CN214595739U - Three-dimensional scanning mechanism, radar and sweeper - Google Patents
Three-dimensional scanning mechanism, radar and sweeper Download PDFInfo
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- CN214595739U CN214595739U CN202023249832.7U CN202023249832U CN214595739U CN 214595739 U CN214595739 U CN 214595739U CN 202023249832 U CN202023249832 U CN 202023249832U CN 214595739 U CN214595739 U CN 214595739U
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Abstract
The application discloses three-dimensional scanning mechanism, radar and machine of sweeping floor. The three-dimensional scanning mechanism comprises a reflector component, a bracket, a driving part and a linkage component. The bracket is formed with a first mounting position at which the mirror assembly is deflectably disposed about the horizontal axis and a second mounting position for mounting the laser emitting and receiving assembly to emit laser light toward the mirror assembly and to receive laser light reflected by the mirror assembly. The driving part drives the bracket to rotate around a vertical axis. The linkage assembly is configured to link the bracket and the mirror assembly such that the mirror assembly is deflected about the horizontal axis by rotational movement of the bracket. The technical scheme that this application provided can solve among the prior art 3D radar sensor size big, problem with high costs.
Description
Technical Field
The application relates to the technical field of sweeper, in particular to a three-dimensional scanning mechanism, a radar and a sweeper.
Background
At present, 3D radar sensors on the market basically adopt a plurality of ranging modules with different installation angles to be stacked, or adopt an area array light source and a photosensitive chip to obtain ranging information with a large angle, so that the overall size of a product is large, and the cost is high.
SUMMERY OF THE UTILITY MODEL
The application provides a three-dimensional scanning mechanism, radar and machine of sweeping floor, it can solve among the prior art problem that 3D radar sensor size is big, with high costs.
In a first aspect, the present invention provides a three-dimensional scanning mechanism, including:
a mirror assembly;
a bracket formed with a first mounting position at which the mirror assembly is deflectably provided about a horizontal axis and a second mounting position for mounting the laser emitting and receiving assembly to emit laser light to the mirror assembly and receive the laser light reflected by the mirror assembly;
the driving part drives the bracket to rotate around a vertical axis; and
a linkage assembly configured to link the carriage and the mirror assembly such that the mirror assembly is deflected about the horizontal axis by rotational movement of the carriage.
In the implementation process, the three-dimensional scanning mechanism is applied to the sweeper, and the measuring direction of the laser radar can be changed through the reflector component to obtain the ranging information with a large angle; the driving part works, under the coordination of the linkage assembly, the reflector assembly rotates around a vertical axis and deflects around a horizontal axis simultaneously, so that the angle adjustment of laser emission and laser reception, namely the adjustment of the measurement direction is realized, finally, laser can be processed by the laser emission and reception assembly in the horizontal and vertical directions in a certain characteristic manner to form 3D point cloud, and the effects of drawing construction and obstacle avoidance are achieved; meanwhile, the deflection angle of the reflector component is related to the rotation angle of the reflector component, so that the laser measurement precision is high, and the obstacle avoidance effect of the sweeper is facilitated; meanwhile, as the reflector component is driven to move in two directions by adopting one power source, the three-dimensional scanning mechanism has a compact structure and the manufacturing cost is reduced.
In an alternative embodiment, the linkage assembly includes a base, a face gear, and a spur gear;
the driving part is arranged on the base, and the bracket rotates relative to the base;
the face gear is arranged on the base and is coaxial with the rotating shaft of the bracket;
the reflector component is connected with the bracket through a rotating shaft, the straight gear is in transmission connection with the rotating shaft, and the straight gear is meshed with the face gear.
In the implementation process, the linkage assembly is simple in structure and convenient to manufacture; when the driving part works, the bracket rotates relative to the base, and the spur gear on the reflector component moves relative to the face gear along with the rotation of the reflector component so as to rotate, so that the reflector component is driven to perform deflection motion; meanwhile, the gear transmission mode is adopted, so that the transmission is stable and accurate, the relevance of the deflection motion and the rotation motion of the reflector component can be ensured, and the measurement precision of laser is ensured; it should be noted that a speed regulating gear can be arranged between the face gear and the spur gear to regulate the deflection speed and direction of the reflector assembly; simultaneously, it should be noted that the spur gear not only can directly set up in the pivot, can also set up other transmission structure between spur gear and the pivot, for example, band pulley transmission structure: the driving pulley and the straight gear are arranged with the rotating shaft, the driven pulley is arranged in the rotating shaft and is connected with the driving pulley through a belt, and therefore the torque of the straight gear is transmitted to the rotating shaft.
