CN207924145U - Build figure and navigator fix range unit - Google Patents
Build figure and navigator fix range unit Download PDFInfo
- Publication number
- CN207924145U CN207924145U CN201820444693.7U CN201820444693U CN207924145U CN 207924145 U CN207924145 U CN 207924145U CN 201820444693 U CN201820444693 U CN 201820444693U CN 207924145 U CN207924145 U CN 207924145U
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- module
- unit
- range finder
- electronic circuit
- light
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Abstract
The utility model belongs to photoelectric information sensor technical field, more particularly to builds figure and navigator fix range unit.Including shell supporting module and the first range finder module being set in shell supporting module, second range finder module and electronic circuit module, first range finder module and the second range finder module are connect with electronic circuit module, first range finder module includes structured light unit and structure light receiving unit, structured light unit is for the object in emitting structural light to target area, structure light receiving unit is used to receive the reflection light that object reflects in target area, and optical signal is become into electric signal and is conveyed to electronic circuit module, electronic circuit module according to the electric signal of reception calculate the point on object to device distance；Second range finder module is used to make up the test of the first range finder module nearby blind area.The utility model can be applied to the positioning and navigation of Indoor Robot, have the characteristics that under easy for installation, volume, long lifespan.
Description
Technical field
The utility model belongs to photoelectric information sensor technical field, more particularly to one kind building figure and navigator fix ranging
Device.
Background technology
With the development of smart home, home-use, factory sweeping robot is increasingly valued by people and likes
Love.Partly do not have map structuring and navigation feature in existing family's sweeping robot, " run chaotically " in cleaning process, it is difficult to
Realize that all standing cleans；Another sweeping robot is then by IMU Inertial Measurement Units, electronic compass sensor, odometer
Sensor, crash sensor realize map structuring and the navigation of low precision, and effect is better than the former, but still is difficult to realize cover entirely
Lid cleans；At this stage, it can realize that the home-use sweeping robot of preferable map structuring and navigation mostly uses rotary laser
Radar scheme, which realizes the measurement adjusted the distance by the way of range of triangle, but the program is driven by motor
Measurement module rotation can face slip ring life problems, although this can be solved the problems, such as by way of wireless power and communication,
Also increase the cost of the program.
Utility model content
In view of the above-mentioned problems, the purpose of this utility model is to provide figure and navigator fix range unit is built, it is main
Purposes is that the function of economic map structuring and navigation is provided for mobile robot, can be applied to Indoor Robot positioning and
Navigation, has the characteristics that compared to revolving range of triangle laser radar under easy for installation, volume, long lifespan.
To achieve the goals above, the utility model uses following technical scheme：
It builds figure and navigator fix range unit, including shell supporting module and is set in the shell supporting module
First range finder module, the second range finder module and electronic circuit module, first range finder module and the second range finder module with electricity
Subcircuits module connects, and first range finder module includes structured light unit and structure light receiving unit, the structure light
Transmitter unit is for the object in emitting structural light to target area, and the structure light receiving unit is for receiving the target
It object reflects in region reflection light and optical signal is become into electric signal is conveyed to electronic circuit module, the electronic circuit
Module according to the electric signal of reception calculate the point on the object to device distance；Second range finder module is for making up
The measurement of first range finder module nearby blind area.
Second range finder module is based on infrared or ultrasonic wave principle range finder module.
The shell supporting module is rectangular parallelepiped structure, and the light emitting unit and the structure light receiving unit distinguish cloth
Set the both ends on the length direction of the shell supporting module；Second range finder module is located at the structured light unit
With the centre of the structure light receiving unit.
The structure light of structured light unit transmitting be linear single-point, single, plurality of parallel lines shape, it is spiral yarn shaped,
Concentric circles is linear, grid is linear or grid dot；
The structured light unit be fixed on shell supporting module or electronic circuit module and with the electronic circuit
Module is electrically connected.
The structure light receiving unit includes sensor and optical lens, and the optical lens is used for the target area
The reflection light of interior object reflection focuses on sensor, and the sensor is for converting optical signal into electric signal.
The sensor can be linear CCD, linear CMOS, area array CCD or face battle array CMOS.
The structure light receiving unit be fixed on shell supporting module or electronic circuit module and with the electronic circuit
Module is electrically connected.
The shell supporting module is equipped with external mounting hole and data transmission hole.
Compared with prior art, advantage and advantageous effect are the utility model：
The utility model uses the scheme of structured light and receiving, zero mechanical without spin compared to rotary radar
Part, to the advantage that service life is long, Costco Wholesale is low.
