotating distance measuring device in the axial direction of the light-transmitting assembly, thereby saving more space. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The present application is further described in detail below with reference to the accompanying drawings and examples.

[0023] Figure 1This is a schematic diagram of the overall structure of the rotary distance measuring device according to one embodiment of the present application;

[0024] Figure 2 This is a schematic diagram of the overall structure of a rotary distance measuring device according to another embodiment of the present application;

[0025] Figure 3 This is a schematic diagram of the overall structure of a rotary distance measuring device according to another embodiment of the present application.

[0026] In the picture:

[0027] 100, base; 110, signal transmitting module; 120, signal receiving module; 200, optical component; 210, reflector assembly; 220, lens assembly; 221, first light-transmitting area; 222, second light-transmitting area; 300, drive motor; 400, rotating mirror bracket; 500, protective cover; 600, object to be measured; 700, rotary encoder. DETAILED DESCRIPTION

[0028] To make the technical problems solved by this application, the technical solutions adopted, and the technical effects achieved more clearly, the technical solutions of the embodiments of this application are further described in detail below. Obviously, the embodiments described are only part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without making any creative efforts shall fall within the scope of protection of this application.

[0029] In the description of this application, unless otherwise specified or limited, the terms "connected," "connected," and "fixed" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integration; mechanical connections, electrical connections; direct connections, or indirect connections through an intermediate medium; and internal connections between two components or interactions between two components. Those skilled in the art will understand the specific meanings of the above terms in this utility model based on specific circumstances.

[0030] 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.

[0031] In the description herein, it should be understood that the terms "upper," "lower," "left," "right," and other positions or relationships are used solely for ease of description and simplified operation, and are not intended to indicate or imply that the devices or components referred to must have, 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 meaning.

[0032] Throughout this specification, references to terms such as "one embodiment" and "example" indicate that a specific feature, structure, material, or characteristic described in conjunction with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of these terms do not necessarily refer to the same embodiment or example.

[0033] In addition, it should be understood that although this specification is described in terms of implementation methods, not every implementation method contains only one independent technical solution. This narrative method of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment can also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

[0034] 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 provides highly accurate, real-time three-dimensional information about the surrounding environment, making it ideal for environmental perception and navigation in cleaning robots.

[0035] During operation, the laser radar needs to rotate as large an angle as possible to efficiently determine information about surrounding objects. In the existing technology, the rotation of the laser radar needs to be achieved through the rotation of the signal transceiver module. However, since the signal transceiver module is usually connected to a signal line and a power line, in order to avoid wire entanglement, the rotation detection angle of the laser radar is usually limited.

[0036] Based on the above situation, there is an urgent need to provide a laser radar that can avoid wire winding interference during the rotation detection process, which can achieve rotation scanning at the largest possible angle.

[0037] The directions in the embodiments of the present application are described with reference to the directions shown in the figure. The upper direction in the figure is the upper direction described in the embodiments of the present invention, and the lower direction is the lower direction described in the embodiments of the present invention.

[0038] Reference Figure 1-3 As shown, an embodiment of the present application provides a rotation distance measuring device, comprising:

[0039] The base 100 has a signal transmitting module 110 and a signal receiving module 120 fixed thereon; the signal transmitting module 110 and the signal receiving module 120 are coaxially arranged;

[0040] The optical component 200 is rotatably arranged on the base 100, and includes a reflector component 210 and a lens component 220. The lens component 220 has a first light-transmitting area 221 and a second light-transmitting area 222. The first light-transmitting area 221 is used to converge the measurement light emitted by the signal transmitting module 110 and reflect it to the object under test 600. The second light-transmitting area 222 is used to converge the measurement light reflected back from the object under test 600 and reflect it to the signal receiving module 120.

[0041] In the embodiment of the present application, the rotating mirror assembly is configured to be rotatable. Since it is not connected to any signal or power lines, its rotation is unrestricted, allowing for 360° continuous rotation. Rotation of the rotating mirror assembly can adjust the direction in which the measurement light emitted by the signal transmission module 110 is reflected, enabling 360° rotational measurement.

[0042] At the same time, in the present application, the first light-transmitting area 221 and the second light-transmitting area 222 have different focal lengths, and the lens assembly 220 is set to have a first light-transmitting area 221 and a second light-transmitting area 222 with different focal lengths. The focal length of the second light-transmitting area 222 is greater than the focal length of the first light-transmitting area 221. Such a setting can make the first light-transmitting area 221 and the second light-transmitting area 222 be set in the same plane, reducing the size of the rotating ranging device in the axial direction of the light-transmitting assembly, thereby saving more space.

