Flatness detection device

Abstract

The present disclosure provides a flatness detection device applied to a laser radar, comprising a base, a support seat arranged on the base and used for carrying the laser radar, a range finder arranged relative to the support seat, and a controller connected with the support seat and the range finder respectively, and used for controlling the support seat to rotate around a rotation axis and controlling the range finder to measure distances from different positions in a plane of the laser radar. Through the above technical solution, the flatness of the assembly plane of the laser radar of the cleaning robot can be detected to detect the laser radar with non-standard flatness, so that the laser radar after installation can more accurately obtain a map, the rework caused by non-standard flatness is avoided, and the production efficiency is improved.

Description

Technical Field

[0001] This disclosure relates to the field of flatness testing technology, and in particular to a flatness testing device. Background Technology

[0002] The cleaning robot is equipped with a lidar sensor located on top of the machine. During cleaning, it continuously rotates and emits laser beams in all directions. When the laser hits an object, it reflects back and is received by the lidar. By calculating the time it takes for the laser to travel from emission to return, the distance to surrounding obstacles can be precisely calculated. Through thousands of scans per second, the robot can build a real-time map of the entire room.

[0003] In the existing technology, there is no flatness inspection process before installing the LiDAR on the cleaning robot. When the flatness of the assembly plane where the LiDAR and the cleaning robot are installed is not up to standard, it will affect the acquisition of the map and require rework and reassembly. Utility Model Content

[0004] The main purpose of this application is to provide a flatness detection device to solve the problem of rework and reassembly of cleaning robots due to substandard flatness of the assembly plane after the installation of lidar.

[0005] To address the aforementioned technical problems, this disclosure provides a flatness detection device for use with a lidar system, comprising: a base; a support base disposed on the base and used to support the lidar system; a rangefinder disposed on the base relative to the support base; and a controller connected to the support base and the rangefinder, wherein the controller controls the rotation of the support base and controls the rangefinder to measure the distance between the rangefinder and different positions on the assembly plane of the lidar system.

[0006] In some embodiments, the top of the support base is provided with a recess and a limiting groove, the limiting groove being arranged circumferentially at intervals on the outer periphery of the recess.

[0007] In some embodiments, a bracket is provided on the base, and the rangefinder is mounted on the bracket.

[0008] In some embodiments, an origin detector is also included, which is disposed on the base.

[0009] In some embodiments, a support column is connected to the lower part of the support base, and a test rod is provided on one side of the support column, the test rod being positioned relative to the origin detector.

[0010] In some embodiments, the origin detector includes a light emitting part and a light sensing part, which are disposed opposite to each other; the origin detector is configured to detect the number of times the test rod passes between the light emitting part and the light sensing part, so as to detect the number of rotations of the support.

[0011] In some embodiments, a driving component is provided inside the base, and the driving component is fixedly connected to the support column.

[0012] In some embodiments, a display is provided on the base, and the display is connected to the controller.

[0013] In some embodiments, the base includes a horizontal portion and a vertical portion, the vertical portion being disposed perpendicular to the horizontal portion, and the display being disposed on the vertical portion.

[0014] In some embodiments, the controller is disposed inside the base.

[0015] The above technical solution can be used to detect the flatness of the LiDAR plane of a cleaning robot, thereby detecting LiDARs whose flatness does not meet the standard. This ensures that the installed LiDAR can acquire maps more accurately, avoids rework due to substandard flatness, and improves production efficiency. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of this disclosure or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this disclosure. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a schematic diagram of the flatness detection device disclosed in this embodiment; Figure 2 This is an exploded view of a portion of the structure of the flatness detection device disclosed in this embodiment; Figure 3 This is a schematic diagram of the structure of the support base, origin detector, and test rod disclosed in the embodiments of this disclosure.

