CN218247100U

CN218247100U - Optical measurement module, laser radar, and robot

Info

Publication number: CN218247100U
Application number: CN202222483616.1U
Authority: CN
Inventors: 陈时; 曾艳山; 邓高文; 张元志; 段新峰
Original assignee: Shenzhen Camsense Technologies Co Ltd
Current assignee: Shenzhen Huanchuang Technology Co ltd
Priority date: 2022-09-19
Filing date: 2022-09-19
Publication date: 2023-01-10
Anticipated expiration: 2032-09-19

Abstract

The embodiment of the utility model relates to the technical field of radar detection, and discloses an optical measuring module, which comprises a mounting seat, a light emitting element, a first elastic piece and a light receiving component; the mounting seat is provided with a first groove; the light emitting element is accommodated in the first groove; the first elastic piece is positioned above the light emitting element and connected to the mounting seat, and the light emitting element is in line contact with the inner side wall of the first groove under the common abutting action of the first elastic piece and the mounting seat; and the light receiving lens module is arranged on the mounting seat. With such an arrangement, the situation that the optical axis of the light emitting element deviates from the preset mounting position due to the manufacturing process of the mounting seat can be improved.

Description

Optical measurement module, laser radar, and robot

Technical Field

The utility model relates to a radar detects technical field, especially relates to an optical measurement module, laser radar and robot.

Background

The laser triangulation distance measurement method is a preferred scheme for robot navigation due to the characteristics of high precision and high cost performance. The distance measurement principle is that a beam of laser emitted by a light emitting element irradiates an object to be measured at a certain incident angle, the laser is reflected and scattered on the surface of the object, a lens module of a light receiving assembly is used for converging and imaging the reflected laser at another angle, and a light spot is imaged on an image sensor of the light receiving assembly. When the measured object moves along the laser direction, the light spot on the image sensor moves, the displacement size of the light spot corresponds to the moving distance of the measured object, and the distance value between the measured object and the base line is calculated according to the light spot displacement distance through algorithm analysis.

Among the correlation technique, laser radar's light-emitting component holds usually in the recess of mount pad to with recess inside wall in close contact with, be subject to the manufacturing process of mount pad, the recess internal wall face of mount pad is mostly uneven surface, and this can lead to light-emitting component's optical axis and predetermine the mounted position and appear the skew, and then cause the measured object to produce the difference of formation of image on image sensor, thereby make laser radar's measuring error great.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing an optical measurement module can improve the condition that leads to light emitting component's optical axis and predetermine the mounted position skew because of the manufacturing process of mount pad.

The utility model discloses an improve its technical problem and provide following technical scheme:

an optical measurement module comprises a mounting seat, a light emitting element, a first elastic piece and a light receiving lens module, wherein the mounting seat is provided with a first groove; the light emitting element is accommodated in the first groove; the first elastic piece is positioned above the light emitting element and connected to the mounting seat, and the light emitting element is in line contact with the first groove under the joint abutting action of the first elastic piece and the mounting seat; and the light receiving lens module is arranged on the mounting seat.

As a further improvement of the above technical solution, the first recess has a first abutting surface, a second abutting surface and a first connecting surface, the first abutting surface and the second abutting surface are oppositely disposed, the first connecting surface is located between the first abutting surface and the second abutting surface, the light emitting element is in line contact with the first abutting surface and the second abutting surface respectively, and a gap is provided between the light emitting element and the first connecting surface.

As a further improvement of the above technical solution, in a light emitting direction of the light emitting element, an optical axis of the light emitting element is disposed to be inclined toward the first elastic member.

As a further improvement of the above technical solution, the optical measurement module further includes a pad block, the pad block is respectively connected to the inner side wall of the first groove and the light emitting element, and the thickness of the pad block gradually increases along the light emitting direction of the light emitting element, so that the optical axis of the light emitting element is obliquely arranged toward the first elastic member.

As a further improvement of the above technical solution, the number of the spacers is two, and the two spacers are arranged at intervals along the light emitting direction of the light emitting element.