In an alternative embodiment, an annular groove is formed on the end face of the base, and the face gear is embedded in the annular groove;
and a concave-convex positioning structure is arranged between the face gear and the annular groove.
In the implementation process, the face gear can be conveniently assembled on the base, and due to the concave-convex positioning structure, the face gear can be accurately arranged on the base, so that the face gear is prevented from being mistaken; it should be noted that the concave-convex positioning structure may include a protrusion provided on the side wall of the face gear and a groove provided on the inner wall of the annular groove.
In an alternative embodiment, the base is formed with a rotation groove, the driving part is fixed to the bottom of the rotation groove, and the bracket is rotatably positioned in the rotation groove.
In the process of realizing, the driving part is arranged at the bottom of the rotary groove, the driving part can be effectively protected, the support is arranged in the rotary groove, a guiding effect can be achieved, and the support is prevented from being separated.
In an alternative embodiment, the bracket comprises a mounting cylinder and mounting frames, wherein the two mounting frames are formed at the top end of the mounting cylinder at intervals, a first mounting position is formed between the two mounting frames, and a second mounting position is formed inside the mounting cylinder;
the reflector assembly comprises a reflector body and a reflector mounting seat, the reflector mounting seat is arranged between the two mounting frames in a deflecting mode, and the reflector body is fixed on the reflector body.
In the implementation process, the first installation position is positioned above the second installation position, so that laser can be conveniently emitted outwards, and the laser can be conveniently received by the laser emitting and receiving assembly after being reflected; meanwhile, the laser emitting and receiving assembly is located in the installation cylinder body, so that the protection effect can be effectively achieved, and the interference of external force substances on the laser emitting and receiving assembly is avoided.
In a second aspect, the present invention provides a radar comprising a laser emitting and receiving assembly and a three-dimensional scanning mechanism according to any of the preceding embodiments;
the laser emitting and receiving assembly is disposed at the second mounting location.
In the process of the realization, the laser transmitting and receiving assembly has the functions of transmitting laser, receiving laser and laser processing, the laser transmitting and receiving assembly transmits laser to the reflecting mirror assembly, the laser can be transmitted to different angles through the function of the reflecting mirror assembly, the laser is received by the laser transmitting and receiving assembly and generates 3D point cloud after encountering an obstacle through the function of the reflecting mirror assembly, and finally the effects of drawing construction and obstacle avoidance are achieved.
In an alternative embodiment, the laser emitting and receiving components include a laser diode, a PCBA, and a converging lens;
the laser diode is connected with the PCBA and used for emitting laser to the reflector component, and the converging lens is used for converging the laser reflected by the reflector component onto the PCBA.
In the implementation process, the PCBA controls the laser diode to emit laser with a certain wave band outwards; the back-folded laser is reflected by the reflecting mirror assembly and then is converged to a processor on the PCBA under the action of the converging lens, so that the distance is measured and calculated to generate a 3D point cloud.
In an alternative embodiment, the laser diode and the converging lens are coaxial.
In the implementation process, the laser diode and the converging lens are coaxially designed, so that the precision of distance measurement is facilitated.
A third aspect of the present invention provides a sweeper that includes a radar in any one of the above embodiments.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required 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 application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.
FIG. 1 is a perspective view of a three-dimensional scanning mechanism in this embodiment;
FIG. 2 is a sectional view of the three-dimensional scanning mechanism in the present embodiment;
FIG. 3 is a schematic view of the linkage assembly of the present embodiment;
FIG. 4 is a schematic view of a holder according to the present embodiment;
FIG. 5 is a perspective view of the radar of the present embodiment;
fig. 6 is a sectional view of the radar in this embodiment.