[0018] Explanation of reference numerals in the attached figures: 1-Base, 2-Support, 3-Range meter, 4-Bracket, 5-Test rod, 6-Origin detector, 7-Driver, 8-Display, 9-Horizontal part, 10-Vertical part, 11-Recessed part, 12-Limiting groove, 13-Light emitting part, 14-Photosensor, 15-Lidar, 16-Support column. Detailed Implementation

[0019] The embodiments of this disclosure will be further described in detail below with reference to the accompanying drawings and examples. The detailed description of the embodiments and the accompanying drawings are used to illustrate the principles of this disclosure by way of example, but should not be used to limit the scope of this disclosure. This disclosure can be implemented in many different forms and is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

[0020] These embodiments are provided to make the disclosure thorough and complete, and to fully express the scope of the disclosure to those skilled in the art. It should be noted that, unless otherwise specifically stated, the relative arrangement of components and steps, material composition, numerical expressions, and values ​​set forth in these embodiments should be interpreted as exemplary only and not as limiting.

[0021] It should be noted that, in the description of this disclosure, unless otherwise stated, "a plurality of" means two or more; the terms "upper," "lower," "left," "right," "inner," and "outer," etc., indicating orientation or positional relationship, are only for the convenience of describing this disclosure and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this disclosure. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0022] Furthermore, the terms "first," "second," and similar terms used in this disclosure do not indicate any order, quantity, or importance, but are merely used to distinguish different parts. "Vertical" is not strictly vertical, but within the permissible margin of error. "Parallel" is not strictly parallel, but within the permissible margin of error. Terms such as "including" or "contains" mean that the element preceding the word encompasses the element listed after the word, and do not exclude the possibility of encompassing other elements as well.

[0023] It should also be noted that, in the description of this disclosure, unless otherwise expressly specified and limited, the terms "installed," "connected," and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this disclosure depending on the specific circumstances. When a particular device is described as being located between a first device and a second device, an intermediary device may or may not be present between the particular device and the first or second device.

[0024] All terms used in this disclosure have the same meaning as understood by one of ordinary skill in the art to which this disclosure pertains, unless otherwise specifically defined. It should also be understood that terms defined in general dictionaries should be interpreted as having meanings consistent with their meanings in the context of the relevant art, and not as idealized or highly formalized, unless expressly defined herein.

[0025] Techniques, methods, and equipment known to those skilled in the art may not be discussed in detail, but where appropriate, they should be considered part of the specification.

[0026] refer to Figures 1-3 As shown, this solution provides a flatness detection device for detecting the flatness of the assembly plane of a lidar system. Specifically, the detection device includes a base 1, a support 2, and a rangefinder 3. Both the support 2 and the rangefinder 3 are mounted on the base 1, with the rangefinder 3 positioned relative to the support 2. The support 2 supports the lidar system. The detection device also includes a controller, with the support 2 and the rangefinder 3 connected to it. The controller controls the rotation of the support 2 and the measurement of the distance between the support 2 and different positions on the assembly plane of the lidar system by the rangefinder 3. Specifically, the support 2 rotates about a rotation axis, which is the vertical center line of the support 2.

[0027] LiDAR is used in cleaning robots (such as sweeping robots and washing and mopping robots), and its assembly plane is the surface that is installed and mated with the cleaning robot.

[0028] When the lidar to be tested is mounted on the support 2, the assembly surface of the lidar needs to be exposed to the outside.

[0029] The base 1 serves as the supporting foundation for the flatness detection device, and the support seat 2 is rotatably mounted on the base 1. When the support seat 2 rotates around the rotation axis, it also causes the lidar 15 it supports to rotate around the rotation axis, and in particular, it causes the assembly plane of the lidar 15 to rotate around the rotation axis.

[0030] The rangefinder 3 can detect the distance between itself and a point on the assembly plane of the lidar 15. As the lidar 15 rotates around its axis of rotation, its assembly plane also moves relative to the rangefinder 3, allowing the rangefinder 3 to detect the distance between itself and different points on the assembly plane. By comparing the distances between the rangefinder 3 and different points on the assembly plane, the flatness of the assembly plane of the lidar 15 can be detected.

[0031] In addition, the controller is used to control the rotation of the support 2 around the rotation axis, and can control the rangefinder 3 to measure the distance to different positions on the assembly plane of the lidar, thereby calculating the flatness of the assembly plane based on the measured distance data to determine whether it meets the standard.

[0032] This solution can be used to detect the flatness of the assembly plane of the LiDAR of the cleaning robot, so as to detect LiDARs whose flatness does not meet the standard, ensuring that the installed LiDAR can acquire maps more accurately, avoiding rework due to non-compliance with flatness standards, and improving production efficiency.

