CN216816942U - Ranging sensor from mobile equipment and self-mobile equipment - Google Patents
Ranging sensor from mobile equipment and self-mobile equipment Download PDFInfo
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- CN216816942U CN216816942U CN202120600426.6U CN202120600426U CN216816942U CN 216816942 U CN216816942 U CN 216816942U CN 202120600426 U CN202120600426 U CN 202120600426U CN 216816942 U CN216816942 U CN 216816942U
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Abstract
The embodiment of the present disclosure discloses a range sensor from mobile device and from mobile device, this range sensor includes: the laser receiving and transmitting part is arranged on the main body of the self-moving equipment and used for transmitting and receiving ranging light; the rotating reflection part is positioned on the light path of the ranging light rays emitted by the laser receiving and transmitting part, rotates relative to the laser receiving and transmitting part, and is used for emitting the ranging light rays emitted by the laser receiving and transmitting part at different emitting angles and reflecting the ranging light rays reflected by the obstacle back to the laser receiving and transmitting part; and the processor is used for controlling the laser transceiving part to transmit and receive the ranging light and the rotation of the rotary transmitting part, and processing the ranging light received by the laser transceiving part to obtain the distance of the obstacle. The distance measuring sensor can increase the radiation range of the distance measuring light emitted by the laser receiving and emitting part, namely, the sensing area of the distance measuring sensor is increased, and the accuracy of establishing a map and navigating and avoiding obstacles of the mobile device is improved.
Description
Technical Field
The disclosure relates to the field of self-moving equipment, in particular to a ranging sensor of the self-moving equipment and the self-moving equipment.
Background
Self-moving equipment refers to equipment which can walk and work within a certain range without human intervention.
The self-moving equipment needs to sense the surrounding environment in the moving process, establish a map and navigate. Therefore, the self-moving device must be equipped with an effective sensor for obstacle ranging, map building and obstacle avoidance.
SUMMERY OF THE UTILITY MODEL
In the summary section a series of concepts in a simplified form is introduced, which will be described in further detail in the detailed description section. The summary of the present disclosure is not intended to identify key features or essential features of the claimed subject matter, nor is it intended to be used as an aid in determining the scope of the claimed subject matter.
In a first aspect, an embodiment of the present disclosure provides a ranging sensor from a mobile device, including: the laser receiving and transmitting part is arranged on the main body of the self-moving equipment and is used for transmitting and receiving ranging light; the rotating reflection part is positioned on a light path of the ranging light rays emitted by the laser receiving and transmitting part, rotates relative to the laser receiving and transmitting part, and is used for emitting the ranging light rays emitted by the laser receiving and transmitting part at different emission angles and reflecting the ranging light rays reflected by the obstacle back to the laser receiving and transmitting part; and the processor is used for controlling the laser transceiving part to transmit and receive ranging light and the rotation of the rotating reflection part, and processing the ranging light received by the laser transceiving part to obtain the distance of the obstacle.
Optionally, the rotating reflection part comprises a reflection mechanism arranged opposite to the laser transceiver, and a rotation mechanism connected to the reflection mechanism; the reflecting mechanism is provided with at least one reflecting surface, and the rotating mechanism can drive the reflecting surface of the reflecting mechanism to rotate around a rotating shaft, so that the ranging light rays emitted by the laser receiving and transmitting part form different emergence angles after being reflected by one of the reflecting surfaces.
Optionally, the number of the reflection surfaces is one, the rotation axis is perpendicular to the optical path of the distance measuring light emitted by the laser transceiver, and the reflection surfaces are parallel to the rotation axis.
Optionally, the number of the reflecting surfaces is more than two and the reflecting surfaces are arranged around the rotating shaft, and the rotating shaft is perpendicular to the light path of the distance measuring light emitted by the laser receiving and emitting unit.
Optionally, one of the reflecting surfaces is parallel to the rotating shaft, and the other reflecting surfaces are arranged at an included angle with the rotating shaft.
