CN212646993U - Laser radar and mobile robot - Google Patents

Abstract

The utility model discloses embodiment discloses laser radar and mobile robot, laser radar includes laser emission subassembly, receiving lens and image processing subassembly. The laser emission component comprises a vertical cavity surface emitting laser and an emission lens group, and the emission lens group is connected with the optical path of the vertical cavity surface emitting laser. The image processing assembly is positioned on the light path of the receiving lens. The rotating holder comprises a base, a rotating seat, a transmission mechanism and a driving device, the rotating seat is rotatably installed on the base, the driving device is installed on the base, the transmission mechanism is connected with the rotating seat and the driving device, and the laser emission assembly, the receiving lens and the image processing assembly are all arranged on the rotating seat. Through the arrangement, the quality of laser signals of the laser radar is improved, so that the distance measurement precision of the laser radar is improved, and the production cost is reduced.

Description

Laser radar and mobile robot

Technical Field

The utility model discloses embodiment relates to mobile robot technical field, especially relates to a laser radar and mobile robot.

Background

The laser radar is a radar system for detecting the position of a target by emitting a laser signal, and the working principle of the radar system is to emit a detection signal (laser signal) to the target, compare the received signal reflected from the target with the emission signal, and obtain the distance to the target after processing.

Laser radar is widely applied to various fields as a means of space detection, wherein, miniaturized laser radar is applied to the mobile robot, so that the mobile robot can accurately measure and draw the working environment, and then an advancing route is accurately planned to improve the cleaning efficiency. The laser radar is used as the 'eye' of the robot, and the measurement precision of the laser radar determines the calculation precision of the mobile robot. The existing laser radar has low measurement accuracy, which affects the calculation accuracy of the mobile robot, for example, an Edge Emitting Laser (EEL) is used as the laser radar of the laser emitter, and the production cost is relatively high under the condition of ensuring the measurement accuracy of the radar.

SUMMERY OF THE UTILITY MODEL

The utility model discloses the main technical problem who solves of embodiment provides a laser radar and mobile robot, can improve distance measurement accuracy, reduction in production cost.

In order to solve the above technical problem, the utility model discloses a technical scheme that embodiment adopted is:

in one aspect, a lidar is provided, comprising:

the laser emitting assembly comprises a vertical cavity surface emitting laser and an emitting lens group, and the emitting lens group is in optical path connection with the vertical cavity surface emitting laser;

the image processing device comprises a receiving lens and an image processing assembly, wherein the image processing assembly is positioned on an optical path of the receiving lens;

rotatory cloud platform, including base, roating seat, drive mechanism and drive arrangement, the roating seat rotationally install in the base, drive arrangement install in the base, drive mechanism connects roating seat and drive arrangement, laser emission subassembly, receiving lens and image processing subassembly all set up in the roating seat.

In some embodiments, the emission lens group includes at least one emission lens, and the vertical cavity surface emitting laser is optically connected to the emission lens.

In some embodiments, the receiving lens comprises at least one receiving lens, and the image processing component is located in an optical path of the receiving lens.

In some embodiments, the device further comprises a filter device, and the receiving lens, the filter device and the image processing assembly are arranged in sequence.

In some embodiments, the image processing assembly includes a circuit board and an image sensor, the image sensor is connected to the circuit board, and the image sensor is located on an optical path of the receiving lens.

In some embodiments, the laser emitting assembly comprises at least two vertical cavity surface emitting lasers, the at least two vertical cavity surface emitting lasers form a vertical cavity surface emitting laser array, and the vertical cavity surface emitting laser array is optically connected with the emitting lens group; alternatively, the first and second electrodes may be,

the laser emission component further comprises a light splitter, and the vertical cavity surface emitting laser, the light splitter and the emission lens group are connected in sequence through light paths.

In some embodiments, the rotating platform further includes a baffle plate, the base is provided with a receiving slot, the rotating base is rotatably mounted on the base and covers a part of the receiving slot, the baffle plate is mounted on the base and covers another part of the receiving slot, the transmission mechanism is received in the receiving slot, and the driving device is located on a surface of the base opposite to the receiving slot.

In some embodiments, the rotating platform further includes a mounting seat, the mounting seat is mounted on a surface of the rotating seat facing away from the base, the mounting seat is provided with a first mounting hole and a second mounting hole, the laser emission component is mounted in the first mounting hole, the receiving lens is mounted in the second mounting hole, and the image processing component is mounted on a side of the mounting seat facing away from an emission direction of the laser emission component.

