CN214409284U - Laser radar and mobile robot - Google Patents
Laser radar and mobile robot Download PDFInfo
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- CN214409284U CN214409284U CN202120169629.4U CN202120169629U CN214409284U CN 214409284 U CN214409284 U CN 214409284U CN 202120169629 U CN202120169629 U CN 202120169629U CN 214409284 U CN214409284 U CN 214409284U
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- mobile robot
- lidar
- circuit module
- receiving unit
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- 230000003287 optical effect Effects 0.000 claims abstract description 26
- 230000002349 favourable effect Effects 0.000 abstract description 3
- 238000010408 sweeping Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
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Abstract
The embodiment of the utility model provides a relate to laser radar technical field, especially disclose a laser radar and mobile robot. The laser radar comprises a circuit module, wherein a laser transmitting unit for transmitting laser and a laser receiving unit for receiving reflected laser are arranged on the circuit module; the circuit module is arranged in a downward bias mode in the vertical direction, so that the height of a protruding part protruding out of the surface of the mobile robot is reduced after the laser radar is arranged on the mobile robot; the optical module is arranged in front of the circuit module and comprises an asymmetric lens so as to deflect at least one part of the reflected laser downwards to the laser receiving unit. In this way, the embodiment of the utility model provides a can make the downward deflection of light path of reflection laser, when having reduced laser radar and carrying out the omnidirectional scanning, outstanding in the required height in mobile robot surface is favorable to guaranteeing mobile robot to the trafficability characteristic of short obstacle.
Description
Technical Field
The embodiment of the utility model provides a laser radar and mobile robot is related to laser radar technical field, especially relate to.
Background
With the continuous progress of electronic technology, various mobile robots with certain intelligent degree are emerging, such as sweeping robots, automatic driving trolleys and the like, which gradually enter the daily life of people.
In order to support the intelligent operation of the mobile robot, a plurality of different types of sensors are required to be configured on the robot. Among them, a distance measuring sensor for detecting the distance to an obstacle is indispensable for the mobile robot to sense the surrounding environment.
Typically, in order to meet the requirement of a 360 ° scan, the lidar needs to be above the surface of the mobile robot. However, the height of the laser radar projection decreases the overall height of the mobile robot, and the mobile robot is unable to move in a short obstacle. For example, for a sweeping robot, a laser radar that is too high may cause the sweeping robot to be unable to pass through some low table or cabinet bottoms.
Therefore, it is urgently needed to provide a laser radar capable of reducing the projection height as much as possible, and ensuring the passing ability of the mobile robot in a low obstacle while satisfying all-directional scanning.
SUMMERY OF THE UTILITY MODEL
The embodiment of the utility model provides a main technical problem who solves provides a laser radar and mobile robot, can reduce the outstanding height of laser radar as far as when guaranteeing laser radar omnidirectional scanning.
In order to solve the technical problem, the utility model discloses a technical scheme be: a laser radar is provided. The laser radar includes:
the laser emitting device comprises a circuit module, a laser receiving module and a laser emitting module, wherein the circuit module is provided with a laser emitting unit for emitting laser and a laser receiving unit for receiving reflected laser; the circuit module is arranged in a downward bias mode in the vertical direction, so that the height of a protruding part protruding out of the surface of the mobile robot is reduced after the laser radar is arranged on the mobile robot;
the optical module is arranged in front of the circuit module and comprises an asymmetric lens so as to deflect at least one part of the reflected laser downwards to the laser receiving unit.
Optionally, the laser radar further includes an outer casing surrounding the protruding portion.
Optionally, the laser receiving unit includes a photosensitive area for sensing the reflected laser, and the photosensitive area is located in the center of the laser receiving unit.
Optionally, the curved surface of the asymmetric lens does not use the optical center of the optical module as a symmetry center.
Optionally, the photosensitive area is aligned with an optical center of the optical module.
Optionally, the circuit module is a PCB, and the laser emitting unit and the laser receiving unit are distributed on the PCB.
Optionally, the laser emitting unit and the laser receiving unit are separately disposed on the PCB; the laser emission unit is a laser emission tube.
Optionally, the laser radar is a triangular laser radar or a TOF laser radar.
For solving the technical problem, the utility model discloses a another technical scheme is: there is provided a mobile robot, wherein the mobile robot comprises a lidar as described above.
Optionally, at least a portion of the lidar protrudes from a surface of the mobile robot to perform omnidirectional scanning.
The embodiment of the utility model provides a beneficial effect is: be different from prior art's condition, the embodiment of the utility model provides an optical module through having asymmetric design lens makes the downward deflection of light path of reflection laser for circuit module can arrange by the slant as far as, thereby when having reduced laser radar and having carried out omnidirectional scanning, outstanding in the height on mobile robot surface, be favorable to guaranteeing mobile robot to the trafficability characteristic of short obstacle.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the embodiments of the present application will be briefly described below, and it is obvious that the drawings described below are only some embodiments of the present application, and it is obvious for a person skilled in the art to obtain other drawings based on the drawings without any creative effort.
