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 optical axes of the signal transmitting module and the signal receiving module are parallel to each other; the rotating mirror assembly is rotatably arranged on the base and comprises a first reflecting lens and a second reflecting lens, and the first reflecting lens and the second reflecting lens are perpendicular to each other and are both located on the rotating axis of the rotating mirror assembly; the signal transmitting module and the signal receiving module are located on the two opposite sides of the rotating mirror assembly respectively, the size of the second reflecting lens is larger than that of the first reflecting lens, and the first reflecting lens and the second reflecting lens are partially overlapped in the vertical direction. The area, corresponding to the first reflecting lens, of the second reflecting lens in the vertical direction is a hollow area, and a received signal reflecting area is formed on the second reflecting lens and located on the periphery of the hollow area.

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 mounted, wherein the optical axes of the signal transmitting module and the signal receiving module are parallel to each other;

[0009] A rotating mirror assembly is rotatably disposed on the base, comprising a first reflecting lens and a second reflecting lens, wherein the first reflecting lens and the second reflecting lens are disposed perpendicular to each other and are both located on the rotation axis of the rotating mirror assembly;

[0010] The signal transmitting module and the signal receiving module are respectively located on opposite sides of the rotating mirror assembly. The size of the second reflective lens is larger than that of the first reflective lens. The first reflective lens and the second reflective lens partially overlap in the vertical direction. The area of ​​the second reflective lens corresponding to the first reflective lens in the vertical direction is a hollow area, and a receiving signal reflection area is formed on the second reflective lens and located around the hollow area.

[0011] Optionally, a first lens and a second lens are further included, wherein the first lens is arranged corresponding to the first reflective lens, and the second lens is arranged corresponding to the second reflective lens.

[0012] Optionally, the first reflective lens is located on a side of the second reflective lens close to the signal receiving module.

[0013] Optionally, the optical axis of the signal transmitting module is coaxially arranged with the rotation axis of the rotating mirror assembly, and the signal receiving module is arranged on the periphery of the axis of the rotating mirror assembly.

[0014] Optionally, the optical axis of the signal transmitting module, the optical axis of the signal receiving module and the rotation axis of the rotating mirror assembly are coaxially arranged.

[0015] Optionally, a rotation driving device for driving the rotating mirror assembly 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.

[0016] Optionally, the rotating mirror bracket is a hollow shaft-shaped structure, the first reflecting lens is arranged inside the rotating mirror bracket, and the second reflecting lens is sleeved on the outside of the rotating mirror bracket.

[0017] Optionally, the rotating mirror bracket is made of a transparent material, or a light-transmitting hole is provided on the rotating mirror bracket at a position corresponding to the first reflective lens.

[0018] Optionally, the driving motor is connected to the rotating mirror bracket via a transmission belt.

[0019] Optionally, a rotary encoder and a protective cover are further included, wherein the rotary encoder includes a code disk and a magnet, the code disk is fixedly arranged on the protective cover, and the magnet is fixedly arranged on the rotating mirror bracket.

[0020] The beneficial effects of the present application are as follows: In the embodiments of the present application, by configuring the rotating mirror assembly 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 transmitting module is reflected, achieving 360° rotational measurement, and can also adjust the specific area of ​​the rotating mirror assembly corresponding to the signal receiving module. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The present application is further described in detail below with reference to the accompanying drawings and examples.

[0022] 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;

[0023] Figure 2 This is a schematic diagram of another working state of the rotary distance measuring device according to an embodiment of the present application;

[0024] 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;

[0025] 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.

[0026] In the picture:

[0027] 100, base; 110, signal transmitting module; 120, signal receiving module; 200, rotating mirror assembly; 210, first reflecting lens; 220, second reflecting lens; 230, first lens; 240, second lens; 300, rotation driving device; 310, driving motor; 320, rotating mirror bracket; 321, light-transmitting hole; 330, transmission belt; 340, first pulley; 350, second pulley; 400, protective cover; 500, rotary encoder; 510, code disk; 520, magnet; 600, object to be measured; X1, rotation axis. 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 1-4 As shown, an embodiment of the present application provides a rotation distance measuring device, comprising:

[0039] The base 100 is used to fix the rotary distance measuring device to the equipment to be used, such as a cleaning robot, to ensure that the rotary distance measuring device remains in a stable position during operation to prevent vibration or collision from affecting the distance measurement accuracy. The signal transmitting module 110 and the signal receiving module 120 are fixedly mounted on the base 100, and the optical axes of the signal transmitting module 110 and the signal receiving module 120 are parallel to each other.

