CN112904309A

CN112904309A - Laser radar and robot of sweeping floor

Info

Publication number: CN112904309A
Application number: CN202110282625.1A
Authority: CN
Inventors: 顾进军; 其他发明人请求不公开姓名
Original assignee: Suzhou Futongxin Technology Co ltd
Current assignee: Wang Fei
Priority date: 2021-03-16
Filing date: 2021-03-16
Publication date: 2021-06-04

Abstract

The invention relates to the technical field of household appliances, in particular to a laser radar and a sweeping robot. The laser radar comprises a shell, a reflector and a radar device capable of transmitting and receiving laser; the shell is provided with an inner cavity and an opening communicated with the inner cavity, the radar device and the reflector are both arranged in the inner cavity, the radar device is fixedly connected to the shell, and the reflector is pivoted to the shell and can rotate relative to the shell; laser that radar installations launched can penetrate through the opening after the speculum reflection, and laser that penetrates into through the opening can be received by radar installation after the speculum reflection. The sweeping robot comprises the laser radar. The invention aims to provide a laser radar and a sweeping robot, and aims to solve the technical problem that the sweeping robot in the prior art is large in energy consumption and short in endurance time.

Description

Laser radar and robot of sweeping floor

Technical Field

The invention relates to the technical field of household appliances, in particular to a laser radar and a sweeping robot.

Background

The laser radar is an active sensor and is the core configuration of the intelligent sweeping robot. The laser cleaning system mainly comprises a transmitting module and a receiving module, and the working principle is that the transmitting module transmits laser to a measured target in a room, and then parameters such as time, signal strength degree, frequency change and the like of a reflected or scattered signal reaching the receiving module are measured, so that the distance and the direction of the measured target are determined, the room map construction, navigation positioning and path planning are realized, the collision with an obstacle can be avoided, and the cleaning efficiency can be improved.

In the prior art, the laser radar is often arranged at the top of the main machine of the sweeping robot, and the motor drives the laser radar to rotate so as to obtain a larger scanning range.

Therefore, the present application provides a new laser radar and a sweeping robot for solving the above problems.

Disclosure of Invention

The invention aims to provide a laser radar to solve the technical problem that a sweeping robot in the prior art is large in energy consumption and short in endurance time.

The invention also aims to provide the sweeping robot so as to further relieve the technical problem that the sweeping robot in the prior art is large in energy consumption and short in endurance time.

In view of the first object, the present invention provides a laser radar, including a housing, a reflector, and a radar device capable of emitting and receiving laser light;

the shell is provided with an inner cavity and an opening communicated with the inner cavity, the radar device and the reflector are both arranged in the inner cavity, the radar device is fixedly connected to the shell, and the reflector is pivoted to the shell and can rotate relative to the shell;

laser emitted by the radar device can be emitted through the opening after being reflected by the reflector, and the laser emitted through the opening can be received by the radar device after being reflected by the reflector.

Furthermore, a hollow hole is arranged on the reflector in a penetrating mode.

Further, the laser radar further comprises a driving device;

the reflector is pivoted to the shell through a shaft bushing, and the driving device is in driving connection with the reflector and can drive the reflector to rotate relative to the shell.

Furthermore, the radar device comprises a transmitting module capable of transmitting laser and a receiving module capable of receiving laser, wherein the transmitting module and the receiving module are both arranged in the inner cavity and are both fixedly connected to the shell;

the laser emitted by the emitting module can be emitted through the opening after being reflected by the reflector, and the laser emitted through the opening can be received by the receiving module after being reflected by the reflector.

Furthermore, two opposite surfaces of the reflector are both reflecting surfaces;

the radar devices are arranged in two groups, and the two groups of radar devices are respectively arranged opposite to the two reflecting surfaces of the reflector.

Furthermore, the reflector is arranged in the middle of the inner cavity along the length direction, and the two groups of radar devices are respectively arranged on two sides of the inner cavity along the length direction;

the inner cavity is provided with a light shielding plate, and the light shielding plate is arranged on one side, away from the opening, of the reflector.

Furthermore, the reflector is formed by injection molding of engineering resin, and a reflecting film is plated on the surface of the reflector to form the reflecting surface;

or the reflector is a metal piece, and the surface of the metal piece is polished to form the reflecting surface;

or the reflector is a glass lens, and the surface of the glass lens is plated with a reflecting film to form the reflecting surface.