Fig. 1 is a schematic structural diagram of a laser radar according to an embodiment of the present invention;
fig. 2 is a schematic perspective view of an optical module and a circuit module according to an embodiment of the present invention;
fig. 3 is a schematic diagram of the laser radar of the embodiment of the present invention and a laser radar of a conventional structure in high contrast.
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 will be understood that when an element is referred to as being "secured 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 "vertical," "horizontal," "left," "right," and the like as used herein are for descriptive purposes only.
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.
Referring to fig. 1, the laser radar of the present embodiment includes a circuit module 100 and an optical module 200. Of course, in some embodiments, the lidar may include more or less functional modules as the actual situation requires. For example, a rotation mechanism for driving the laser radar itself to rotate may be further included.
The circuit module 100 may be any suitable electrical circuit related component for detecting a distance to an external obstacle and implementing a distance measurement function.
Referring to fig. 2, based on the laser ranging principle, the circuit module 100 may at least include a laser emitting unit 110 for emitting laser outwards and a laser receiving unit 120 for receiving reflected laser reflected by an external obstacle.
In some embodiments, several components included in the circuit module 100 may be integrally disposed on a suitable PCB board 130. For example, the laser emitting unit 110 and the laser receiving unit 120 may be independent of each other, and disposed on a PCB board, respectively.
Specifically, the laser emitting unit 110 may be a laser emitting tube disposed on a PCB board. The laser receiver unit 120 is composed of the associated detection circuit and the photosensitive region R. The photosensitive region R is an important region of the laser receiving unit 120, and is used for sensing the reflected laser light and converting the reflected laser light into an electrical signal. The position of which is fixed at the center of the laser receiving unit 120, and the reflected laser light entering the laser radar needs to be concentrated to a photosensitive area to realize laser ranging.
It is possible for the optical module 200 to be composed of one or more sets of lenses or lenses. Which is disposed in front of the circuit module 100 to form a light path for the emitted laser and the reflected laser to pass through.
The optical module 200 may be an asymmetric lens. The term "asymmetric lens" as used herein means a lens of asymmetric design, specifically, a lens whose curved surface design is not symmetrical about the optical center, such as a progressive design or a trapezoidal design.
Accordingly, referring to fig. 1, a portion of the reflected laser beam entering the laser radar is deflected downward and focused on the photosensitive region R of the laser receiving unit 120. In other words, the focus point of the reflected laser beam passing through the optical module 200 coincides with the photosensitive region R of the laser receiving unit 120.
In some embodiments, referring to fig. 1, the lidar may be substantially divided into a protruding portion 310 and a sinking portion 320, depending on whether the lidar protrudes from the surface of the mobile robot.
The protruding portion 310 is a portion protruding upward from the upper surface of the mobile robot when the laser radar is mounted on the mobile robot. The sinking portion 320 is a portion of the laser radar sinking into the mobile robot below the upper surface of the mobile robot.
In some embodiments, an outer housing may be added over the laser radar overhang 310 in order to protect internal components, maintain the exterior structural integrity of the robot, etc. Which have corresponding shapes providing corresponding mounting locations and receiving spaces for receiving and enclosing the circuit module 100 and the optical module 200 in the protruding portions. Of course, any suitable type of material and structure of the outer shell can be selected and used according to the needs of the actual situation.
Typically, the volume of the circuit module 200 (e.g., PCB) is significantly larger than that of the optical module 100. Therefore, the height of the protruding portion 310 depends on the circuit module 200.
Specifically, the sinking portion 320 of the laser radar sinks inside the mobile robot, so that an open or semi-closed structure can be selected according to actual conditions, and only the assembly requirement of the laser radar needs to be met, and a corresponding supporting effect is achieved.
Referring to fig. 3, when performing laser ranging, a laser emitting unit 110 emits laser outwards. The emitted laser light is reflected by an external obstacle to form a reflected laser light after encountering the obstacle.
Then, the reflected laser light enters the laser radar, is received by the laser receiving unit 120 by refraction of the optical module 200, and determines data information related to the reflected laser light.
Finally, the distance between the mobile robot and the external obstacle can be determined according to the angle or the interval time between the reflected laser and the emitted laser based on the principle of triangular ranging or TOF ranging, and laser ranging is completed.
Referring to fig. 3, the photosensitive region R is located in the center of the laser receiving unit 120. Therefore, in the conventional laser radar, the PCB needs to be lifted to a higher position to ensure that the photosensitive region R can coincide with the focus point F1 of the reflected laser after passing through the optical module, so that the reflected laser can be sensed.
In this embodiment, the optical module 200 using the asymmetric mirror can deflect the portion of the reflected laser downward, and the position of the focus point F2 moves downward, so that the PCB can be biased toward the sinking portion.
It can be seen from the comparison between the two, the asymmetric design of the lens or the optical module 200 reduces the height of the focus point F2 of the reflected laser beam behind the optical module 200 by deflecting the reflected laser beam downward, and the photosensitive region R can be located at a lower position.
