CN217385837U - Laser radar and cleaning robot with same - Google Patents

Abstract

The application is suitable for the technical field of cleaning robots, and provides a laser radar and a cleaning robot with the same, wherein the laser radar comprises a base, and the base comprises a substrate and a side wall extending along the circumferential direction of the substrate; the baffle is arranged opposite to the substrate and covers part of the substrate; the driving part and the distance measuring part are arranged on the base, and the driving part drives the distance measuring part to rotate so that the distance measuring part finishes distance measurement in the rotating process; wherein, the baffle is provided with the backstop muscle of upwards extending near one side of range finding portion for it gets into inside the base to block the foreign matter on the baffle. When the foreign matter falls on the baffle top, even the foreign matter moves to the one side that is close to range finding portion, these foreign matters also can be intercepted to the backstop muscle, and then prevent that the foreign matter from flowing into laser radar inside through the one side that is close to range finding portion of baffle, avoid the foreign matter to influence internal element, especially range finding portion's normal work.

Description

Laser radar and cleaning robot with same

Technical Field

The application belongs to the technical field of cleaning robots, and particularly relates to a laser radar and a cleaning robot with the same.

Background

A floor sweeping robot, also known as an automatic sweeper, a robot cleaner, etc., is one of intelligent household appliances, and can automatically complete floor cleaning work in a room by means of certain artificial intelligence. In order to enable the sweeping robot to efficiently and reasonably sweep in an unknown environment, a scheme of arranging a laser radar in the sweeping robot is generally adopted. The sweeping robot can realize the self positioning and navigation of the sweeping robot through the laser radar, so that the sweeping is carried out according to a reasonable path.

Referring to fig. 1, currently, a laser radar generally includes a base 1, a baffle, a driving device 3, a first driving wheel, a distance measuring device, and the like. The susceptor 1 includes a base plate, which is disposed opposite to the baffle plate. The driving device 3 is connected with the first driving wheel and used for driving the first driving wheel to rotate, and the first driving wheel is used for transmitting power to the distance measuring device to rotate. The base 1 further comprises a side wall 2, at least part of the side wall 2 is arranged around the periphery of the first driving wheel, the baffle is attached to the part of the side wall 2 arranged around the periphery of the first driving wheel, an installation chamber is formed among the base plate, the side wall 2 and the first driving wheel, and the distance measuring device is accommodated in the installation chamber. When liquid spills laser radar on, liquid has certain probability and flows to the inside installation room of laser radar along one side of being close to range unit of baffle, influences the normal work of internals, especially range unit, and then has increased the probability that laser radar breaks down.

SUMMERY OF THE UTILITY MODEL

An object of the embodiment of the application is to provide a laser radar and have its cleaning machines people, aim at solving the laser radar among the prior art and easily intake and influence its problem of normal work.

To achieve the above object, according to one aspect of the present application, there is provided a laser radar including a base plate and a side wall extending along a circumferential direction of the base plate; the baffle is arranged opposite to the substrate and covers part of the substrate; the driving part and the distance measuring part are arranged on the base, and the driving part drives the distance measuring part to rotate so that the distance measuring part finishes distance measurement in the rotating process; wherein, the baffle is close to one side of range finding portion and is provided with the backstop muscle of upwards extending for it is inside to block the foreign matter entering base on the baffle.

Optionally, the laser radar further comprises a cover body, the cover body is covered on the base and covered with the stopping rib, or the stopping rib is arranged outside the cover body.

Optionally, the sidewall of the stopping rib is arranged in a gap with the sidewall of the cover body.

Optionally, the driving part comprises a driving device mounted on the base, a first driving wheel and a second driving wheel rotatably mounted on the base; the output end of the driving device is in driving connection with the first driving wheel and used for driving the first driving wheel to rotate, the first driving wheel is in driving connection with the second driving wheel, the second driving wheel is connected with the distance measuring portion, and the distance measuring portion is driven by the first driving wheel to rotate along with the second driving wheel.