Compared to existing structured light sensor, the utility model combines infrared or ultrasonic distance measuring module, greatly reduces
The range hole of sensor.
Description of the drawings
Fig. 1 is the structural schematic diagram of the utility model；
Fig. 2 is the utility model structural light measurement schematic side view；
Fig. 3 is the utility model structural light measurement principle vertical view.
In figure：1 is the first range finder module；11 be structured light unit；12 be structure light receiving unit；121 be sensing
Device；122 be optical lens；2 be the second range finder module；3 be electronic circuit module；4 be shell supporting module；41 be front；42
For the back side；43 be side；L is structure light blind area；M is object.
Specific implementation mode
In order to keep the purpose of this utility model, technical solution and advantage clearer, below in conjunction with the accompanying drawings and it is embodied
The utility model is described in detail in example.
As shown in Figure 1, provided by the utility model build figure and navigator fix range unit, including shell supporting module 4
And it is set to the first range finder module 1, the second range finder module 2 and electronic circuit module 3 in shell supporting module 4, the first ranging
Module 1 and the second range finder module 2 are connect with electronic circuit module 3, and the first range finder module 1 includes 11 He of structured light unit
Structure light receiving unit 12, structured light unit 11 connect for the object in emitting structural light to target area, structure light
Unit 12 is received to be used to receive the reflection light of object reflection in target area and optical signal is become electric signal conveying electron electricity
Road module 3, electronic circuit module 3 according to the electric signal of reception calculate the point on object to device distance；Second ranging mould
Block 2 is used to make up the measurement of the first range finder module 1 nearby blind area.
Shell supporting module 4 is rectangular parallelepiped structure, and the back side 42, side 43 or the bottom of shell supporting module 4 are equipped with externally
Mounting hole and data transmission hole.
Light emitting unit 11 and structure light receiving unit 12 are arranged in two on the length direction of shell supporting module 4
End；Second range finder module 2 is located at the centre of structured light unit 11 and structure light receiving unit 12, and the second range finder module 2 is
Based on infrared or ultrasonic wave principle range finder module.
Structured light unit 11 is fixed on shell supporting module 4 or electronic circuit module 3 and and electronic circuit module
3 electrical connections.The structure light that structured light unit 11 emits is linear single-point, single, plurality of parallel lines shape, spiral yarn shaped, same
Heart round wires shape, grid be linear or grid dot.
Structure light receiving unit 12 is fixed on shell supporting module 4 or electronic circuit module 3 and and electronic circuit module
3 electrical connections.Structure light receiving unit 12 includes sensor 121 and optical lens 122, and optical lens 122 is used for target area
The reflection light of interior object reflection focuses on sensor 121, and sensor 121 is for converting optical signal into electric signal.Sensing
Device 121 can be one kind in linear CCD, linear CMOS, area array CCD or face battle array CMOS.
IMU Inertial Measurement Units or not integrated IMU inertia measurement lists are integrated according to application demand on electronic circuit module 3
Member.
The most basic principle of structure light imaging of the utility model is principle of triangulation.As shown in Fig. 2, working as structured light
After a branch of optical fiber of 11 directional transmissions of unit, when having object at A, after object reflects, part reflection light will enter light beam
Structure light receiving unit 12, optical lens 122 focus to light beam on sensor 121, receiving point D；As a same reason, when B points
When having object, light beam is focused to the effect C points on sensor 121 by optical lens 122, as a result, known to distance means difference away from
From object, position on sensor 121 is different.Thus phenomenon is counter pushes away, when knowing the position on sensor 121,
Sensor can be obtained at a distance from object.The field angle of structure light receiving unit 12 is α, and structure light measurement method exists nearby
Blind area, at this time structure light blind area L can be made up by the second range finder module 2.
As shown in figure 3, when the structure light that structured light unit 11 emits acts on the object within the scope of the certain angle of front
On body, light will be applied on the sensor 121 of structure light receiving unit 12 by reflection, some light.To emit single line
Illustrate for shape structure light, linear effect of light to contour of object on multiple points (by straight line it is discrete be multiple points), such as Fig. 3 institutes
Show.Structured light unit 11 is located at the top of structure light receiving unit 12, and the dotted line of object edge is that linear effect of light arrives
The light of object is lines on sensor 121 after light is reflected by the object.Pixel distance difference a on sensor 121, it is corresponding
Range difference b on object.In conjunction with principle of triangulation, multiple points of objects in front are can be obtained to the distance of device by calculating
And angle, the contour shape of object, i.e. three-dimensional environment can be established at this time.Figure is built by robot carrying to survey with navigator fix
It is constantly moved in the environment away from device, and so on, then it can construct entire environmental map.