As a further improvement of the above technical solution, the first elastic member is provided with a first mounting hole;

the optical measurement module further comprises a first threaded fastener, and the first threaded fastener penetrates through the first mounting hole and is screwed and fixed on the mounting seat, so that the first elastic piece and the mounting seat jointly clamp the light emitting element.

As a further improvement of the above technical solution, the mounting seat is provided with a protrusion, the outer circumferential surface of the light emitting element is provided with an annular groove, and the protrusion is embedded in the annular groove and extends along the axial direction of the light emitting element to limit the displacement of the light emitting element.

As a further improvement of the above technical solution, the mounting seat is further provided with a second groove arranged in parallel with the first groove;

the optical measurement module further comprises a second elastic piece, and under the action of the common abutting of the second elastic piece and the mounting seat, the light receiving lens module is in line contact with the second groove.

As a further improvement of the above technical solution, the second groove has a third abutting surface, a fourth abutting surface and a second connecting surface, the third abutting surface and the fourth abutting surface are disposed oppositely, the second connecting surface is located between the third abutting surface and the fourth abutting surface, the light receiving lens module is in surface line contact with the third abutting surface and the fourth abutting surface respectively, and a gap is formed between the light receiving lens module and the second connecting surface.

As a further improvement of the above technical solution, the light receiving lens module includes a flat surface and curved surfaces respectively connected to both ends of the flat surface;

the second elastic piece is in contact with the flat surface, and the third abutting surface and the fourth abutting surface are in contact with the curved surface.

The utility model discloses improve its technical problem and still provide following technical scheme:

a lidar comprising: any of the optical measurement modules described above; and the rotating holder comprises a base, a turntable and a driving mechanism, the driving mechanism and the turntable are both installed on the base, the driving mechanism drives the turntable so that the turntable rotates relative to the base, and the optical measurement module is arranged on the turntable.

a robot comprising the optical measurement module described above.

The embodiment of the utility model provides a beneficial effect is: be different from prior art's condition, the embodiment of the utility model provides an optical measurement module, light emitting component and mount pad change the line contact into by the face contact among the correlation technique to the area of contact of light emitting component and mount pad diminishes, has reduced because of the mount pad easily changes the influence of light emitting component's optical axis at the roughness of its first recess of manufacturing process, thereby reduces optical measurement module's measuring error.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the technical solutions in the prior art will be briefly described below. Throughout the drawings, like elements or portions are generally identified by like reference numerals. In the drawings, elements or portions are not necessarily drawn to scale.

Fig. 1 is an operational schematic diagram of an optical measurement module according to an embodiment of the present invention;

FIG. 2 is a schematic structural diagram of the optical measurement module shown in FIG. 1;

FIG. 3 is an exploded view of the optical measurement module shown in FIG. 2;

FIG. 4 is a schematic view of a mounting block in the optical measurement module of FIG. 2;

FIG. 5 is a longitudinal cross-sectional view of the optical measurement module shown in FIG. 2;

FIG. 6A is a schematic view of the optical measurement module shown in FIG. 2 at another angle;

FIG. 6B is a cross-sectional view taken along line B-B of FIG. 6A;

FIG. 6C is a cross-sectional view taken along line C-C of FIG. 6A;

fig. 7 is a schematic structural diagram of a laser radar according to an embodiment of the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses. Based on the embodiments in the present invention, all other embodiments obtained by the ordinary skilled person in the art without developing the creative work all belong to the protection scope of the present invention.

Techniques, methods, and apparatus known to one of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate.

In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the orientation words such as "front, back, up, down, left, right", "horizontal, vertical, horizontal" and "top, bottom", etc. are usually based on the orientation or positional relationship shown in the drawings, and are only for convenience of description and simplification of description, and in the case of not making a contrary explanation, these orientation words do not indicate and imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore, should not be interpreted as limiting the scope of the present invention; the terms "inner and outer" refer to the inner and outer relative to the profile of the respective component itself.

In the description of the present invention, it should be noted that the terms "first", "second", etc. are used to define the components, and are only used for the convenience of distinguishing the corresponding components, and if not stated otherwise, the terms do not have special meanings, and therefore, should not be construed as limiting the scope of the present invention.

