CN110940963A

CN110940963A - Measurement module and autonomous mobile device

Info

Publication number: CN110940963A
Application number: CN201911360597.XA
Authority: CN
Inventors: 郭新友
Original assignee: Ecovacs Robotics Suzhou Co Ltd
Current assignee: Ecovacs Robotics Suzhou Co Ltd
Priority date: 2019-12-25
Filing date: 2019-12-25
Publication date: 2020-03-31

Abstract

The embodiment of the application provides a measurement module and autonomous mobile equipment. Wherein, measure the module and include: a protective cover having a closed protective cavity; the transmitting unit is accommodated in the protective cavity and used for transmitting a measuring signal, and the measuring signal penetrates through the protective cover to a measured environment; the receiving unit is accommodated in the protection cavity and used for receiving the reflection signal corresponding to the measurement signal; and the processing unit is electrically connected with the transmitting unit and the receiving unit and used for measuring the measured environment according to the measuring signal and the reflection signal. The technical scheme is provided, the transmitting unit and the receiving unit are accommodated in a closed protective cavity, and the occurrence probability that a measuring module is damaged or the measuring precision is influenced due to the fact that external substances enter the protective cavity is reduced; in addition, the protective cover has a smooth outer surface due to the fact that the hollow-out design is removed, and the probability of hanging the protective cover by objects such as external ropes can be reduced.

Description

Measurement module and autonomous mobile device

Technical Field

The application relates to the technical field of robots, in particular to a measuring module and an autonomous mobile device.

Background

The laser radar is used for scanning and detecting target obstacles or generating point cloud data of space objects and the like. As a high-precision sensor, the laser radar is widely used in the fields of sweeping robots, commercial service robots, and the like.

At present, in order to avoid influencing laser signals emitted by a laser radar, a laser radar protection cover on the upper part of a robot is usually designed in a hollow manner, and the laser radar protection cover is shown in fig. 1. The lidar of this type of robot is highly susceptible to failure; in addition, the hollowed-out design is easy to be hung by thread ropes and cloth objects.

Disclosure of Invention

In order to solve or improve the problem that current robot exists, this application embodiment provides a measurement module and autonomic mobile device.

In one embodiment of the present application, a measurement module is provided. This measurement module includes:

a protective cover having an enclosed protective cavity;

the transmitting unit is accommodated in the protective cavity and used for transmitting a measuring signal, and the measuring signal penetrates through the protective cover to a measured environment;

the receiving unit is accommodated in the protection cavity and used for receiving the reflection signal corresponding to the measurement signal;

and the processing unit is electrically connected with the transmitting unit and the receiving unit and used for measuring the measured environment according to the measuring signal and the reflection signal.

In another embodiment of the present application, an autonomous mobile device is provided. The autonomous mobile device includes:

a device body having an autonomous movement capability;

the measuring module is arranged on the equipment body and used for measuring the ambient environment parameters of the equipment body; wherein, the measurement module includes:

a protective cover having an enclosed protective cavity;

The embodiment of the application provides a technical scheme, a measurement signal transmitted by a transmitting unit and a reflected signal corresponding to the measurement signal received by a receiving unit are used for measuring a measured environment, and the transmitting unit and the receiving unit are accommodated in a closed protective cavity, so that the occurrence probability of the situation that a measurement module is damaged or the measurement precision is influenced due to the entry of external substances is reduced; in addition, the protective cover has a smooth outer surface due to the fact that the hollow-out design is removed, and the probability of hanging the protective cover by objects such as external ropes can be reduced.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required to be utilized in the description of the embodiments or the prior art are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present application, and other drawings can be obtained according to the drawings without creative efforts for those skilled in the art.