In some embodiments, the inner side wall of the first mounting hole is provided with a first fastening structure, and the laser emitting component is provided with a first matching structure which is matched with the first fastening structure, so that the laser emitting component is fixed in the first mounting hole;

the inner side wall of the second mounting hole is provided with a second fastening structure, the receiving lens is provided with a second matching structure, and the second matching structure is matched with the second fastening structure, so that the receiving lens is fixed in the second mounting hole.

On the other hand, the embodiment of the utility model provides a still provide a mobile robot, it includes as above laser radar.

Compared with the prior art, the embodiment of the utility model provides an among the laser radar, the laser emission subassembly uses vertical cavity surface emitting laser as transmitting light source, has improved the quality of the laser signal that the laser emission subassembly sent, and then has improved the accuracy that image processing subassembly judged the central point of laser signal, and has reduced laser wavelength and has appeared squinting for more laser energy can be received by receiving lens and input image processing subassembly, thereby has improved high laser radar's measurement accuracy; furthermore, the transmitting lens group and the receiving lens are respectively arranged on the vertical cavity surface emitting laser and the image processing assembly, so that laser signals are respectively adjusted when being emitted to a target to be measured and when being input into the image processing assembly, the quality of the laser signals is improved, and the distance measurement precision of the laser radar is further improved. Additionally, the embodiment of the utility model provides a laser radar can improve radar measurement accuracy under the same manufacturing cost condition, or reduction in production cost under the same radar measurement accuracy.

Drawings

One or more embodiments are illustrated by way of example in the accompanying drawings, which correspond to the figures in which like reference numerals refer to similar elements and which are not to scale unless otherwise specified.

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

fig. 2 is a perspective view of a rotary pan-tilt head of a laser radar according to an embodiment of the present invention;

FIG. 3 is an exploded view of the rotary pan and tilt head of FIG. 2;

fig. 4 is a perspective view of a partially structured assembly of the rotary head of fig. 3;

fig. 5 is a perspective view of the base of the rotating head of fig. 3;

fig. 6 is a perspective view of another angle of the rotating base of the rotating head of fig. 3;

fig. 7 is a perspective view of another angle of the baffle of the rotating head of fig. 3;

fig. 8 is a perspective view of a base and a baffle of a rotary head of a laser radar according to another embodiment of the present invention;

fig. 9 is an exploded view of the mounting base of the rotary head of fig. 3.

Detailed Description

In order to facilitate understanding of the present invention, the present invention will be described in more detail with reference to the accompanying drawings and specific embodiments. It is noted that when an element is referred to as being "secured to"/"mounted to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may be present. The terms "upper", "lower", "inner", "outer", "vertical", "horizontal", and the like as used herein are used in the description to indicate orientations and positional relationships based on the orientations and positional relationships shown in the drawings, and are used only for convenience in describing the present invention and for simplicity in description, and 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 therefore, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

Furthermore, the technical features mentioned in the different embodiments of the invention described below can be combined with each other as long as they do not conflict with each other.

Referring to fig. 1-3, an embodiment of the present invention provides a laser radar 100 for emitting a laser signal to a target to be measured and receiving the laser signal reflected by the target to be measured to implement a ranging function. The laser radar 100 includes a laser emitting assembly 10, a receiving lens 20, an image processing assembly 30, and a rotating pan/tilt head 40. The laser emitting assembly 10 includes a Vertical Cavity Surface Emitting Laser (VCSEL)11 and an emission lens group 12, and the emission lens group 12 is optically connected to the VCSEL 11. The image processing assembly 30 is located on the optical path of the receiving lens 20. The rotating platform comprises a base 41, a rotating base 42, a transmission mechanism 43 and a driving device 44, wherein the rotating base 42 is rotatably installed on the base 41, the driving device 44 is installed on the base 41, the transmission mechanism 43 is connected with the rotating base 42 and the driving device 44, and the laser emitting assembly 10, the receiving lens 20 and the image processing assembly 30 are all arranged on the rotating base 42. The vcsel 11 is configured to emit a laser signal, the transmitting lens group 12 is configured to adjust the laser signal, emit the laser signal to the target receiving lens 20 for receiving the laser signal reflected by the target, and input the laser signal to the image processing assembly 30, the image processing assembly 30 is configured to analyze and process the input laser signal, the transmission mechanism 43 is configured to transmit power between the driving device 44 and the rotating base 42, and the driving device 44 is configured to output power to rotate the rotating base 42 around the rotation axis.