Referring to the examples shown in fig. 1 to 3, fig. 1 is an operation schematic diagram of an optical measurement module according to an embodiment of the present invention; FIG. 2 is a schematic structural diagram of the optical measurement module shown in FIG. 1; FIG. 3 is an exploded view of the optical measurement module shown in FIG. 1; the optical measuring module 10 includes a mount 11, a light emitting element 12, a first elastic member 13, and a light receiving member 14. The mount pad 11 is a support frame of the whole optical measurement module 10, the first elastic component 13 is assembled on the mount pad 11, under the joint supporting action of the first elastic component 13 and the mount pad 11, the light emitting element 12 is connected between the first elastic component 13 and the mount pad 11, the light receiving component 14 is installed and fixed on the mount pad 11 and is arranged in parallel with the light emitting element 12, the light receiving component 14 comprises a light receiving lens module 141 and an image sensor 142, the image sensor 142 is located on an emergent light path of the light receiving lens module 141, along the propagation direction of light, the optical axis of the light receiving lens module 141 and the optical axis of the light emitting element 12 can intersect at one point outside the mount pad 11. The light emitting element 12 is configured to emit laser light to irradiate the object to be measured, the light receiving lens module 141 of the light receiving module 14 is configured to collect reflected light reflected by the object to be measured, and the image sensor 142 of the light receiving module 14 is configured to receive the reflected light reflected by the object to be measured.

Next, a description will be given of specific configurations of the aforementioned mount, light emitting element, and first elastic member, as exemplified in conjunction with the drawings. The embodiments described below and the features of the embodiments can be combined with each other without conflict.

As for the above-mentioned mounting base 11, it can be connected with a rotary head 20 of the lidar, which will be described in detail below, so as to realize 360 ° scanning of the lidar. The mounting seat 11 has a first groove 11a, a first through hole 11aa and a second through hole 11ab, and the first through hole 11aa and the second through hole 11ab are both communicated with the first groove 11a. As shown in fig. 4, the mounting seat 11 has a bottom wall 111 and a peripheral wall 112 extending upward from the periphery of the bottom wall 111, the peripheral wall 112 and the bottom wall 111 enclose the first groove 11a with an upward opening, and the first groove 11a is used for accommodating the light emitting element 12; the peripheral wall 112 of the mounting seat 11 has a first side wall 1121, a second side wall 1122, a third side wall 1123 and a fourth side wall 1124 connected end to end in sequence; wherein the first sidewall 1121 and the third sidewall 1123 are oppositely disposed, and the second sidewall 1122 and the fourth sidewall 1124 are oppositely disposed; the first sidewall 1121 is provided with a first through hole 11aa, and the first through hole 11aa is used for allowing one end of the light emitting element 12 to pass through; the third side wall 1123 is provided with a second through hole 11ab opposite to the first through hole 11aa, and the second through hole 11ab is used for the other end of the light emitting element 12 to pass through. Hereinafter, for convenience of description, each direction is defined using a coordinate system in fig. 3, wherein a coordinate axis L represents a first direction, which is a relative arrangement direction of the first and

third side walls

1121 and 1123 of the mount 11; the coordinate axis H represents a second direction, which is perpendicular to the plane of the bottom wall 111 of the mount 11, in other words, the coordinate axis H is perpendicular to the first direction L; the coordinate axis W represents a third direction, which is a relative arrangement direction of the second and

fourth side walls

1122, 1124 of the mount 11, in other words, perpendicular to the first and second directions L, H.

The bottom wall 111 of the mounting seat 11 has a first recess 1111, a first flat portion 1112 and a second flat portion 1113; as shown in fig. 5, the first flat part 1112 is located at one side of the first recess 1111 and is integrally formed with the fourth side wall 1124 of the mount 11, as viewed in the third direction; the second flat part 1113 is located at the other side of the first recess 1111 and is integrally formed with the second side wall 1122 of the mounting seat 11, wherein the first flat part 1112 and the second flat part 1113 are both used for being connected and fixed with the first elastic member 13.