FIG. 1 is a structural diagram of a laser radar protection cover on the upper part of a conventional robot;

fig. 2 is a schematic structural diagram of a measurement module according to an embodiment of the present disclosure;

fig. 3 is a schematic diagram illustrating a measuring module applied to a robot to achieve distance measurement according to an embodiment of the present disclosure;

fig. 4 is an exploded view of a portion of a measurement module at least including a transmitter unit and a receiver unit according to an embodiment of the present disclosure;

FIG. 5 is a schematic view of an optical bench in a metrology module according to an embodiment of the present disclosure;

FIG. 6 is an exploded view of a portion of a metrology module including at least a protective cover, an optical base, and a rotating base according to an embodiment of the present disclosure;

fig. 7 is a schematic structural diagram of another view angle of the measurement module according to an embodiment of the present disclosure;

fig. 8 is a schematic external structural diagram of a measurement module according to an embodiment of the present application;

fig. 9 is an external structural diagram of an autonomous mobile apparatus according to an embodiment of the present application;

fig. 10 is a schematic partial cross-sectional view of an autonomous mobile apparatus according to an embodiment of the present application;

fig. 11 is a schematic flowchart of a measurement method according to an embodiment of the present application.

Detailed Description

As shown in fig. 1, most of Laser Direct Structuring (LDS) in the upper part of the current commercial sweeping robot adopts triangulation method for ranging. The principle of triangulation distance measurement is as follows: the laser emits infrared beams according to a certain angle, and the infrared beams are reflected back after encountering an object; after the reflected light is detected by a CCD (Charge coupled device) detector, the distance between the sensor and the obstacle is calculated based on the emission angle, the angle f of the filter, and the offset distance by using a trigonometric relationship. As shown in fig. 1, the protective cover of the laser radar LDS is designed to be hollow; foreign matters, dust, water and the like easily enter the robot from the hollow part, so that the LDS works inefficiently, and the goods returning or maintenance rate of the sweeping robot is increased. Meanwhile, the hollow design also has the risk that the hanging wire of the sweeping robot is blocked.

To this end, the present application proposes the following embodiments to solve or improve the problems of the prior art. In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application.

In some of the flows described in the specification, claims, and above-described figures of the present application, a number of operations are included that occur in a particular order, which operations may be performed out of order or in parallel as they occur herein. The sequence numbers of the operations, e.g., 101, 102, etc., are used merely to distinguish between the various operations, and do not represent any order of execution per se. Additionally, the flows may include more or fewer operations, and the operations may be performed sequentially or in parallel. It should be noted that, the descriptions of "first", "second", etc. in this document are used for distinguishing different messages, devices, modules, etc., and do not represent a sequential order, nor limit the types of "first" and "second" to be different. In addition, the embodiments described below are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

Fig. 2 shows a schematic structural diagram of a measurement module according to an embodiment of the present application. As shown in fig. 2, the measurement module includes: a transmitting unit 1, a receiving unit 2, a processing unit 17 and a protective cover 3. Wherein, the transmitting unit 1 is used for transmitting a measuring signal; the receiving unit 2 is configured to receive a reflected signal corresponding to the measurement signal; the processing unit 17 is electrically connected with the transmitting unit 1 and the receiving unit 2 and is used for measuring the environment to be measured according to the time difference between the measuring signal and the reflected signal; the protective cover 3 is provided with a closed protective cavity, and the transmitting unit 1 and the receiving unit 2 are both accommodated in the protective cavity. As shown in fig. 3, the measurement signal 4 penetrates the protective cover 3 into the measured environment; the measurement signal 4 propagating in the measured environment is reflected by a target 200 in the measured environment to generate the reflected signal 5. The reflected signal 5 penetrates the protective cover 3 from the outside into the protective cavity for reception by the receiving unit 2. In one embodiment, referring to the content in the dashed box in fig. 3, the processing unit 17 may calculate the distance between the measurement module (or the autonomous mobile device carrying the measurement module) and the reflective target 200 in the measured environment according to the time difference between the measurement signal and the reflective signal.

The embodiment provides a technical scheme, the measurement of the measured environment is completed by utilizing the measurement signal transmitted by the transmitting unit and the reflection signal corresponding to the measurement signal received by the receiving unit, and the transmitting unit and the receiving unit are accommodated in a closed protective cavity, so that the occurrence probability of the situation that the measurement module is damaged or the measurement precision is influenced due to the entry of external substances is reduced; in addition, the protective cover has a smooth outer surface due to the fact that the hollow-out design is removed, and the probability of hanging the protective cover by objects such as external ropes can be reduced.

