Rotary distance measuring device

Abstract

The utility model discloses a rotary distance measuring device, and the device comprises a pedestal which is fixedly provided with a signal transmitting module and a signal receiving module, and the detection light transmitting direction of the signal transmitting module is perpendicular to the detection light receiving direction of the signal receiving module; the reflecting mirror assembly is rotatably arranged on the base and comprises a semi-transparent and semi-reflecting mirror, and the semi-transparent and semi-reflecting mirror is arranged to enable part of the detection light to be reflected and enable part of the detection light to be transmitted. According to the embodiment of the invention, the active structures such as the signal transmitting module and the signal receiving module are fixedly arranged on the base, the reflector assembly without wiring is set to be rotatable, the fixed arrangement of the active structures can prevent the wiring on the active structures from affecting the rotation angle of the active structures, and the rotation distance measurement is realized through the rotation of the reflector assembly. The rotation angle is not influenced by wiring; meanwhile, stacking of the signal transmitting module and the signal receiving module is avoided under the condition that the radial size of the reflector assembly is not increased, and cost can be 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 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. 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] In one aspect, a rotation distance measuring device is provided, comprising:

[0008] A base on which a signal transmitting module and a signal receiving module are fixedly mounted, wherein the emission direction of the detection light of the signal transmitting module and the reception direction of the detection light of the signal receiving module are perpendicular to each other;

[0009] The reflector assembly is rotatably arranged on the base and comprises a semi-transparent and semi-reflective mirror. The semi-transparent and semi-reflective mirror is arranged to reflect part of the detection light and transmit part of the detection light.

[0010] Optionally, the semi-transparent and semi-reflective mirror is configured to allow the detection light emitted by the signal transmitting module to pass therethrough so as to illuminate the target object, and reflect the detection light reflected back by the target object to the signal receiving module.

[0011] Optionally, the signal transmitting module and the target object are respectively located on the circumferential sides of the rotation axis of the semi-transparent and semi-reflective mirror, and the signal receiving module is arranged on the rotation axis of the semi-transparent and semi-reflective mirror.

[0012] Optionally, it also includes a first reflector coaxially arranged with the semi-transparent and semi-reflective mirror, the signal transmitting module is arranged on the rotation axis of the semi-transparent and semi-reflective mirror and the first reflector, and the signal receiving module is arranged perpendicular to the rotation axis of the semi-transparent and semi-reflective mirror and the first reflector.

[0013] Optionally, the semi-transparent mirror and the first reflector are arranged parallel to each other, or the semi-transparent mirror and the first reflector are arranged perpendicular to each other.

[0014] Optionally, the semi-transparent and semi-reflective mirror is configured to reflect the detection light emitted by the signal transmitting module to the target object, and allow the detection light reflected back by the target object to pass through so as to be received by the signal receiving module.

[0015] Optionally, the signal receiving module and the target object are respectively located on the circumference of the rotation axis of the semi-transparent and semi-reflective mirror, and the signal transmitting module is arranged on the rotation axis of the semi-transparent and semi-reflective mirror.

[0016] Optionally, it further includes a second reflector coaxially arranged with the semi-transparent and semi-reflective mirror, the signal receiving module is arranged on the rotation axis of the semi-transparent and semi-reflective mirror and the second reflector, and the signal transmitting module is arranged perpendicular to the rotation axis of the semi-transparent and semi-reflective mirror and the second reflector.

[0017] Optionally, a driving motor for driving the reflector assembly to rotate is further included, and a power output shaft of the driving motor is coaxially arranged with the rotation axis of the reflector assembly.

[0018] Optionally, a rotary encoder is further included, wherein the code disc of the rotary encoder is fixedly arranged on the power output shaft of the drive motor.

[0019] The beneficial effects of the present application are as follows: in the embodiment of the present application, active structures such as the signal transmitting module and the signal receiving module are fixedly set on the base, and the reflector assembly that does not require wiring is set to be rotatable. The fixed setting of the active structure can prevent the wiring thereon from affecting its rotation angle, and rotational ranging is achieved by the rotation of the reflector assembly, and the rotation angle is not affected by the wiring; at the same time, by arranging a semi-transparent and semi-reflective mirror in the reflector assembly, the signal transmitting module and the signal receiving module can be set to be perpendicular to each other, and the stacking of the signal transmitting module and the signal receiving module is avoided without increasing the radial size of the reflector assembly, which can save costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The present application is further described in detail below with reference to the accompanying drawings and examples.

[0021] Figure 1 This is a schematic diagram of the overall structure of the rotary distance measuring device according to one embodiment of the present application;

[0022] 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;

[0023] 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;

[0024] Figure 4 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 5 This is a schematic diagram of the overall structure of a rotary distance measuring device according to another embodiment of the present application;

[0026] Figure 6 This is a schematic diagram of the structure of the semi-transparent and semi-reflective mirror assembly described in an embodiment of the present application.