Optionally, the substrate and the side wall are surrounded to form a mounting cavity, the mounting cavity comprises a first mounting area and a second mounting area, the first mounting area is used for mounting the first driving wheel, and the second mounting area is used for mounting the distance measuring part; the side wall positioned at the periphery of the first mounting area is a first peripheral wall, and the side wall positioned at the periphery of the second mounting area is a second peripheral wall; the second peripheral wall is higher than the first peripheral wall so as to form two butt ends at the joint of the second peripheral wall and the first peripheral wall, and two ends of the stop rib are respectively butted at the two butt ends.

Optionally, both ends of the stopper rib are provided with a first butting structure, and the first butting structure comprises an inner stepped surface facing the inside of the second mounting area; the butt joint end is provided with a second butt joint structure, the second butt joint structure comprises an outer step surface facing the outside of the first installation area, and the inner step surface is in abutting joint with the outer step surface;

or both ends of the stop rib are provided with first butting structures, and each first butting structure comprises an outer stepped surface facing the outside of the second mounting area; the butt joint end is provided with second butt joint structure, and second butt joint structure includes the interior ladder face towards the inside of first installing zone, and interior ladder face pastes the joint with outer ladder face.

Optionally, the bottom of the baffle is provided with a lower extension extending in the circumferential direction of the baffle.

Optionally, the lower part abuts against the inner side of at least part of the first peripheral wall, or the lower part and at least part of the first peripheral wall abut up and down, or the lower part abuts against the outer side of at least part of the first peripheral wall.

Optionally, a stop strip is arranged between two ends of the second circumferential wall, which are close to the first circumferential wall, an abdicating gap is formed between the stop strip and the side wall, the outer side of the stop strip is attached to the inner side of the stop rib, and the upper end surface of the stop strip is higher than the upper end surface of the stop rib.

According to another aspect of the application, a cleaning robot is provided, and the cleaning robot comprises a robot body and a laser radar arranged on the robot body, wherein the laser radar is the laser radar.

The application provides a laser radar's beneficial effect lies in: compared with the prior art, the laser radar of this application includes base, baffle, drive division and range finding portion, and wherein, one side that the baffle is close to range finding portion is provided with the backstop muscle that upwards extends for it gets into inside the base to block the foreign matter on the baffle. Because the baffle of this application is close to one side of range finding portion and is provided with the backstop muscle that upwards extends for block inside the foreign matter entering base on the baffle. When the foreign matter fell on the baffle top, even the foreign matter moved to the one side that is close to range finding portion, these foreign matters also can be held up to the backstop muscle, and then prevent that the foreign matter from flowing into laser radar through the one side that is close to range finding portion of baffle inside, avoid the foreign matter to influence the normal work of inner member, especially range finding portion.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.

FIG. 1 is a schematic diagram of a prior art lidar;

fig. 2 is a schematic cross-sectional view of a laser radar provided in an embodiment of the present application;

FIG. 3 is an enlarged view of area A of FIG. 2;

fig. 4 is an exploded schematic view of a lidar provided in an embodiment of the present application;

FIG. 5 is a schematic structural diagram of a base according to an embodiment of the present disclosure;

fig. 6 is a schematic structural diagram of a laser radar according to an embodiment of the present application.

Reference numerals referred to in the above figures are detailed below:

1. a baffle plate; 2. a side wall; 3. a drive device; 10. a base; 11. a substrate; 12. a side wall; 121. a first peripheral wall; 122. a second peripheral wall; 123. an outer stepped surface; 13. a stop bar; 131. a abdication gap;

20. a baffle plate; 21. a stopper rib; 211. an inner stepped surface; 31. a first drive pulley; 32. a drive device; 40. a distance measuring unit; 50. a cover body; 60. a second transmission wheel; 70. a transmission member.

Detailed Description

In order to make the technical problems, technical solutions and advantageous effects to be solved by the present application clearer, the present application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element. The embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.

It will be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like, as used herein, refer to an orientation or positional relationship indicated in the drawings that is solely for the purpose of facilitating the description and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be considered as limiting the present application.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.

