A laser ranging device and stock level monitoring system for material detection

Abstract

This utility model relates to a laser ranging device and a material level monitoring system for material detection. The laser ranging device includes a fixed base, a mounting frame, a yaw motor, a pitch motor, and a lidar. The mounting frame is rotatably mounted on the fixed base with its rotation axis pointing vertically downwards. The yaw motor is fixedly mounted on the mounting frame, and its drive shaft is connected to the fixed base or mounting frame via a first transmission structure. The power input end of the first transmission structure is connected to the drive shaft of the yaw motor, and its power output end is fixedly connected to the fixed base or mounting frame. The mounting frame rotates under the counter-torque of the yaw motor, driving the laser ranging module to move circumferentially along a first direction. The pitch motor is fixedly mounted on the mounting frame, and its drive shaft is connected to the laser ranging module. Driven by the pitch motor, the laser ranging module moves circumferentially along a second direction, with the first and second directions perpendicular. This improves the detection angle and detection range of the laser ranging module.

Description

Technical Field

[0001] This utility model relates to the field of material detection technology, and in particular to a laser rangefinder and a material level monitoring system for material detection. Background Technology

[0002] In modern industrial and agricultural production, warehousing and logistics, and resource management, the material level and storage volume within storage containers (such as silos, tanks, and towers) are key real-time monitoring parameters. Accurately understanding this information is crucial for production planning, inventory management, cost control, safety early warning, and supply-demand balance.

[0003] LiDAR (Lidar) is a radar system that uses laser beams to detect the position, velocity, and other characteristics of targets. Currently, LiDAR is widely used for ranging and obstacle avoidance, with accuracy typically at the centimeter or decimeter level. By placing LiDAR on top of a storage container, it can detect the remaining material level. However, existing LiDAR systems are usually fixed in position, limiting their detection angle and range. Fixed-position LiDAR cannot effectively adapt to different material shapes, and its low accuracy leads to significant discrepancies between the obtained material level and volume and the actual values. This affects operators' judgment of the remaining material level in the container, making it difficult to develop effective feeding, discharging, and unblocking plans based on the actual material conditions, thus impacting the effective operation of upstream and downstream processes.

[0004] Therefore, there is an urgent need to provide a laser rangefinder and a material level monitoring system that can adapt to the irregular shape of materials for detection. Utility Model Content

[0005] (a) Technical problems to be solved

[0006] In view of the above-mentioned shortcomings and deficiencies of the prior art, the present invention provides a laser ranging device and a material level monitoring system for material detection, which improves the detection angle, detection range and detection accuracy of the laser radar.

[0007] (II) Technical Solution

[0008] To achieve the above objectives, the main technical solutions adopted by this utility model include:

[0009] In a first aspect, this utility model provides a laser ranging device for material detection, comprising: a fixed base, a mounting frame, a yaw motor, a pitch motor, and a laser ranging module; the mounting frame is rotatably mounted on the fixed base with its rotating shaft pointing vertically downwards; the yaw motor is fixedly mounted on the mounting frame; the drive shaft of the yaw motor is connected to the fixed base or the mounting frame via a first transmission structure; the power input end of the first transmission structure is connected to the drive shaft of the yaw motor; the power output end of the first transmission structure is fixedly connected to the fixed base or the mounting frame; the mounting frame rotates under the counter-torque of the yaw motor, driving the laser radar to move circumferentially along a first direction; the pitch motor is fixedly mounted on the mounting frame; the drive shaft of the pitch motor is connected to the laser ranging module; the laser ranging module moves circumferentially along a second direction under the drive of the pitch motor; the first direction is perpendicular to the second direction.

[0010] Optionally, the first transmission structure includes a coupling, with a first end of the coupling fixedly connected to a fixed base and a second end of the coupling connected to a yaw motor drive shaft, wherein the yaw motor drive shaft and the mounting bracket shaft are coaxially arranged.

[0011] Optionally, the drive shaft of the pitch motor is fixedly connected to the laser ranging module.

[0012] Optionally, the first transmission structure includes a first driven wheel fixedly mounted on the mounting bracket, the axle of the first driven wheel being coaxially arranged with the shaft of the mounting bracket, and the drive wheel of the yaw motor being connected to the first driven wheel in a transmission connection.