Icon: 10-a mirror assembly; 11-a mirror body; 12-mirror mount;
20-a scaffold; 20A-a first mounting position; 20B-a second mounting position; 21-mounting a cylinder; 22-a mounting frame; 23-step;
30-a drive section;
40-a linkage assembly; 41-a base; 42-face gear; 43-spur gear; 44-a bearing; 45-a protective cover; 46-an annular groove; 47-projection; 48-a rotating trough;
50-mounting a laser emitting and receiving assembly; 51-a laser diode; 52-PCBA; 53-converging lens.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the embodiments of the present application, it is to be understood that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like, refer to the orientation or positional relationship as shown in the drawings, or as conventionally placed in use of the product of the application, or as conventionally understood by those skilled in the art, and are used merely for convenience of description and for simplicity of description, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed in a particular orientation, and be operated, and therefore should not be considered as limiting the present application.
In the description of the embodiments of the present application, it should also be noted that, unless otherwise explicitly stated or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.
The technical solution in the present application will be described below with reference to the accompanying drawings.
The embodiment provides a three-dimensional scanning mechanism, which can solve the problems of large size and high cost of a 3D radar sensor in the prior art.
Referring to fig. 1, fig. 2 and fig. 3, fig. 1 is a perspective view of a three-dimensional scanning mechanism in the present embodiment, fig. 2 is a cross-sectional view of the three-dimensional scanning mechanism in the present embodiment, and fig. 3 is a schematic view of a linkage assembly 40 in the present embodiment.
The three-dimensional scanning mechanism includes a mirror assembly 10, a stand 20, a drive section 30, and a linkage assembly 40.
The mount 20 is formed with a first mounting position 20A, to which the mirror assembly 10 is pivotably provided about a horizontal axis, and a second mounting position 20B, to which the laser light emitting and receiving assembly 50 is mounted (the mounting of the laser light emitting and receiving assembly 50 will be described later, with reference to fig. 5 and 6), for emitting laser light to the mirror assembly 10 and receiving laser light reflected by the mirror assembly 10.
The driving part 30 drives the bracket 20 to rotate around the vertical axis.
The linkage assembly 40 is configured to link the carriage 20 and the mirror assembly 10 such that the mirror assembly 10 is deflected about a horizontal axis by rotational movement of the carriage 20.
In the implementation process, the three-dimensional scanning mechanism is applied to the sweeper, and the measuring direction of the laser radar can be changed through the reflector assembly 10 to obtain the ranging information of a large angle; the driving part 30 works, under the coordination of the linkage assembly 40, the reflector assembly 10 rotates around a vertical axis and deflects along a horizontal axis at the same time, so that the angle adjustment of laser emission and laser reception, namely the adjustment of the measurement direction is realized, finally, laser can be processed by the laser emission and reception assembly in the horizontal and vertical directions in a certain characteristic mode to form 3D point cloud, and finally, the effects of drawing construction and obstacle avoidance are achieved; meanwhile, the deflection angle of the reflector component 10 is related to the rotation angle thereof, so that the laser measurement precision is high, and the obstacle avoidance effect of the sweeper is facilitated; meanwhile, as the reflector component 10 is driven to move in two directions by adopting one power source, the three-dimensional scanning mechanism has a compact structure and the manufacturing cost is reduced.
In the present disclosure, the linkage assembly 40 includes a base 41, a face gear 42, and a spur gear 43.
The driving unit 30 is provided on the base 41, and the holder 20 rotates with respect to the base 41. The face gear 42 is provided on the base 41 and is coaxial with the rotation shaft (vertical axis) of the holder 20. The reflector assembly 10 is connected with the bracket 20 through a rotating shaft, a straight gear 43 is in transmission connection with the rotating shaft, and the straight gear 43 is meshed with the face gear 42.
In the implementation process, the linkage assembly 40 is simple in structure and convenient to manufacture; when the driving part 30 is in working, the bracket 20 rotates relative to the base 41, and the spur gear 43 on the mirror assembly 10 moves relative to the face gear 42 along with the rotation of the mirror assembly 10 to rotate, so as to drive the mirror assembly 10 to make deflection motion; meanwhile, the gear transmission mode is adopted, so that the transmission is stable and accurate, the relevance of the deflection motion and the rotation motion of the reflector component 10 can be ensured, and the measurement precision of laser is ensured; it should be noted that a speed regulating gear may be disposed between the face gear 42 and the spur gear 43 to adjust the deflection speed and direction of the mirror assembly 10; meanwhile, it should be noted that the spur gear 43 can be directly disposed on the rotating shaft, and other transmission structures, such as a pulley transmission structure, can be disposed between the spur gear 43 and the rotating shaft: the driving pulley and the spur gear 43 are arranged with the rotating shaft, the driven pulley is arranged in the rotating shaft, and the driven pulley and the driving pulley are connected through a belt, so that the torque of the spur gear 43 is transmitted to the rotating shaft.