[0033] In some embodiments, the support base 2 is configured such that the assembly plane of the lidar it supports is perpendicular to the rotation axis. In this embodiment, as the support base 2 rotates around the rotation axis, the assembly plane remains essentially within its initial plane, ensuring that the distances detected by the rangefinder 3 to various points on the assembly plane remain substantially consistent (when the flatness meets the standard), simplifying the judgment process. The assembly plane of the lidar 15 can be approximately circular, and its central axis can be the rotation axis.

[0034] In some embodiments, reference is made to Figure 3 As shown, the top of the support base 2 is provided with a recess 11 and circumferentially spaced limiting grooves 12 on the outer periphery of the recess 11. The recess 11 and the limiting grooves 12 are used to accommodate the lidar. The recess 11 is generally circular to accommodate the generally circular lidar 15. The limiting grooves 12 are located on the sidewall of the recess 11. The protruding structures on the outer periphery of the lidar 15 can be accommodated in the limiting grooves 12. By limiting the lidar 15, rotation of the lidar 15 relative to the recess 11 can be prevented. The lidar 15 is accommodated in the recess 11 and the limiting grooves 12, and its assembly plane can be located at the top and exposed to the outside.

[0035] In some embodiments, the rangefinder 3 is eccentrically positioned relative to the rotation axis. The rangefinder 3 has a certain radial distance from the rotation axis, and the point on the assembly plane measured by the rangefinder 3 also has a certain radial distance from the rotation axis. Furthermore, the line connecting the point on the assembly plane measured by the rangefinder 3 and the rangefinder 3 can be perpendicular to the assembly plane.

[0036] In some embodiments, a bracket 4 is provided on the base 1, and the rangefinder 3 is mounted on the bracket 4. The bracket 4 supports the rangefinder 3 to maintain a certain distance from the support base 2, particularly the assembly plane of the lidar 15 on the support base 2.

[0037] In some embodiments, the flatness detection device for the lidar further includes an origin detector 6, which is mounted on the base 1. The origin detector 6 can detect the origin of the support 2. As the support 2 rotates around its axis of rotation, the origin detector 6 determines the number of rotations of the support 2 based on the detected position of the origin. The origin detector 6 can determine whether the origin of the support 2 has completed a full rotation, ensuring that the rangefinder 3 can accurately measure the distance of one point on the assembly plane of the lidar.

[0038] In some embodiments, a support column 16 is connected to the lower part of the support base 2, and a test rod 5 is provided on one side of the support column 16. The test rod 5 is positioned opposite the origin detector 6. The support column 16 is connected to the bottom of the support base 2, and the test rod 5 is connected to the side of the support column 16. It can serve as a component for marking the origin. The origin detector 6 can be used to detect the test rod 5 to determine the number of rotations of the support base 2.

[0039] In some embodiments, the origin detector 6 includes a light emitting unit 13 and a light sensing unit 14, which are arranged opposite to each other. The origin detector 6 is configured to detect the number of times the test rod 5 passes between the light emitting unit 13 and the light sensing unit 14, thereby detecting the number of rotations of the support base 2. As the support base 2 rotates, the test rod 5 also rotates around the rotation axis. When the test rod 5 reaches between the light emitting unit 13 and the light sensing unit 14, it can block the light signal emitted by the light emitting unit 13. At this time, the light sensing unit 14 cannot sense the corresponding light signal. When the test rod 5 leaves the space between the light emitting unit 13 and the light sensing unit 14, the light sensing unit 14 can sense the corresponding light signal. Thus, the number of rotations of the test rod 5 around the rotation axis can be determined. When measuring the flatness of the assembly plane of the lidar, the test rod 5 can be positioned between the light emitting part 13 and the light sensing part 14. When the support 2 rotates until the test rod 5 reaches the light emitting part 13 and the light sensing part 14 again, the support 2 can be determined to have rotated a full number of revolutions through photoelectric coupling, thus completing the distance measurement of a point on the assembly plane that has rotated a full number of revolutions.

[0040] In other embodiments, the origin detector 6 can also be a light sensor, and a light emitter can be provided on the outer periphery of the support 2. When the support 2 rotates to a specific position, the light signal emitted by the light emitter can be detected by the light sensor. When the support 2 rotates away from the specific position, the light sensor cannot detect the light signal. Thus, the number of rotations of the support 2 can also be determined.