Specifically, the first recess 1111 is formed recessed from the surface of the bottom wall 111 in the direction opposite to the opening of the first groove 11a, and the first recess 1111 is adapted to the cross-sectional shape of the light emitting element 12; with reference to fig. 5, the first recess 1111 is substantially shaped like a drop and has a first abutting surface, a second abutting surface and a connecting surface; the first abutting surface is located on the side of the first recessed portion 1111 near the first flat portion 1112, the second abutting surface is located on the side of the first recessed portion 1111 near the second flat portion 1113, and the connection surfaces are respectively connected to the first abutting surface and the second abutting surface, wherein the first abutting surface and the second abutting surface are both used for contacting with the light emitting element 12. It is understood that the bottom wall 111 of the mounting seat 11 is not limited thereto, for example, in other embodiments of the present invention, the first recess 1111 no longer has a connecting surface for connecting the first abutting surface and the second abutting surface, and at this time, the first abutting surface and the second abutting surface meet at a point of the bottom wall 111, i.e. the first recess 1111 may be V-shaped, which also satisfies the requirement that the first recess 1111 contacts with the light emitting element 12.

It is also understood that the specific configuration of the mounting seat 11 is not limited thereto, for example, in some embodiments of the present invention, the surface of the bottom wall 111 of the mounting seat 11 is a flat surface, that is, the bottom wall 111 no longer has the first recess 1111, and at this time, the light emitting element 12 can be fixed on the side wall of the first groove 11a of the mounting seat 11 through the first elastic element 13, and also can be connected between the first elastic element 13 and the mounting seat 11 under the mutual abutting action of the first elastic element 13 and the mounting seat 11.

Further, as shown in fig. 5, when viewed in the first direction, a projection of the first through hole 11aa of the mount 11 or a projection of the second through hole 11ab of the mount 11 partially overlaps or does not overlap with a projection of the first recess 1111; this arrangement is advantageous in that when the light emitting device 12 is received in the first recess 1111, the light emitting device 12 can be fully engaged with the first recess 1111 of the mounting base 11, thereby saving the space required by the mounting base 11.

With respect to the light emitting device 12, please refer to the example shown in fig. 3 with continuing reference to fig. 6A and 6B, the light emitting device 12 is substantially cylindrical; one end of the light emitting element 12 passes through the first through hole 11aa of the mounting seat 11 and extends out of the first groove 11a of the mounting seat 11, and the other end of the light emitting element passes through the second through hole 11ab of the mounting seat 11 and extends out of the second groove 11b of the mounting seat 11; viewed along the third direction, one side of the light emitting element 12 abuts against the first abutting surface of the bottom wall 111 of the first groove 11a, and the other side of the light emitting element 12 abuts against the second abutting surface of the bottom wall 111 of the first groove 11 a; illustratively, the light emitting element 12 is a T0-packaged or chip-packaged semiconductor laser transmitter; one end of the first through hole 11aa penetrating through the mounting seat 11 is an electric connection end for being electrically connected with a control circuit board of the laser radar, and the other end of the second through hole 11ab penetrating through the mounting seat 11 is a light emission end for emitting laser along an optical axis of the light emission element 12.

As for the first elastic member 13, both ends of the first elastic member 13 are connected to the first flat portion 1112 and the second flat portion 1113 of the mounting seat 11, respectively; under the elastic action of the first elastic member 13, the light emitting element 12 abuts against the first elastic member 13 and the first abutting surface and the second abutting surface of the mounting seat 11, respectively. Alternatively, the first elastic member 13 is one of foamed nickel, fiber nickel, foamed copper, foamed aluminum, a stainless steel spring plate, an aluminum spring plate, and a nickel spring plate.