Further, the shell comprises a lower shell and an upper shell arranged on the lower shell, and the upper shell is detachably connected with the lower shell;

the upper shell is provided with a first port, the lower shell is provided with a second port, when the upper shell is connected with the lower shell, the upper shell and the lower shell jointly form the inner cavity, and the first port and the second port are communicated to form the opening.

By adopting the technical scheme, the laser radar has the following beneficial effects:

it should be noted that the laser radar can be installed on a host of the sweeping robot to assist the sweeping robot in realizing intelligent sweeping.

When the laser radar works, laser emitted by the radar device is reflected by the reflecting mirror and then is emitted through the opening, and is emitted to a measured target in a room, and a signal reflected or scattered by the measured target is emitted through the opening, reflected by the reflecting mirror and then received by the radar device, so that the distance and the direction of the measured target are determined. The reflector rotates relative to the shell to obtain laser which is emitted from the opening at multiple angles, and the scanning range of the laser radar is enlarged.

In conclusion, the laser radar can obtain a larger scanning range only by driving the reflective mirror to rotate, and does not need the laser radar to rotate integrally, so that the energy consumption of the sweeping robot is reduced, and the endurance time of the sweeping robot is prolonged.

Based on the second objective, the invention provides a floor sweeping robot, which comprises a host provided with a scanning port and the laser radar, wherein the laser radar is arranged in the host, and the scanning port corresponds to the opening.

Further, the robot of sweeping the floor is first line along the footpath of moving direction, laser radar's open-ended central line is the second line, follows the axis direction of robot of sweeping the floor, the second line projection in first line.

By adopting the technical scheme, the sweeping robot has the following beneficial effects:

through set up above-mentioned laser radar in the robot of sweeping the floor, corresponding, this robot of sweeping the floor has above-mentioned laser radar's all advantages, and it is no longer repeated here.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention, and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.

Fig. 1 is a schematic structural diagram of a laser radar according to an embodiment of the present invention;

FIG. 2 is a schematic view, partially in section, of the lidar shown in FIG. 1;

fig. 3 is a schematic structural diagram of a lidar according to an embodiment of the present invention (not shown with an upper case);

FIG. 4 is a cross-sectional view of one of the lidar embodiments of the present invention;

fig. 5 is a second cross-sectional view of a lidar according to an embodiment of the present invention;

FIG. 6 is a schematic laser path diagram of a lidar according to an embodiment of the present invention;

FIG. 7 shows one of two radar devices and reflectors of a lidar constructed in accordance with an embodiment of the present invention;

FIG. 8 shows two radar devices and two reflectors of a laser radar according to an embodiment of the present invention;

fig. 9 shows a third structure of two radar devices and a reflector of a laser radar according to an embodiment of the present invention;

FIG. 10 shows a fourth embodiment of two sets of radar devices and reflectors of the laser radar according to the present invention;

fig. 11 shows a fifth structural form of two sets of radar devices and reflectors of the laser radar according to the embodiment of the present invention;

FIG. 12 shows a sixth embodiment of two sets of radar devices and reflectors of the laser radar according to the present invention;

fig. 13 is a schematic view of a first structure of a driving device and a reflector of a laser radar according to an embodiment of the present invention;

fig. 14 is a schematic view of a second structure of a driving device and a reflector of a laser radar according to an embodiment of the present invention;

fig. 15 is a second schematic structural diagram of a second structure of the driving device and the reflector of the lidar according to the embodiment of the invention;

fig. 16 is a schematic structural diagram of a third structure of a driving device and a reflecting mirror of a laser radar according to an embodiment of the present invention;

fig. 17 is a second schematic structural diagram of a third structure of a driving device and a reflecting mirror of a laser radar according to an embodiment of the present invention;

fig. 18 is a schematic structural view of a sweeping robot provided in the embodiment of the present invention;

figure 19 is a side view of the sweeping robot of figure 18.

Reference numerals:

1-laser radar;

2-a housing; 21-a lower shell; 22-upper shell; 23-opening;

3-a reflector; 31-hollowed out holes;

4-a radar device; 41-a transmitting module; 42-a receiving module;

51-a first motor; 52-a second motor; 53-a transmission mechanism; 54-shaft bushing;

61-a first laser; 62-a second laser;

7-photophobic plate; 8-a host; 81-scanning port;

91-first line; 92-second line.