The vertical cavity surface emitting laser 11 emits a laser signal, the laser signal is adjusted by the emitting lens group 12 and then emitted to a target to be detected, the laser signal is subjected to diffuse reflection at the target to be detected, the returned laser signal is received by the receiving lens 20 and then input to the image processing assembly 30, and the image processing assembly 30 receives the laser signal and then processes the laser signal, so that the distance between the laser radar 100 and the target to be detected is calculated.

In the laser radar 100 provided by the embodiment of the present invention, the laser emitting component 10 uses the vertical cavity surface emitting laser 11 as the emitting light source, so as to improve the quality of the laser signal emitted by the laser emitting component 10, further improve the accuracy of the image processing component 30 in determining the central point of the laser signal, and reduce the deviation of the laser wavelength, so that more laser energy can be received by the receiving lens 20 and input into the image processing component 30, thereby improving the measurement accuracy of the high laser radar 100; further, the transmitting lens group 12 and the receiving lens 20 are respectively arranged on the vertical cavity surface emitting laser 11 and the image processing assembly 30, so that when the laser signal is emitted to the target to be measured and when the laser signal is input into the image processing assembly 30, the laser signal is respectively adjusted, the quality of the laser signal is improved, and the distance measurement precision of the laser radar 100 is further improved; moreover, the rotating holder 40 is arranged, so that 360-degree scanning work of the laser radar 100 can be realized. Additionally, the embodiment of the utility model provides a laser radar 100 can improve radar measurement accuracy under the same manufacturing cost condition, or reduction in production cost under the same radar measurement accuracy.

In the structure of the vertical cavity surface emitting laser 11 in this embodiment, a laser cavity is formed between P-junctions and N-junctions by using upper and lower distributed Bragg reflectors (distributed Bragg reflectors), and a gain section is formed by using two oxide layers in the laser cavity. Packaging is performed by using an insulating layer and a heat dissipation layer (thermally insulated layer). And emitting laser signals by applying voltage to two ends of the PN junction. In addition, compared with an edge emitting laser, the vertical cavity surface emitting laser emits laser signals perpendicular to the surface of the laser, so that the size of a laser emitting area is not limited by a PN junction structure, a fast axis and a slow axis do not exist, and the divergence angle parallel to an emitting plane is not different theoretically. In addition, the vertical cavity surface emitting laser has the characteristics of simple assembly process, high photoelectric conversion rate, high beam quality and low wavelength temperature sensitivity.

In the present embodiment, the diameter of the laser beam emitted from the vertical cavity surface emitting laser 11 is smaller than 20 mm.

For the above-mentioned transmitting lens group 12, the transmitting lens group 12 includes at least one transmitting lens 121, the vertical cavity surface emitting laser 11 is optically connected to the transmitting lens 121, and the transmitting lens 121 is configured to collimate the laser signal emitted by the vertical cavity surface emitting laser 11 and emit the laser signal to the target to be measured, so that the high collimation property when the laser signal reaches the target to be measured is improved, and further, the sensitivity and the precision of the laser radar 100 are improved.

Further, the emission lens group 12 further includes an emission lens barrel 122, the emission lens 121 is fixed in the emission lens barrel 122, and the emission end of the vertical cavity surface emitting laser 11 is fixed at one end of the emission lens barrel 122 and is optically connected with the emission lens 121, so as to facilitate the mounting of the laser emission assembly 10 on a mounting base 47 described below.

For the receiving lens 20, the receiving lens 20 includes at least one receiving lens, the image processing component 30 is located on the light path of the receiving lens, the laser signal reflected by the target to be detected is input to the image processing component 30 through the receiving lens, and the receiving lens is used for receiving and converging the laser signal reflected by the target to be detected, and inputting the laser signal to the image processing component 30, so that the probability of receiving light by the image processing component 30 is increased, and the sensitivity and precision of the laser radar 100 are further improved. The angle of field of the receiving lens 20 and the angle of the optical axis of the transmitting lens group 12 determine the blind area range of the laser radar 100.

Further, the receiving lens 20 further includes a receiving barrel, and the receiving lens is fixed in the receiving barrel to facilitate mounting of the receiving lens 20 integrally to a mounting base 47 described below.