[0013] Optionally, the drive shaft of the pitch motor is connected to the laser ranging module via a second transmission structure; the second transmission structure includes a second driven wheel rotatably mounted on a mounting bracket, the axle of the second driven wheel being perpendicular to the axle of the first driven wheel, the laser ranging module being fixedly mounted on the second driven wheel, and the drive wheel of the pitch motor being connected to the second driven wheel.

[0014] Optionally, both the drive wheel and the first driven wheel of the yaw motor are pulleys, and the drive wheel of the yaw motor is connected to the first driven wheel via a flexible belt; or, both the drive wheel and the first driven wheel of the yaw motor are gears, and the drive wheel of the yaw motor is connected to the first driven wheel via a gear pair; both the drive wheel and the second driven wheel of the pitch motor are pulleys, and the drive wheel of the pitch motor is connected to the second driven wheel via a flexible belt; or, both the drive wheel and the second driven wheel of the pitch motor are gears, and the drive wheel of the pitch motor is connected to the second driven wheel via a gear pair.

[0015] Optionally, the laser ranging module is located on the axis of the mounting bracket's rotating shaft.

[0016] Optionally, the laser ranging device for material detection further includes a first housing, a brush motor, and a brush; the first housing is fixedly mounted on the laser ranging module, and the first housing has a transparent window corresponding to the position of the laser ranging module's emitting head; the brush motor is fixedly installed inside the first housing, and the drive shaft of the brush motor passes through the first housing and is fixedly connected to the handle of the brush; the bristles of the brush are in contact with the transparent window, and the brush motor drives the brush to swing, and the bristles clean the transparent window.

[0017] Optionally, the laser ranging device for material detection further includes a first photoelectric sensor and a second photoelectric sensor; the first photoelectric sensor is fixed on the mounting frame, and a light shield is fixedly installed on the mounting base. During the rotation of the mounting frame, the first photoelectric sensor moves to the position corresponding to the light shield and triggers the first photoelectric sensor; the second photoelectric sensor is fixed on the mounting frame, and the laser ranging module can rotate within a set pitch angle range. When the laser ranging module rotates to the point where its emitting head is vertically downward, the second photoelectric sensor is triggered.

[0018] Secondly, this utility model provides a material level monitoring system, including:

[0019] The laser rangefinder device for material detection described above;

[0020] The cloud platform communicates with the laser ranging device to receive scanning data from the laser ranging module as it moves circumferentially along the first and second directions, and to monitor the material level based on the scanning data.

[0021] (III) Beneficial Effects

[0022] The beneficial effects of this utility model are:

[0023] The laser ranging device and material level monitoring system for material detection provided in this embodiment are used by fixing the laser ranging device to the top center of the storage container via a mounting bracket. The working principle is as follows: the yaw motor operates, and since the power output end of the first transmission structure is fixedly connected to the mounting bracket or mounting frame, the reaction torque of the yaw motor acts on the mounting frame, driving the mounting frame to rotate around its axis, thereby causing the laser ranging module to rotate in a plane; the pitch motor operates, causing the laser ranging module to rotate in a pitch direction. This achieves both plane and pitch rotation of the laser ranging module, greatly improving its detection angle and range, and enabling it to adapt to the complex shapes of materials for detection, thus facilitating more accurate detection of material level height and storage volume. Attached Figure Description

[0024] Figure 1 This is a three-dimensional structural schematic diagram of the laser ranging device according to Embodiment 1;

[0025] Figure 2 This is a schematic diagram of the structure of the laser rangefinder fixed on the top of the storage container according to Embodiment 1;

[0026] Figure 3 This is a schematic diagram of the laser rangefinder used in Example 1 to detect materials inside a storage container.

[0027] Figure 4 This is a schematic diagram of the internal structure of the laser rangefinder according to Embodiment 1;

[0028] Figure 5 This is a schematic diagram of the mating structure between the brush motor and the first housing according to Embodiment 1;

[0029] Figure 6 This is a three-dimensional structural diagram of the laser ranging device according to Embodiment 3;

[0030] Figure 7 This is a schematic diagram of the structure of the laser rangefinder fixed on the top of the storage container according to Embodiment 3;

[0031] Figure 8 for Figure 7 Enlarged view of point A in the middle;

[0032] Figure 9 This is a schematic diagram of the internal structure of the laser rangefinder according to Embodiment 3;

[0033] Figure 10 This is a cross-sectional schematic diagram of the laser rangefinder according to Embodiment 3;

[0034] Figure 11 This is a schematic diagram of the material level monitoring system according to Example 4.

[0035] Explanation of reference numerals in the attached figures

[0036] 1: Laser rangefinder;

[0037] 11: Fixed base; 12: Coupling;

[0038] 21: First mounting plate; 22: Second mounting plate;

[0039] 31: Yaw motor; 32: First driven wheel;

[0040] 41: Pitch motor; 42: Second driven wheel;

[0041] 5: Laser ranging module;

[0042] 51: Laser ranging module mount;

[0043] 61: First magnetic encoder; 62: Second magnetic encoder;

[0044] 71: Brush motor; 72: Brush; 73: First photoelectric sensor; 74: Second photoelectric sensor; 76: Wireless communication component; 77: Light shield;

[0045] 81: First housing; 82: Transparent window; 83: Lateral housing; 84: First vertical housing; 85: Second vertical housing; 86: Third housing; 87: Laser beam;

[0046] 91: Cloud platform; 92: Power supply device. Detailed Implementation

[0047] To better explain and facilitate understanding of this utility model, a detailed description of its specific embodiments is provided below with reference to the accompanying drawings. The directional terms "up," "down," "left," and "right" used herein refer to... Figure 4 The orientation shall prevail.

[0048] Example 1

[0049] like Figures 1 to 5 As shown, this embodiment provides a laser ranging device 1 for material detection, including a fixed base 11, a mounting frame, a yaw motor 31, a pitch motor 41, and a lidar 5. The mounting frame is rotatably mounted on the fixed base 11, with the rotating shaft of the mounting frame pointing vertically downwards. A first driven wheel 32 is fixedly mounted on the mounting frame, and the axle of the first driven wheel 32 is coaxially arranged with the rotating shaft of the mounting frame. The yaw motor 31 is fixedly mounted on the mounting frame, and the drive wheel of the yaw motor 31 is drively connected to the first driven wheel 32. A second driven wheel 42 is rotatably mounted on the mounting frame, and the axle of the second driven wheel 42 is perpendicular to the axle of the first driven wheel 32. The laser ranging module 5 is fixedly mounted on the second driven wheel 42. The pitch motor 41 is fixedly mounted on the mounting frame, and the drive wheel of the pitch motor 41 is drively connected to the second driven wheel 42.

[0050] The laser ranging device 1 provided in this embodiment is fixed at the top center of the storage container by the fixing base 11. The working principle is as follows: the yaw motor 31 works, and since the first driven wheel 32 is fixed on the mounting frame, the reaction torque of the yaw motor 31 and the first driven wheel 32 acts on the mounting frame, which drives the mounting frame to rotate around the mounting frame axis, thereby driving the laser ranging module 5 to rotate in a plane; the pitch motor 41 works, driving the second driven wheel 42 to rotate, thereby driving the laser ranging module 5 to rotate in pitch.

[0051] The laser ranging device 1, configured in this way, enables planar rotation and pitch rotation of the laser ranging module 5, significantly improving the detection angle and range of the laser ranging module 5. This allows it to adapt to the complex shapes of materials, thus facilitating more accurate detection of material level and storage volume. The laser ranging module used in this embodiment has a ranging accuracy of ±2mm, which is an order of magnitude higher than that of lidar. This effectively improves detection accuracy.

[0052] Preferably, the laser ranging module 5 is located on the axis of the mounting bracket's rotation. This further improves the detection angle and detection range of the laser ranging module 5.

[0053] Preferably, in this embodiment, both the drive wheel of the yaw motor 31 and the first driven wheel 32 are pulleys, and the drive wheel of the yaw motor 31 is connected to the first driven wheel 32 via a flexible belt. Similarly, both the drive wheel and the second driven wheel 42 of the pitch motor 41 are pulleys, and the drive wheel of the pitch motor 41 is connected to the second driven wheel 42 via a flexible belt. This design results in a simple structure and low cost.

