CN216870798U

CN216870798U - Distance measuring radar and mobile robot

Info

Publication number: CN216870798U
Application number: CN202220104451.XU
Authority: CN
Inventors: 姚清添
Original assignee: Shenzhen Camsense Technologies Co Ltd
Current assignee: Shenzhen Huanchuang Technology Co ltd
Priority date: 2022-01-14
Filing date: 2022-01-14
Publication date: 2022-07-01
Anticipated expiration: 2032-01-14

Abstract

The embodiment of the utility model relates to the technical field of distance measurement, and discloses a distance measurement radar and a mobile robot. Wherein the ranging radar includes: an optical ranging module; a drive motor including an output shaft; and the reduction gear transmission mechanism comprises a first gear, a transmission shaft, a second gear, a third gear and a fourth gear. Wherein the first gear is mounted on the output shaft, the second gear and the third gear are both mounted on the drive shaft, the first gear is engaged with the second gear, and the third gear is engaged with the fourth gear; and, the optical ranging module and the fourth gear are relatively fixedly arranged. According to the range radar provided by the embodiment of the utility model, the reduction gear transmission mechanism is used as the intermediate transmission mechanism for connecting the driving motor and the optical ranging module, so that the phenomenon of slipping is avoided during transmission, the failure caused by abrasion or aging of belt transmission is avoided, and the service life is longer.

Description

Distance measuring radar and mobile robot

Technical Field

The utility model relates to the technical field of distance measurement, in particular to a distance measuring radar and a mobile robot with the same.

Background

Along with the miniaturization and low cost of components, the space positioning technology is more and more popular, and the space positioning technology can be applied to the autonomous navigation fields such as household mobile robots, unmanned aerial vehicles and unmanned driving. Among the spatial positioning techniques, the optical positioning technique is widely used because of its characteristics of high precision and fast response.

In optical positioning technology, the most common optical ranging module basically comprises a light emitting module and a light receiving module. The positioning method related to the optical ranging module is usually a triangulation method or a TOF (Time Of Flight) ranging method. Most consumer-grade optical positioning devices, such as laser radars for sweeping robots and service robots, can use triangulation or TOF ranging.

The existing mobile robots such as a sweeper and a service robot mainly use a motor to drive a belt, and then the belt pulls a ranging module to rotate mechanically. However, since the belt is made of rubber, it is easy to slip during transmission, and the belt will age and fall chips after long-term use, so the transmission part using the belt has a short life, usually only about 1500 hours.

SUMMERY OF THE UTILITY MODEL

The utility model mainly solves the technical problem of providing a range radar which can effectively prolong the service life of a transmission part.

The embodiment of the utility model provides the following technical scheme for solving the technical problem.

A ranging radar, comprising: an optical ranging module; a drive motor including an output shaft; the reduction gear transmission mechanism comprises a first gear, a transmission shaft, a second gear, a third gear and a fourth gear. Wherein the first gear is mounted on the output shaft, the second gear and the third gear are both mounted on the drive shaft, the first gear is engaged with the second gear, and the third gear is engaged with the fourth gear; and, the optical ranging module and the fourth gear are relatively fixedly arranged.

As a further improvement of the above technical solution, the first gear and the second gear have a first reduction ratio, the third gear and the fourth gear have a second reduction ratio, and the second reduction ratio is greater than the first reduction ratio; the number of teeth of the second gear is greater than that of the third gear.

As a further improvement of the technical scheme, the reduction ratio of the reduction gear transmission mechanism is between 9:1 and 15: 1.

As a further improvement of the above technical solution, the rotation axis of the fourth gear, the output shaft and the transmission shaft are arranged in parallel.

As a further improvement of the above technical solution, the distance measuring radar further includes a closed housing, and the closed housing at least accommodates the optical distance measuring module and the reduction gear transmission mechanism.

As a further improvement of the above technical solution, the closure housing includes a first portion in which the reduction gear transmission mechanism is disposed, and a second portion that covers the optical ranging module and is disposed to be rotatable with respect to the first portion.

As a further improvement of the above technical solution, the driving motor is a brushless motor.