Optionally, an optical path of the ranging light emitted by the laser transceiver is parallel to a horizontal direction, and the rotating shaft is arranged along a vertical direction.
Optionally, the laser transceiver is disposed on a side surface of the mobile device body.
Optionally, the light source of the laser transceiver is a linear light source.
In a second aspect, the embodiments of the present disclosure provide a self-moving device, including the ranging sensor of the self-moving device.
Optionally, the self-moving device is a sweeping robot, a mopping robot, a ground polishing robot or a weeding robot.
According to the ranging sensor of the self-moving device and the self-moving device provided by the embodiment of the disclosure, the rotating reflection part of the ranging sensor can emit the ranging light rays emitted by the laser receiving and emitting part at different emission angles, so that the radiation range of the ranging light rays emitted by the laser receiving and emitting part can be increased, namely, the sensing area of the ranging sensor is increased, and further, the accuracy of map building and navigation obstacle avoidance of the self-moving device is improved.
Drawings
The following drawings of the present disclosure are included to provide an understanding of the disclosure as part of the embodiments of the disclosure. The embodiments of the disclosure and their description are illustrated in the accompanying drawings for the purpose of explaining the principles of the disclosure.
In the drawings:
FIG. 1 is a schematic diagram of a ranging sensor from a mobile device according to an alternative embodiment of the present disclosure;
FIG. 2 is a perspective schematic view of a cleaning robot according to an alternative embodiment of the present disclosure;
FIG. 3 is a schematic bottom view of FIG. 2;
FIG. 4 is a schematic diagram of the circuit of FIG. 2;
FIG. 5 is a top view of FIG. 1 rotated in a clockwise direction of rotation;
FIG. 6 is a top view of FIG. 1 rotated in a counter-clockwise direction of rotation;
FIG. 7 is a schematic diagram of a ranging sensor from a mobile device according to another alternative embodiment of the present disclosure;
FIG. 8 is a side view of FIG. 7 in a clockwise or counterclockwise rotation; and
fig. 9 is a schematic structural view of a rotating mechanism according to another alternative embodiment of the present disclosure.
Description of the reference numerals
1-distance measuring sensor, 11-laser transceiver, 111-laser transmitter, 112-laser receiver, 12-rotating reflector, 121-reflector, 1211-reflector, 122-rotator, 1221-motor connecting plate, 1222-motor, 1223-turntable, 13-rotating shaft, 2-main body, 21-upper surface, 22-side surface, 23-lower surface, 3-walking unit, 31-driving wheel, 32-guide wheel, 4-brush, 5-sensor unit, 51-infrared sensor, 52-ultrasonic sensor, 6-robot controller, 7-robot communication unit, 8-battery, 9-charging unit.
Detailed Description
In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present disclosure. It will be apparent, however, to one skilled in the art, that the present disclosure may be practiced without one or more of these specific details. In other instances, well-known features of the art have not been described in order to avoid obscuring the present disclosure.
It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments in accordance with the disclosure. As used herein, the singular is intended to include the plural unless the context clearly dictates otherwise. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
Exemplary embodiments according to the present disclosure will now be described in more detail with reference to the accompanying drawings. These exemplary embodiments may, however, be embodied in many different forms and should not be construed as limited to only the embodiments set forth herein. It is to be understood that these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of these exemplary embodiments to those skilled in the art.
In a first aspect, as shown in fig. 1, an embodiment of the present disclosure provides a ranging sensor 1 from a mobile device, including: the laser transceiving part 11 is arranged on the main body 2 of the self-moving equipment, and is used for transmitting and receiving ranging light; a rotating reflection part 12, the rotating reflection part 12 being located on the optical path of the ranging light emitted from the laser transceiver 11, and the rotating reflection part 12 rotating with respect to the laser transceiver 11, for emitting the ranging light emitted from the laser transceiver 11 at different emission angles, and reflecting the ranging light reflected by the obstacle back to the laser transceiver 11; and the processor is used for controlling the laser transceiving part 11 to emit and receive the ranging light and the rotation of the rotating reflection part, and processing the ranging light received by the laser transceiving part 11 to obtain the distance of the obstacle.
According to the ranging sensor 1 of the self-moving device provided by the embodiment of the disclosure, the laser transceiver 11 can be fixedly arranged on the main body 2 of the self-moving device, and the ranging light can be emitted to a plurality of angles by rotating the reflector 12, so that the measurement of obstacles in a plurality of directions around the self-moving device can be realized. In addition, the laser transmitting and receiving part is fixedly arranged on the self-moving equipment, so that the structure of the ranging sensor can be effectively simplified. For example, in a conventional distance measuring sensor, the laser transmitting and receiving part needs to be rotated at a high speed to change the emitting direction of the distance measuring light, so that a detection area with a large angle is formed in the distance measuring sensor. However, this arrangement requires that the arrangement unit of the laser transmitter-receiver unit also rotates at high speed or that the arrangement unit can communicate wirelessly with the laser transmitter-receiver unit. Thus, conventional ranging sensors require more responsible internal mechanisms and higher manufacturing costs. The distance measuring sensor provided by the embodiment of the disclosure can effectively solve the above problems.
The ranging sensor 1 of the self-moving device provided according to the embodiment of the present disclosure may be fixedly disposed on the top of the main body 2 of the self-moving device, and may also be disposed on the side of the main body 2 of the self-moving device. Specifically, in the case that the ranging sensor 1 is provided at the side of the main body 2 of the mobile device, the ranging sensor 1 may be provided in plurality, so that obstacles in various directions around the mobile device can be detected, and the detection of the obstacles in all directions is realized, wherein the rotating reflection part 12 of each ranging sensor 1 may rotate 360 °, or may rotate only within a specific angle range, so as to avoid interference with the main body 2 during the rotation. Under the condition that range sensor 1 sets up at the top from mobile device's main part 2, range sensor 1 can only set up one, this range sensor 1's rotatory reflecting part 12 is rotatory 360 to the detectable is from the barrier of all directions around the mobile device, realize the detection of omnidirectional barrier, this kind of setting up mode sets up the setting up mode at the main part 2 lateral part with a plurality of range sensor 1 relatively, the quantity of range sensor 1 has been reduced, the structure from the mobile device has been simplified, be convenient for preparation and assembly.
Wherein, the self-moving equipment can be a sweeping robot, a mopping robot, a ground polishing robot or a weeding robot. The cleaning robot can be used for cleaning the indoor of a family, cleaning a large place and the like. Specifically, as shown in fig. 2, 3 and 4, taking a floor sweeping robot as an example, the floor sweeping robot includes a main body 2, a battery, a sensor unit 5, a robot controller 6, a battery 8, a robot memory 10, a robot communication unit 7, a cleaning implement, a charging unit 10, and the like.
It should be noted that the sweeping robot may further include other modules or components not shown in fig. 1 and fig. 2, or may include only some of the modules or components described above, which is not limited in this embodiment of the disclosure, and the description is given only by taking the sweeping robot as an example.
The main body 2 may have a circular structure, a square structure, or a D-shaped structure. In the embodiment of the present disclosure, the main body 2 is illustrated as a circular structure. As shown in fig. 2, the main body 2 has a flat cylindrical structure, an axis of the main body 2 extends in a vertical direction, and the main body 2 includes a side surface 22 extending in the axial direction thereof, an upper surface 21 located above the side surface 22, and a lower surface 23 located below the side surface 22.