In a practical implementation, see fig. 4 for an exploded view of the parts of the transmitter unit 1 and the receiver unit 2 of the measurement module. As shown in fig. 4, the measuring module further includes: a first optical lens 6 and a second optical lens 7. Wherein a first optical lens 6 is arranged in the emission direction of the emission unit 1; a second optical lens 7 is provided in the receiving direction of the receiving unit 2; the first optical lens 6 and the second optical lens 7 may be lenses having the same structure.

Specifically, referring to fig. 4, the transmitting unit 1 may include: a transmitting tube 102 and a transmitting circuit board 101; the transmitting tube 102 is disposed on the transmitting circuit board 101. The receiving unit 2 may include a photosensitive receiving tube 202 and a receiving circuit board 201; the photosensitive receiving tube 202 is disposed on the receiving circuit board 201.

Further, as shown in fig. 1 and 4, the transmitting unit 1 and the receiving unit 2 are arranged side by side in the horizontal direction; an isolation component 8 is arranged between the transmitting unit 1 and the receiving unit 2; the isolation member 8 is grounded. Specifically, the isolation component 8 is electrically connected to the ground line of the receiving unit 2, which helps to reduce electromagnetic interference between the transmitting unit 1 and the receiving unit 2. In a specific example, the isolation member 8 between the transmitting unit 1 and the receiving unit 2 may be a metal baffle. The embodiment can greatly reduce the system noise by arranging the metal baffle between the transmitting unit and the receiving unit, and is beneficial to improving the measurement precision of the measurement module. In specific implementation, as shown in the example shown in fig. 4, the measurement module further includes an optical base 9, and the transmitting unit 1 and the receiving unit 2 are both disposed on the optical base 9. The optical base 9 is provided with a metal barrier (i.e., a spacer member 8) which is located between the transmitting unit 1 and the receiving unit 2. The metal baffle plate is also required to be electrically connected with the ground wire of the receiving unit 2 so as to reduce the electromagnetic interference between the transmitting unit and the receiving unit. In addition, in a specific implementation, the applicant found that: because the electromagnetic interference generated by the extremely short large current pulse generated by the transmitting unit 1 greatly affects the measurement precision and stability, the decoupling capacitor can be added in the measurement circuit of the measurement module to reduce the influence of the interference electromagnetism on the measurement precision.

With continued reference to fig. 4, the measurement module further includes an optical bench 9. The optical base 9 is provided with a transmitting lens cone 91 and a receiving lens cone 92; the emitting unit 1 is arranged on the optical base 9, and the emitting lens barrel 91 is positioned at a signal emitting end of the emitting unit 1; the receiving unit 2 is arranged on the optical base 9, and the receiving lens barrel 92 is positioned at a signal receiving end of the receiving unit 2; the walls of the transmitting lens barrel 91 and the receiving lens barrel 92 both have a light extinction structure. The tube walls of the transmitting lens barrel and the receiving lens barrel are provided with at least one of the following structures: dull thread and dull paint layer. Referring to fig. 5, the barrel walls of the transmitting barrel 91 and the receiving barrel 92 of the optical base 9 are provided with extinction threads 900. More specifically, as shown in fig. 5, the wall of the transmitting lens barrel 91 is divided into four regions along a circumferential direction perpendicular to the signal transmitting direction, and the two opposite regions are provided with the extinction threads 900. For example, in fig. 5, the four regions of the wall of the emission lens barrel 91 include: a first region 911 located above said horizontal plane 300, a second region 912 located below said horizontal plane 300, a third region 913 intersecting said horizontal plane 300, and a fourth region 914 opposite to said third region 913. The first region 911 is adjacent to the third region 913, the third region 913 is adjacent to the second region 912, the second region 912 is adjacent to the fourth region 914, and the fourth region 914 is adjacent to the first region 911. The third region 913 and the fourth region 914 are provided with the extinction threads 900. Similarly, the arrangement position of the extinction threads on the cylinder wall of the receiving lens cylinder 92 can be similar to that of the transmitting lens cylinder 91. Specifically, as shown in fig. 5, four regions are divided along a circumferential direction perpendicular to a signal transmission direction, and the two opposite regions are provided with the extinction threads 900. For example, in fig. 5, the four regions of the cylinder wall of the receiving cylinder 92 include: a fifth zone 921 located above the horizontal plane 300, a sixth zone 922 located below the horizontal plane 300, a seventh zone 923 intersecting the horizontal plane 300, and an eighth zone 924 opposite the seventh zone 923. The fifth region 921 is adjacent to the seventh region 923, the seventh region 923 is adjacent to the sixth region 922, the sixth region 922 is adjacent to the eighth region 924, and the eighth region 924 is adjacent to the fifth region 921. And the seventh region 923 and the eighth region 924 are provided with extinction threads 900.