The utility model is the sensor for map structuring and navigation, with that service life is long, Costco Wholesale is low is excellent
Gesture, and merged by the information of multisensor, the map structuring and navigation feature for meeting sweeping robot etc. can be reached.
The foregoing is merely the embodiments of the utility model, are not intended to limit the scope of protection of the utility model.It is all
Any modification, equivalent substitution and improvements made within spirit of the present utility model and principle, extension etc., are all contained in this reality
With in novel protection domain.
Claims (9)
1. building figure and navigator fix range unit, which is characterized in that including shell supporting module (4) and be set to the shell
The first range finder module (1), the second range finder module (2) in supporting module (4) and electronic circuit module (3), first ranging
Module (1) and the second range finder module (2) are connect with electronic circuit module (3), and first range finder module (1) includes structure light
Transmitter unit (11) and structure light receiving unit (12), the structured light unit (11) is for emitting structural light to target area
On object in domain, the structure light receiving unit (12) be used to receive the reflection light that object in the target area reflects,
And optical signal is become into electric signal and is conveyed to electronic circuit module (3), the electronic circuit module (3) is according to the electric signal of reception
Calculate the point on the object to device distance；Second range finder module (2) is close for making up the first range finder module (1)
Locate the measurement of blind area.
2. according to claim 1 build figure and navigator fix range unit, which is characterized in that second range finder module
(2) it is based on infrared or ultrasonic wave principle range finder module.
3. according to claim 1 build figure and navigator fix range unit, which is characterized in that the shell supporting module
(4) it is rectangular parallelepiped structure, the light emitting unit (11) and the structure light receiving unit (12) are arranged in the shell
Both ends on the length direction of supporting module (4)；Second range finder module (2) be located at the structured light unit (11) and
The centre of the structure light receiving unit (12).
4. according to claim 1 build figure and navigator fix range unit, which is characterized in that the structured light list
The structure light of first (11) transmitting is linear single-point, single, plurality of parallel lines shape, spiral yarn shaped, concentric circles is linear, grid is linear or
Grid dot.
5. according to claim 1 build figure and navigator fix range unit, which is characterized in that the structured light list
First (11) are fixed on shell supporting module (4) or electronic circuit module (3) and are electrically connected with the electronic circuit module (3).
6. according to claim 1 build figure and navigator fix range unit, which is characterized in that the structure light-receiving list
First (12) include sensor (121) and optical lens (122), and the optical lens (122) is used for object in the target area
The reflection light of body reflection focuses on sensor (121), and the sensor (121) is for converting optical signal into electric signal.
7. according to claim 6 build figure and navigator fix range unit, which is characterized in that the sensor (121)
Can be linear CCD, linear CMOS, area array CCD or face battle array CMOS.
8. according to claim 6 build figure and navigator fix range unit, which is characterized in that the structure light-receiving list
First (12) are fixed on shell supporting module (4) or electronic circuit module (3) and are electrically connected with the electronic circuit module (3).
9. according to claim 1 build figure and navigator fix range unit, which is characterized in that the shell supporting module
(4) external mounting hole and data transmission hole are equipped with.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820444693.7U CN207924145U (en) | 2018-04-01 | 2018-04-01 | Build figure and navigator fix range unit |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820444693.7U CN207924145U (en) | 2018-04-01 | 2018-04-01 | Build figure and navigator fix range unit |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207924145U true CN207924145U (en) | 2018-09-28 |
Family
ID=63596604
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820444693.7U Expired - Fee Related CN207924145U (en) | 2018-04-01 | 2018-04-01 | Build figure and navigator fix range unit |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207924145U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110346809A (en) * | 2018-04-01 | 2019-10-18 | 深圳慎始科技有限公司 | One kind building figure and navigator fix range unit |
| WO2020181772A1 (en) * | 2019-03-11 | 2020-09-17 | 江苏美的清洁电器股份有限公司 | Detection assembly, robotic vacuum cleaner, and walking floor status detection method and control method for robotic vacuum cleaner |
-
2018
- 2018-04-01 CN CN201820444693.7U patent/CN207924145U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110346809A (en) * | 2018-04-01 | 2019-10-18 | 深圳慎始科技有限公司 | One kind building figure and navigator fix range unit |
| WO2020181772A1 (en) * | 2019-03-11 | 2020-09-17 | 江苏美的清洁电器股份有限公司 | Detection assembly, robotic vacuum cleaner, and walking floor status detection method and control method for robotic vacuum cleaner |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180928 Termination date: 20190401 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |