CN217981847U

CN217981847U - Laser radar

Info

Publication number: CN217981847U
Application number: CN202221210610.0U
Authority: CN
Inventors: 余金榜; 王品
Original assignee: Shenzhen Yuedeng Technology Co ltd
Current assignee: Shenzhen Yuedeng Technology Co ltd
Priority date: 2022-05-18
Filing date: 2022-05-18
Publication date: 2022-12-06
Anticipated expiration: 2032-05-18

Abstract

The application relates to a laser radar, including base, revolving stage, drive assembly and determine module, the revolving stage is used for installing laser receiving and dispatching module, and the revolving stage rotates with the base to be connected, and drive assembly is used for driving the revolving stage to rotate, and determine module is used for detecting revolving stage pivoted angle, and the revolving stage surrounds with the base and is formed with the inner chamber around the revolving stage axis, and determine module locates in the inner chamber. Through setting up the determine module in the inner chamber, because the inner chamber is for sealing or semi-enclosed environment, can prevent effectively that the determine module from receiving the influence of steam and dust to improve radar reliability and stability of work.

Description

Laser radar

Technical Field

The present application relates to a laser radar.

Background

In the laser radar field, the radar is rotatory 360 degrees scans, and this is mechanical type laser radar, and mechanical type laser radar's rotating part bears the rotation through the bearing, and the detecting element that traditional structure will detect the angle of rotating part sets up at the bearing periphery side, and this kind of structure makes detecting element expose for a long time in open air, is stained with the ash easily and leads to detecting failure, influences the radar function.

SUMMERY OF THE UTILITY MODEL

An object of this application is to provide a laser radar, can realize detecting element's waterproof and dustproof, improved the stability of radar work.

The present application is achieved by the following technical means.

This technical scheme provides a laser radar, including base, revolving stage, drive assembly and determine module, the revolving stage is used for installing laser receiving and dispatching module, the revolving stage with the base rotates to be connected, drive assembly is used for the drive the revolving stage rotates, determine module is used for detecting revolving stage pivoted angle, the revolving stage with the base surrounds to be formed with around the inner chamber of revolving stage axis, determine module locates in the inner chamber.

This technical scheme can include following beneficial effect: through setting up the determine module in the inner chamber, because the inner chamber is for sealing or semi-enclosed environment, can prevent effectively that the determine module from receiving the influence of steam and dust to improve radar reliability and stability of work.

As a certain implementation manner of the technical solution, the detection assembly includes a code wheel and a photoelectric sensor, the code wheel is disposed on the base, and the photoelectric sensor is disposed on the rotary table.

As a certain embodiment of the technical solution, the rotary table further includes a first circuit board, the photoelectric sensor is disposed on the first circuit board, and the first circuit board is electrically connected to the laser transceiver module.

As a certain implementation manner of the technical solution, the rotating table further includes a rotating disc, a bearing and a first circuit board, the rotating disc is rotatably connected with the base through the bearing, and the first circuit board is connected with the rotating disc and electrically connected with the laser transceiver module;

the base, the carousel with the bearing surrounds and is formed with the inner chamber, or the base, the carousel, the bearing surrounds and is formed with the inner chamber with first circuit board.

In one embodiment, the base is provided in a hollow cylindrical portion, the cylindrical portion is connected to an inner ring of the bearing, and the turntable is connected to an outer circumference of the bearing.

As a certain implementation manner of the technical solution, the laser radar further includes a wireless power supply module, the wireless power supply module is disposed in the inner cavity, the wireless power supply module includes a transmitting coil and a receiving coil which are oppositely disposed, and the transmitting coil and the receiving coil are both disposed coaxially with an axis of the rotating table.

As a certain implementation manner of the technical scheme, the rotating table further comprises an upper cover, the upper cover is connected with the rotating disc, and the upper cover is used for covering the laser transceiving module and the first circuit board.

As a certain implementation manner of the technical scheme, the laser radar further comprises a wireless data transmission module and a second circuit board arranged on the base, wherein the wireless data transmission module is arranged in the inner cavity, and the first circuit board and the second circuit board are electrically connected with the wireless data transmission module.

As a certain implementation mode of the technical scheme, the driving assembly comprises a driving motor and a transmission part, the driving motor is connected with the base, the transmission part is in transmission fit with the turntable and the driving motor, and the driving motor drives the turntable to rotate through the transmission part.

As a certain implementation manner of the technical solution, the base further comprises a protective cover, and the protective cover is used for covering the transmission component.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.

Drawings

The foregoing and other objects, features and advantages of the application will be apparent from the following more particular descriptions of exemplary embodiments of the application, as illustrated in the accompanying drawings wherein like reference numbers generally represent like parts throughout the exemplary embodiments of the application.

Fig. 1 is a schematic structural diagram of a laser radar shown in an embodiment of the present application.

Fig. 2 is a schematic top view of a lidar shown in an embodiment of the present application.

Fig. 3 isbase:Sub>A schematic cross-sectional view ofbase:Sub>A laser radar shown in an embodiment of the present application, taken along the directionbase:Sub>A-base:Sub>A.

Fig. 4 is a schematic diagram of an internal structure of a laser radar shown in an embodiment of the present application.

Fig. 5 is a schematic structural diagram of a base of a laser radar shown in an embodiment of the present application.

Fig. 6 is a schematic structural view of a turntable of a laser radar according to an embodiment of the present application.

Description of the reference numerals:

110-a base; 111-lumen; 112-a mounting portion; 113-a second circuit board; 114-a protective cover;

120-rotating table; 121-a first circuit board; 122-a turntable; 1221-belt trough; 123-bearing; 124-upper cover; 125-a first via; 126-a second via;

130-a drive assembly; 131-a drive motor; 132-a transmission member; 133-a pulley;

140-a detection component; 141-code wheel; 142-a photosensor;

150-laser transceiver module;

160-wireless power supply module; 161-a transmitting coil; 162-a first core; 163-a receiving coil; 162-a second core;

170-wireless data transmission module; 171-optical signal transmitting end; 172-optical signal receiving end.

Detailed Description

Technical solutions in some embodiments of the present application will be clearly and completely described below with reference to the drawings in some embodiments of the present application, and it is obvious that the described embodiments are some, but not all, embodiments of the present application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

Technical solutions of some embodiments of the present application are described in detail below with reference to the accompanying drawings.

In the structure of the turntable 120 of the conventional laser radar, the detection component 140 for detecting the angle or angular displacement of the turntable 120 is usually disposed in an exposed environment, and dust deposition and water inflow are easily generated on the detection component 140 for a long time, so that the detection of the detection component 140 fails, and the normal function of the laser radar is influenced.

To the above problem, the embodiment of the present application provides a laser radar, can realize detecting element 140's waterproof and dustproof, has improved the stability of radar work.

Referring to fig. 1 to 6, the lidar of the present embodiment includes a base 110, a rotating platform 120, a driving assembly 130, and a detecting assembly 140, wherein the rotating platform 120 is used for mounting a laser transceiver module 150, the rotating platform 120 is rotatably connected to the base 110, the driving assembly 130 is used for driving the rotating platform 120 to rotate, the detecting assembly 140 is used for detecting a rotation angle of the rotating platform 120, an inner cavity 111 surrounding an axis of the rotating platform 120 is formed by the rotating platform 120 and the base 110, and the detecting assembly 140 is disposed in the inner cavity 111.

Understandably, the inner cavity 111 is formed between the rotary table 120 and the base 110, the inner cavity 111 may be a closed or semi-closed space, the inner cavity 111 may effectively prevent the detection assembly 140 from being affected by moisture and dust, thereby improving the reliability of radar ranging, since the inner cavity 111 is disposed around the axis of the rotary table 120, the detection assembly 140 may be disposed in the inner cavity 111 to detect the angle of the rotary table 120, and the detection assembly 140 may perform a synchronous motion with the rotary table 120 around the axis in the inner cavity 111.

Referring to fig. 3 and 6, in the present embodiment, the detecting assembly 140 includes a code wheel 141 and a photoelectric sensor 142, the code wheel 141 is disposed on the base 110, and the photoelectric sensor 142 is disposed on the rotating platform 120. Illustratively, the code wheel 141 is disposed around the axis of the rotation platform 120, and the code wheel 141 may be disposed horizontally or vertically, for example, the code wheel 141 is a cylindrical structure disposed on the base 110, the photo sensor 142 is a correlation sensor with a U-shaped structure, the U-shaped groove of the photo sensor 142 is oriented to accommodate the code wheel 141 therein, and the code wheel 141 always processes the detection of the photo sensor 142 during the rotation of the photo sensor 142 with the rotation platform 120. The code wheel 141 may be a single component mounted on the base 110 or integrally formed on the base 110.

Understandably, as shown in fig. 4, the photoelectric sensor 142 is disposed on the rotary table 120, and since the laser transceiver module 150 is further installed on the rotary table 120, the angle data used by the photoelectric sensor 142 and the distance measurement data of the laser transceiver module 150 can be conveniently matched and packed directly and then sent out, for example, the photoelectric sensor 142 can obtain the emitting direction of the laser transceiver module 150 through the angle data detected by the code disc 141, the laser transceiver module 150 can obtain the distance from the laser transceiver module 150 to the target object through the distance measurement data measured by emitting laser, and the distance between the target object in a certain emitting direction and the laser transceiver module 150 can be obtained after data matching. The distance of the target object in the 360-degree direction around the laser radar can be obtained by rotating the rotary table 120 by 360 degrees.