As a further improvement of the above technical solution, the range radar is a laser radar.

The embodiment of the utility model also provides the following technical scheme for solving the technical problem.

A mobile robot comprising a range radar as claimed in any preceding claim.

Compared with the prior art, in the ranging radar provided by the embodiment of the utility model, the reduction gear transmission mechanism is used as the intermediate transmission mechanism for connecting the driving motor and the optical ranging module, so that the slipping phenomenon cannot occur during transmission, the failure caused by abrasion or aging of belt transmission is avoided, the service life is longer, and the mechanical life can reach more than hours.

Drawings

One or more implementations are illustrated by way of example in the accompanying drawings, which are not to be construed as limiting the embodiments, in which elements having the same reference numerals are identified as similar elements, and in which the drawings are not to be construed as limited, unless otherwise specified.

Fig. 1 is a schematic perspective view of a range radar according to an embodiment of the present invention;

FIG. 2 is a schematic cross-sectional view of the ranging radar of FIG. 1;

FIG. 3 is a schematic plan view of a portion of the range radar of FIG. 1;

fig. 4 is an exploded perspective view of fig. 3.

Detailed Description

In order to facilitate an understanding of the utility model, the utility model is described in more detail below with reference to the accompanying drawings and specific examples. 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. As used in this specification, the terms "vertical," "horizontal," "left," "right," "up," "down," "inner," "outer," "bottom," and the like are used in the orientation or positional relationship indicated in the drawings for convenience in describing the utility model and for simplicity in description, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting. 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 utility model herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the utility model. 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 utility model described below can be combined with each other as long as they do not conflict with each other.

Referring to fig. 1 to fig. 3, a perspective view, a cross-sectional view and a partial plan view of a distance measuring radar 100 according to an embodiment of the present invention are respectively shown. The ranging radar 100 may include an optical ranging module 10, a driving motor 20, and a reduction gear transmission mechanism 30. The range radar 100 may also include a closed housing 40; in fig. 3, the top portion of the closure housing 40 is removed to show the internal optical ranging module 10 and the reduction gear transmission mechanism 30.

The optical ranging module 10 may be configured to scan the surrounding environment, so as to implement the functions of ranging, obstacle avoidance, and image construction of the ranging radar 100. For example, the optical ranging module 10 may include a light emitting assembly and a light receiving assembly; the light emitting assembly is used for emitting light to a target object to be measured; the light receiving assembly may include a receiving unit and a lens. The receiving unit may be a linear CCD (Charge Coupled Device), an Avalanche Photodiode (APD), a Fast photodiode (Fast Photo Diode), or a Single Photon Avalanche Diode (SPAD). The lens is used for allowing at least one part of the light reflected from the target object to pass through and project to the receiving unit. The light emitting and receiving components may serve as the core ranging part of a range radar, such as triangulation or TOF ranging. In triangulation, since the light emitting assembly and the receiving unit are spaced apart by a distance, target objects of different distances will be imaged at different locations on the receiving unit, e.g., a linear CCD, according to the optical path; further, the distance between the target object to be measured and the ranging radar 100 can be deduced by calculation according to a trigonometric formula; in the TOF ranging method, a sensor of a light receiving assembly is used to sense light reflected by a target object, and generate a corresponding photoelectric signal, the time of flight of which is used to convert a distance, and the distance between the target object and the range radar 100 is calculated.

Shown in fig. 4, which is a perspective exploded view of fig. 3; the drive motor 20 includes an output shaft 21. The driving motor 20 is connected to the optical ranging module 10 through a reduction gear transmission mechanism 30, and is configured to drive the optical ranging module 10 to rotate. The drive motor 20 may include a stator portion and a rotor portion with an output shaft 21 connected to rotate with rotation of the rotor portion. The driving motor 20 may be fixedly disposed below the closed casing 40 such that the output shaft 21 protrudes into the receiving space of the closed casing 40. In some embodiments, the driving motor 20 may be a brushless motor. By adopting the brushless motor form, the driving motor 20 can be made compact in structure and small in occupied space.