As shown in fig. 3, the first elastic element 13 is a sheet-shaped body, and includes a first bending portion 131, and a first connecting portion 132 and a second connecting portion 133 integrally formed with the first bending portion 131, the first connecting portion 132 is provided with a mounting hole, the threaded fastener 17 can pass through the mounting hole and be screwed to the first flat portion 1112 of the mounting base 11, the second connecting portion 133 is provided with another mounting hole, the threaded fastener can pass through another mounting hole and be screwed to the second flat portion 1113 of the mounting base 11, so that the first bending portion 131 is in close contact with the outer peripheral surface of the light emitting element 12, and further viewed along the second direction, one side of the light emitting element 12 is in contact with the first abutting upper line of the first recess 1111, and the other side of the light emitting element 12 is in contact with the second abutting upper line of the second recess. The light emitting element 12 and the mounting seat 11 are changed from surface contact in the related art to line contact, so that the influence of the fact that the optical axis of the light emitting element 12 is easily changed due to the surface roughness of the first groove 11a of the mounting seat 11 in the machining and manufacturing processes is reduced, and the measurement error of the optical measurement module 10 is reduced. It is understood that the connection manner between the first elastic member 13 and the first and second flat portions 1112 and 1113 of the mounting seat 11 is not limited thereto, for example, in other embodiments of the present invention, the first connection portion 132 of the first elastic member 13 may be fixed to the first flat portion 1112 of the mounting seat 11 by using an adhesive member, or the first and second elastic members may be fixed by a snap structure, wherein the adhesive member may be a double-sided adhesive or glue; similarly, other connection modes between the second connection portion 133 of the first elastic member 13 and the second flat portion 1113 of the mounting seat 11 are not described in detail. It can be understood that the shape of the first bending portion 131 of the first elastic element 13 is not an arc as shown in fig. 5, but the shape can be adjusted according to the actual use requirement, for example, a folded shape or a flat plate shape, and it only needs to satisfy that the first elastic element 13 applies a force to the light emitting element 12, so that the light emitting element 12 abuts against the first recess 1111 of the mounting seat 11.

To sum up, in the optical measurement module 10 provided in the embodiment of the present invention, on one hand, the elastic deformation of the first elastic component 13 weakens the assembly stress generated after the mounting seat 11 and the light emitting element 12 are assembled, so that the relative displacement between the light emitting element 12 and the mounting seat 11 along the radial direction thereof is reduced; on the other hand, the surface contact of the light emitting element and the mounting seat in the related art is changed into line contact, so that the contact area of the light emitting element and the mounting seat is reduced, the influence that the optical axis of the light emitting element is easily changed due to the surface roughness of the first groove of the mounting seat in the machining and manufacturing processes is reduced, and the measurement error of the optical measurement module is reduced.

After long-time experiments, as shown in fig. 6B, when the light reflection element is respectively abutted against the first abutting surface (not shown) and the second abutting surface (not shown) of the mounting seat 11 by the first elastic member 13, the light reflection element is prone to shift along the axial direction thereof due to the material property of the first elastic member 13 and does not generate a large stress action on the light reflection element, so that the measurement error of the laser radar is further affected. Based on this, the utility model discloses a light reflection element's outer peripheral face is formed with annular groove 12a, and the arch 113 with annular groove 12a looks adaptation sets up on the inner peripheral surface of first through-hole 11aa, and like this, when light reflection element 12 is by first elastic component 13 and mount pad 11 radial spacing, arch 113 is spacing to light emission element 12's axial to reduce light reflection element along its ascending skew of axial.

In addition, as shown in fig. 6B, a spacer 16 is further provided, and the spacer 16 is respectively connected between the connection surface of the first recess 1111 of the mounting seat 11 and the outer peripheral surface of the light emitting element 12, so as to increase the contact area between the light emitting element 12 and the mounting seat 11, and further increase the relative friction between the light emitting element 12 and the mounting seat 11, so that the deviation of the light emitting element 12 in the axial direction thereof is further reduced. Preferably, the thickness of the spacer 16 is gradually increased in the light emitting direction of the light emitting element 12 so that the optical axis of the light emitting element 12 is obliquely disposed toward the first elastic member 13. The beam irradiation surface of the laser radar applying the optical measurement module 10 is adjusted by the thickness of the cushion block 16, which is more beneficial to capturing the measured object. Illustratively, the number of the pads 16 is two, and two pads 16 are provided at intervals in the light emission direction of the light emitting element 12, wherein one pad 16 is located on the side of the connection surface of the first recess 1111 near the first through hole 11aa, and the other pad 16 is located on the side of the connection surface of the first recess 1111 near the second through hole 11 ab. It is noted that the light emitting direction of the light emitting element 12 is actually the axial direction of the light emitting element 12, and is not parallel to the first direction.