Detailed Description

The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. 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 invention.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the term "connected" is to be interpreted broadly, e.g. as a fixed connection, a detachable connection, or an integral connection; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Example one

Referring to fig. 1 and fig. 2, the present embodiment provides a laser radar 1, where the laser radar 1 includes a housing 2, a reflective mirror 3, and a radar device 4 capable of emitting and receiving laser light; the shell 2 is provided with an inner cavity and an opening 23 communicated with the inner cavity, the radar device 4 and the reflector 3 are both arranged in the inner cavity, the radar device 4 is fixedly connected to the shell 2, and the reflector 3 is pivoted to the shell 2 and can rotate relative to the shell 2; with continued reference to fig. 6, the laser emitted from the radar device 4 can be reflected by the reflective mirror 3 and then emitted through the opening 23, and the laser emitted through the opening 23 can be reflected by the reflective mirror 3 and then received by the radar device 4.

It should be noted that the laser radar 1 may be installed on the host computer 8 of the sweeping robot to assist the sweeping robot in implementing intelligent sweeping.

When the laser radar 1 works, laser emitted by the radar device 4 is reflected by the reflector 3 and then emitted through the opening 23 to irradiate towards a target to be detected in a room, and a signal reflected or scattered by the target to be detected is emitted through the opening 23 and then reflected by the reflector 3 and then received by the radar device 4, so that the distance and the direction of the target to be detected are determined. Wherein, the reflector 3 rotates relative to the housing 2 to obtain multi-angle laser emitted from the opening 23, and the scanning range of the laser radar 1 is improved.

In conclusion, the laser radar 1 can obtain a larger scanning range only by driving the reflective mirror 3 to rotate, and the laser radar 1 does not need to rotate integrally, so that the energy consumption of the sweeping robot is reduced, and the endurance time of the sweeping robot is prolonged.

Preferably, referring to fig. 2 and 5, in the present embodiment, a hollow hole 31 is formed through the reflective mirror 3.

Optionally, the hollowed-out holes 31 are provided with one or more, for example, the hollowed-out holes 31 are provided with one, two, three, four or five, etc.

Due to the arrangement of the hollow holes 31, the wind resistance of the reflector 3 in the rotating process is reduced, and the energy consumption of the laser radar 1 is further reduced.

Preferably, referring to fig. 2 and fig. 4, in the present embodiment, the laser radar 1 further includes a driving device; the reflective mirror 3 is pivoted to the housing 2 through a shaft bushing 54, and the driving device is connected with the reflective mirror 3 in a driving way and can drive the reflective mirror 3 to rotate relative to the housing 2.

Alternatively, referring to fig. 13, the driving device is a first motor 51. Alternatively, the driving device includes a second motor 52 and a transmission mechanism 53, and the second motor 52 drives the coupling mirror 3 through the transmission mechanism 53.

Preferably, the first motor 51 is mounted to the housing 2 and the second motor 52 is mounted to the housing 2. Alternatively, referring to fig. 16 and 17, the transmission mechanism 53 is a gear transmission mechanism 53, or referring to fig. 14 and 15, the transmission mechanism 53 is a belt transmission mechanism 53.

Preferably, referring to fig. 2 and fig. 3, in the present embodiment, the radar device 4 includes a transmitting module 41 capable of transmitting laser and a receiving module 42 capable of receiving laser, where the transmitting module 41 and the receiving module 42 are both disposed in the inner cavity and both are fixedly connected to the housing 2; referring to fig. 6, the laser emitted from the emitting module 41 can be reflected by the reflective mirror 3 and then emitted through the opening 23, and the laser emitted through the opening 23 can be reflected by the reflective mirror 3 and then received by the receiving module 42.

Referring to fig. 6, when the laser radar 1 operates, the laser emitted by the emitting module 41 is the first laser 61, the first laser 61 is emitted through the opening 23 after being reflected by the reflecting mirror 3, and is emitted to the target to be measured in the room, the signal reflected or scattered by the target to be measured is the second laser 62, and the second laser 62 is emitted through the opening 23, is reflected by the reflecting mirror 3, and is received by the receiving module 42, so that the distance and the direction of the target to be measured are determined.

Preferably, referring to fig. 6, in the present embodiment, two opposite surfaces of the reflective mirror 3 are reflective surfaces; the radar devices 4 are arranged in two groups, and the two groups of radar devices 4 are respectively arranged opposite to the two reflecting surfaces of the reflector 3.