In the technical scheme provided by this embodiment, the transmitting unit 1, the receiving unit 2, the optical base 9, the first optical lens 6 and the second optical lens 7 can be accommodated in the protective cover 3, and the totally enclosed protective cover 3 covers these components, so that the occurrence probability of damage to the measurement module or influence on the measurement accuracy caused by the entry of foreign substances can be effectively reduced.

The first optical lens 6 and the second optical lens 7 may be composed of one or more lenses, and may have a focusing function, and the specific structure is not particularly limited in this embodiment.

Further, as shown in fig. 2, the measuring module may further include a wireless power supply unit 11. The wireless power supply unit 11 is configured to provide a power supply signal generated in a wireless manner to the transmitting unit 1, the receiving unit 2, and the processing unit 17. Wherein the wireless power supply unit includes: a first coil 111 and a second coil 112. The first coil 111 generates alternating current after being connected with power supply current; and a second coil 112, which is arranged corresponding to the first coil 111 to induce and generate a wireless power supply signal.

As shown in fig. 2, the first coil 111 is coaxial with the coil axis of the second coil 112 and is arranged along the coil axis. As shown in the orientation of fig. 2, the first coil 111 and the second coil 112 are arranged up and down to replace an inner coil and an outer coil, so that the wireless conversion efficiency can be improved, and the temperature rise of the system can be reduced; the cost is reduced, and the product volume is reduced.

Further, the gap between the first coil 111 and the second coil 112 may be zero or may not be zero. Specifically, when there is a gap between the first coil 111 and the second coil 112, the gap needs to be determined according to the size, the number of turns, and other factors of the first coil 111 and the second coil 112. For example, the first coil 111 and the second coil 112 are both: a coil with an outer diameter of 14.0mm and a height of 4.2 mm; the gap H between the first coil 111 and the second coil 112 may be 0-0.5mm, for example, the gap H between the first coil 111 and the second coil 112 is 0.2mm, 0.45mm, etc.

Further, the second coil 112 and the processing unit 17 may be integrated on the first circuit board 12 to supply power to the processing unit 17 through the first circuit board 12.

The environment is usually detected in multiple angles and in all directions, so the transmitting unit 1 and the receiving unit 2 in the measuring module need to rotate. Specifically, as shown in fig. 2, the measurement module further includes: the base 13 is rotated. The rotating base 13 can rotate around a rotating shaft 130, and the transmitting unit 1 and the receiving unit 2 are disposed on the rotating base 13 to be linked with the rotating base 13 to perform full-angle measurement on the environment to be measured. The second coil 12 is disposed on a second fixed seat 14, and the second fixed seat 14 is rotatably connected to the rotating base 13. Specifically, as shown in fig. 2, the second fixing seat 14 is clamped into an inner ring of a bearing 15, and the bearing 15 is disposed on the rotating base 13. When the rotating base 13 rotates, the bearing 15 is fixed by the outer ring of the bearing 15 rotating with the rotating base 13, so as to keep the second coil 112 and the first circuit board 12 stationary.

Referring to fig. 6, fig. 6 is an exploded view of a measuring module including a transmitting unit, a receiving unit, an optical base, a protective cover, a rotating base, and the like. In fig. 6, the optical base 9 is mounted on the rotating base 13 by a fastener (e.g., a screw). The protective cover 3 covers the optical base to contain the transmitting unit and the receiving unit in a closed protective cavity. As shown in fig. 6, two windows are disposed on the protective cover 3 at positions corresponding to the transmitting end of the transmitting unit and the receiving end of the receiving unit, respectively, and a glass lens or a plastic lens is disposed at the two windows, which is not limited in this embodiment.