[0054] Preferably, the laser ranging device 1 further includes a first magnetic encoder 61 and a second magnetic encoder 62. The first magnetic encoder 61 includes a first magnet assembly and a first sensor assembly. The first magnet assembly is fixed on the mounting bracket shaft, and the first sensor assembly is fixed on the mounting base 11, with the first sensor assembly corresponding to the first magnet assembly in position. The second magnetic encoder 62 includes a second magnet assembly and a second sensor assembly. The second magnet assembly is fixed on the axle of the second driven wheel 42, and the second sensor assembly is fixed on the mounting bracket, with the second sensor assembly corresponding to the second magnet assembly in position. By setting the first magnetic encoder 61, the rotational angular displacement of the mounting bracket shaft can be converted into an electrical signal. By setting the second magnetic encoder 62, the rotational angular displacement of the axle of the second driven wheel 42 can be converted into an electrical signal, facilitating signal transmission of the laser ranging device 1.

[0055] Preferably, the laser ranging device 1 further includes a first housing 81, a brush motor 71, and a brush 72; the first housing 81 is covered on the laser ranging module 5 and fixedly connected to the second driven wheel 42. The first housing 81 has a transparent window 82 corresponding to the position of the emitting head of the laser ranging module 5. The brush motor 71 is fixedly installed inside the first housing 81. The drive shaft of the brush motor 71 passes through the first housing 81 and is fixedly connected to the handle of the brush 72. The bristles of the brush 72 are in contact with the transparent window 82. The brush motor 71 drives the brush 72 to swing, and the bristles clean the transparent window 82. Thus, a transparent window 82 is provided for the laser ranging module 5 to emit a laser beam 87. The brush motor 71 operates, driving the brush 72 to clean the transparent window 82, preventing the signal of the laser ranging module 5 from being affected by contaminants on the transparent window 82, ensuring the signal stability and accuracy of the laser ranging module 5. At the same time, the first housing 81 can protect the brush motor 71 and the laser ranging module 5 housed within it.

[0056] Specifically, the bristles of brush 72 have a hardness of 70D, and the bristles maintain a contact pressure of 0.2N with the transparent window 82.

[0057] Preferably, in this embodiment, the mounting frame includes a first mounting plate 21 and a second mounting plate 22, which are perpendicular to each other and connected in an L-shape. The first mounting plate 21 is placed horizontally, and the second mounting plate 22 is located below the first mounting plate 21. The first mounting plate 21 is rotatably mounted below the fixed base 11. A first driven wheel 32 is fixed on the first mounting plate 21, and a yaw motor 31 is fixed on the end of the first mounting plate 21 away from the second mounting plate 22 relative to the rotation axis. A second driven wheel 42 is rotatably mounted on the surface of the second mounting plate 22 facing the rotation axis of the mounting frame. A pitch motor 41 is fixed on the second mounting plate 22. Thus, the mounting frame structure is simple, and the laser rangefinder 1 has a compact structure.

[0058] More preferably, the first driven wheel 32 is fixed between the first mounting plate 21 and the fixed base 11. The body of the yaw motor 31 is fixed to the surface of the first mounting plate 21 facing away from the fixed base 11. The drive wheel of the yaw motor 31 is located on the surface of the first mounting plate 21 facing the fixed base 11. The drive shaft of the yaw motor 31 passes through the first mounting plate 21 and is connected to the drive wheel of the yaw motor 31. The pitch motor 41 is located above the second driven wheel 42. The body of the pitch motor 41 is fixed to the surface of the second mounting plate 22 facing away from the mounting bracket shaft. The drive wheel of the pitch motor 41 is located on the surface of the second mounting plate 22 facing the mounting bracket shaft. The drive shaft of the pitch motor 41 passes through the second mounting plate 22 and is connected to the drive wheel of the pitch motor 41. This further improves the compactness of the laser rangefinder 1.