Further, in order to avoid that stray light reflected by the target to be measured is input into the image processing component 30 through the receiving lens 20 to affect the measurement accuracy, the laser radar 100 further includes a filtering device 50, the receiving lens 20, the filtering device 50 and the image processing component 30 are sequentially arranged, and the filtering device 50 is used for improving the imaging signal-to-noise ratio of the receiving lens 20. In this embodiment, the filtering device 50 is a narrow-band filter, which can filter out the stray light in the natural light, and only allow the laser signal to pass through, thereby avoiding affecting the determination result of the image processing component 30 and improving the reliability of the laser radar 100.

For the image processing assembly 30, the image processing assembly 30 includes a circuit board 31 and an image sensor 32, the image sensor 32 is connected to the circuit board 31, the image sensor 32 is located on the optical path of the receiving lens 20, the laser signal reflected by the target to be measured is imaged to the image sensor 32 through the receiving lens 20, the image sensor 32 is configured to convert the laser signal into an electrical signal, and the circuit board 31 is configured to process the electrical signal, so as to obtain data such as the distance from the target to be measured to the laser radar 100 and the spatial position relationship.

In some embodiments, the laser emitting assembly 10 includes at least two vertical cavity surface emitting lasers 11, the at least two vertical cavity surface emitting lasers 11 form a vertical cavity surface emitting laser 11 array (VCSEL array), the VCSEL 11 array is optically connected to the emitting lens group 12, wherein the emitting lens group 12 includes at least two emitting lenses 121, and one emitting lens 121 is disposed corresponding to one vertical cavity surface emitting laser 11. Or, the laser emitting assembly 10 further includes an optical splitter, the vertical cavity surface emitting laser 11, the optical splitter, and the emitting lens group 12 are sequentially optically connected, the optical splitter is configured to divide a laser signal emitted by the vertical cavity surface emitting laser 11 into at least two sub-laser signals, where the emitting lens group 12 at least includes two emitting lenses 121, and one emitting lens 121 is disposed corresponding to one sub-laser signal. Alternatively, the beam splitter may be a reflective prism.

Referring to fig. 4 and 5, the rotating platform 40 further includes a baffle 45. The base 41 is provided with a housing slot 4101, the rotary seat 42 is rotatably mounted on the base 41 and covers a part of the housing slot 4101, the rotary seat 42 can rotate around a rotation axis relative to the base 41, the baffle 45 is mounted on the base 41 and covers another part of the housing slot 4101, that is, the rotary seat 42 and the baffle 45 are jointly covered on the notch of the housing slot 4101 to prevent external sundries from entering the housing slot 4101 from the notch of the housing slot 4101. The driving device 44 is attached to a surface of the base 41 facing away from the housing tank 4101, the transmission mechanism 43 connects the rotary base 42 and the driving device 44, and the transmission mechanism 43 is housed in the housing tank 4101. Through the above arrangement, it is possible to prevent external foreign matter from entering the accommodation groove 4101 to affect the operation of the transmission mechanism 43, thereby avoiding the occurrence of a phenomenon in which the laser radar 100 cannot operate normally due to the external foreign matter.

In this embodiment, as shown in fig. 2, the rotating platform 40 further includes a cover 46, the cover 46 is covered on the rotating base 42 and is fixedly connected to the rotating base 42, and the laser emitting assembly 10, the receiving lens 20 and the image processing assembly 30 are all accommodated in the cover 46. The cover 46 is provided with a first through hole 461 and a second through hole 462, the first through hole 461 and the second through hole 462 respectively correspond to the laser emitting component 10 and the receiving lens 20, the first through hole 461 is used for allowing a laser signal emitted by the laser emitting component 10 to be emitted out of the interior of the cover 46, and the second through hole 462 is used for allowing a laser signal reflected by a target to be measured to enter the interior of the cover 46 and be received by the receiving lens 20.

Specifically, with reference to fig. 5, the susceptor 41 includes a substrate 411 and a surrounding plate 412 extending from the substrate 411, the surrounding plate 412 is vertically connected to an edge of the substrate 411, and the surrounding plate 412 and the substrate 411 together form the receiving slot 4101, an end of the surrounding plate 412 away from the substrate 411 forms a notch of the receiving slot 4101, and the receiving slot 4101 is used for receiving the transmission mechanism 43.