From this, for traditional optical module structure, the PCB board can be in the vertical direction, and the further reduction of height of laser radar's protruding portion is favorable to promoting the ability of mobile robot to passing through low obstacle to the downward biasing setting.
Based on the lidar that above-mentioned embodiment provided, the utility model discloses still further provide a mobile robot who installs above-mentioned lidar. Specifically, the laser radar can be a triangular ranging laser radar based on a triangular ranging principle, and also can be a TOF laser radar based on laser pulse timing, and the type of the laser radar used in practice can be determined according to actual conditions such as requirements of the mobile robot on ranging performance and cost control.
The mobile robot may be any suitable type of automated device having autonomous mobility capabilities for implementing one or more intelligent functions, such as a sweeping robot. The sensing of the external environment is realized by arranging a laser radar or other one or more sensor devices including an image acquisition device, a speed sensor and the like.
In some embodiments, the lidar may be disposed at a top portion of the mobile robot, and at least a portion of the lidar protrudes from an upper surface of the mobile robot, so that a laser emitting unit of the lidar may smoothly emit laser in all directions and may sense reflected laser generated by an obstacle through a laser receiving unit.
Thus, the rotating mechanism drives the laser radar to rotate, so that the distance of the obstacle in all directions (360 degrees) to the mobile robot can be detected. Of course, the rotary drive mechanism may be arranged on the mobile robot, or may be arranged within the lidar, or may be arranged partially on the mobile robot and partially within the lidar.
The embodiment of the utility model provides a mobile robot, because the laser radar who adopts has used asymmetric design's lens, when guaranteeing the receptivity to reflection laser, can allow circuit module whole to arrange by the slant downwards, reduced laser radar salient in the required minimum height in mobile robot surface for mobile robot surface has higher short obstacle throughput.
It should be noted that the preferred embodiments of the present invention are described in the specification and the drawings, but the present invention can be realized in many different forms, and is not limited to the embodiments described in the specification, and these embodiments are not provided as additional limitations to the present invention, and are provided for the purpose of making the understanding of the disclosure of the present invention more thorough and complete. Moreover, the above technical features are combined with each other to form various embodiments which are not listed above, and all the embodiments are regarded as the scope of the present invention; further, modifications and variations will occur to those skilled in the art in light of the foregoing description, and it is intended to cover all such modifications and variations as fall within the true spirit and scope of the invention as defined by the appended claims.
Claims (10)
1. A lidar, comprising:
the laser radar device comprises a circuit module, a laser receiving unit and a laser transmitting unit, wherein the laser transmitting unit is used for transmitting laser and the laser receiving unit is used for receiving reflected laser are arranged on the circuit module, and the circuit module is arranged in a downward offset mode in the vertical direction so that the height of a protruding part protruding out of the surface of the mobile robot is reduced after the laser radar is arranged on the mobile robot;
the optical module is arranged in front of the circuit module and comprises an asymmetric lens so as to deflect at least one part of the reflected laser downwards to the laser receiving unit.
2. The lidar of claim 1, further comprising an outer housing surrounding the projection.
3. The lidar of claim 1, wherein the laser receiving unit comprises a photosensitive area for sensing the reflected laser light, the photosensitive area being located in a center of the laser receiving unit.
4. The lidar of claim 3, wherein the curved surface of the asymmetric optic is not centered about an optical center of the optical module.
5. The lidar of claim 4, wherein the photosensitive region is aligned with an optical center of the optical module.
6. The lidar of claim 1, wherein the circuit module is a PCB board, and the laser emitting unit and the laser receiving unit are distributed on the PCB board.
7. The lidar of claim 6, wherein the laser transmitting unit and the laser receiving unit are separately disposed on the PCB board; the laser emission unit is a laser emission tube.
8. Lidar according to claim 1, wherein the lidar is a triangular lidar or a TOF lidar.
9. A mobile robot, characterized in that it comprises a lidar according to any of claims 1-8.
10. The mobile robot of claim 9, wherein at least a portion of the lidar protrudes from a surface of the mobile robot for omnidirectional scanning.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120169629.4U CN214409284U (en) | 2021-01-21 | 2021-01-21 | Laser radar and mobile robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120169629.4U CN214409284U (en) | 2021-01-21 | 2021-01-21 | Laser radar and mobile robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN214409284U true CN214409284U (en) | 2021-10-15 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202120169629.4U Active CN214409284U (en) | 2021-01-21 | 2021-01-21 | Laser radar and mobile robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN214409284U (en) |
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2021
- 2021-01-21 CN CN202120169629.4U patent/CN214409284U/en active Active
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Address after: 518000, Floor 1801, Block C, Minzhi Stock Commercial Center, North Station Community, Minzhi Street, Longhua District, Shenzhen City, Guangdong Province Patentee after: Shenzhen Huanchuang Technology Co.,Ltd. Address before: 518000 2407-2409, building 4, phase II, Tian'an Yungu Industrial Park, Gangtou community, Bantian street, Longgang District, Shenzhen, Guangdong Patentee before: SHENZHEN CAMSENSE TECHNOLOGIES Co.,Ltd. |