[0059] Preferably, the laser rangefinder 1 further includes a second housing, which comprises a transverse housing portion 83, a first vertical housing portion 84, and a second vertical housing portion 85. The first vertical housing portion 84 and the second vertical housing portion 85 are respectively connected to the two ends of the transverse housing portion 83 in a "door" shape. The second housing is fixedly connected to the first mounting plate 21 and the second mounting plate 22. The first vertical housing portion 84 covers the yaw motor 31, the transverse housing portion 83 covers the first mounting plate 21 and the first driven wheel 32, and the second vertical housing portion 85 covers the second mounting plate 22, the pitch motor 41, and the second driven wheel 42. The first housing 81 is located between the first vertical housing portion 84 and the second vertical housing portion 85. This arrangement results in a compact structure, and the second housing can protect the yaw motor 31, the pitch motor 41, the first driven wheel 32, and the second driven wheel 42 housed within it.

[0060] Furthermore, in this embodiment, the laser ranging device 1 also includes a third housing 86, the mounting bracket shaft has an extension that extends upward out of the fixing seat 11, the first magnet assembly is fixed on the extension, the first sensor assembly is fixed on the fixing seat 11, the third housing 86 is fastened to the fixing seat 11 and fixedly connected to the fixing seat 11, and the first magnetic encoder 61 is accommodated in the third housing 86.

[0061] Furthermore, in this embodiment, the axle of the second driven wheel 42 has a protrusion that extends out of the second mounting plate 22 in a direction away from the mounting bracket pivot, the second magnet assembly is fixed on the protrusion, and the second sensor assembly is fixed on the second mounting plate 22.

[0062] Example 2

[0063] The main difference between this embodiment and Embodiment 1 is:

[0064] The drive wheel and the first driven wheel 32 of the yaw motor 31 are both gears. The drive wheel of the yaw motor 31 is connected to the first driven wheel 32 through a gear pair. The drive wheel and the second driven wheel 42 of the pitch motor 41 are both gears. The drive wheel of the pitch motor 41 is connected to the second driven wheel 42 through a gear pair.

[0065] In this way, an effective power transmission can also be formed between the yaw motor 31 and the first driven wheel 32, and between the pitch motor 41 and the second driven wheel 42.

[0066] The remaining contents are the same as in Example 1, and will not be repeated here.

[0067] Example 3

[0068] like Figures 6 to 10As shown, this embodiment provides a laser ranging device 1 for material detection, including a fixed base 11, a mounting frame, a yaw motor 31, a pitch motor 41, and a laser ranging module 5. The mounting frame is rotatably mounted on the fixed base 11, and the yaw motor 31 is fixedly mounted on the mounting frame. The drive shaft of the yaw motor 31 is fixedly connected to the fixed base 11. The rotating shaft of the mounting frame and the drive shaft of the yaw motor are coaxially arranged, and both the rotating shaft of the mounting frame and the drive shaft of the yaw motor are vertically downward. The pitch motor 41 is fixedly mounted on the mounting frame, and the drive shaft of the pitch motor 41 is perpendicular to the drive shaft of the yaw motor 31. The drive shaft of the pitch motor 41 is fixedly connected to the laser ranging module 5.

[0069] The laser ranging device 1 provided in this embodiment is fixed at the top center of the storage container by the fixing base 11. The working principle is as follows: the yaw motor 31 works. Since the drive shaft of the yaw motor 31 is fixedly connected to the fixing base 11, the reaction torque of the yaw motor 31 acts on the mounting frame, which drives the mounting frame to rotate around the mounting frame axis, thereby driving the laser ranging module 5 to rotate in a plane; the pitch motor 41 works, driving the laser radar 5 to pitch and rotate.

[0070] The laser ranging device 1, with its configuration, enables the laser ranging module 5 to rotate in both plane and pitch, greatly improving the detection angle and range of the laser ranging module 5. This allows it to adapt to the complex shapes of materials for detection, thus facilitating more accurate detection of material level height and storage volume.

[0071] Preferably, the laser ranging module 5 is located on the axis of the mounting bracket's rotation. This further improves the detection angle and detection range of the lidar 5.

[0072] Specifically, in this embodiment, a coupling 12 is fixedly mounted on the fixed base 11, and the drive shaft of the yaw motor 31 is connected to the coupling 12. This results in a simple structure that achieves a fixed connection between the drive shaft of the yaw motor 31 and the fixed base 11.

[0073] Specifically, in this embodiment, the laser ranging device 1 further includes a laser ranging module base 51, the laser ranging module 5 is fixed on the laser ranging module base 51, and the pitch motor 41 drive shaft is fixedly connected to the laser ranging module base 51.

[0074] Specifically, in this embodiment, the coupling 12 has a protrusion extending downward from the fixed base 11. The protrusion is connected to the mounting bracket via a bearing, and the yaw motor 31 drive shaft is connected to the protrusion. In this way, a rotational connection between the mounting bracket and the fixed base 11 is achieved.

[0075] In this embodiment, both the yaw motor 31 and the pitch motor 41 are integrated stepper motors. This achieves the integration of the motor, driver, and encoder into one unit, which not only eliminates complex wiring and saves space but also effectively improves the motor's high-speed step-loss performance.

[0076] Preferably, the laser ranging device 1 further includes a first housing 81, a brush motor 71, and a brush 72; the first housing 81 is mounted on the laser ranging module 5 and fixedly connected to the laser ranging module base 51; the first housing 81 has a transparent window 82 corresponding to the position of the emitting head of the laser ranging module 55; the brush motor 71 is fixedly installed inside the first housing 81; the drive shaft of the brush motor 71 passes through the first housing 81 and is fixedly connected to the handle of the brush 72; the bristles of the brush 72 fit against the transparent window 82; the brush motor 71 drives the brush 72 to swing, and the bristles clean the transparent window 82. Thus, a transparent window 82 is provided for the lidar 5 to emit a laser beam 87. The brush motor 71 operates, driving the brush 72 to clean the transparent window 82, preventing the lidar 5 signal from being affected by contaminants on the transparent window 82, ensuring the signal stability and accuracy of the laser ranging module 5. At the same time, the first housing 81 can protect the brush motor 71 and the laser ranging module 5 housed within it.

[0077] In this embodiment, the brush motor 71 is also an integrated stepper motor.

[0078] Specifically, the bristles of brush 72 have a hardness of 70D, and the bristles maintain a contact pressure of 0.2N with the transparent window 82.

[0079] Preferably, the laser ranging device 1 further includes a first photoelectric sensor 73. The first photoelectric sensor 73 includes a first transmitter and a first receiver fixed face-to-face on the mounting frame. A light-shielding plate 77 is fixedly disposed on the mounting base 11. During the rotation of the mounting frame, the light-shielding plate 77 can pass through the gap between the first transmitter and the first receiver. When the light-shielding plate 77 is located in the gap between the first transmitter and the first receiver, the light-shielding plate 77 blocks the light beam emitted by the first transmitter from reaching the first receiver. Thus, by setting the first photoelectric sensor 73, when the light-shielding plate 77 is detected to block the light path, it is considered that the mounting frame has returned to its initial position, which facilitates the calibration of the initial position of the mounting frame for material detection.

[0080] Preferably, the laser ranging device 1 further includes a second photoelectric sensor 74, which includes a second transmitter and a second receiver fixed on a mounting bracket. The laser ranging module base 51 can rotate within a set pitch angle range. When the laser ranging module base 51 rotates to a position where the transmitter head of the laser ranging module 5 is vertically downward, the laser ranging module base 51 or the first housing 81 appears in the illumination area of ​​the second transmitter, and the radar base 51 or the first housing 81 reflects the light beam emitted by the second transmitter to the second receiver. When the radar base 51 rotates to other positions within the pitch angle range, the laser ranging module base 51 or the first housing 81 will not appear in the illumination area of ​​the second transmitter. Thus, by setting the second photoelectric sensor 74, when the laser ranging module base 51 rotates to a position where the transmitter head of the laser ranging module 5 is vertically downward, a light signal is detected, indicating that the laser ranging module 5 has returned to its initial position, which facilitates the calibration of the initial position of the laser ranging module 5 for material detection. Preferably, in this embodiment, the mounting frame includes a first mounting plate 21 and a second mounting plate 22. The first mounting plate 21 and the second mounting plate 22 are perpendicular to each other and connected in an L-shape. The first mounting plate 21 is placed horizontally, and the second mounting plate 22 is located below the first mounting plate 21. The first mounting plate 21 is rotatably mounted below the fixed base 11. The yaw motor 31 is fixed on the first mounting plate 21, and the pitch motor 41 is fixed on the surface of the second mounting plate 22 away from the mounting frame's rotation axis. The drive shaft of the pitch motor 41 passes through the second mounting plate 22 and is fixedly connected to the laser ranging module 5. Thus, the mounting frame structure is simple, and the laser ranging device 1 has a compact structure.

[0081] Specifically, in this embodiment, the laser ranging device 1 further includes a control circuit board and a wireless communication component 76. The yaw motor 31, pitch motor 41, brush motor 71, laser ranging module 5, first photoelectric sensor 73, and second photoelectric sensor 74 are all electrically connected to the control circuit board. This provides a structural basis for adjusting the operation of the yaw motor 31, pitch motor 41, and brush motor 71, and also provides a structural basis for transmitting scanning data from the laser ranging module 5.

[0082] Specifically, in this embodiment, the control circuit board is fixed on the surface of the second mounting plate 22 away from the mounting bracket shaft, and the control circuit board is located above the pitch motor 41.

[0083] Specifically, in this embodiment, the wireless communication component 76 is fixedly installed on the top of the storage container and located outside the storage container.

[0084] Preferably, the laser rangefinder 1 further includes a second housing, which is fixedly connected to the first mounting plate 21 and the second mounting plate 22, and covers the first mounting plate 21, the yaw motor 31, the second mounting plate 22, the control circuit board, and the pitch motor 41. This arrangement results in a compact structure, and the second housing provides protection for the yaw motor 31 and the pitch motor 41 housed within it.

[0085] Example 4

[0086] like Figure 11 As shown, this embodiment provides a material level monitoring system. The system includes a laser ranging device 1 as described in Embodiment 1, 2, or 3, a cloud platform 91, and a power supply device 92. The power supply device 92 is electrically connected to the laser ranging device 1, and the laser ranging device 1 is communicatively connected to the cloud platform 91. Thus, the power supply device 92 provides a stable power supply to the laser ranging device 1, ensuring the stable operation of components such as the yaw motor 31, pitch motor 41, brush motor 71, laser ranging module 5, first magnetic encoder 61, and second magnetic encoder 62. The communicative connection between the laser ranging device 1 and the cloud platform 91 provides a structural foundation for material detection. Specifically, the cloud platform communicates with the laser ranging device, receives scanning data from the laser radar, and monitors the material level based on the scanning data.

[0087] Specifically, the power supply device 92 includes a photovoltaic panel, a power management component, and a battery, both of which are electrically connected to the power management component. In this way, green electricity can be used to power the laser rangefinder 1, and the additionally configured battery can store excess photovoltaic power, providing a stable power supply in situations of insufficient sunlight.

[0088] Furthermore, the power management component has an external power interface, through which it connects to an external power source. This improves power supply flexibility.

[0089] In the description of this utility model, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this utility model, "a plurality of" means two or more, unless otherwise explicitly specified.

[0090] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. For those skilled in the art, the specific meaning of the above terms in this utility model can be understood according to the specific circumstances.

[0091] In this utility model, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "beneath" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0092] In the description of this specification, the terms "one embodiment," "some embodiments," "embodiment," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0093] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make modifications, alterations, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A laser ranging device for material detection, characterized in that, include: Fixed base (11), mounting bracket, yaw motor (31), pitch motor (41) and laser ranging module (5); The mounting bracket is rotatably mounted on the fixed base (11) with the mounting bracket's rotating shaft pointing vertically downwards. The yaw motor (31) is fixedly mounted on the mounting bracket. The drive shaft of the yaw motor (31) is connected to the fixed base (11) or the mounting bracket through the first transmission structure. The power input end of the first transmission structure is connected to the drive shaft of the yaw motor (31), and the power output end of the first transmission structure is fixedly connected to the fixed base (11) or the mounting bracket. The mounting bracket rotates under the counter-torque of the yaw motor (31), driving the laser ranging module (5) to move circumferentially along the first direction. The pitch motor (41) is fixedly mounted on the mounting bracket. The drive shaft of the pitch motor (41) is connected to the laser ranging module (5) via transmission. The laser ranging module (5) moves circumferentially along the second direction under the drive of the pitch motor (41). The first direction is perpendicular to the first direction.