As shown in fig. 3, the cleaning member is used for cleaning the ground, and the cleaning member may include at least one brush 4, and the brush 4 may be a drum-shaped rotating brush rotating with respect to the contact surface in a roller type. Brush 4 sets up in the bottom of main part 2, is equipped with the driving motor who is connected with brush 4 in main part 2 inside, and driving motor can drive brush 4 rotatory, and the robot that sweeps the floor advances the in-process, and brush 4 will be located the rubbish in its the place ahead and clean the dirt box entry, and the rubbish that is located dirt box entry further gets into in the dirt box through the produced suction of the fan that sets up at dirt box rear.
As shown in fig. 3, the traveling unit 3 is a part related to the movement of the cleaning robot, and the traveling unit 3 is used to drive the sweeping robot to move forward or backward. In some embodiments, the walking unit 3 comprises a pair of driving wheels 31 installed at two sides of the middle of the bottom of the main body 2, and the driving wheels 31 are used for driving the sweeping robot to move forward or backward. In some embodiments, the walking unit 3 may further include a guide wheel 32 disposed at the front portion of the main body 2, and the guide wheel 32 is used for changing the traveling direction of the sweeping robot during traveling.
As shown in fig. 4, a robot controller 6 is provided inside the main body 2 for controlling the cleaning robot to perform a specific operation. The robot controller 6 may be, for example, a Central Processing Unit (CPU), a microprocessor (microprocessor), or the like. The robot controller 6 is electrically connected to components such as the battery 8, the robot memory 10, the traveling unit 3, and the sensor unit 5 to control these components.
A battery 8 is provided inside the main body 2, and the battery 8 is used to supply power to the cleaning robot.
The main body 2 of the cleaning robot is further provided with a charging unit 9, and the charging unit 9 is used for obtaining power from an external device so as to charge a battery of the cleaning robot.
A robot memory 10 is provided on the main body 2, and the robot memory 10 stores a program that realizes a corresponding operation when executed by the robot controller. The robot memory 10 is also used for storing parameters for use by the cleaning robot. The robot Memory 10 includes, but is not limited to, a magnetic disk Memory, a Compact Disc Read-Only Memory (CD-ROM), an optical Memory, and the like.
A robot communication unit 7 is provided on the main body 2, the robot communication unit 7 is used for the cleaning robot to communicate with an external device, and the robot communication unit 7 includes, but is not limited to, a Wireless-Fidelity (WIFI) communication module, a short-range communication module, and the like.
The sensor unit 5 provided on the main body 2 of the cleaning robot includes various types of sensors, such as an infrared sensor 51 and an ultrasonic sensor 52, and the like, for detecting the external environment around the cleaning robot, the posture of the automatic cleaning robot itself, and the like.
Specifically, in the present embodiment, the laser light transmitting and receiving part 11 of the ranging sensor 1 transmits and receives ranging light under the control of the processor. More specifically, the laser transceiver 11 includes a laser transmitter 111 and a laser receiver 112 directly or indirectly connected to a processor, wherein the laser transmitter 111 emits ranging laser under the control of the processor; the laser receiver 112 is used for receiving the distance measuring light reflected by the rotating reflection part 12.
In a specific application, when the distance measuring sensor 1 starts sensing, the processor sends a control command to the laser emitter 111, starts the laser emitter 111 to work, emits the distance measuring light, and reflects the distance measuring light through the rotary reflection part 12 to emit the distance measuring light. In the embodiment of the present disclosure, the laser emitted by the laser emitter 111 may be a laser pulse, when the ranging light irradiates on the obstacle, the ranging light is reflected by the obstacle to rotate on the reflection portion 12, and finally reflected to the laser receiver 112 through the rotation reflection portion 12, and then the received ranging light information is sent to the processor for processing. In the embodiment of the present disclosure, after receiving the reflected ranging laser, the laser receiver 112 may convert the optical signal into an electrical signal, and calculate the distance between the obstacle and the self-moving device by analyzing the electrical signal. In the sensing process of the distance measuring sensor 1, the rotating reflection part 12 also rotates relative to the laser transceiver part 11, so that the incident angle of the distance measuring light emitted by the laser emitter 111 on the rotating reflection part 12 is changed, and further the reflection angle of the distance measuring light on the rotating reflection part 12 is changed along with the change of the incident angle, that is, the exit angle of the distance measuring light reflected from the rotating reflection part 12 is changed along with the change of the incident angle, so that the distance measuring light can be emitted at different exit angles, the radiation range of the distance measuring light emitted by the laser transceiver part 11 can be increased, that is, the sensing area of the distance measuring sensor 1 is increased, and the accuracy of the map building and the navigation obstacle avoidance of the sweeping robot is improved. Of course, in this embodiment, the specific type of the laser transceiver is not limited, and all the embodiments of the present disclosure can be implemented.