It should be noted that, referring to fig. 3, in the present disclosure, a bearing 44 is disposed between the rotating shaft and the bracket 20 to ensure smooth rotation of the rotating shaft; meanwhile, in the present disclosure, there are two spur gears 43 engaged with each other, wherein one spur gear 43 is disposed on the rotation shaft of the mirror assembly 10, and the other spur gear 43 is rotatably disposed on the bracket 20 and engaged with the face gear 42; meanwhile, in order to ensure the safety of the spur gear 43, a protective cover 45 is further disposed on the bracket 20, and the protective cover 45 can seal the spur gear 43 to prevent foreign substances from damaging the spur gear 43.
As shown in fig. 2, an annular groove 46 is formed in an end surface of the base 41, and the face gear 42 is fitted in the annular groove 46. A male and female locating formation is provided between the face gear 42 and the annular groove 46.
In the implementation process, the face gear 42 can be conveniently assembled on the base 41 through the annular groove, and due to the concave-convex positioning structure, the face gear 42 can be accurately arranged on the base 41, so that the face gear 42 is prevented from being mistaken; it should be noted that the concave-convex positioning structure may include a protrusion 47 (see fig. 3) provided on a side wall of the face gear 42 and a groove provided on an inner wall of the annular groove.
In the present disclosure, the base 41 is formed with a rotation groove 48, the driving part 30 is fixed to the bottom of the rotation groove 48, and the bracket 20 is rotatably positioned in the rotation groove 48.
In the above implementation process, the driving portion 30 is disposed at the bottom of the rotating groove 48, so that the driving portion 30 can be effectively protected, and the support 20 is disposed in the rotating groove 48, so that a guiding function can be achieved, and the support 20 is prevented from being separated.
Referring to fig. 4, fig. 4 is a schematic view of the bracket 20 in this embodiment.
The bracket 20 includes a mounting cylinder 21 and two mounting brackets 22, the two mounting brackets 22 are formed at the top end of the mounting cylinder 21 at intervals, a first mounting position 20A is formed between the two mounting brackets 22, and a second mounting position is formed inside the mounting cylinder 21.
The mirror assembly 10 includes a mirror body 11 and a mirror mounting base 12, the mirror mounting base 12 is deflectably disposed between two mounting brackets 22, and the mirror body 11 is fixed on the mirror body 11.
In the implementation process, the first mounting position 20A is located above the second mounting position 20B, which is beneficial to outward emission of laser and reception of the laser by the laser emitting and receiving assembly after reflection; meanwhile, the laser emitting and receiving assembly is located in the installation cylinder 21, so that the protection effect can be effectively achieved, and the interference of external force substances on the laser emitting and receiving assembly is avoided. It should be noted that in other embodiments, the first mounting position 20A may be below the second mounting position 20B.
It should be noted that, the present embodiment further provides a radar, please refer to fig. 5 and fig. 6, where fig. 5 is a perspective view of the radar in the present embodiment, and fig. 6 is a cross-sectional view of the radar in the present embodiment.
The radar includes a laser transmitting and receiving assembly and the three-dimensional scanning mechanism described above.
The laser emitting and receiving assembly is disposed at the second mounting location 20B.
In the process of the realization, the laser transmitting and receiving assembly has the functions of transmitting laser, receiving laser and laser processing, the laser transmitting and receiving assembly transmits laser to the reflector assembly 10, the laser can be transmitted to different angles through the function of the reflector assembly 10, the laser is received by the laser transmitting and receiving assembly after encountering an obstacle under the function of the reflector assembly 10 and generates a 3D point cloud, and finally the effects of constructing a map and making an obstacle avoidance action by the sweeper are achieved.
In the present disclosure, the laser emitting and receiving components include a laser diode 51, a PCBA52, and a converging lens 53. The laser diode 51 is connected to the PCBA52 for emitting laser light toward the mirror assembly 10, and the condenser lens 53 is used for condensing the laser light reflected by the mirror assembly 10 onto the PCBA 52. The PCBA52 controls the laser diode to emit laser with a certain wave band; after the laser which turns back when meeting an obstacle is reflected by the reflecting mirror assembly 10, the laser is focused on a processor on the PCBA52 under the action of the focusing lens 53, so that the distance is measured and calculated to generate a 3D point cloud.