[0027] In the picture:

[0028] 100, base; 200, signal transmitting module; 300, signal receiving module; 400, semi-transparent and semi-reflective mirror; 500, first reflector; 600, second reflector; 700, drive motor; 800, rotary encoder; 900, target object; X1, rotation axis. DETAILED DESCRIPTION

[0029] 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.

[0030] 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.

[0031] 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.

[0032] 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.

[0033] 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.

[0034] 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.

[0035] 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.

[0036] 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.

[0037] 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.

[0038] Reference Figure 1-5 As shown, an embodiment of the present application is a rotary distance measuring device, comprising: a base 100, on which a signal transmitting module 200 and a signal receiving module 300 are fixedly arranged, and the detection light emission direction of the signal transmitting module 200 and the detection light receiving direction of the signal receiving module 300 are perpendicular to each other; a reflector assembly, rotatably arranged on the base 100, comprising a semi-transparent and semi-reflective mirror 400, and the semi-transparent and semi-reflective mirror 400 is configured to reflect part of the detection light and transmit part of the detection light.

[0039] In the embodiment of the present application, active structures such as the signal transmitting module 200 and the signal receiving module 300 are fixed on the base 100, and the reflector assembly that does not require wiring is set to be rotatable. The fixed setting of the active structure can prevent the wiring thereon from affecting its rotation angle, and rotational ranging is achieved by the rotation of the reflector assembly. The rotation angle is not affected by the wiring and entanglement will not occur. At the same time, by arranging a semi-transparent and semi-reflective mirror 400 in the reflector assembly, the signal transmitting module 200 and the signal receiving module 300 can be set to be perpendicular to each other, and the stacking of the signal transmitting module 200 and the signal receiving module 300 is avoided without increasing the radial size of the reflector assembly, which can save costs.

[0040] It is understandable that, under normal circumstances, during the operation of the scanning ranging device, a convex lens is required to focus the laser into a small spot to improve the sensitivity and spatial resolution of laser detection. When the signal transmitting module 200 and the signal receiving module 300 are stacked, two lenses, one large and one small, need to be stacked at the same time to adapt to the different focal lengths caused by different distances. The size of the convex lens affects its cost. Therefore, the stacked convex lenses will lead to a significant increase in product cost. The signal transmitting module 200 and the signal receiving module 300 are arranged in the same plane and arranged side by side to solve the above problem. However, in order to be able to smoothly reflect the emitted detection light and the reflected detection light, the reflector needs to be set to a larger size, and the shell and other structures need to be set to match the size of the reflector. The increase in the size of the reflector and the shell also increases the product cost. The signal transmitting module 200 and the signal receiving module 300 arranged side by side are not optically coaxial, which increases the difficulty of assembling the rotating ranging device. In this solution, the signal transmitting module 200 and the signal receiving module 300 are optically coaxial, which can reduce the difficulty of assembly.

[0041] In an optional embodiment of the present application, referring to Figure 1As shown, the semi-transparent and semi-reflective mirror 400 is configured to allow the detection light emitted by the signal transmitting module 200 to pass through to illuminate the target object 900 , and reflect the detection light reflected back by the target object 900 to the signal receiving module 300 .

[0042] Specifically, the signal transmitting module 200 and the target object 900 are respectively located around the rotation axis X1 of the semi-transparent and semi-reflective mirror 400, and the signal receiving module 300 is disposed on the rotation axis X1 of the semi-transparent and semi-reflective mirror 400. In this embodiment, the optical path layout of the rotating distance measurement device is implemented using only a semi-transparent and semi-reflective mirror 400, which reduces the use of materials and simplifies assembly.

[0043] Furthermore, the embodiment of the present application further includes a drive motor 700 for driving the reflector assembly to rotate, wherein the power output shaft of the drive motor 700 is coaxially arranged with the rotation axis of the reflector assembly. In this solution, the coaxial arrangement of the power output shaft of the drive motor 700 and the rotation axis of the reflector assembly can reduce transmission structures such as transmission belts and transmission gears, thereby further reducing equipment costs.

[0044] Optionally, the rotary distance measurement device described in the embodiment of the present application further includes a rotary encoder 800, the code disk of which is fixedly mounted on the power output shaft of the drive motor 700. The rotary encoder 800 is a sensor that converts rotational motion into an electrical signal and is widely used in fields such as motion control, robotics, and automation equipment. It can accurately measure parameters such as the angle and speed of the rotating shaft, providing position feedback to the system.