As described in the background art, referring to fig. 1, a lidar generally includes a base, a baffle 1, a driving device 3, a first driving wheel, and a distance measuring device. The base comprises a base plate, and the base plate and the baffle plate 1 are oppositely arranged. The driving device 3 is connected with the first driving wheel and used for driving the first driving wheel to rotate, and the first driving wheel is used for transmitting power to the distance measuring device to rotate. The base further comprises a side wall 2, at least part of the side wall 2 is arranged around the periphery of the first driving wheel, the baffle is attached to the part of the side wall 2 arranged around the periphery of the first driving wheel, an installation chamber is formed among the base plate, the side wall 2 and the first driving wheel, and the distance measuring device is accommodated in the installation chamber. When liquid spills laser radar on, liquid has certain probability to flow to the inside installation room of laser radar along the one side of being close to range unit of baffle, influences the normal work of internals, especially range unit, and then has increased the probability that laser radar breaks down.

Referring to fig. 2 to 6, in order to solve the above-mentioned problems, according to an aspect of the present application, an embodiment of the present application provides a lidar including: the base 10 comprises a substrate 11 and a side wall 12 extending along the circumferential direction of the substrate 11; the baffle 20 is arranged opposite to the substrate 11 and covers part of the substrate 11; the driving part and the distance measuring part 40 are arranged on the base 10, and the driving part drives the distance measuring part to rotate, so that the distance measuring part finishes distance measurement in the rotating process; one side of the baffle 20 close to the distance measuring part 40 is provided with a stopping rib 21 extending upwards for stopping foreign matters on the baffle 20 from entering the base 10.

This embodiment provides power through the drive division, and the drive range finding portion is rotatory to make range finding portion accomplish the range finding at rotatory in-process, because the baffle 20 of this application is close to the one side of range finding portion 40 and is provided with the backstop muscle 21 that upwards extends, be used for blockking inside the foreign matter entering base 10 on the baffle 20. When foreign matter, particularly liquid such as water, etc., falls on the baffle 20, even if the foreign matter moves toward the side close to the ranging section 40, the stopper rib 21 can intercept the foreign matter, thereby preventing the foreign matter from flowing into the laser radar through the side of the baffle 20 close to the ranging section 40, and preventing the foreign matter from affecting the normal operation of internal components, particularly the ranging section 40.

Referring to fig. 2 and 3, in order to protect various components inside the base 10, the laser radar in this embodiment further includes a cover 50, where the cover 50 covers the base 10 and covers the stopping ribs, or the stopping ribs are disposed outside the cover. In a specific embodiment, the stopping rib 21 is covered inside the cover 50, and the cover 50 is covered outside the base 10, so as to prevent the distance measuring unit 40 from being collided and prevent foreign matters from entering the base 10. Preferably, cover body 50 bottom is located the top of baffle 20 up end to and the up end of baffle 20 between the clearance setting, the clearance setting can guarantee that the dustcoat rotates along with range finding portion on the one hand, on the other hand also can play and prevent that the foreign matter on the baffle 20 from flowing into inside the base 10, and the reunion backstop muscle 21 can play better manger plate, keep off the effect of foreign matter.

In a preferred embodiment, in order to more effectively stop the foreign matters on the baffle 20, the outer side wall of the stopping rib 21 in this embodiment is spaced from the inner side wall of the cover 50, so as to ensure that the cover rotates along with the distance measuring part, and further prevent the liquid from flowing into the base 10.

In order to realize the driving function of the driving part, the driving part of the present embodiment includes a driving device 32 mounted on the base 10, a first driving wheel 31 and a second driving wheel 60 rotatably mounted on the base 10; the output end of the driving device 32 is in driving connection with the first driving wheel 31 and is used for driving the first driving wheel 31 to rotate, the first driving wheel 31 is in driving connection with the second driving wheel 60, the second driving wheel 60 is connected with the distance measuring part 40, and the distance measuring part 40 is driven by the first driving wheel 31 to rotate along with the second driving wheel 60. The rotation of the distance measuring part 40 is realized by transmitting the power to the distance measuring part 40 through the first driving wheel 31 and the second driving wheel 60, wherein the distance measuring part 40 can rotate 360 degrees in a plane parallel to the substrate 11 under the transmission of the first driving wheel 31 to complete the distance measuring operation, and the distance measuring part is preferably a laser distance measuring device.