Referring to fig. 6, the rotating base 42 includes a mounting portion 421 and a connecting portion 422 fixedly connected to the mounting portion 421, the mounting portion 421 is substantially a circular plate-shaped structure, and the connecting portion 422 is substantially a circular column-shaped structure. The mounting portion 421 covers a part of the accommodation groove 4101, and is rotatably connected to the board 411 by a bearing 4201, and the mounting portion 421 is provided in parallel with the board 411. The connecting portion 422 is fixed to a surface of the mounting portion 421 opposite to the board 411, the connecting portion 422 is connected to the transmission mechanism 43 and is accommodated in the accommodating groove 4101, and the connecting portion 422 is perpendicular to the mounting portion 421. The mounting portion 421 is used for mounting the laser emitting assembly 10, the receiving lens 20 and the image processing assembly 30, and the connecting portion 422 is used for connecting with the transmission mechanism 43.

The shutter 45 is disposed to cover the other part of the housing groove 4101, and the entire shutter 45 is housed in the housing groove 4101, is bonded to the inner wall of the enclosure plate 412, and is disposed parallel to the substrate 411.

Referring to fig. 3-5, the transmission mechanism 43 includes a first transmission 431, a second transmission wheel and a connecting member 432, and the first transmission 431, the second transmission wheel and the connecting member 432 are all accommodated in the accommodating slot 4101. The first transmission 431 and the second transmission wheel are respectively rotatably mounted on the base 411, the second transmission wheel is connected to the connection portion 422, the connection member 432 is simultaneously wound around the first transmission 431 and the second transmission wheel, and the connection member 432 is configured to drive the second transmission wheel to rotate when the first transmission 431 rotates, so that the rotary base 42 rotates around the rotation axis. The driving device 44 is mounted on a surface of the substrate 411 opposite to the housing slot 4101, and an output end of the driving device 44 penetrates through the substrate 411 and enters the housing slot 4101 to be connected with the first transmission 431 and drive the first transmission 431 to rotate.

The first transmission 431 and the second transmission are both of a belt wheel structure, the first transmission 431 is indirectly rotatably mounted on the base 411 through an output end of the driving device 44 fixed on the base 411, and the second transmission is fixedly connected with the connecting part 422 through a bearing 4201. Link 432 is a closed loop belt. The drive means 44 is a motor.

It should be understood that, even though the first transmission 431 and the second transmission wheel in this embodiment are both belt wheel structures, and the connecting member 432 is a belt, the present invention is not limited to this, for example: in other embodiments of the present invention, the first transmission 431 and the second transmission wheel may be in a chain structure, and the connecting member 432 is a chain. It is understood that in other embodiments of the present invention, the first transmission 431 can also be directly rotatably mounted on the base plate 411. It should be understood that the driving device 44 can be any other mechanism capable of realizing a rotation output to drive the first transmission 431 to rotate, such as a rotary cylinder, which is not described in detail herein.

Referring to fig. 6, preferably, in the present embodiment, the second transmission wheel is omitted, the connecting portion 422 is provided with a groove 4221 along its outer sidewall, and the connecting member 432 is wound around the first transmission 431 and the groove 4221 of the connecting portion 422. When the driving device 44 drives the first transmission 431 to rotate, the connecting part 432 drives the connecting part 422 to rotate, so that the rotary base 42 rotates around the rotation axis as a whole. The connecting portion 422 is rotatably mounted on the base 411 through a bearing 4201, that is, the rotary base 42 is integrally rotatably mounted on the base 411 through the bearing 4201. Through the arrangement, the connection between the transmission mechanism 43 and the rotating seat 42 is simplified, and the stable rotating operation of the rotating seat 42 is facilitated.

Referring to fig. 7, in the present embodiment, one end of the baffle 45 covers the first transmission 431, and the other end extends to the edge of the connection portion 422 toward the connection portion 422 to form two wing portions 451, and in the direction parallel to the direction in which the first transmission 431 points to the connection portion 422, the shape of one end of the baffle 45 close to the connection portion 422 is matched with the shape of the connection portion 422. A part of the inner side wall of the surrounding plate 412 is attached to a part of the outer side wall of the baffle 45, the other part of the inner side wall of the surrounding plate 412 surrounds a part of the outer side wall of the connecting part 422, the other part of the outer side wall of the baffle 45 extends to the edge of the other part of the outer side wall of the connecting part 422, and the mounting part 421 integrally covers the gap between the connecting part 422 and the baffle 45 and the gap between the connecting part 422 and the surrounding plate 412. Through the arrangement, the phenomenon that the transmission mechanism 43 is blocked due to the fact that external sundries enter the accommodating groove 4101 from the gap between the connecting part 422 and the baffle 45 and the gap between the connecting part 422 and the enclosing plate 412 and then wind around the transmission mechanism 43 is avoided.