Therefore, according to the distance measuring sensor 1 of the self-moving device provided by the embodiment of the present disclosure, the rotating reflection portion 12 of the distance measuring sensor 1 can emit the distance measuring light emitted by the laser transceiver 11 at different exit angles, so that the radiation range of the distance measuring light emitted by the laser transceiver 11 can be increased, that is, the sensing area of the distance measuring sensor 1 is increased, and the accuracy of the floor sweeping robot in establishing a map and navigating and avoiding obstacles is improved.
Specifically, as shown in fig. 1 and 9, in one implementation, the rotating reflection part 12 includes a reflection mechanism 121 disposed opposite to the laser transceiver part 11, and a rotation mechanism 122 connected to the reflection mechanism 121; the reflection mechanism 121 has at least one reflection surface 1211, and the rotation mechanism 122 can drive the reflection surface 1211 of the reflection mechanism 121 to rotate around the rotation axis 13, so that the distance measuring light emitted from the laser transceiver 11 forms different emission angles after being reflected by one of the reflection surfaces 1211.
As shown in fig. 9, the rotating mechanism 122 includes a motor 1222, a motor connecting plate 1221 and a rotating disk 1223, the motor connecting plate 1221 is installed on the main body 2 of the mobile device, a casing of the motor 1222 is installed on the motor connecting plate 1221, an output shaft of the motor 1222 is fastened on a connecting column of the rotating disk 1223 by a pin, and the reflecting mechanism 121 is installed on the rotating disk 1223, so that an axial direction of the output shaft of the motor 1222 is the same as the rotating shaft 13, and thus, the setting angle of the rotating shaft 13 can be completed by setting the axial mounting angle of the output shaft of the motor 1222, thereby facilitating installation of a worker on the rotating reflecting part 12. The motor 1222 may be any type of motor, and this embodiment is not limited strictly.
Further, an encoder (not shown) may be installed on the motor 1222, and the encoder may be connected to the robot master controller, so as to obtain the encoded data through the encoder, and the robot controller 6 calculates the rotation angle of the output shaft of the motor 1222, that is, the rotation angle of the reflection mechanism 121 on the turntable 1223 according to the encoded data, and stores the rotation angle of the reflection mechanism 121 and the corresponding time in the robot memory 10 for the worker to inquire as required.
During the operation of the rotating reflection portion 12, as shown in fig. 1, the rotating mechanism 122 may drive the reflection surface 1211 of the reflection mechanism 121 to rotate clockwise or counterclockwise, which is not limited in the embodiment of the disclosure. In addition, the adjustment of the detection area angle of the distance measuring sensor can be realized by adjusting the rotation angle of the reflection surface 1211.
Various arrangements for the reflecting surface 1211 can be used, and the arrangement for the reflecting surface 1211 will now be described in detail.
In one implementation, as shown in fig. 1, the number of the reflection surfaces 1211 is one, the rotation axis 13 may be perpendicular to the optical path of the distance measuring light emitted from the laser transceiver 11, and the reflection surfaces 1211 may be parallel to the rotation axis 13.