Further, referring to fig. 7, the first coil 111 is integrated on the second circuit board 16; the measuring module further comprises a driving component, and the driving component is electrically connected with the second circuit board 16 so as to receive a control signal through the second circuit board 16 and drive the rotating base 13 to act according to the control signal. In a specific implementation example, as shown in fig. 7, the driving assembly includes: motor 18, motor pulley 20 and drive belt 19. The motor 18 drives the motor belt wheel 20 to rotate; the transmission belt 19 is sleeved on the motor pulley 20 and the periphery of the rotating base 13.

Further, the processing unit 17 can transmit the result of the measured environment to the second circuit board 16 in a wireless manner. For example, the first circuit board 12 and the second circuit board 16 are respectively provided with a transmitting diode and a receiving diode; the transmitting diode transmits an optical pulse signal to the receiving diode to transmit the measurement result obtained by the processing unit 17.

In particular, the receiving unit 2 may receive the reflected signal using an avalanche photodiode (APD, a type of semiconductor photodetector). Accordingly, the processing unit may include: a first chip containing TIA (Transampedance amplifier) and comparator, and a second chip. The first chip is electrically connected with the second chip, the receiving unit 2 receives signals by using the APD, and then the signals are processed by the first chip, so that system noise can be reduced, system precision can be improved, and cost can be reduced. The second chip receives the data information output by the first chip, calculates the time difference between the measurement signal and the reflected signal, and then calculates the distance according to the time difference; the calculation result is then sent to the second circuit board 16.

Fig. 8 shows an external structural schematic diagram of the measurement module provided in this embodiment. As can be seen in fig. 8, the exposed components include at least: a protective cover 3, a motor pulley 20, a rotating base 13, etc. The protection cavity of the protection cover 3 at least comprises a transmitting unit and a receiving unit; and the protective cover 3 is not provided with a hollow design, so that the whole protective cover is smooth and not easy to be hooked by an external object. The measuring device provided by the embodiment can be applied to various devices needing environment measurement, such as a sweeping robot, an autonomous moving trolley used for transporting or loading a camera and the like.

Fig. 9 shows a schematic structural diagram of an autonomous mobile device according to an embodiment of the present application. As shown in fig. 9, the autonomous moving apparatus includes an apparatus body 61 and a measurement module 62. Wherein, the apparatus body 61 has an autonomous traveling capability; and the measuring module 62 is arranged on the equipment body 61 and used for measuring the ambient environment parameters of the equipment body 61. The measurement module 62 in this embodiment may adopt the structure described in the above embodiments. Referring to fig. 2, the measuring module includes: a transmitting unit 1, a receiving unit 2, a processing unit 17 and a protective cover 3. Wherein, the transmitting unit 1 is used for transmitting a measuring signal; the receiving unit 2 is configured to receive a reflected signal corresponding to the measurement signal; the processing unit 17 is electrically connected with the transmitting unit 1 and the receiving unit 2 and is used for measuring the environment to be measured according to the time difference between the measuring signal and the reflected signal; the protective cover 3 is provided with a closed protective cavity, and the transmitting unit 1 and the receiving unit 2 are both accommodated in the protective cavity. As shown in fig. 3, the measurement signal 4 penetrates the protective cover 3 into the measured environment; the measurement signal 4 propagating in the measured environment is reflected by a target 200 in the measured environment to generate the reflected signal 5. The reflected signal 5 penetrates the protective cover 3 from the outside into the protective cavity for reception by the receiving unit 2. In one embodiment, referring to the content in the dashed box in fig. 3, the processing unit 17 may calculate the distance between the measurement module (or the autonomous mobile device carrying the measurement module) and the reflective target 200 in the measured environment according to the time difference between the measurement signal and the reflective signal.

Here, it should be noted that: the measurement module 61 in this embodiment can be implemented by adopting the technical solutions provided in the above embodiments. Specifically, see fig. 4 for an exploded view of the transmitting unit 1 and the receiving unit 2 in the measurement module. As shown in fig. 4, the measuring module further includes: a first optical lens 6 and a second optical lens 7. Wherein a first optical lens 6 is arranged in the emission direction of the emission unit 1; a second optical lens 7 is provided in the receiving direction of the receiving unit 2; the first optical lens 6 and the second optical lens 7 may be lenses having the same structure.