Further, with reference to fig. 4 and fig. 5, the base 41 further includes a partition 415, one end of the partition 415 is fixed to a surface of the base 411 opposite to the flap 45, and the other end of the partition 415 extends to abut between two wings 451 of the flap 45 in a direction away from the base 411. The partition 415 is located between the first transmission 431 and the connection 422 and separates the first transmission 431 and the connection 422. The partition 415 has a gap between both ends thereof and the surrounding plate 412, and the connecting member 432 passes through the gap to be integrally wound around the first transmission 431 and the connecting portion 422. The partition 415, the baffle 45, the base 411 and the enclosure 412 together define a mounting chamber, and the first transmission 431 is accommodated in the mounting chamber. With the above arrangement, on the one hand, the baffle 45 can be further prevented from sliding in a plane parallel to the base plate 411 when being carried on each limiting rib 413, and on the other hand, the partition 415 forms an installation chamber in the accommodation groove 4101 at an interval, and only the connecting piece 432 is allowed to be wound around the first transmission 431 and the second transmission wheel through the gap, so that the protection of the first transmission 431 and the output end of the driving device 44 can be enhanced, and sundries can be prevented from entering the installation chamber and being wound around the first transmission 431.

As shown in fig. 5, in order to prevent the baffle 45 from being excessively inserted into the receiving slot 4101 and causing interference between the baffle 45 and the first transmission 431, the base 41 further includes at least one limiting rib 413 disposed between the base 411 and the baffle 45. One end of the limiting rib 413 is connected to the substrate 411, the other end extends towards the baffle 45, the baffle 45 is supported on the at least one limiting rib 413, and one end of the limiting rib 413, which is far away from the substrate 411, is abutted against the baffle 45, so that the limiting rib 413 stably and firmly supports the baffle 45.

It is understood that in other embodiments of the present invention, the limiting rib 413 may also be one end connected to the baffle 45, and the other end extending to the base plate 411 and abutting against the base plate 411, so as to provide a support for the baffle 45, that is: one end of the stopper rib 413 is fixed to one of the base 411 and the baffle 45, and the other end of the stopper rib 413 abuts against the other of the base 411 and the baffle 45.

Referring to fig. 5 and 7, in order to facilitate the positioning and installation of the baffle 45 during the installation process, the baffle 45 is provided with at least one groove 452 at the position where the baffle is attached to the enclosure 412, and correspondingly, the enclosure 412 is provided with a protrusion 414 matched with the groove 452, and the protrusion 414 is inserted into the groove 452. The cooperation of the protrusion 414 and the groove 452 facilitates the positioning and installation of the baffle 45, and prevents the baffle 45 from sliding in a plane parallel to the substrate 411.

It is understood that in other embodiments of the present invention, the groove 452 may be disposed on the surrounding plate 412, and accordingly, the protrusion 414 is disposed on the baffle 45, and the baffle 45 and the base 41 are positioned and mounted by the groove 452 and the protrusion 414, and limited by the plane parallel to the substrate 411.

In this embodiment, the baffle 45 is fixed to the base 411 of the susceptor 41 in a snap-fit manner. Specifically, a hook 453 is disposed at an end of the baffle 45 close to the substrate 411, and the hook 453 includes a fixing portion 4531 and a fastening portion 4532. Wherein, one end of the fixing portion 4531 is fixedly connected to the baffle 45, and the other end extends toward the substrate 411; the fastening portion 4532 is disposed at one end of the fixing portion 4531 away from the baffle 45, a through groove is disposed at a position of the substrate 411 corresponding to the hook 453, and the fastening portion 4532 penetrates through the through groove and abuts against a surface of the substrate 411 opposite to the baffle 45, so as to achieve a fixed connection between the baffle 45 and the substrate 411.

It is understood that, in other embodiments of the present invention, the hook 453 can also be disposed on the base 411, and accordingly, the blocking plate 45 is provided with a through slot at a position corresponding to the hook 453, and the fastening portion 4532 of the hook 453 passes through the through slot on the blocking plate 45 and is fixed to the side of the blocking plate 45 opposite to the base 411.

It should be understood that: in other embodiments of the present invention, the baffle 45 and the base 41 can be fixedly connected by other methods besides the clamping, for example, the baffle 45 and the base 41 are connected by the screw thread of the screw thread fastener 4501, specifically, as shown in fig. 8, a screw thread hole is provided on the limiting rib 413, the baffle 45 is provided with a fixing hole 454 corresponding to the screw thread hole, the screw thread fastener 4501 passes through the fixing hole 454 and extends into the screw thread hole to be connected with the base plate 411, so as to fix the baffle 45 to the base 41, wherein the protrusion 414 and the groove 452 can be omitted, and the baffle 45 is fixed in the plane of the parallel base plate 411 by the joint of the positioning rib and the surrounding plate 412.