[0041] In some embodiments, a driving component 7 is disposed inside the base 1, and the driving component 7 is fixedly connected to the support column 16. The output shaft of the driving component 7 can be driven to the support column 16 to drive the support base 2 to rotate around the rotation axis. The driving component 7 can be a motor, engine, hydraulic motor, etc.

[0042] In some embodiments, a display 8 is provided on the base 1, and the display 8 is connected to the controller. The controller can transmit the distance information detected by the rangefinder 3 and the calculated flatness information to the display 8 for display, so that the operator can read it and determine whether the flatness of the assembly surface of the lidar meets the standard.

[0043] In some embodiments, the base 1 includes a horizontal portion 9 and a vertical portion 10, the vertical portion 10 being disposed perpendicular to the horizontal portion 9, and the display 8 being disposed on the vertical portion 10. (Reference) Figure 1 As shown, the horizontal part 9 is roughly formed into a hexahedral structure, the vertical part 10 is located on part of the top surface of the horizontal part 9 and extends upward, the vertical part 10 is perpendicular to the horizontal part 9, the vertical part 10 is also roughly formed into a hexahedral structure, the display 8 is set on the side of the vertical part 10, and the support base 2, the origin detector 6, etc. are located on the top surface of the horizontal part 9.

[0044] In some embodiments, the controller is disposed inside the base 1. The controller may be disposed in the horizontal portion 9 or the vertical portion 10.

[0045] The embodiments of this disclosure have now been described in detail. To avoid obscuring the concept of this disclosure, some details known in the art have not been described. Those skilled in the art can fully understand how to implement the technical solutions disclosed herein based on the above description.

[0046] While specific embodiments of this disclosure have been described in detail by way of examples, those skilled in the art should understand that the examples are for illustrative purposes only and not intended to limit the scope of this disclosure. Those skilled in the art should understand that modifications can be made to the above embodiments or equivalent substitutions can be made to some technical features without departing from the scope and spirit of this disclosure. In particular, as long as there is no structural conflict, the technical features mentioned in the various embodiments can be combined in any manner.

Claims

1. A flatness detection device, applied to lidar, characterized in that, include: Base (1); Support base (2), the support base (2) is disposed on the base (1), and the support base (2) is used to support the lidar; Rangefinder (3), which is mounted on the base (1) relative to the support (2); The controller is connected to the support base (2) and the rangefinder (3) respectively. The controller is used to control the rotation of the support base (2) and control the rangefinder (3) to measure the distance between the rangefinder (3) and different positions in the assembly plane of the lidar.

2. The flatness detection device according to claim 1, characterized in that, The top of the support base (2) is provided with a recess (11) and a limiting groove (12), and the limiting groove (12) is arranged circumferentially at intervals on the outer periphery of the recess (11).

3. The flatness detection device according to claim 1, characterized in that, A bracket (4) is provided on the base (1), and the rangefinder (3) is provided on the bracket (4).

4. The flatness detection device according to claim 1, characterized in that, It also includes an origin detector (6), which is disposed on the base.

5. A flatness detection device according to claim 4, characterized in that, A support column (16) is connected to the bottom of the support base (2), and a test rod (5) is provided on one side of the support column (16). The test rod (5) is positioned relative to the origin detector (6).

6. A flatness detection device according to claim 5, characterized in that, The origin detector (6) includes a light emitting part (13) and a light sensing part (14), which are arranged opposite to each other; the origin detector (6) is configured to detect the number of times the test rod (5) passes between the light emitting part (13) and the light sensing part (14) to detect the number of rotations of the support base (2).

7. A flatness detection device according to claim 5, characterized in that, The base (1) is provided with a driving component (7), which is fixedly connected to the support column (16).

8. A flatness testing device according to claim 1, characterized in that, A display (8) is provided on the base (1), and the display (8) is connected to the controller.

9. A flatness detection device according to claim 8, characterized in that, The base (1) includes a horizontal part (9) and a vertical part (10), the vertical part (10) is disposed perpendicular to the horizontal part (9), and the display (8) is disposed on the vertical part (10).

10. A flatness testing device according to any one of claims 1 to 9, characterized in that, The controller is located inside the base (1).

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