Further, referring to fig. 4, the transmitting unit 1 may include: a transmitting tube 102 and a transmitting circuit board 101; the transmitting tube 102 is disposed on the transmitting circuit board 101. The receiving unit 2 may include a photosensitive receiving tube 202 and a receiving circuit board 201; the photosensitive receiving tube 202 is disposed on the receiving circuit board 201.

As shown in fig. 1 and 4, the transmitting unit 1 and the receiving unit 2 are arranged side by side in the horizontal direction; an isolation component 8 is arranged between the transmitting unit 1 and the receiving unit 2; the isolation member 8 is grounded. Specifically, the isolation component 8 is electrically connected to the ground line of the receiving unit 2, which helps to reduce electromagnetic interference between the transmitting unit 1 and the receiving unit 2. In a specific example, the isolation member 8 between the transmitting unit 1 and the receiving unit 2 may be a metal baffle. The embodiment can greatly reduce the system noise by arranging the metal baffle between the transmitting unit and the receiving unit, and is beneficial to improving the measurement precision of the measurement module. In specific implementation, as shown in the example shown in fig. 4, the measurement module further includes an optical base 9, and the transmitting unit 1 and the receiving unit 2 are both disposed on the optical base 9. The optical base 9 is provided with a metal barrier (i.e., a spacer member 8) which is located between the transmitting unit 1 and the receiving unit 2. The metal baffle plate is also required to be electrically connected with the ground wire of the receiving unit 2 so as to reduce the electromagnetic interference between the transmitting unit and the receiving unit. In addition, in a specific implementation, the applicant found that: because the electromagnetic interference generated by the extremely short large current pulse generated by the transmitting unit 1 greatly affects the measurement precision and stability, the decoupling capacitor can be added in the measurement circuit of the measurement module to reduce the influence of the interference electromagnetism on the measurement precision.

Further, as shown in fig. 10, a through hole is formed in the top of the device body 61 of the autonomous moving device; the measuring module 62 is disposed at the through hole, partially disposed in the device body 61, and partially exposed. Specifically, the protective cover 3 of the measurement module 62 is arranged at the hole of the through hole and connected with the device body 61, so that the protective cavity of the protective cover 3 is communicated with the inner cavity of the device body 61.

Further, the measurement module is a distance measuring device based on TOF.

Based on the hardware structure provided by the above embodiment, another embodiment of the present application further provides a measurement method. As shown in fig. 11, the measurement method includes:

101. controlling a transmitting unit accommodated in the closed protection cavity to transmit a first measuring signal, wherein the first measuring signal penetrates through the protection cover to the detected environment;

102. under the condition that a receiving unit accommodated in a closed protection cavity receives a first reflection signal, acquiring the time difference between the transmitting time of the first measurement signal and the receiving time of the first reflection signal;

wherein the first reflection signal is obtained by reflecting the first measurement signal by a target object in the measured environment.

103. And calculating the distance from the first target object according to the time difference.

In specific implementation, the time when the transmitting unit sends the measurement signal starts timing, the receiving unit stops timing when the receiving unit receives the reflection signal, and the time recorded by the timer is time difference. Based on the time difference and the signal propagation velocity (i.e., the light propagation velocity), the distance to the target object can be calculated.

Further, the measurement method further includes:

104. controlling the driving component to act so as to drive the rotating base to rotate for an angle to reach a first angle position;

105. after the rotating base rotates to the first angle position, the transmitting unit is controlled to transmit a second measuring signal;

106. and under the condition that the receiving unit receives the second reflection signal, acquiring the time difference between the transmitting time of the second measurement signal and the receiving time of the second reflection signal, and calculating the distance from the second target object according to the time difference.

Wherein the second reflected signal is a result of the second measurement signal being reflected via a second target object in the measured environment. The first target object and the second target object may be two different obstacles, or two different positions on the same obstacle.