[0040] The rotating mirror assembly 200 is rotatably disposed on the base 100 and includes a first reflective lens 210 and a second reflective lens 220 . The first reflective lens 210 and the second reflective lens 220 are disposed perpendicular to each other and are both located on the rotation axis X1 of the rotating mirror assembly 200 .

[0041] The signal transmitting module 110 and the signal receiving module 120 are respectively located on opposite sides of the rotating mirror assembly 200. The size of the second reflective lens 220 is larger than that of the first reflective lens 210. The first reflective lens 210 and the second reflective lens partially overlap in the vertical direction. In the vertical direction, the area where the second reflective lens 220 corresponds to the first reflective lens 210 is a hollow area, and a receiving signal reflection area is formed on the second reflective lens 220 and located around the hollow area.

[0042] In the embodiment of the present application, the rotating mirror assembly 200 is set to be rotatable. Since there are no signal lines or power lines connected to it, its rotation is not restricted and 360° continuous rotation can be achieved.

[0043] The rotation of the mirror assembly 200 can adjust the direction in which the measurement light emitted by the signal transmitting module 110 is reflected, thereby achieving 360° rotation measurement. At the same time, the specific area of ​​the mirror assembly 200 corresponding to the signal receiving module 120 can be adjusted.

[0044] 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.

[0045] The optical axis is the centerline of the laser beam emitted by the signal transmitting module 110 and received by the signal receiving module 120. It is key to the precise measurement and positioning of the LiDAR. The accuracy of the optical axis directly affects the measurement accuracy and detection range of the LiDAR.

[0046] Preferably, refer to Figure 1-2 As shown, the rotation distance measuring device described in the embodiment of the present application further includes a first lens 230 and a second lens 240 . The first lens 230 is arranged corresponding to the first reflective lens 210 , and the second lens 240 is arranged corresponding to the second reflective lens 220 .

[0047] In the embodiment of the present application, the first lens 230 and the second lens 240 are used to converge the divergent laser beam into a small 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 range of the lidar; 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.

[0048] In the embodiment of the present application, the first reflective lens 210 is used to reflect the measuring light emitted by the signal transmitting module 110, and the second reflective lens 220 is used to reflect the measuring light reflected by the object to be measured 600. The first reflective lens 210 is located on the side of the second reflective lens 220 close to the signal receiving module 120. The measuring light emitted by the signal transmitting module 110 passes through the hollow area on the second reflective lens 220 and is irradiated onto the first reflective lens 210, and is reflected by the first reflective lens 210 to the object to be measured 600. The measuring light reflected by the object to be measured 600 is irradiated onto the receiving signal reflection area on the second reflective lens 220 and is reflected to the signal receiving module 120.

[0049] Specifically, Figure 1 、 2 Schematic diagrams of signal reflection working states at different positions of the receiving signal reflection area on the second reflective lens 220 are provided respectively;

[0050] Reference Figure 1As shown, in this state, the second reflective lens 220 rotates to a relatively upper position and corresponds to the signal receiving module 120 in the vertical direction. Therefore, the receiving signal reflection area on the relatively upper part of the second reflective lens 220 is working. In the state shown in the figure, the rotating mirror assembly 200 rotates in any direction, and the area of ​​the second reflective lens 220 corresponding to the signal receiving module 120 gradually moves downward, and the corresponding working receiving signal reflection area on the second reflective lens 220 gradually moves downward until it rotates to Figure 2 In the state shown, the upper position of the second reflective lens 220 corresponds to the signal receiving module 120 in the vertical direction, so the signal receiving reflection area at the lower part of the second reflective lens 220 is in operation.