Since the mounting portion 421 of the rotary seat 42 is rotatably mounted on the base 41 through the bearing 4201, the baffle 45 is often mounted before the baffle 45 in the assembly process, when the baffle 45 is mounted, the two wing portions 451 of the baffle 45 are firstly inserted into the mounting portion 421 in an inclined manner, and then rotated to be horizontally supported on the limiting ribs 413; in this process, the provision of the groove 452 and the protrusion 414 facilitates interference between the bezel 45 and the base 41, which makes it difficult to attach and detach the bezel 45. Therefore, after the groove 452 and the protrusion 414 are omitted and the fastening manner of the screw connection instead of the snap connection is adopted, only the two wing parts 451 of the baffle 45 need to be inclined to extend into the lower portion of the mounting part 421, and then the baffle 45 is rotated to fit the partition 415 between the two wing parts 451, and meanwhile, the side part of the baffle 45 is partially attached to the surrounding plate 412, and the baffle 45 is supported on each limiting rib 413. Therefore, omitting recess 452 and protrusion 414, and adopting threaded connection to replace the fixed mode of joint after, the dismouting of baffle 45 of being more convenient for helps promoting efficiency and experience when staff assembles baffle 45. At the same time, the fastening fastness of the threaded fastener 4501 is superior to that of a snap connection.

Referring to fig. 2 and 9, in the present embodiment, the rotating platform 40 further includes a mounting seat 47, the mounting seat 47 is mounted on a surface of the rotating seat 42 facing away from the base 41, the mounting seat 47 is provided with a first mounting hole 4701 and a second mounting hole 4702, the laser emitting assembly 10 is mounted in the first mounting hole 4701, the receiving lens 20 is mounted in the second mounting hole 4702, and the image processing assembly 30 is mounted on a side of the mounting seat 47 facing away from an emitting direction of the laser emitting assembly 10.

Specifically, the mounting seat 47 is mounted on a surface of the mounting portion 421 facing away from the base 41, the first mounting hole 4701 and the second mounting hole 4702 respectively penetrate through the mounting seat 47, and central axes of the first mounting hole 4701 and the second mounting hole 4702 are arranged at a preset angle, so that the receiving lens 20 mounted in the second mounting hole 4702 can receive a laser signal emitted by the laser emitting assembly 10 mounted in the first mounting hole 4701. The circuit board 31 and the image sensor 32 are mounted on a side of the mounting seat 47 facing away from the emitting direction of the laser emitting assembly 10, and the image sensor 32 is located at one end of the second mounting hole 4702 so that the laser signal is directly input to the image sensor 32 after being adjusted by the receiving lens 20. The laser emitting assembly 10 is fixed to the first mounting hole 4701 through the emission barrel 122 so that the entire laser emitting assembly 10 is fixedly mounted to the first mounting hole 4701.

In this embodiment, the mounting seat 47 includes a first mounting block 471 and a second mounting block 472, and the first mounting block 471 and the second mounting block 472 are fixedly connected by a fastener such as a screw. The central axes of the first and second mounting holes 4701 and 4702 are located between the first and second mounting blocks 471 and 472.

Further, a first fastening structure 4703 is arranged on the inner side wall of the first mounting hole 4701, and the laser emitting component 10 is provided with a first matching structure which is matched with the first fastening structure 4703, so that the laser emitting component 10 is fixed in the first mounting hole 4701;

the inside wall of second mounting hole 4702 is provided with second fastening structure 4704, and receiving lens 20 is provided with second cooperation structure, and second cooperation structure and the cooperation of second fastening structure 4704 for receiving lens 20 is fixed in second mounting hole 4702.

Specifically, the outer sidewall of the emission lens barrel 122 is provided with a first mating structure, which is mated with the first fastening structure 4703, so that the emission lens barrel 122 is fixed in the first mounting hole 4701, and the laser emission assembly 10 is integrally fixed on the mounting seat 47. The outer side wall of the receiving lens barrel is provided with a second matching structure, and the second matching structure is matched with the second fastening structure 4704, so that the receiving lens barrel is fixed in the second mounting hole 4702, and the receiving lens 20 is integrally fixed on the mounting seat 47. Wherein, first fastening structure 4703 is the annular flange, and first cooperation structure is the ring channel with first fastening structure 4703 looks adaptation, and second fastening structure 4704 is the internal thread, and second cooperation structure is the external screw thread with second fastening structure 4704 looks adaptation.