For example, referring to fig. 7, the two sets of radar devices 4 and the reflectors 3 are in a staggered symmetrical structure; alternatively, referring to fig. 8, the two groups of radar devices 4 and the reflectors 3 are in a coaxial symmetric structure; referring to fig. 9, the two groups of radar devices 4 and the reflectors 3 are symmetrical in angle; referring to fig. 10, the two sets of radar devices 4 and the reflectors 3 are coaxial and asymmetric; referring to fig. 11, the two sets of radar devices 4 and the reflectors 3 are formed in an asymmetric included angle; referring to fig. 12, the two sets of radar devices 4 and the reflectors 3 are staggered and asymmetric.

In such an arrangement, the two transmitting modules 41 transmit laser beams at different positions simultaneously, the transmitted light and the returned reflected light are reflected on the rotating reflector, and the two receiving modules 42 receive the returned reflected light synchronously, so that the data acquisition rate of the two sets of radar devices 4 is increased, the map accuracy and the positioning accuracy are improved, and the scanning detection range of the laser radar 1 is further expanded.

It should be noted that the two receiving modules 42 receive the returned reflected light synchronously, convert the reflected light into cloud points through processing, and establish a cloud map after software processing, thereby implementing map establishment and path planning, which are the prior art and are not described herein again.

Preferably, referring to fig. 2 and 3, in the present embodiment, the reflective mirror 3 is disposed at a middle position of the inner cavity along the length direction, and the two groups of radar devices 4 are respectively disposed at two sides of the inner cavity along the length direction; the inner cavity is provided with a light shielding plate 7, and the light shielding plate 7 is arranged on one side of the reflector 3 far away from the opening 23.

The light shielding plate 7 cannot reflect the laser light, and the light shielding plate 7 is, for example, a light absorbing plate or an engineering resin. With such an arrangement, when the laser light of the emission module 41 is emitted to the light shielding plate 7, the laser light does not pass through the light shielding plate 7 to pollute the environment.

Optionally, the reflector 3 is formed by injection molding of engineering resin, and a reflective surface is formed by plating a reflective film on the surface of the reflector 3; or the reflector 3 is a metal piece, and the surface of the metal piece is polished to form a reflecting surface; or the reflector 3 is a glass lens, and a reflecting film is plated on the surface of the glass lens to form a reflecting surface.

Preferably, referring to fig. 1 and fig. 2, in the present embodiment, the housing 2 includes a lower shell 21 and an upper shell 22 disposed on the lower shell 21, and the upper shell 22 is detachably connected to the lower shell 21; the upper shell 22 is provided with a first port, the lower shell 21 is provided with a second port, and when the upper shell 22 is connected with the lower shell 21, the upper shell 22 and the lower shell 21 jointly form an inner cavity, and the first port and the second port are communicated to form an opening 23.

Preferably, the upper shell 22 and the lower shell 21 are detachably connected by snapping, fastening or screwing.

Example two

The second embodiment provides a sweeping robot, the sweeping robot includes the laser radar 1 of the first embodiment, technical features of the laser radar 1 disclosed in the first embodiment are also applicable to the first embodiment, and technical features of the laser radar 1 disclosed in the first embodiment are not described repeatedly. The following describes embodiments of the sweeping robot in further detail with reference to the accompanying drawings.

Referring to fig. 18 and 19, the sweeping robot provided in this embodiment includes a main body 8 having a scanning opening 81, and the laser radar 1, wherein the laser radar 1 is disposed in the main body 8, and the scanning opening 81 corresponds to the opening 23.

Referring to fig. 18, fig. 18 shows five optional mounting positions of the laser radar 1, but it should be noted that the mounting position of the laser radar 1 on the main body 8 is not limited to the above positions as long as the laser radar 1 is located in the main body 8 and the scanning port 81 corresponds to the opening 23.

By the arrangement, the laser radar 1 cannot protrude out of the host machine 8, so that the height of the sweeping robot is reduced, and the escaping capability of a short space is improved.

Laser emitted by the radar device 4 is reflected by the reflector 3 and then emitted through the opening 23 and the scanning port 81 to emit to a target to be detected in a room, and a signal reflected or scattered by the target to be detected is emitted through the scanning port 81 and the opening 23 and then reflected by the reflector 3 and then received by the radar device 4, so that the distance and the direction of the target to be detected are determined.