The laser radar in this embodiment further includes a transmission member 70, the second transmission wheel 60 is rotatably installed on the base 10, and the transmission member 70 is wound around the first transmission wheel 31 and the second transmission wheel 60 and is used for driving the second transmission wheel 60 to rotate when the first transmission wheel 31 rotates. The transmission member 70 is integrally formed in a closed strip structure, and is wound around the first transmission wheel 31 and the second transmission wheel 60, so that the first transmission wheel 31 can rotate while driving the second transmission wheel 60 to rotate, and further the distance measuring unit 40 is driven to rotate.

The above-mentioned driving connection means a connection mode having a driving relation, such as pin connection, key connection, gear engagement, belt transmission fit, hinge transmission fit, and the like.

The driving device 32 is preferably a motor, a main body of the motor is fixed on a surface of the substrate 11 away from the baffle 20, and an output end of the motor passes through the substrate 11 and extends into the base 10 to be connected with the first driving wheel 31.

The transmission member 70 may be a transmission belt or a transmission chain, and in the embodiment where the transmission member 70 is a transmission chain, the first transmission wheel 31 and the second transmission wheel 60 are sprockets.

The laser radar in this embodiment further includes a motor driving circuit board and a ranging control circuit board, the motor driving circuit board is disposed at the bottom of the base 10, electrically connected to the driving motor, and used for driving the motor to rotate, and the ranging control circuit board is disposed at the upper portion of the ranging portion 40, electrically connected to the ranging portion 40, and used for controlling the ranging portion 40 to perform ranging.

Referring to fig. 4, the laser radar in the present embodiment has two mounting areas, specifically, the substrate 11 and the side wall 12 in the present embodiment are surrounded to form a mounting cavity, and the mounting cavity includes a first mounting area and a second mounting area, the first mounting area is used for mounting the first driving wheel 31, and the second mounting area is used for mounting the distance measuring unit 40; the side wall 12 at the periphery of the first mounting area is a first peripheral wall 121, the side wall 12 at the periphery of the second mounting area is a second peripheral wall 122, and the second peripheral wall 122 is higher than the first peripheral wall 121, so that two butt ends are formed at the joint of the second peripheral wall 122 and the first peripheral wall 121; in order to prevent the liquid from flowing into the base 10 from the gap between the end of the second peripheral wall 122 and the end of the stopping rib 21 due to an excessive gap therebetween, the two ends of the stopping rib 21 in this embodiment are respectively abutted against the two abutting ends, so that the gap between the end of the second peripheral wall 122 and the end of the stopping rib 21 can be preferably reduced by the abutting manner, and the liquid can be further prevented from flowing into the base 10 from the gap therebetween. Preferably, the cover 50 is sleeved outside the second peripheral wall 122.

In order to prevent the gap between the end of the second peripheral wall 122 and the end of the stopping rib 21 from being too large, and the liquid flows into the base 10 from the gap between the two ends, the two ends of the stopping rib 21 in the present embodiment are both provided with a first butt joint structure, the butt joint end is provided with a second butt joint structure, and the two first butt joint structures are respectively butt jointed with the two second butt joint structures. Through the butt-joint fit between the first butt-joint structure and the second butt-joint structure, the mutual restriction can effectively reduce the gap between the end of the second peripheral wall 122 and the end of the stopper rib 21.