The execution main body of the measurement method provided by the embodiment may be: a processor of an autonomous mobile device (e.g., a service robot, a sweeping robot, etc.).

The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.

Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions in the embodiments of the present application.

Claims

1. A measurement module, comprising:

a protective cover having a closed protective cavity;

2. The measurement module according to claim 1,

a first optical lens is arranged in the emission direction of the emission unit;

a second optical lens is disposed in a receiving direction of the receiving unit;

the first optical lens and the second optical lens are lenses with the same structure.

3. The measurement module according to claim 1,

the transmitting unit and the receiving unit are arranged side by side in the horizontal direction;

an isolation component is arranged between the transmitting unit and the receiving unit;

the isolation member is electrically connected to a ground line of the receiving unit.

4. The measurement module of claim 1, further comprising an optical base;

the optical base is provided with a transmitting lens cone and a receiving lens cone;

the transmitting lens barrel is positioned at a signal transmitting end of the transmitting unit;

the receiving lens cone is positioned at a signal receiving end of the receiving unit;

the cylinder walls of the transmitting lens barrel and the receiving lens barrel are provided with extinction processing structures.

5. The measurement module according to claim 4, wherein the walls of the transmitting and receiving barrels are each provided with at least one of the following:

dull thread and dull paint layer.

6. The measurement module according to any one of claims 1 to 5, further comprising:

the wireless power supply unit is used for providing power supply signals generated in a wireless mode for the transmitting unit, the receiving unit and the processing unit;

wherein the wireless power supply unit includes:

the first coil is connected with the power supply current to generate alternating current;

and the second coil is arranged corresponding to the first coil so as to induce and generate a wireless power supply signal.

7. The measurement module of claim 6, wherein the coil axes of the first and second coils are coaxial and are arranged along the coil axis.

8. The measurement module according to claim 7,

a gap exists between the first coil and the second coil.

9. The measurement module according to claim 7, wherein the second coil and the processing unit are integrated on a first circuit board for powering the processing unit via the first circuit board.

10. The measurement module of claim 7, further comprising:

the transmitting unit and the receiving unit are arranged on the rotating base so as to be linked with the rotating base and rotate along with the rotating base to carry out full-angle measurement on the environment to be measured;

the second coil is arranged on a second fixed seat, and the second fixed seat is rotatably connected with the rotating base.

11. The measurement module of claim 10,

the first coil is integrated on the second circuit board;

the measuring module further comprises a driving assembly, and the driving assembly is electrically connected with the second circuit board so as to receive a control signal through the second circuit board and drive the rotating base to act according to the control signal.

12. The measurement module of claim 11, wherein the processing unit sends the measurement result of the measured environment to the second circuit board via an infrared signal.

13. An autonomous mobile device, comprising:

a device body having an autonomous movement capability;

a protective cover having an enclosed protective cavity;

14. The autonomous mobile apparatus of claim 13 wherein the case of the apparatus body is provided with a through hole;

the measuring module is arranged at the through hole, one part of the measuring module is arranged in the equipment body, and the other part of the measuring module is exposed outside.

15. The autonomous mobile apparatus of claim 14 wherein the protective cover is connected to the apparatus body at an aperture of the through hole such that a protective cavity of the protective cover is in communication with the apparatus body internal cavity.

16. The measurement module of claim 13,

17. The measurement module of claim 13,

18. The measurement module of claim 13, further comprising an optical base;

19. The measurement module according to claim 18, wherein the walls of the transmitting and receiving barrels are each provided with at least one of the following:

dull thread and dull paint layer.

20. The measurement module of any of claims 13 to 19, further comprising:

wherein the wireless power supply unit includes:

21. The measurement module of claim 20, wherein the coil axes of the first and second coils are coaxial and are arranged along the coil axis.

22. The measurement module of claim 21,

a gap exists between the first coil and the second coil.

23. The measurement module of claim 21, wherein the second coil and the processing unit are integrated on a first circuit board to power the processing unit through the first circuit board.

24. The measurement module of claim 21, further comprising:

25. The measurement module of claim 24,

the first coil is integrated on the second circuit board;

26. The measurement module of claim 25, wherein the processing unit sends the measurement of the measured environment to the second circuit board via an infrared signal.