The reduction gear transmission mechanism 30 includes a first gear 31, a transmission shaft 32, a second gear 33, a third gear 34 and a fourth gear 35, and the reduction gear transmission mechanism 30 is used for transmitting the power output by the driving motor 20, and simultaneously reducing the rotation speed and increasing the torque to meet the working requirement of the optical ranging module 10. The first gear 31 may be fixedly mounted on the output shaft 21 by a key-way fit to rotate with the output shaft 21. The drive shaft 32 is rotatably disposed relative to the closure housing 40. The second gear 33 and the third gear 34 can be fixedly mounted on the transmission shaft 32 by means of key-groove fit. The first gear 31 is engaged with the second gear 33, the rotation of the first gear 31 is used for driving the second gear 33 to rotate, the second gear 33 drives the transmission shaft 32 to rotate, and the transmission shaft 32 drives the third gear 34 to rotate. The third gear 34 is meshed with the fourth gear 35, and the fourth gear 35 is driven to rotate by the third gear 34; the gears may be straight gears or helical gears. The fourth gear 35 is rotatably arranged with respect to the closed housing 40; for example, the lower side of the fourth gear 35 may be provided with a rotation shaft 36, and the rotation shaft 36 may be rotatably provided with respect to the closed housing 40; the upper side of the fourth gear 35 may be provided with a limit ring 37, and the limit ring 37 may be engaged with the closed housing 40 to be rotatable with respect to the closed housing 40 while preventing movement in the axial direction. The optical distance measuring module 10 is fixedly disposed relative to the fourth gear 35, for example, the optical distance measuring module 10 may be directly or indirectly mounted on the fourth gear 35 so as to rotate along with the rotation of the fourth gear 35.

In the distance measuring radar 100 of this embodiment, by using the reduction gear transmission mechanism 30 as an intermediate transmission mechanism for connecting the driving motor 20 and the optical distance measuring module 10, the slip phenomenon does not occur during transmission, the failure caused by the abrasion or aging of the belt transmission is avoided, the working life is longer, and the mechanical life can reach more than 10000 hours, for example.

In some embodiments, as shown in fig. 3 and 4, the first gear 31 and the second gear 33 have a first reduction ratio, the third gear 34 and the fourth gear 35 have a second reduction ratio, and the second reduction ratio is greater than the first reduction ratio; the number of teeth of the second gear 33 is greater than that of the third gear 34. For example, the first reduction ratio may be 1.8:1 to 2.2:1 and the second reduction ratio may be 5:1 to 7: 1. In some embodiments, the first reduction ratio may be 2:1, the second reduction ratio may be 6:1, and the number of teeth of the second gear 33 may be twice the number of teeth of the third gear 34. In some specific embodiments, the number of teeth of the first gear 31 may be 10, the number of teeth of the second gear 33 may be 20, the number of teeth of the third gear 34 may be 10, and the number of teeth of the fourth gear 35 may be 60. The diameter of the fourth gear 35 may be designed according to the size of the optical ranging module 10 such that the diameters of the first gear 31, the second gear 33, and the fourth gear 35 gradually increase. In this way, it is possible to both obtain a desired reduction ratio and make the reduction gear transmission mechanism 30 compact.

In some embodiments, as shown in fig. 3 and 4, the reduction gear train 30 has a reduction ratio of between 9:1 and 15: 1. A reduction ratio of between 9:1 and 15:1 of the reduction gear transmission 30 as a whole can be obtained by providing a first reduction ratio and a second reduction ratio. For example, the reduction of the reduction gear transmission mechanism 30 may be 10:1, 11:1, 12:1, 13:1, and so on. In this way, the required rotation speed of the optical ranging module 10 can be obtained, thereby satisfying the working requirements of the optical ranging module 10.

In some embodiments, as shown in fig. 3 and 4, the rotational axis a1 of the fourth gear 35, the output shaft 21, and the transmission shaft 32 are arranged in parallel. The axis of rotation a1 may be the central axis of the rotating shaft 36, with the output shaft 21 and the propeller shaft 32 each being disposed for rotation about their own central axis. In this way, structural arrangement, fixed mounting, and the like of the reduction gear transmission mechanism 30 can be facilitated.

In some embodiments, as shown in fig. 1 and 2, the closed housing 40 is configured to house at least the optical ranging module 10 and the reduction gear transmission mechanism 30. The closure housing 40 may be arranged to be stationary with respect to the reduction gear transmission mechanism 30, or a part thereof may be arranged to be rotatable. By providing the closed housing 40 to accommodate the optical ranging module 10, the optical ranging module 10 can be protected. By providing the closed housing 40 to house the reduction gear transmission mechanism 30, a totally closed design of the reduction gear transmission mechanism 30 can be realized, thereby preventing foreign matter from entering, reducing wear, and particularly preventing foreign matter such as fibers and hair from entering the reduction gear transmission mechanism 30 to cause twisting.

In some embodiments, as shown in fig. 1 and 2, the closure housing 40 comprises a first portion 41 and a second portion 42, the reduction gear transmission 30 being disposed within the first portion 41, the second portion 42 housing the optical ranging module 10 and being disposed to be rotatable with respect to the first portion 41. The second portion 42 may be a structure surrounding the optical ranging module 10 and shielding the optical ranging module 10 at the top, and the structure outside the second portion 42 of the closed housing 40 may be the first portion 41; the first portion 41 may include a plurality of components to be able to receive the reduction gear mechanism 30 when assembled together and to house other portions of the reduction gear mechanism 30 that are not housed by the second portion 42. The second portion 42 may be mounted on the optical ranging module 10 to be rotatable with the optical ranging module 10.

In other embodiments, the entirety of the closure housing 40 may be disposed stationary with respect to the reduction gear transmission mechanism 30; wherein, a portion of the closed housing 40 corresponding to the optical ranging module 10 may be a light-transmitting portion so that the probe light beam emitted from the optical ranging module 10 and the received reflected light beam may pass through the light-transmitting portion. By setting the closed casing 40 to be a complete closed casing, the range radar 100 can be waterproof and dustproof and can operate in a severe environment.

In some embodiments, as shown in fig. 1-4, the range radar 100 is a lidar. For example, the light emitting component of the optical ranging module 10 may be configured as a laser emitter, such as a laser diode, which may emit laser pulses for ranging. The pulsed laser emitted by the laser emitter may be a high-frequency pulsed laser, for example, a pulsed laser above 1 kHz. It will be appreciated that in other embodiments, other devices capable of emitting light may be used as the light emitting assembly.

In some embodiments, as shown in fig. 2, the ranging radar 100 may further include a first circuit board 11, a rotating platform 12, a wirelessly powered transmitting coil 51, a wirelessly powered receiving coil 52, and a second circuit board 53. The first circuit board 11 may carry the optical ranging module 10 and is electrically connected to the optical ranging module 10. The optical ranging module 10 may also be mounted on the rotating platform 12, and the fourth gear 35 may be connected to the rotating platform 12, and is configured to drive the rotating platform 12 to drive the optical ranging module 10 to rotate. The rotating platform 12 serves as a support structure to enable the optical ranging module 10 to be mounted thereon. In addition, the aforementioned first circuit board 11 may be implemented as the rotating platform 12, or may be fixed on the rotating platform 12. The second circuit board 53 may be fixedly disposed within the first portion 41. The wireless power supply transmission coil 51 may be fixedly disposed and may be electrically connected to the second circuit board 53. The wireless power receiving coil 52 may be electrically connected to the first circuit board 11. The second circuit board 53 may control the wireless power transmitting coil 51 to generate an electromagnetic field, so that the wireless power transmitting coil 51 and the wireless power receiving coil 52 generate an inductive coupling, and the wireless power receiving coil 52 may convert electromagnetic energy into electric energy and provide the electric energy to the optical ranging module 10. The wireless power receiving coil 52 may be mounted so as to be fixed relative to the optical ranging module 10 so that it can rotate with the optical ranging module 10; the wireless power receiving coil 52 may be implemented as a rotating shaft 36; or may be coupled to the rotation shaft 36 to rotate together with the rotation shaft 36. The ranging radar 100 may further include a bearing 54, the bearing 54 being disposed within the first portion 41 for stabilizing the rotation of the rotating shaft 36.

In some embodiments, as shown in fig. 2, the rotating platform 12 is provided with an optoelectronic switch 13, and the range radar 100 further includes an encoder disc 14. The photoelectric switch 13 cooperates with the encoder disk 14 to detect the rotation speed and angle of the rotary platform 12. For example, the optoelectronic switch 13 may be a groove-type optoelectronic switch, and the code wheel 14 may be a grating wheel. In a specific application, the photoelectric switch 13 rotates relative to the code disc 14, and an angle acquisition unit is formed between the photoelectric switch and the code disc, and the main function is to acquire a rotation angle. The code wheel 14 can be arranged stationary; the optoelectronic switch 13 can be fixed on the rotary platform 12 and is connected to the first circuit board 11. The photoelectric switch 13 can rotate along with the rotation of the rotating platform 12, so that an electric signal square wave signal can be formed in the photoelectric switch 13 and sent to the first circuit board 11, and the angle is calculated by an embedded algorithm.

In some embodiments, as shown in fig. 2, the first circuit board 11 may be connected to a hollow shaft 15, the hollow shaft 15 surrounding the rotation axis a1 of the fourth gear 35 for providing an optical signal transmission path. In this way, the data of the optical ranging module 10 in motion can be coaxially transmitted to the required target ground through the optical communication principle, and the data can be collected in 360 degrees without cable interference.

The embodiment of the utility model also provides a mobile robot, which comprises the ranging radar 100 provided by any one of the above embodiments. The mobile robot may be any one of a floor sweeping robot, a floor mopping robot, a dust collecting robot, and the like, and is not limited herein.

In summary, the range radar 100 according to the embodiment of the present invention may use the reduction gear transmission mechanism 30 to replace the conventional belt transmission, and further, the driving motor 20 in the form of a brushless motor is combined, so as to increase the service life of the transmission part. Moreover, since the entire distance measuring radar 100 can be designed to be closed, the protection effect on the reduction gear transmission mechanism 30 is good.

It should be noted that the description of the present invention and the accompanying drawings illustrate preferred embodiments of the present invention, but the present invention may be embodied in many different forms and is not limited to the embodiments described in the present specification, which are provided as additional limitations to the present invention, and the present invention is provided for understanding the present disclosure more fully. Furthermore, the above-mentioned technical features are combined with each other to form various embodiments which are not listed above, and all of them are regarded as the scope of the present invention described in the specification; 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 utility model as defined by the appended claims.

Claims

1. A range radar, comprising:

an optical ranging module;

a drive motor including an output shaft; and

a reduction gear transmission mechanism including a first gear, a transmission shaft, a second gear, a third gear, and a fourth gear;

wherein the first gear is mounted on the output shaft, the second gear and the third gear are both mounted on the drive shaft, the first gear is engaged with the second gear, and the third gear is engaged with the fourth gear; and, the optical ranging module and the fourth gear are relatively fixedly arranged.

2. The range radar of claim 1, wherein:

the first gear and the second gear have a first reduction ratio, the third gear and the fourth gear have a second reduction ratio, and the second reduction ratio is greater than the first reduction ratio; the number of teeth of the second gear is greater than that of the third gear.

3. The range radar of claim 1, wherein:

the reduction ratio of the reduction gear transmission mechanism is between 9:1 and 15: 1.

4. The range radar of claim 1, wherein:

the rotation axis of the fourth gear, the output shaft and the transmission shaft are arranged in parallel.

5. The range radar of claim 1, wherein:

the distance measuring radar further comprises a closed shell, and the closed shell at least contains the optical distance measuring module and the reduction gear transmission mechanism.

6. The range radar of claim 5, wherein:

the enclosure housing includes a first portion in which the reduction gear transmission mechanism is disposed and a second portion that houses the optical ranging module and is disposed to be rotatable with respect to the first portion.

7. The range radar of claim 1, wherein:

the driving motor is a brushless motor.

8. The range radar of any one of claims 1-7, wherein:

the range radar is a laser radar.

9. A mobile robot characterized by comprising a range radar according to any one of claims 1-8.