In the present disclosure, the laser diode 51 and the condensing lens 53 are coaxial. The laser diode 51 and the converging lens 53 are coaxially designed, so that the distance measurement precision is facilitated.
In the present disclosure, the PCBA52 is located at the bottom of the mounting cylinder 21, the step 23 is formed in the middle of the mounting cylinder 21, and the converging lens 53 is fixed to the step 23.
It should be noted that, this embodiment also provides a sweeper, and the sweeper includes the radar described above.
The three-dimensional scanning mechanism has a compact structure, so that the radar is small in size and can be well assembled in the sweeper, and the working performance of the sweeper is improved; meanwhile, the three-dimensional scanning mechanism only adopts one power source to drive the reflector component 10 to move in two directions, so that the manufacturing cost of the sweeper can be effectively reduced.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (9)
1. A three-dimensional scanning mechanism, comprising:
a mirror assembly;
a bracket formed with a first mounting position to which the mirror assembly is deflectably provided about a horizontal axis and a second mounting position for mounting a laser light emitting and receiving assembly to emit laser light toward the mirror assembly and to receive laser light reflected by the mirror assembly;
the driving part drives the bracket to do rotary motion around a vertical axis; and
a linkage assembly configured to link the bracket and the mirror assembly such that the mirror assembly deflects about the horizontal axis due to rotational movement of the bracket.
2. The three-dimensional scanning mechanism of claim 1,
the linkage assembly comprises a base, a face gear and a straight gear;
the driving part is arranged on the base, and the bracket rotates relative to the base;
the face gear is arranged on the base and is coaxial with the rotating shaft of the bracket;
the reflecting mirror assembly is connected with the support through a rotating shaft, the straight gear is in transmission connection with the rotating shaft, and the straight gear is meshed with the face gear.
3. The three-dimensional scanning mechanism of claim 2,
an annular groove is formed on the end face of the base, and the face gear is embedded in the annular groove;
and a concave-convex positioning structure is arranged between the face gear and the annular groove.
4. The three-dimensional scanning mechanism of claim 2,
the base is formed with the rotation groove, the drive division is fixed in the bottom of rotation groove, the support is rotationally located in the rotation groove.
5. The three-dimensional scanning mechanism of claim 1,
the bracket comprises a mounting cylinder and mounting frames, the two mounting frames are formed at the top end of the mounting cylinder at intervals, the first mounting position is formed between the two mounting frames, and the second mounting position is formed inside the mounting cylinder;
the reflector assembly comprises a reflector body and a reflector mounting seat, the reflector mounting seat is arranged between the two mounting frames in a deflecting mode, and the reflector body is fixed on the reflector body.
6. A radar device is characterized in that a radar device is provided,
the radar comprises a laser emitting and receiving assembly and the three-dimensional scanning mechanism of any one of claims 1-5;
the laser emitting and receiving assembly is arranged at the second mounting position.
7. Radar according to claim 6,
the laser emitting and receiving component comprises a laser diode, a PCBA and a converging lens;
the laser diode is connected with PCBA for to reflector assembly transmission laser, the convergent lens is used for with the laser of reflector assembly reflection converge to PCBA goes up.
8. Radar according to claim 7,
the laser diode and the converging lens are coaxial.
9. A sweeper, which is characterized in that,
the sweeper includes a radar according to any one of claims 6 to 8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202023249832.7U CN214595739U (en) | 2020-12-29 | 2020-12-29 | Three-dimensional scanning mechanism, radar and sweeper |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202023249832.7U CN214595739U (en) | 2020-12-29 | 2020-12-29 | Three-dimensional scanning mechanism, radar and sweeper |
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| Publication Number | Publication Date |
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| CN214595739U true CN214595739U (en) | 2021-11-05 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202023249832.7U Active CN214595739U (en) | 2020-12-29 | 2020-12-29 | Three-dimensional scanning mechanism, radar and sweeper |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112790667A (en) * | 2020-12-29 | 2021-05-14 | 深圳市杉川机器人有限公司 | Three-dimensional scanning mechanism, radar and sweeper |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112790667A (en) * | 2020-12-29 | 2021-05-14 | 深圳市杉川机器人有限公司 | Three-dimensional scanning mechanism, radar and sweeper |
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