Specifically, as shown in fig. 1, the rotation axis 13 is perpendicular to the optical path of the distance measuring light emitted from the laser transmitter/receiver 11, and the reflection surface 1211 is parallel to the rotation axis 13, so that the light reflected by the reflection surface 1211 is on the plane perpendicular to the rotation axis 13. In this way, in a specific application, the optical path of the distance measuring light emitted from the laser transceiver 11 is parallel to the horizontal direction, and the rotating shaft 13 is disposed along the vertical direction, so that the distance measuring light reflected by the reflecting surface 1211 is in the horizontal direction during the operation of the mobile device, thereby achieving the extension of the horizontal field angle of the distance measuring device of the mobile device. Specifically, with the structure of the rotating mechanism 122 in the above implementation manner, when the distance measuring device is installed, it is ensured that the axial direction of the output shaft of the motor 1222 is in the vertical direction, that is, the rotating shaft 13 is installed along the vertical direction, which is convenient for installation of the distance measuring device.
As shown in fig. 5 and 6, when the reflection surface 1211 rotates to different directions, the distance measuring light emitted from the laser transmitter 1211 can be reflected at different angles, so that the distance measuring light emitted from the laser transmitter 1211 can be emitted at different angles when the laser transmitter is stationary, thereby measuring the distance of obstacles in different directions around the object.
In another realizable form, as shown in fig. 7 and 8, the number of the reflection surfaces 1211 is two or more and is disposed around the rotation axis 13, and the rotation axis 13 is perpendicular to the optical path of the distance measuring light emitted from the laser transmitter receiver 11. Compared with the previous implementation method, the number of the reflecting surfaces 1211 is increased, so that the reflecting surfaces 1211 and the laser transceiver 11 can reflect the ranging light in the counterclockwise or clockwise rotation process, thereby improving the working efficiency and accuracy of the ranging device.
Further, in some realizable manners, one of the reflecting surfaces 1211 in the above embodiments is parallel to the rotating shaft 13, and the other reflecting surface 1211 is disposed at an angle to the rotating shaft 13.
One reflecting surface 1211 is parallel to the rotating shaft 13, and the other reflecting surfaces 1211 are arranged at an angle to the rotating shaft 13, so that the distance measuring light reflected by the reflecting mechanism 121 is on a plane perpendicular to the rotating shaft 13, or on a plane parallel or at an angle to the rotating shaft 13, thereby increasing the outgoing angle of the distance measuring light. In this way, in a specific application, the optical path of the distance measuring light emitted by the laser transceiver 11 is parallel to the horizontal direction, and the rotating shaft 13 is disposed along the vertical direction, so that the distance measuring light reflected by the reflecting surface 1211 is in the horizontal direction or the vertical direction during the operation of the mobile device, thereby realizing the expansion of the horizontal and vertical field angles of the distance measuring device of the mobile device; exemplarily, taking two reflecting surfaces 1211 as an example, one reflecting surface 1211 is disposed parallel to the rotating shaft 13, and the other reflecting surface 1211 is disposed at an angle with respect to the rotating shaft 13, as shown in fig. 7, when the rotating mechanism 122 drives the reflecting surface 1211 disposed parallel to the rotating shaft 13 to face the laser transceiver 11, the distance measuring light reflected by the reflecting surface 1211 is in the horizontal direction, so that the distance measuring device of the mobile device can be expanded in the horizontal field angle; as shown in fig. 8, when the rotating mechanism 122 drives the reflecting surface 1211 disposed at an angle with respect to the rotation direction to face the laser transceiver 11, the distance measuring light reflected by the reflecting surface 1211 is emitted downward at a certain emitting angle, so that the reflected distance measuring light can irradiate an area lower than the distance measuring device, even the ground, and the distance measuring device in this implementation can sense the area lower than the distance measuring device, for example, can sense a pothole or a cliff on the ground, or an obstacle lower than the installation position of the distance measuring device, thereby improving the accuracy of map building and navigation obstacle avoidance of the mobile device. In other embodiments of the present disclosure, when the number of the emitting surfaces 1211 is more than two, one of the reflecting surfaces 1211 may be disposed parallel to the rotating shaft 13, and the other emitting surfaces 1211 may be disposed at an angle with respect to the rotating shaft 13. In this arrangement, detection of an elevated obstacle, for example, a flying obstacle, above the self-moving device may be achieved. In addition, in order to increase the angle of view of the distance measuring sensor in the vertical direction, a plurality of reflecting surfaces 1211, such as a reflecting surface parallel to the rotation axis for measuring an obstacle in the horizontal direction, a reflecting surface having a certain angle with the rotation axis for measuring a suspended obstacle and a short obstacle, respectively, may be provided according to the actual situation.