[0045] In another optional embodiment of the present application, the semi-transparent and semi-reflective mirror 400 is configured to allow the detection light emitted by the signal transmitting module 200 to pass through to illuminate the target object 900, and another specific structure can be used to reflect the detection light reflected back from the target object 900 to the signal receiving module 300.

[0046] Reference Figure 2 As shown, this embodiment also includes a first reflector 500 coaxially arranged with the semi-transparent and semi-reflective mirror 400, the signal transmitting module 200 is arranged on the rotation axis X1 of the semi-transparent and semi-reflective mirror 400 and the first reflector 500, and the signal receiving module 300 is arranged perpendicular to the rotation axis X1 of the semi-transparent and semi-reflective mirror 400 and the first reflector 500.

[0047] In this embodiment, the semi-transparent mirror 400 and the first reflector 500 are arranged parallel to each other. A driving motor 700 is further included for driving the reflector assembly to rotate. The power output shaft of the driving motor 700 is coaxially arranged with the rotation axis of the reflector assembly.

[0048] In this solution, the power output shaft of the drive motor 700 is coaxially arranged with the rotation axis of the reflector assembly, which can reduce transmission structures such as transmission belts and transmission gears, further reducing equipment costs. A rotary encoder 800 is also included, and the code disk of the rotary encoder 800 is fixedly mounted on the power output shaft of the drive motor 700.

[0049] In another optional embodiment of the present application, the semi-transparent and semi-reflective mirror 400 is configured to allow the detection light emitted by the signal transmitting module 200 to pass through to illuminate the target object 900, and another specific structure can be used to reflect the detection light reflected back from the target object 900 to the signal receiving module 300.

[0050] Reference Figure 3 As shown, this embodiment also includes a first reflector 500 coaxially arranged with the semi-transparent and semi-reflective mirror 400, the signal transmitting module 200 is arranged on the rotation axis X1 of the semi-transparent and semi-reflective mirror 400 and the first reflector 500, and the signal receiving module 300 is arranged perpendicular to the rotation axis X1 of the semi-transparent and semi-reflective mirror 400 and the first reflector 500.

[0051] In this embodiment, the semi-transparent mirror 400 and the first reflector 500 are arranged perpendicular to each other. A drive motor 700 is further included for driving the reflector assembly to rotate. The power output shaft of the drive motor 700 is coaxially arranged with the rotation axis of the reflector assembly.

[0052] In this solution, the power output shaft of the driving motor 700 is coaxially arranged with the rotating shaft of the reflector assembly, which can reduce transmission structures such as transmission belts and transmission gears, and can further reduce equipment costs.

[0053] An optional embodiment of the present application further includes a rotary encoder 800 , wherein the code disk of the rotary encoder 800 is fixedly disposed on the power output shaft of the drive motor 700 .

[0054] In another optional embodiment of the present application, referring to Figure 4 As shown, the semi-transparent and semi-reflective mirror 400 is configured to reflect the detection light emitted by the signal transmitting module 200 to the target object 900 , and to allow the detection light reflected back from the target object 900 to pass through so as to be received by the signal receiving module 300 .

[0055] In this embodiment, the signal receiving module 300 and the target object 900 are respectively located around the rotation axis X1 of the semi-transparent mirror 400 , and the signal transmitting module 200 is disposed on the rotation axis X1 of the semi-transparent mirror 400 .

[0056] Furthermore, the rotary distance measuring device described in the embodiment of the present application further includes a drive motor 700 for driving the reflector assembly to rotate, wherein the power output shaft of the drive motor 700 is coaxially arranged with the rotation axis of the reflector assembly. In this embodiment, the coaxial arrangement of the power output shaft of the drive motor 700 and the rotation axis of the reflector assembly can reduce the number of transmission structures such as transmission belts and transmission gears, thereby further reducing equipment costs.

[0057] Optionally, a rotary encoder 800 is further included, wherein the code disk of the rotary encoder 800 is fixedly arranged on the power output shaft of the driving motor 700 .

[0058] In another optional embodiment of the present application, referring to Figure 5 As shown, the semi-transparent and semi-reflective mirror 400 is configured to reflect the detection light emitted by the signal transmitting module 200 to the target object 900 , and to allow the detection light reflected back from the target object 900 to pass through so as to be received by the signal receiving module 300 .

[0059] The rotational distance measuring device described in this embodiment further includes a second reflector 600 coaxially arranged with the semi-transparent and semi-reflective mirror 400, the signal receiving module 300 is arranged on the rotation axis X1 of the semi-transparent and semi-reflective mirror 400 and the second reflector 600, and the signal transmitting module 200 is arranged perpendicular to the rotation axis X1 of the semi-transparent and semi-reflective mirror 400 and the second reflector 600.