In other embodiments, the detecting assembly 140 is not limited to the above-mentioned manner, and the detecting assembly 140 may also be a code wheel 141 disposed on the rotating platform 120 and a photoelectric sensor 142 disposed on the base 110. Of course, the detecting unit 140 is not limited to the structure of the code wheel 141 and the photoelectric sensor 142, and may be another member capable of detecting the angular displacement or angle of the rotary table 120.

Referring to fig. 3 and 4, in the embodiment, the rotating platform 120 further includes a turntable 122, a bearing 123 and a first circuit board 121, the turntable 122 is rotatably connected to the base 110 through the bearing 123, and the first circuit board 121 is connected to the turntable 122 and electrically connected to the laser transceiver module 150; the base 110, the turntable 122 and the bearing 123 surround to form an inner cavity 111, or the base 110, the turntable 122, the bearing 123 and the first circuit board 121 surround to form the inner cavity 111.

Understandably, the turntable 122 is rotatably connected to the base 110 through the bearing 123, so that the rotation of the rotation stage 120 is stable, the turntable 122 may form an inner cavity 111 together with the base 110 and the bearing 123, the first circuit board 121 is mounted on a side of the turntable 122 away from the inner cavity 111, the photosensor 142 of the detection assembly 140 is disposed on a side of the turntable 122 close to the inner cavity 111, and the photosensor 142 passes through the turntable 122 through a wire and is electrically connected to the first circuit board 121. In another way, the turntable 122 has an opening in the middle thereof, and the first circuit board 121 is connected to the turntable 122 and covers the opening, so that the photoelectric sensor 142 can be directly electrically connected to the first circuit board 121, and the turntable 122, the base 110, the bearing 123 and the first circuit board 121 together define the inner cavity 111.

Exemplarily, the photoelectric sensor 142 is disposed on the first circuit board 121 or the turntable 122, the photoelectric sensor 142 is electrically connected to the first circuit board 121, and the first circuit board 121 is electrically connected to the laser transceiver module 150. Thus, both the data of the laser transceiver module 150 and the data of the photo sensor 142 can be accessed into the first circuit board 121.

Referring to fig. 3 and 5, in the present embodiment, the base 110 is provided in the hollow mounting portion 112, the mounting portion 112 is connected to the inner ring of the bearing 123, and the turntable 122 is connected to the outer ring of the bearing 123. The mounting portion 112 is a hollow cylindrical structure such that the code wheel 141 in the inner cavity 111 is located in the inner ring of the bearing 123, and the hollow structure of the mounting portion 112 of the base 110 provides space for the inner cavity 111 so that the inner cavity 111 can be used for mounting the detection assembly 140.

Referring to fig. 1 and 3, in the present embodiment, the rotating platform 120 further includes an upper cover 124, the upper cover 124 is connected to the rotating disc 122, and the upper cover 124 is used for covering the laser transceiver module 150 and the first circuit board 121. The laser transceiver module 150 and the first circuit board 121 are protected by the upper cover 124, and the upper cover 124 is provided with a first through hole 125 corresponding to a transmitting end of the laser transceiver module 150 and a second through hole 126 corresponding to a receiving end of the laser transceiver module 150.

Referring to fig. 3 and 5, in this embodiment, the laser radar further includes a wireless power supply module 160, the wireless power supply module 160 is disposed in the inner cavity 111, and the wireless power supply module 160 includes a transmitting coil 161 and a receiving coil 163 disposed oppositely, where both the transmitting coil 161 and the receiving coil 163 are disposed coaxially with the axis of the rotating platform 120. For example, the transmitting coil 161 of the wireless power supply module 160 is mounted on the base 110 through the first iron core 162, the transmitting coil 161 is electrically connected to the power supply, and the receiving coil 163 is mounted on the rotating platform 120 through the second iron core 162, for example, the receiving coil 163 may be fixed to the turntable 122, or the first circuit board 121, or the laser emitting module, and the receiving coil 163 is electrically connected to the first circuit board 121.