In some embodiments, the light receiving lens module 141 of the light receiving element 14 may also be mounted in the same manner as the light emitting element 12, and referring to fig. 3 in combination with fig. 6C, the mounting base 11 may further have a second recess 11b, a third through hole 11ac, and a fourth through hole 11ad; the third through hole 11ac and the fourth through hole 11ad are both communicated with the second groove 11b, the third through hole 11ac and the first through hole 11aa of the mounting seat 11 are positioned on the same side of the mounting seat 11, and the fourth through hole 11ad and the second through hole 11ab of the mounting seat 11 are positioned on the other same side of the mounting seat 11; the third through hole 11ac is for passing one end of the light receiving lens module 141, and the fourth through hole 11ad is for passing the other end of the light receiving lens module 141. The optical measurement module 10 may further include a second elastic member 15, wherein the second elastic member 15 is connected to the mounting seat 11, and the light receiving lens module 141 abuts against the second elastic member 15 and the second groove 11b, respectively.

Besides the functions of the light receiving lens module 141 of the light receiving module 14 and the light emitting device 12 are different, the light receiving lens module 141 of the light receiving module 14 and the light emitting device 12 are also different in structure in that one end of the light receiving lens module 141 close to the fourth through hole 11ad is substantially cylindrical, one end of the light receiving lens module 141 close to the third through hole 11ac is substantially D-shaped, that is, one end of the light receiving lens module 141 close to the third through hole 11ac has a flat surface and curved surfaces respectively connecting two ends of the flat surface.

The shape of the third through hole 11ac of the mount 11, which corresponds to the end of the light receiving lens module 141 near the third through hole 11ac, is adapted to the sectional shape of the end of the light receiving lens module 141 near the third through hole 11 ac. This can reduce the rotation of the light receiving lens module 141 in the axial direction.

Further, under the common abutting action of the second elastic member 15 and the mounting base 11, the light-receiving lens module 141 is connected between the second elastic member 15 and the mounting base 11, wherein the second elastic member 15 abuts against the flat surface of the light-receiving lens module 141, and the curved surface of the light-receiving lens module 141 abuts against the bottom wall 111 of the second groove 11b. With the above arrangement, not only can the assembling stress of the assembly structure be reduced, but also the inner peripheral surfaces of the third through hole 11ac and the fourth through hole 11ad can be abutted against the outer peripheral surface of the light receiving lens module 141, so that the light receiving lens module 141 is less likely to generate relative displacement in the axial direction thereof.

Further, the second groove 11b of the mount has a third abutting surface (not shown), a fourth abutting surface (not shown) and a second connecting surface (not shown), the third abutting surface and the fourth abutting surface are oppositely disposed, the second connecting surface is located between the third abutting surface and the fourth abutting surface, the light receiving lens module 141 is in line contact with the third abutting surface and the fourth abutting surface respectively, and a gap is provided between the light receiving lens module 141 and the second connecting surface. Based on the same principle of the first groove 11a and the light emitting element 12, the light receiving lens module 141 and the mounting base 11 are changed from surface contact in the related art to line contact, so that the contact area between the light receiving lens module 141 and the mounting base 11 is reduced, the influence of the surface roughness of the second groove 11b of the mounting base 11 easily changing the optical axis of the light receiving module in the machining and manufacturing process is reduced, and the measurement error of the optical measurement module is further reduced.

According to the utility model discloses an on the other hand provides a laser radar. Specifically, the laser radar includes any one of the optical measurement modules 10 described above and a rotating pan/tilt head 20. The rotating platform 20 may include a base 21, a turntable 22, and a driving mechanism 23, wherein the driving mechanism 23 and the turntable 22 are both mounted on the base 21, the driving mechanism 23 drives the turntable 22 so that the turntable 22 rotates relative to the base 21, and the optical measurement module 10 is disposed on the turntable 22. Wherein the light emitting element of the optical measuring module 10 is used for emitting a light signal such as a laser, the light receiving assembly 14 is used for receiving a reflected light reflected by the measured object and inputting the light signal of the reflected light to the control board of the laser radar, the control board analyzes and processes the input light signal and calculates the distance between the measured object and the rotating disc 22, and the driving mechanism 23 is used for outputting power to rotate the rotating disc 22 around the rotating axis. Therefore, the 360-degree scanning work of the laser radar can be realized by arranging the rotating holder 20.