Specifically, with the structure of the rotating mechanism 122 in the above implementation manner, when the distance measuring device is installed, it is ensured that the axial direction of the output shaft of the motor 1222 is in the vertical direction, that is, the rotating shaft 13 is installed along the vertical direction, which is convenient for installation of the distance measuring device.
In the process of sensing the distance measuring light, the rotation angle of the rotating shaft 13 is 360 °, so that each reflecting surface 1211 can be opposite to the distance measuring light emitted from the laser transceiver 11, and the rotation direction may be clockwise or counterclockwise, which is not strictly limited.
Further, as shown in fig. 2, the laser transmitter receiver 11 is provided on a side surface 22 of the mobile device main body 2.
The laser transceiver 11 is disposed on the side 22 of the main body 2, so that the robot does not block the distance measuring device by an obstacle above the main body 2 during traveling, and further does not jam the distance measuring device, and can sense an obstacle having a height lower than the upper surface 21 of the main body 2.
The light source of the laser transmitter-receiver unit 11 is a line light source. The linear light source can adopt a high-power high-brightness LED, and a light band with high brightness and high uniformity is formed through a special lens. The linear light source has small volume and high brightness, ensures high output and realizes the design of compact structure. And the design of inhibiting the light source from diffusing is adopted, so that the brightness change generated due to the distance is small, the intensity of the ranging light received by the laser receiving and transmitting part 11 is ensured, and the sensing accuracy is improved. Of course, the laser transceiver 11 may also adopt other kinds of light sources, for example, a point light source, specifically, the light source may be a laser diode of a type of horizontal cavity surface or vertical cavity surface, and further, the point light source is further configured with a corresponding light collimating lens to improve the collimation of the light source.
In a second aspect, as shown in fig. 2, fig. 3 and fig. 4, another embodiment of the present disclosure provides a self-moving device, including the ranging sensor 1 of the self-moving device.
Optionally, the self-moving device is a sweeping robot, a mopping robot, a floor polishing robot or a weeding robot.
It should be noted that the distance measuring sensor 1 in the embodiment may adopt the distance measuring sensor 1 in the above embodiment, and for specific implementation and working principle, reference may be made to corresponding contents in the above embodiment, which is not described herein again.
According to the self-moving equipment provided by the embodiment of the disclosure, the rotating reflection part 12 of the distance measuring sensor 1 can emit the distance measuring light emitted by the laser receiving and emitting part 11 at different emission angles, so that the radiation range of the distance measuring light emitted by the laser receiving and emitting part 11 can be increased, that is, the sensing area of the distance measuring sensor 1 is increased, and the accuracy of the floor sweeping robot in map building and obstacle avoidance navigation is improved.
The present disclosure has been illustrated by the above embodiments, but it should be understood that the above embodiments are for purposes of illustration and description only and are not intended to limit the present disclosure to the scope of the described embodiments. Furthermore, it will be understood by those skilled in the art that the present disclosure is not limited to the embodiments described above, and that many variations and modifications may be made in light of the teaching of the present disclosure, all of which fall within the scope of the claimed disclosure. The scope of the disclosure is defined by the appended claims and equivalents thereof.