It is understood that in other embodiments of the present invention, the first fastening structure 4703 and the first mating structure can also be other cooperating structures, for example, the first fastening structure 4703 and the first mating structure are respectively a mating structure of an internal thread and an external thread; the second fastening structure 4704 and the second mating structure can also be other cooperating structures, such as, for example, the second fastening structure 4704 and the second mating structure being the mating structure of an annular flange and an annular groove, respectively.

The laser radar 100 further includes a main control board electrically connected to the vertical cavity surface emitting laser 11, the circuit board 31 and the driving device 44, the main control board being configured to drive the vertical cavity surface emitting laser 11 to emit a laser signal, transmit the laser signal through the circuit board 31, and control the rotation of the rotary base 42 through the driving device 44.

The embodiment of the utility model provides a still provide a mobile robot, this mobile robot includes the laser radar 100 that any embodiment of the aforesaid provided.

The above only is the embodiment of the present invention, not limiting the patent scope of the present invention, all the equivalent structures or equivalent processes that are used in the specification and the attached drawings or directly or indirectly applied to other related technical fields are included in the patent protection scope of the present invention.

Claims (10)

1. A laser radar applied to a mobile robot is characterized by comprising:

the laser emitting assembly comprises a vertical cavity surface emitting laser and an emitting lens group, and the emitting lens group is in optical path connection with the vertical cavity surface emitting laser;

the image processing device comprises a receiving lens and an image processing assembly, wherein the image processing assembly is positioned on an optical path of the receiving lens;

rotatory cloud platform, including base, roating seat, drive mechanism and drive arrangement, the roating seat rotationally install in the base, drive arrangement install in the base, drive mechanism connects roating seat and drive arrangement, laser emission subassembly, receiving lens and image processing subassembly all set up in the roating seat.

2. Lidar according to claim 1,

the emission lens group comprises at least one emission lens, and the vertical cavity surface emitting laser is connected with the light path of the emission lens.

3. Lidar according to claim 1,

the receiving lens comprises at least one receiving lens, and the image processing assembly is located on the light path of the receiving lens.

4. Lidar according to claim 1,

the receiving lens, the filtering device and the image processing assembly are sequentially arranged.

5. Lidar according to claim 1,

the image processing assembly comprises a circuit board and an image sensor, the image sensor is connected with the circuit board, and the image sensor is located on the light path of the receiving lens.

6. Lidar according to claim 1,

the laser emitting assembly comprises at least two vertical cavity surface emitting lasers, the at least two vertical cavity surface emitting lasers form a vertical cavity surface emitting laser array, and the vertical cavity surface emitting laser array is connected with the emitting lens group through a light path; alternatively, the first and second electrodes may be,

the laser emission component further comprises a light splitter, and the vertical cavity surface emitting laser, the light splitter and the emission lens group are connected in sequence through light paths.

7. The lidar according to any of claims 1 to 6, wherein the rotating platform further comprises a baffle, the base is provided with a receiving slot, the rotating base is rotatably mounted on the base and covers a portion of the receiving slot, the baffle is mounted on the base and covers another portion of the receiving slot, the transmission mechanism is received in the receiving slot, and the driving device is located on a surface of the base opposite to the receiving slot.

8. Lidar according to claim 7,

the rotary cloud platform further comprises a mounting seat, the mounting seat is mounted on the side, back to the base, of the rotary seat, the mounting seat is provided with a first mounting hole and a second mounting hole, the laser emission assembly is mounted in the first mounting hole, the receiving lens is mounted in the second mounting hole, and the image processing assembly is mounted on one side, back to the emission direction of the laser emission assembly, of the mounting seat.

9. Lidar according to claim 8,

the inner side wall of the first mounting hole is provided with a first fastening structure, the laser emission assembly is provided with a first matching structure, and the first matching structure is matched with the first fastening structure, so that the laser emission assembly is fixed in the first mounting hole;

the inner side wall of the second mounting hole is provided with a second fastening structure, the receiving lens is provided with a second matching structure, and the second matching structure is matched with the second fastening structure, so that the receiving lens is fixed in the second mounting hole.

10. A mobile robot comprising a lidar according to any of claims 1 to 9.

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