In a preferred embodiment, the first docking structure in the present embodiment includes an inner stepped surface 211 facing the inside of the second mounting region; the butt joint end is provided with a second butt joint structure, the second butt joint structure comprises an outer stepped surface 123 facing the outside of the first installation area, and the inner stepped surface 211 is in abutting joint with the outer stepped surface 123;

in another embodiment, the first docking structure includes an outer stepped surface facing an outside of the second mounting region; the second butt joint structure includes the interior ladder face towards the inside of first installing zone, and interior ladder face pastes the joint with outer ladder face. Through the cooperation of the ladder face, on the one hand, be convenient for the butt joint between backstop muscle 21 tip and the second week wall 122 tip, on the other hand, also can eliminate the clearance between backstop muscle 21 tip and the second week wall 122, play better water-proof effects.

In another embodiment, the first abutting structure in this embodiment includes a buckle facing the inside of the second mounting region, the second abutting structure includes a slot disposed at the abutting end of the second peripheral wall 122, and the end of the stopping rib 21 and the end of the second peripheral wall 122 are abutted in a snap fit manner, so that the abutting stability is good.

In another embodiment, the first abutting structure in this embodiment includes a plug post extending toward the inside of the second mounting region, the second abutting structure includes a plug hole disposed at the abutting end of the second peripheral wall 122, and the end of the stopping rib 21 and the end of the second peripheral wall 122 are abutted by the plug post and the plug hole in a plugging fit manner, so that the abutting stability is good.

In order to further prevent liquid or other impurities on the baffle 20 from entering the inside of the base 10 through the gap between the baffle 20 and the first peripheral wall 121, the bottom of the baffle 20 in this embodiment is provided with a lower part, which extends along the circumferential direction of the baffle 20 and abuts against at least part of the inside of the first peripheral wall 121; or, the lower part and at least part of the first peripheral wall 121 are in up-and-down abutting contact; still alternatively, the lower portion abuts against at least a part of the outer side of the first peripheral wall 121, and the connection between the baffle 20 and the first peripheral wall 121 can be made tighter by the lower portion. Preferably, because the baffle 20 and the first peripheral wall 121 are both made of plastic, a certain gap may exist between the baffle 20 and the first peripheral wall 121, when liquid is sprayed onto the lidar, part of the liquid may flow into the lidar along the gap between the baffle 20 and the first peripheral wall 121, thereby increasing the probability of failure of the lidar.

Referring to fig. 5, in a preferred embodiment, a stop bar 13 is disposed between two ends of the second peripheral wall 122 close to the first peripheral wall 121 in the present embodiment, and a yielding gap 131 is formed between the stop bar 13 and the substrate 11, wherein the yielding gap 131 mainly functions to yield the transmission structure between the first transmission wheel 31 and the distance measuring portion 40 to prevent interference. Preferably, the outer side of the stop bar 13 abuts against the inner side of the stop rib 21, and the upper end surface of the stop bar is higher than the upper end surface of the stop rib 21. By arranging the stop strip 13, the height of the whole stop structure is increased, so that a better water retaining effect can be achieved.

According to another aspect of the application, a cleaning robot is provided, and the cleaning robot comprises a robot body and a laser radar arranged on the robot body, wherein the laser radar is the laser radar.

In summary, the laser radar provided by the embodiment at least has the following beneficial technical effects:

the laser radar of the application includes base 10, baffle 20, drive division and range finding portion 40, the drive division is used for providing the rotatory power of messenger range finding portion 40, the drive division is including installing in the drive arrangement 32 of base 10 and rotationally installing in the first drive wheel 31 of base 10, drive arrangement 32 is used for driving first drive wheel 31 and rotates, range finding portion 40 rotationally installs in base 10, and be connected with the drive of first drive wheel 31, provide power through drive arrangement 32, first drive wheel 31 transmits power for range finding portion 40, the rotation of range finding portion 40 has been realized, because one side that is close to range finding portion 40 of baffle 20 of this application is provided with the backstop muscle 21 of upwards extension, a liquid inflow base 10 inside for on the baffle 20. When liquid falls on the baffle 20, even if the liquid flows to the side close to the ranging part 40, the stopping rib 21 can intercept the liquid, so that the liquid is prevented from flowing into the laser radar through the side of the baffle 20 close to the ranging part 40, and the liquid is prevented from influencing internal elements, particularly the normal operation of the ranging part 40.