Preferably, referring to fig. 18, in the embodiment, a radial line of the sweeping robot along the moving direction is a first line 91, a central line of the opening 23 of the laser radar 1 is a second line 92, and the second line 92 is projected on the first line 91 along the axial direction of the sweeping robot.

By the arrangement, the distance and the direction of the detected target measured by the laser radar 1 are the distance and the direction of the detected target relative to the sweeping robot, so that the navigation positioning and path planning efficiency of the sweeping robot is improved.

The sweeping robot of the present embodiment has the advantages of the laser radar 1 of the first embodiment, which have been described in detail in the first embodiment, and will not be repeated here.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.

Furthermore, those skilled in the art will appreciate that while some embodiments described herein include some features included in other embodiments, rather than other features, combinations of features of different embodiments are meant to be within the scope of the invention and form different embodiments.

Claims

1. A laser radar is characterized by comprising a shell (2), a reflector (3) and a radar device (4) capable of transmitting and receiving laser;

the shell (2) is provided with an inner cavity and an opening (23) communicated with the inner cavity, the radar device (4) and the reflector (3) are both arranged in the inner cavity, the radar device (4) is fixedly connected to the shell (2), and the reflector (3) is pivoted to the shell (2) and can rotate relative to the shell (2);

laser emitted by the radar device (4) can be reflected by the reflective mirror (3) and then emitted through the opening (23), and laser emitted through the opening (23) can be reflected by the reflective mirror (3) and then received by the radar device (4).

2. Lidar according to claim 1, wherein a through-hole (31) is provided through said mirror (3).

3. The lidar of claim 1, further comprising a drive device;

the reflecting mirror (3) is pivoted to the shell (2) through a shaft bushing (54), and the driving device is connected with the reflecting mirror (3) in a driving mode and can drive the reflecting mirror (3) to rotate relative to the shell (2).

4. Lidar according to claim 1, wherein said radar device (4) comprises a transmitting module (41) capable of emitting laser light and a receiving module (42) capable of receiving laser light, said transmitting module (41) and said receiving module (42) being disposed in said inner cavity and being fixedly connected to said housing (2);

the laser emitted by the emitting module (41) can be emitted through the opening (23) after being reflected by the reflecting mirror (3), and the laser emitted through the opening (23) can be received by the receiving module (42) after being reflected by the reflecting mirror (3).

5. Lidar according to claim 4, wherein both oppositely disposed sides of the mirror (3) are reflective;

the radar devices (4) are arranged in two groups, and the two groups of radar devices (4) are respectively arranged opposite to the two reflecting surfaces of the reflector (3).

6. The lidar of claim 5, wherein the reflector (3) is disposed at a middle position of the inner cavity in the length direction, and the two sets of radar devices (4) are respectively disposed at two sides of the inner cavity in the length direction;

the inner cavity is provided with a light shielding plate (7), and the light shielding plate (7) is arranged on one side, away from the opening (23), of the reflector (3).

7. The lidar according to claim 5, wherein the reflector (3) is formed by injection molding engineering resin, and a surface of the reflector (3) is plated with a reflecting film to form the reflecting surface;

or the reflector (3) is a metal piece, and the surface of the metal piece is polished to form the reflecting surface;

or the reflector (3) is a glass lens, and a reflecting film is plated on the surface of the glass lens to form the reflecting surface.

8. Lidar according to any of claims 1 to 7, wherein said housing (2) comprises a lower shell (21) and an upper shell (22) arranged on said lower shell (21), said upper shell (22) being detachably connected to said lower shell (21);

the upper shell (22) is provided with a first port, the lower shell (21) is provided with a second port, when the upper shell (22) is connected with the lower shell (21), the upper shell (22) and the lower shell (21) jointly form the inner cavity, and the first port and the second port are communicated to form the opening (23).

9. A sweeping robot is characterized by comprising a host (8) provided with a scanning port (81) and a laser radar (1) as claimed in any one of claims 1 to 8, wherein the laser radar (1) is arranged in the host (8), and the scanning port (81) corresponds to the opening (23).

10. The sweeping robot according to claim 9, characterized in that the radial line of the sweeping robot along the moving direction is a first line (91), the central line of the opening (23) of the laser radar (1) is a second line (92), and the second line (92) is projected on the first line (91) along the axial direction of the sweeping robot.