[0043] In the embodiment of the present application, the first light-transmitting area 221 and the second light-transmitting area 222 are used to converge the divergent laser beam into a small light spot, thereby improving the concentration of laser energy, increasing the signal intensity reflected by the target, and improving measurement accuracy. At the same time, the lens has the function of collimating the laser beam and changing the divergence angle of the beam. It can convert the divergent beam emitted by the light source into a parallel beam, so that the energy of the laser beam decays more slowly during propagation, thereby increasing the detection distance of the laser radar; by selecting lenses with different focal lengths, the divergence angle of the laser beam can be changed to adapt to different measurement scenarios. For example, for long-distance measurement, a smaller divergence angle is required; for close-range measurement, a larger divergence angle can be used.

[0044] As an optional implementation, refer to Figure 1 、 2As shown, the lens assembly 220 is disposed between the reflector assembly 210 and the object under test 600. The signal transmitting module 110 and the signal receiving module 120 are located on the same side of the lens assembly 220 and are spaced apart from each other. The signal transmitting module 110 is located between the signal receiving module 120 and the reflector assembly 210.

[0045] In the embodiment of the present application, the lens assembly 220 is disposed between the reflector assembly 210 and the object 600 to be measured, thereby saving space for installing multiple lenses in this direction, thereby effectively reducing the size of the rotary distance measuring device in this direction.

[0046] It should be pointed out that in the embodiment of the present application, the base 100 can be fixedly set on the cleaning robot or can be set on the cleaning robot with an adjustable angle. The tilt angle of the laser radar can be adjusted according to the different models and working environments of the cleaning robot to achieve the best scanning effect.

[0047] Specifically, refer to Figure 1 、 2 As shown, taking the horizontal rotation of the rotary distance measuring device as an example, its rotation axis is arranged in the vertical direction, the rotation axis of the optical component 200 is coaxial with the optical axes of the signal transmitting module 110 and the signal receiving module 120, the lens component 220 is arranged on one side of the reflector component 210, and rotates synchronously with the reflector component 210, the signal receiving module 120 is fixedly connected to the base 100, and the signal transmitting module 110 is arranged above the signal receiving module 120. During operation, the signal transmitting module 110 emits measuring light, which is irradiated onto the reflector component 210. The light is reflected by the reflector component 210 and irradiated onto the first light-transmitting area 221 of the optical component 200. After being focused and shaped by the first light-transmitting area 221, the light is irradiated onto the object to be measured 600. The portion of the measuring light reflected by the object to be measured 600 that is irradiated onto the second light-transmitting area 222 is focused and shaped by the second light-transmitting area 222 and irradiated onto the signal receiving module 120, thereby obtaining distance information of the object to be measured 600.

[0048] Optionally, the reflector assembly 210 in the embodiment of the present application has a transmission signal reflection area and a reception signal reflection area; the transmission signal reflection area is set corresponding to the signal transmission module 110, and the reception signal reflection area is set around the transmission signal reflection area.

[0049] Specifically, the portion of the measurement light reflected by the object under test 600 that burns the second light-transmitting area 222 is focused and shaped by the second light-transmitting area 222 and then irradiated onto the receiving signal reflection area for reflection. The positional relationship between the second light-transmitting area 222 and the reflector assembly 210 is set so that the emitted light and the measurement light emitted by the signal transmitting module 110 are not coaxial, that is, the emitted measurement light can avoid the signal transmitting module 110 and irradiate the signal receiving module 120.

[0050] It is understood that the lens assembly 220 is disposed between the reflector assembly 210 and the object 600 and is not intended to limit the present application. Figure 3 As shown, in other embodiments, the lens assembly 220 may also be disposed between the signal transmitting module 110 and the reflector assembly 210 .

[0051] In the embodiment of the present application, the first light-transmitting area 221 is located in the central area of the lens assembly 220 , and the second light-transmitting area 222 is located at the periphery of the first light-transmitting area 221 .

[0052] Specifically, refer to Figure 1-3 As shown, the lens assembly 220 includes a first lens and a second lens. A through hole is provided in the middle of the second lens, and the first lens is provided in the through hole. The first lens forms a first light-transmitting area 221 , and the second lens forms a second light-transmitting area 222 .

[0053] In the embodiment of the present application, the first lens and the second lens are bonded together.

[0054] It should be noted that the second lens is provided with a through hole in the middle thereof, and the solution of disposing the first lens in the through hole is not a limitation of the present application. In other embodiments, the first light-transmitting area 221 and the second lens may be an integral structure, and the first lens may be obtained by cutting the second lens, or the first lens and the second lens may be integrally injection molded by an injection molding process and then polished.

[0055] Optionally, the embodiment of the present application further includes a rotation drive device for driving the optical assembly 200 to rotate, the rotation drive device includes a drive motor 300 and a rotating mirror bracket 400, and the rotating mirror bracket 400 is transmission-connected to the power output end of the drive motor 300.