[0060] Furthermore, the rotary distance measuring device described in the embodiment of the present application further includes a drive motor 700 for driving the reflector assembly to rotate, wherein the power output shaft of the drive motor 700 is coaxially arranged with the rotation axis of the reflector assembly. In this embodiment, the coaxial arrangement of the power output shaft of the drive motor 700 and the rotation axis of the reflector assembly can reduce the number of transmission structures such as transmission belts and transmission gears, thereby further reducing equipment costs.

[0061] Optionally, a rotary encoder 800 is further included, wherein the code disk of the rotary encoder 800 is fixedly arranged on the power output shaft of the driving motor 700 .

[0062] It should be noted that the semi-transparent and semi-reflective mirror 400 in the embodiment of the present application can be a flat semi-transparent and semi-reflective mirror 400, or a component composed of two semi-transparent and semi-reflective mirrors 400 that intersect each other perpendicularly. Figure 6 As shown, the component composed of two semi-transparent and semi-reflective mirrors 400 that intersect each other perpendicularly can allow the two semi-transparent and semi-reflective mirrors 400 to work separately. When the angle between one semi-transparent and semi-reflective mirror 400 and the detection light is reduced to the point where it cannot work effectively, the other semi-transparent and semi-reflective mirror 400 works, which can provide a wider detection range for rotational ranging.

[0063] 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 (200) and a signal receiving module (300) are fixedly arranged, wherein the detection light emitting direction of the signal transmitting module (200) and the detection light receiving direction of the signal receiving module (300) are perpendicular to each other; The reflector assembly is rotatably arranged on the base (100) and comprises a semi-transparent and semi-reflective mirror (400). The semi-transparent and semi-reflective mirror (400) is arranged to reflect part of the detection light and transmit part of the detection light.

2. The rotary distance measuring device according to claim 1, characterized in that: The semi-transparent and semi-reflective mirror (400) is configured to allow the detection light emitted by the signal transmitting module (200) to pass through to illuminate the target object (900), and to reflect the detection light reflected back by the target object (900) to the signal receiving module (300).

3. The rotary distance measuring device according to claim 2, characterized in that: The signal transmitting module (200) and the target object (900) are respectively located on the circumferential sides of the rotation axis (X1) of the semi-transparent and semi-reflective mirror (400), and the signal receiving module (300) is arranged on the rotation axis (X1) of the semi-transparent and semi-reflective mirror (400).

4. The rotary distance measuring device according to claim 2, characterized in that: The invention also includes a first reflector (500) coaxially arranged with the semi-transparent and semi-reflective mirror (400), the signal transmitting module (200) is arranged on the rotation axis (X1) of the semi-transparent and semi-reflective mirror (400) and the first reflector (500), and the signal receiving module (300) is arranged perpendicular to the rotation axis (X1) of the semi-transparent and semi-reflective mirror (400) and the first reflector (500).

5. The rotary distance measuring device according to claim 4, characterized in that: The semi-transparent and semi-reflective mirror (400) and the first reflective mirror (500) are arranged parallel to each other, or the semi-transparent and semi-reflective mirror (400) and the first reflective mirror (500) are arranged perpendicular to each other.

6. The rotary distance measuring device according to claim 1, characterized in that: The semi-transparent and semi-reflective mirror (400) is configured to reflect the detection light emitted by the signal transmitting module (200) to the target object (900), while allowing the detection light reflected back by the target object (900) to pass through so as to be received by the signal receiving module (300).

7. The rotary distance measuring device according to claim 6, characterized in that: The signal receiving module (300) and the target object (900) are respectively located on the circumferential sides of the rotation axis (X1) of the semi-transparent and semi-reflective mirror (400), and the signal transmitting module (200) is arranged on the rotation axis (X1) of the semi-transparent and semi-reflective mirror (400).

8. The rotary distance measuring device according to claim 6, characterized in that: The system further comprises a second reflector (600) coaxially arranged with the semi-transparent and semi-reflective mirror (400), and the signal receiving module (300) is arranged on a rotation axis (X) between the semi-transparent and semi-reflective mirror (400) and the second reflector (600). 1) The signal transmitting module (200) is arranged perpendicular to the rotation axis (X1) of the semi-transparent and semi-reflective mirror (400) and the second reflective mirror (600).

9. The rotary distance measuring device according to any one of claims 1 to 8, characterized in that: It also includes a driving motor (700) for driving the reflector assembly to rotate, and a power output shaft of the driving motor (700) is coaxially arranged with the rotation axis of the reflector assembly.

10. The rotary distance measuring device according to claim 9, characterized in that: It also includes a rotary encoder (800), wherein the code disk of the rotary encoder (800) is fixedly arranged on the power output shaft of the drive motor (700).

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