Referring to fig. 3, in the embodiment, the laser radar further includes a wireless data transmission module 170 and a second circuit board 113 disposed on the base 110, the wireless data transmission module 170 is disposed in the inner cavity 111, and both the first circuit board 121 and the second circuit board 113 are electrically connected to the wireless data transmission module 170. Illustratively, the wireless data transmission module 170 is an optical transmission module, the wireless data transmission module 170 includes an optical signal transmitting end 171 and an optical signal receiving end 172 that are disposed opposite to each other, the optical signal transmitting end 171 is fixed at the center of the second iron core 162, the optical signal receiving end 172 is fixed at the center of the first iron core 162, the optical signal transmitting end 171 is electrically connected to the first circuit board 121, the optical signal receiving end 172 is connected to the second circuit board 113, the first circuit board 121 packages the angle data and the distance measurement data, and transmits the packaged data through the optical signal transmitting end 171, and the optical signal receiving end 172 receives the packaged data and transmits the packaged data to a processor on the second circuit board 113.

In specific application, the laser radar can be applied to equipment such as an automatic robot and an automatic sweeper, the second circuit board 113 can also be a control circuit board of the equipment, and the second circuit board 113 controls the equipment to automatically walk according to received packed data so as to avoid target obstacles.

Referring to fig. 3 and 4, in this embodiment, the driving assembly 130 includes a driving motor 131 and a transmission member 132, the driving motor 131 is connected to the base 110, the transmission member 132 is in transmission fit with both the turntable 122 and the driving motor 131, and the driving motor 131 drives the rotation stage 120 to rotate through the transmission member 132. Illustratively, the transmission member 132 is a belt, a belt groove 1221 is formed on an outer wall of the rotary plate 122, a pulley 133 is connected to an output shaft of the driving motor 131, and the transmission member 132 is connected between the belt groove 1221 of the rotary plate 122 and the pulley 133.

In this embodiment, the base 110 further includes a protective cover 114, and the protective cover 114 is used for covering the transmission component 132. In this manner, the transmission member 132 can be protected by the prevention cover.

According to the laser radar of the embodiment, the code disc 141 and the photoelectric sensor 142 are arranged in the inner cavity 111 inside the inner ring of the bearing 123 of the rotating platform 120, the inner cavity 111 is a closed or semi-closed environment, and the inner cavity 111 can effectively prevent the code disc 141 and the photoelectric sensor 142 from being affected by water vapor and dust, so that the reliability of the laser radar is improved.

Having described embodiments of the present application, the foregoing description is intended to be exemplary, not exhaustive, and not limited to the disclosed embodiments. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The terminology used herein was chosen in order to best explain the principles of the embodiments, the practical application, or improvements to the technology in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein.

Claims

1. The utility model provides a laser radar, its characterized in that, includes base, revolving stage, drive assembly and determine module, the revolving stage is used for installing laser transceiver module, the revolving stage with the base rotates to be connected, drive assembly is used for the drive the revolving stage rotates, determine module is used for detecting revolving stage pivoted angle, the revolving stage with the base surrounds to be formed with and centers on the inner chamber of revolving stage axis, determine module locates in the inner chamber.

2. The lidar of claim 1, wherein the detection assembly comprises a code wheel and a photosensor, the code wheel is disposed on the base, and the photosensor is disposed on the rotary stage.

3. The lidar of claim 2, wherein the turntable further comprises a first circuit board, the photoelectric sensor is disposed on the first circuit board, and the first circuit board is electrically connected to the laser transceiver module.

4. The lidar of claim 1, wherein the turntable further comprises a turntable, a bearing, and a first circuit board, the turntable is rotatably connected to the base via the bearing, and the first circuit board is connected to the turntable and electrically connected to the laser transceiver module;

5. The lidar of claim 4, wherein the base is provided in a hollow cylindrical portion, the cylindrical portion being connected to an inner ring of the bearing, and the turntable being connected to an outer circumference of the bearing.

6. The lidar of claim 4, further comprising a wireless power module disposed in the inner chamber, wherein the wireless power module comprises a transmitting coil and a receiving coil disposed opposite to each other, and wherein the transmitting coil and the receiving coil are both disposed coaxially with an axis of the turntable.

7. The lidar of claim 4, wherein the rotary stage further comprises an upper cover, the upper cover is connected to the rotary plate, and the upper cover is configured to cover the laser transceiver module and the first circuit board.

8. The lidar of claim 4, further comprising a wireless data transmission module and a second circuit board disposed on the base, wherein the wireless data transmission module is disposed in the inner cavity, and the first circuit board and the second circuit board are both electrically connected to the wireless data transmission module.

9. The lidar of claim 4, wherein the driving assembly comprises a driving motor and a transmission component, the driving motor is connected with the base, the transmission component is in transmission fit with both the turntable and the driving motor, and the driving motor drives the turntable to rotate through the transmission component.

10. The lidar of claim 9, wherein the base further comprises a protective cover configured to cover the transmission member.