According to the utility model discloses a still on the one hand, provide a robot. In particular, the robot comprises the aforementioned lidar. Specifically, the utility model provides a robot can be cleaning robot, like sweeping floor robot or mopping floor robot, also can be industrial robot, for example keeps away barrier robot, or monitor robot in order to fix a position navigation, does not do the restriction here.

The above-mentioned only be the embodiment of the present invention, not consequently the restriction of the patent scope of the present invention, all utilize the equivalent structure or equivalent flow transform made of the content of the specification and the attached drawings, or directly or indirectly use in other relevant technical fields, all including in the same way the patent protection scope of the present invention.

Claims

1. An optical measurement module, comprising:

the mounting seat is provided with a first groove;

the light emitting element is accommodated in the first groove;

the first elastic piece is positioned above the light emitting element, the first elastic piece is connected to the mounting seat, and the light emitting element is in line contact with the first groove under the joint abutting action of the first elastic piece and the mounting seat; and

and the light receiving lens module is arranged on the mounting seat.

2. The optical measurement module of claim 1, wherein the first recess has a first abutting surface, a second abutting surface and a first connecting surface, the first abutting surface and the second abutting surface are oppositely disposed, the first connecting surface is located between the first abutting surface and the second abutting surface, the light emitting element is in line contact with the first abutting surface and the second abutting surface, respectively, and a gap is provided between the light emitting element and the first connecting surface.

3. The optical measuring module according to claim 2, wherein an optical axis of the light emitting element is disposed obliquely toward the first elastic member in a light emitting direction of the light emitting element.

4. The optical measuring module of claim 3, further comprising a spacer respectively coupled to an inner sidewall of the first groove and the light emitting element, wherein a thickness of the spacer is gradually increased in a light emitting direction of the light emitting element such that an optical axis of the light emitting element is obliquely disposed toward the first elastic member.

5. The optical measuring module of claim 4, wherein the number of the spacers is two, and the two spacers are spaced apart from each other in a light emitting direction of the light emitting element.

6. The optical measurement module of claim 1, wherein the first resilient member is provided with a first mounting hole;

the optical measuring module further comprises a first threaded fastener, and the first threaded fastener penetrates through the first mounting hole and is screwed and fixed on the mounting seat, so that the first elastic piece and the mounting seat jointly clamp the light emitting element.

7. The optical measuring module of claim 1, wherein the mounting seat is provided with a protrusion, the outer circumferential surface of the light emitting element is provided with an annular groove, and the protrusion is embedded in the annular groove along the axial direction of the light emitting element to limit the displacement of the light emitting element.

8. The optical measurement module of any one of claims 1-7 wherein the mount is further provided with a second recess juxtaposed with the first recess;

9. The optical measurement module of claim 8, wherein the second groove has a third abutting surface, a fourth abutting surface and a second connecting surface, the third abutting surface and the fourth abutting surface are oppositely disposed, the second connecting surface is located between the third abutting surface and the fourth abutting surface, the light receiving lens module is in contact with the third abutting surface and the fourth abutting surface, respectively, and a gap is formed between the light receiving lens module and the second connecting surface.

10. The optical measurement module of claim 9, wherein the light receiving lens module comprises a flat surface and curved surfaces connected to both ends of the flat surface, respectively;

11. A lidar, comprising:

the optical measurement module of any one of claims 1-10; and

rotatory cloud platform, including base, carousel and actuating mechanism, actuating mechanism with the carousel all install in the base, the actuating mechanism drive the carousel, so that the carousel for the base rotates, optical measurement module set up in the carousel.

12. A robot, characterized in that the robot comprises a lidar according to claim 11.