[0056] In the embodiment of the present application, by coaxially arranging the optical axis of the signal transmitting module 110 , the optical axis of the signal receiving module 120 , and the rotation axis of the optical assembly 200 , the number of transmission parts can be reduced, making the overall volume of the product smaller.

[0057] Reference Figure 1As shown, in an optional embodiment of the present application, the driving motor 300 is arranged at the lower part of the base 100, the rotating mirror bracket 400 is a protective cover 500 buckled on the base 100, the optical component 200 is fixedly connected to the protective cover 500, and the power output end of the driving motor 300 is connected to the protective transmission to drive the protective cover 500 to rotate.

[0058] Reference Figure 2 As shown, in another optional embodiment of the present application, the driving motor 300 is arranged on the side of the optical component 200 away from the base 100, the rotating mirror bracket 400 is a rotating shaft arranged inside the protective cover 500, and the power output end of the driving motor 300 is coaxially arranged and fixedly connected to the rotating shaft.

[0059] Reference Figure 2 、 3 As shown, the rotary distance measuring device described in the embodiment of the present application further includes a rotary encoder 700 , and the rotary encoder 700 is fixedly disposed on the rotating mirror bracket 400 .

[0060] The rotary encoder 700 plays a crucial role in the LiDAR system. It acts as the LiDAR's "eye," providing precise position feedback to ensure the laser beam accurately scans the target. The rotary encoder 700 feeds the scanning mirror's rotation angle information back to the control system, which then adjusts the speed and direction of the drive motor based on this feedback, achieving precise control of the scanning angle. The encoder's signal is synchronized with the laser emission signal, ensuring accurate angle information for each measurement point. This signal forms a closed-loop control system, enhancing system stability and accuracy.

[0061] The technical principles of the present application have been described above in conjunction with specific embodiments. These descriptions are intended solely to explain the principles of the present application and are not to be construed in any way as limiting the scope of protection of the present application. Based on the explanations herein, those skilled in the art will be able to devise other specific implementations of the present application without inventive effort, and such implementations will fall within the scope of protection of the present application.

Claims

1. A rotary distance measuring device, characterized in that: include: A base (100) on which a signal transmitting module (110) and a signal receiving module (120) are fixedly arranged; the signal transmitting module (110) and the signal receiving module (120) are coaxially arranged; An optical assembly (200) is rotatably arranged on the base (100), comprising a reflector assembly (210) and a lens assembly (220), wherein the lens assembly (220) has a first light-transmitting area (221) and a second light-transmitting area (222), wherein the first light-transmitting area (221) is used to converge the measurement light emitted by the signal transmitting module (110) and reflect it to the object to be measured (600), and the second light-transmitting area (222) is used to converge the measurement light reflected back from the object to be measured (600) and reflect it to the signal receiving module (120).

2. The rotary distance measuring device according to claim 1, characterized in that: The first light-transmitting area (221) and the second light-transmitting area (222) have different focal lengths.

3. The rotary distance measuring device according to claim 1, characterized in that: The lens assembly (220) is arranged between the reflector assembly (210) and the object to be measured (600), or the lens assembly (220) is arranged between the signal transmission module (110) and the reflector assembly (210).

4. The rotary distance measuring device according to claim 1, characterized in that: The first light-transmitting area (221) is located in the central area of the lens assembly (220), and the second light-transmitting area (222) is located at the periphery of the first light-transmitting area (221).

5. The rotary distance measuring device according to claim 4, characterized in that: The lens assembly (220) comprises a first lens and a second lens, wherein a through hole is provided in the middle of the second lens, the first lens is provided in the through hole, the first lens forms the first light-transmitting area (221), and the second lens forms the second light-transmitting area (222).

6. The rotary distance measuring device according to claim 1, characterized in that: The signal transmitting module (110) and the signal receiving module (120) are located on the same side of the lens assembly (220) and are spaced apart from each other, and the signal transmitting module (110) is located between the signal receiving module (120) and the reflector assembly (210).

7. The rotary distance measuring device according to any one of claims 1 to 6, characterized in that: The reflector assembly (210) has a transmission signal reflection area and a reception signal reflection area; The transmission signal reflection area is arranged corresponding to the signal transmission module (110), and the reception signal reflection area is arranged at the periphery of the transmission signal reflection area.

8. The rotary distance measuring device according to claim 1, characterized in that: The optical axis of the signal transmitting module (110), the optical axis of the signal receiving module (120), and the rotation axis of the optical component (200) are coaxially arranged.

9. The rotary distance measuring device according to claim 1, characterized in that: It also includes a rotation drive device for driving the optical assembly (200) to rotate, the rotation drive device including a drive motor (300) and a rotating mirror bracket (400), and the rotating mirror bracket (400) is transmission-connected to the power output end of the drive motor (300).

10. The rotary distance measuring device according to claim 9, characterized in that: It also includes a rotary encoder (700), which is fixedly arranged on the rotating mirror bracket (400).

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