The present invention is not intended to be limited to the particular embodiments shown and described, but is to be accorded the widest scope consistent with the principles and novel features herein disclosed.

Claims (10)

1. A lidar, characterized in that the lidar comprises:

a base (10), the base (10) including a base plate (11) and a side wall (12) extending in a circumferential direction of the base plate (11);

the baffle (20), the said baffle (20) is opposite to said base plate (11), and cover and set up some said base plates (11);

the driving part and the distance measuring part (40) are arranged on the base (10), and the driving part drives the distance measuring part to rotate so that the distance measuring part finishes distance measurement in the rotating process;

one side of the baffle (20) close to the distance measuring part (40) is provided with a stop rib (21) extending upwards, and the stop rib is used for stopping foreign matters on the baffle (20) from entering the base (10).

2. Lidar according to claim 1, further comprising a cover (50), wherein the cover (50) covers the base (10) and covers the stop rib (21), or wherein the stop rib (21) is arranged outside the cover (50).

3. Lidar according to claim 2, wherein the side walls (12) of the stop ribs (21) are arranged at a distance from the side walls (12) of the cover (50).

4. Lidar according to claim 1, wherein said drive unit comprises a drive means (32) mounted to said base (10), a first drive wheel (31) and a second drive wheel (60) rotatably mounted to said base (10);

the output end of the driving device (32) is in driving connection with the first driving wheel (31) and used for driving the first driving wheel (31) to rotate, the first driving wheel (31) is in driving connection with the second driving wheel (60), the second driving wheel (60) is connected with the distance measuring portion (40), and the distance measuring portion (40) is driven by the first driving wheel (31) to follow the second driving wheel (60) to rotate.

5. The lidar of claim 4, wherein the base plate (11) and the side wall (12) are enclosed to form a mounting cavity, the mounting cavity comprises a first mounting area and a second mounting area, the first mounting area is used for mounting the first driving wheel (31), and the second mounting area is used for mounting the distance measuring part (40); the side wall (12) positioned at the periphery of the first mounting area is a first peripheral wall (121), and the side wall (12) positioned at the periphery of the second mounting area is a second peripheral wall (122); the second peripheral wall (122) is higher than the first peripheral wall (121) so as to form two abutting ends at the joint of the second peripheral wall (122) and the first peripheral wall (121), and two ends of the stopping rib (21) are respectively abutted to the two abutting ends.

6. Lidar according to claim 5, wherein both ends of the stopper rib (21) are provided with a first butt structure comprising an inner stepped surface (211) facing the inside of the second mounting region; the butt joint end is provided with a second butt joint structure, the second butt joint structure comprises an outer stepped surface (123) facing the outside of the first installation area, and the inner stepped surface (211) is attached to and clamped with the outer stepped surface (123);

or both ends of the stop rib (21) are provided with first butting structures, and each first butting structure comprises an outer stepped surface facing the outside of the second mounting area; butt joint end is provided with second butt joint structure, second butt joint structure includes the orientation the interior ladder face of the inside of first installing zone, interior ladder face with outer ladder face pastes the joint.

7. Lidar according to claim 5, wherein the bottom of the baffle (20) is provided with a lower extension extending in the circumferential direction of the baffle (20).

8. Lidar according to claim 7, wherein the lower extension abuts against at least part of the inside of the first circumferential wall (121), or wherein the lower extension abuts up and down with at least part of the first circumferential wall (121), or wherein the lower extension abuts against at least part of the outside of the first circumferential wall (121).

9. The lidar according to any of claims 5 to 8, wherein a stop bar (13) is disposed between two ends of the second peripheral wall (122) close to the first peripheral wall (121), a clearance (131) is formed between the stop bar (13) and the base plate (11), an outer side of the stop bar (13) abuts against an inner side of the stop rib (21), and an upper end surface of the stop bar (13) is higher than an upper end surface of the stop rib (21).

10. A cleaning robot comprising a robot body and a lidar provided on the robot body, the lidar of any one of claims 1 to 9.

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