[0051] Reference Figure 1-3 As shown, in the embodiment of the present application, the optical axis of the signal transmitting module 110 is coaxially arranged with the rotation axis X1 of the rotating mirror assembly 200, and the signal receiving module 120 is arranged around the axis of the rotating mirror assembly 200. Through this arrangement, the optical axes of the signal transmitting module 110 and the signal receiving module 120 are offset from each other, that is, the signal receiving module 120 is not arranged on the rotation axis X1 of the rotating mirror assembly 200, and the rotation axis of the rotating mirror assembly 200 can be directly connected to the bottom of the base 100, which simplifies the structure and further reduces the overall height of the rotary distance measuring device.

[0052] It is understood that the optical axis of the signal transmitting module 110 is coaxially arranged with the rotation axis X1 of the rotating mirror assembly 200, and the signal receiving module 120 is arranged around the axis of the rotating mirror assembly 200, which is not a limitation of the present application. Figure 4 As shown, in another optional embodiment of the present application, the optical axis of the signal transmitting module 110, the optical axis of the signal receiving module 120 and the rotation axis X1 of the rotating mirror assembly 200 can also be coaxially arranged. When the optical axis of the signal transmitting module 110, the optical axis of the signal receiving module 120 and the rotation axis X1 of the rotating mirror assembly 200 are coaxially arranged, the reflected measurement light can be converged onto the signal receiving module 120 through a large-sized lens. The large-sized lens has a larger light receiving area and is arranged corresponding to the large-sized second reflecting lens 210, which can more efficiently collect the reflected measurement light and achieve better measurement effect.

[0053] Furthermore, the embodiment of the present application also includes a rotation drive device 300 for driving the rotating mirror assembly 200 to rotate. The rotation drive device 300 includes a driving motor 310 and a rotating mirror bracket 320. The rotating mirror bracket 320 is transmission-connected to the power output end of the driving motor 310.

[0054] In the embodiment of the present application, the driving motor 310 is connected to the rotating mirror bracket 320 in a manner that the driving motor 310 is connected to the rotating mirror bracket 320 via a transmission belt 330 .

[0055] Specifically, refer to Figure 1-3 As shown, a first pulley 340 is fixedly installed on the end of the rotating mirror bracket 320 near the driving motor 310, and a second pulley 350 is installed on the power output shaft of the driving motor 310. The transmission connection between the rotating mirror bracket 320 and the driving motor 310 is realized by a transmission belt 330 that is simultaneously mounted on the first pulley 340 and the second pulley 350.

[0056] The specific structure of the rotating mirror bracket 320 is also illustrated in the embodiment of the present application. Figure 1-3 As shown, the rotating mirror bracket 320 is a hollow shaft structure, the first reflective lens 210 is arranged inside the rotating mirror bracket 320 , and the second reflective lens 220 is sleeved on the outside of the rotating mirror bracket 320 .

[0057] A first supporting assembly for supporting the first reflective lens 210 is disposed inside the rotating mirror bracket 320 , and a second supporting assembly for supporting the second reflective lens 220 is disposed outside the rotating mirror bracket 320 .

[0058] Furthermore, in order to ensure that the measuring light can be reflected to the outside by the first reflector located inside the rotating mirror bracket 320 , in an optional embodiment of the present application, the rotating mirror bracket 320 is made of a transparent material.

[0059] The following describes the working process of the rotating distance measuring device in which the rotating mirror bracket 320 is made of a transparent material, taking the example of the signal transmitting module 110 being arranged at the upper position of the rotating distance measuring device, the signal receiving module 120 being arranged at the lower position of the rotating distance measuring device, and the rotating mirror module being arranged between the signal transmitting module 110 and the signal receiving module 120. Figure 1-3 As shown, the signal transmitting module 110 transmits the measuring light downward in the vertical direction inside the rotating mirror bracket 320. When the measuring light is irradiated on the first reflecting lens 210, it is reflected to the outside of the rotating distance measuring device. When the measuring light reflected to the outside contacts the object to be measured 600, it is reflected back to the inside of the rotating distance measuring device by the object to be measured 600, irradiates the second reflecting lens 220, and is reflected by the second reflecting lens 220 to the signal receiving module 120, thereby realizing the distance measurement of the object to be measured 600.