2. The laser ranging device for material detection according to claim 1, characterized in that, The first transmission structure includes a coupling (12), the first end of which is fixedly connected to the fixed seat (11), and the second end of which is connected to the drive shaft of the yaw motor (31). The drive shaft of the yaw motor and the shaft of the mounting bracket are coaxially arranged.

3. The laser ranging device for material detection according to claim 2, characterized in that, The drive shaft of the pitch motor (41) is fixedly connected to the laser ranging module (5).

4. The laser ranging device for material detection according to claim 1, characterized in that, The first transmission structure includes a first driven wheel (32) fixedly mounted on a mounting frame. The axle of the first driven wheel (32) is coaxially arranged with the shaft of the mounting frame. The drive wheel of the yaw motor (31) is connected to the first driven wheel (32) in a transmission connection.

5. The laser ranging device for material detection according to claim 4, characterized in that, The drive shaft of the pitch motor (41) is connected to the laser ranging module (5) via a second transmission structure; The second transmission structure includes a second driven wheel (42) rotatably mounted on a mounting bracket. The axle of the second driven wheel (42) is perpendicular to the axle of the first driven wheel (32). The laser ranging module (5) is fixedly mounted on the second driven wheel (42). The drive wheel of the pitch motor (41) is connected to the second driven wheel (42) in a transmission connection.

6. The laser ranging device for material detection according to claim 5, characterized in that, The driving wheel and the first driven wheel (32) of the yaw motor (31) are both pulleys, and the driving wheel of the yaw motor (31) is connected to the first driven wheel (32) through a flexible belt; or, the driving wheel and the first driven wheel (32) of the yaw motor (31) are both gears, and the driving wheel of the yaw motor (31) is connected to the first driven wheel (32) through a gear pair. The driving wheel and the second driven wheel (42) of the pitch motor (41) are both pulleys, and the driving wheel of the pitch motor (41) is connected to the second driven wheel (42) through a flexible belt; or, the driving wheel and the second driven wheel (42) of the pitch motor (41) are both gears, and the driving wheel of the pitch motor (41) is connected to the second driven wheel (42) through a gear pair.

7. The laser ranging device for material detection according to claim 1, characterized in that, The laser ranging module (5) is located on the axis of the mounting bracket.

8. The laser ranging device for material detection according to claim 1, characterized in that, It also includes a first housing (81), a brush motor (71), and a brush (72); The first housing (81) is fixedly mounted on the laser ranging module (5). The first housing (81) has a transparent window (82) corresponding to the position of the transmitter head of the laser ranging module (5). The brush motor (71) is fixedly installed inside the first housing (81). The drive shaft of the brush motor (71) passes through the first housing (81) and is fixedly connected to the handle of the brush (72). The bristles of the brush (72) fit against the transparent window (82). The brush motor (71) drives the brush (72) to swing, and the bristles clean the transparent window (82).

9. The laser ranging device for material detection according to claim 1, characterized in that, It also includes a first photoelectric sensor (73) and a second photoelectric sensor (74); The first photoelectric sensor (73) is fixed on the mounting bracket, and a light shield (77) is fixed on the mounting base (11). During the rotation of the mounting bracket, the first photoelectric sensor (73) moves to the position corresponding to the light shield (77) and triggers the first photoelectric sensor (73). The second photoelectric sensor (74) is fixed on the mounting bracket. The laser ranging module (5) can rotate within the set pitch angle range. When the laser ranging module (5) rotates to the point where its transmitter head is vertically downward, the second photoelectric sensor (74) is triggered.

10. A material level monitoring system, characterized in that, include: A laser rangefinder for material detection as described in any one of claims 1 to 9; The cloud platform (91) communicates with the laser ranging device to receive the scanning data of the laser ranging module (5) when it moves circumferentially along the first and second directions, and to monitor the material level based on the scanning data.

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