Claims (10)
1. A ranging sensor from a mobile device, comprising:
the laser receiving and transmitting part is arranged on the main body of the self-moving equipment and is used for transmitting and receiving ranging light;
the rotating reflection part is positioned on a light path of the ranging light rays emitted by the laser receiving and transmitting part, rotates relative to the laser receiving and transmitting part, and is used for emitting the ranging light rays emitted by the laser receiving and transmitting part at different emission angles and reflecting the ranging light rays reflected by the obstacle back to the laser receiving and transmitting part;
and the processor is used for controlling the laser transceiving part to transmit and receive ranging light and the rotation of the rotating reflection part, and processing the ranging light received by the laser transceiving part to obtain the distance of the obstacle.
2. The ranging sensor from a mobile device according to claim 1, wherein the rotating reflection unit includes a reflection mechanism disposed opposite to the laser light transmission/reception unit, and a rotation mechanism connected to the reflection mechanism;
the reflecting mechanism is provided with at least one reflecting surface, and the rotating mechanism can drive the reflecting surface of the reflecting mechanism to rotate around a rotating shaft, so that the ranging light rays emitted by the laser receiving and transmitting part form different emergence angles after being reflected by one of the reflecting surfaces.
3. The range sensor of claim 2, wherein the number of the reflection surfaces is one, the rotation axis is perpendicular to an optical path of the range light emitted from the laser transmitter/receiver, and the reflection surfaces are parallel to the rotation axis.
4. The range sensor of claim 2, wherein the number of the reflection surfaces is two or more and the reflection surfaces are disposed around the rotation axis, and the rotation axis is perpendicular to the optical path of the range light of the laser transmitter/receiver.
5. A ranging sensor from a mobile device as claimed in claim 4 wherein one of the reflective surfaces is parallel to the axis of rotation and the other reflective surfaces are disposed at an angle to the axis of rotation.
6. The range-finding sensor of the self-moving apparatus as claimed in claim 3 or 4, wherein the optical path of the range-finding light emitted from the laser transceiver is parallel to the horizontal direction, and the rotation axis is disposed along the vertical direction.
7. The range sensor according to claim 1, wherein the laser transmitter/receiver is provided on a side surface of the mobile device main body.
8. The range sensor from a mobile device of claim 1, wherein the light source of the laser transceiver is a line light source.
9. An autonomous mobile device comprising a ranging sensor of an autonomous mobile device as claimed in any of claims 1-8.
10. The self-moving apparatus according to claim 9, wherein the self-moving apparatus is a sweeping robot, a mopping robot, a floor polishing robot or a weeding robot.
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| CN202120600426.6U CN216816942U (en) | 2021-03-23 | 2021-03-23 | Ranging sensor from mobile equipment and self-mobile equipment |
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| CN202120600426.6U CN216816942U (en) | 2021-03-23 | 2021-03-23 | Ranging sensor from mobile equipment and self-mobile equipment |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114812333A (en) * | 2022-05-23 | 2022-07-29 | 高密市勇利机械有限公司 | V-groove inspection tool of movable workbench and inspection method thereof |
| CN115144818A (en) * | 2022-09-01 | 2022-10-04 | 国网山东省电力公司枣庄供电公司 | Distance measuring device and distance measuring method based on radio wave wavelength |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114812333A (en) * | 2022-05-23 | 2022-07-29 | 高密市勇利机械有限公司 | V-groove inspection tool of movable workbench and inspection method thereof |
| CN114812333B (en) * | 2022-05-23 | 2023-09-22 | 高密市勇利机械有限公司 | Movable workbench V-groove inspection tool and inspection method thereof |
| CN115144818A (en) * | 2022-09-01 | 2022-10-04 | 国网山东省电力公司枣庄供电公司 | Distance measuring device and distance measuring method based on radio wave wavelength |
| CN115144818B (en) * | 2022-09-01 | 2022-12-16 | 国网山东省电力公司枣庄供电公司 | Distance measuring device and distance measuring method based on radio wave wavelength |
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