[0060] It should be noted that the fact that the rotating mirror bracket 320 is made of a transparent material is not a limitation of this solution. In another optional embodiment, referring to Figure 3As shown, a light-transmitting hole 321 is provided on the rotating mirror bracket 320 at a position corresponding to the first reflective lens 210 .

[0061] Further, refer to Figure 1-3 As shown, the rotary distance measuring device described in the embodiment of the present application further includes a rotary encoder 500 and a protective cover 400, wherein the rotary encoder 500 includes a code disk 510 and a magnet 520, the code disk 510 is fixedly set on the protective cover 400, and the magnet 520 is fixedly set on the rotating mirror bracket 320.

[0062] The rotary encoder 500 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 500 feeds the scanning mirror's rotation angle information back to the control system, which then adjusts the drive motor's speed and direction 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.

[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 (110) and a signal receiving module (120) are fixedly arranged, wherein the optical axes of the signal transmitting module (110) and the signal receiving module (120) are parallel to each other; A rotating mirror assembly (200) is rotatably arranged on the base (100), comprising a first reflecting lens (210) and a second reflecting lens (220), wherein the first reflecting lens (210) and the second reflecting lens (220) are arranged perpendicular to each other and are both located on a rotation axis (X1) of the rotating mirror assembly (200); The signal transmitting module (110) and the signal receiving module (120) are respectively located on opposite sides of the rotating mirror assembly (200); the size of the second reflecting lens (220) is larger than that of the first reflecting lens (210); the first reflecting lens (210) and the second reflecting lens (220) partially overlap in the vertical direction; the area corresponding to the second reflecting lens (220) and the first reflecting lens (210) in the vertical direction is a hollow area; and a receiving signal reflection area is formed on the second reflecting lens (220) and located around the hollow area.

2. The rotary distance measuring device according to claim 1, characterized in that: It also includes a first lens (230) and a second lens (240), wherein the first lens (230) is arranged corresponding to the first reflecting lens (210), and the second lens (240) is arranged corresponding to the second reflecting lens (220).

3. The rotary distance measuring device according to claim 1, characterized in that: The first reflective lens (210) is located on a side of the second reflective lens (220) close to the signal receiving module (120).

4. The rotary distance measuring device according to claim 1, characterized in that: The optical axis of the signal transmitting module (110) is coaxially arranged with the rotation axis (X1) of the rotating mirror assembly (200), and the signal receiving module (120) is arranged on the circumference of the axis of the rotating mirror assembly (200).

5. 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 (X1) of the rotating mirror assembly (200) are coaxially arranged.

6. The rotary distance measuring device according to any one of claims 1 to 5, characterized in that: The invention also includes a rotation driving device (300) for driving the rotating mirror assembly (200) to rotate. The rotation driving device (300) includes a driving motor (310) and a rotating mirror bracket (320). The rotating mirror bracket (320) is transmission-connected to the power output end of the driving motor (310).

7. The rotary distance measuring device according to claim 6, characterized in that: The rotating mirror bracket (320) is a hollow shaft-shaped structure; the first reflecting lens (210) is arranged inside the rotating mirror bracket (320); and the second reflecting lens (220) is sleeved outside the rotating mirror bracket (320).

8. The rotary distance measuring device according to claim 7, characterized in that: The rotating mirror bracket (320) is made of a transparent material, or a light-transmitting hole (321) is provided on the rotating mirror bracket (320) at a position corresponding to the first reflective lens (210).

9. The rotary distance measuring device according to claim 6, characterized in that: The driving motor (310) is connected to the rotating mirror bracket (320) via a transmission belt (330).

10. The rotary distance measuring device according to claim 6, characterized in that: The invention also includes a rotary encoder (500) and a protective cover (400), wherein the rotary encoder (500) includes a code disc (510) and a magnetic steel (520), the code disc (510) is fixedly arranged on the protective cover (400), and the magnetic steel (520) is fixedly arranged on the rotating mirror bracket (320).

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