CN218412885U

CN218412885U - Laser radar device and navigation robot

Info

Publication number: CN218412885U
Application number: CN202221545884.5U
Authority: CN
Inventors: 张晨光
Original assignee: Jiangsu Moushi Robot Technology Co ltd
Current assignee: Jiangsu Moushi Robot Technology Co ltd
Priority date: 2022-06-20
Filing date: 2022-06-20
Publication date: 2023-01-31
Anticipated expiration: 2032-06-20

Abstract

The application discloses laser radar device and navigation robot belongs to the technical field of robots. The laser radar device comprises an explosion-proof body, a light-transmitting sleeve and a laser radar. The explosion-proof internal chamber that holds that is formed with, the printing opacity sleeve wears to locate to hold the chamber, and laser radar sets up in the printing opacity sleeve, offers and holds the opening that the chamber communicates along the circumference of explosion-proof body, and the open-ended is offered the position and is corresponding with laser radar's laser emission region. In this application, for satisfy laser radar's explosion-proof and scanning demand simultaneously, set up the printing opacity sleeve at the intracavity that holds of explosion-proof body, laser radar sets up in the printing opacity sleeve to set up the opening corresponding to laser radar's lasing region on explosion-proof body, explosion-proof body provides structural support for laser radar, and structural the not sheltering from that exists, the laser of laser radar transmission can be in order through printing opacity sleeve and opening to external transmission, in order to carry out normal scanning operation.

Description

Laser radar device and navigation robot

Technical Field

The application relates to the technical field of robots, in particular to a laser radar device and a navigation robot.

Background

Along with the rapid advance of the intellectualization in the industrial field, the robot replaces manual operation and is widely used, and particularly in explosion-proof places such as petroleum, natural gas, chemical engineering, metallurgy and the like, more and more autonomous navigation robots are applied on site and used for equipment fault routing inspection.

Carry out these trouble and patrol and examine the laser radar that task mainly relies on navigation robot to carry on and realize, however, because the particularity in explosion-proof place, laser radar need satisfy relevant explosion-proof performance requirement, and laser radar does not own possess explosion-proof condition, needs the later stage to carry out explosion-proof structural design to it, satisfies its demand that uses in explosion-proof place.

In view of this, the present application aims to design a lidar device to satisfy the dual requirements of detection and explosion prevention of the lidar.

SUMMERY OF THE UTILITY MODEL

In view of this, the present application provides a laser radar apparatus and a navigation robot to overcome the defects in the prior art, so as to solve the technical problem that the laser radar cannot meet the explosion-proof and detection requirements at the same time in the prior art.

In order to solve the technical problem, the application provides:

a lidar device comprising:

the explosion-proof body is internally provided with an accommodating cavity;

the light-transmitting sleeve penetrates through the accommodating cavity;

the laser radar, laser radar set up in the printing opacity sleeve, and follow the circumference of explosion-proof body seted up with the opening that holds the chamber intercommunication, the opening with laser emission area of laser radar is corresponding.

In a possible embodiment, the inner diameter of the light-transmitting sleeve is D, and the outer diameter of the laser radar is D, so that: t = D-D, t is less than or equal to 5mm.

In a possible embodiment, the explosion-proof body includes a housing, a bottom cover and an end cover, the housing is formed with the accommodating cavity and the opening, and one end of the housing is formed with a first opening, the other end of the housing is formed with a second opening, the first opening and the second opening are respectively communicated with the accommodating cavity, and the bottom cover and the end cover are respectively connected with the first opening and the second opening for respectively closing the first opening and the second opening.

In a possible implementation manner, the bottom cover comprises a mounting disc and a connecting boss, the connecting boss is arranged on the mounting disc and connected with the first opening, the end portion of the laser radar is arranged on the connecting boss, a first sealing ring is arranged along the circumferential direction of the connecting boss, and the first sealing ring abuts against the inner wall of the first opening.

In a possible embodiment, the laser radar device still includes the end cap, the shutoff hole has been seted up to the tip of connecting the boss, the bottom in shutoff hole has been seted up and has been link up the mounting hole of connecting the boss, the pore wall of mounting hole pass through fastening element with laser radar's end connection, the end cap with the pore wall threaded connection in shutoff hole and butt in fastening element, and follow the circumference of end cap is provided with the second sealing washer, the pore wall in shutoff hole seted up with the first annular of second sealing washer complex.

In a possible implementation mode, the end cover comprises an end cover body and a connecting convex ring, the connecting convex ring is connected with the second opening, a third sealing ring is arranged in the circumferential direction of the connecting convex ring, and a second annular groove matched with the third sealing ring is formed in the circumferential direction of the second opening.

In a possible embodiment, a mounting groove is formed along the circumferential direction of the accommodating cavity, two end portions of the light-transmitting sleeve are respectively provided with an adhesive layer, and the light-transmitting sleeve is connected with the connecting convex ring and the bottom wall of the mounting groove through the adhesive layers.

In a possible embodiment, the outer wall of the light-transmitting sleeve is provided with an external thread, the inner wall of the second opening is provided with an internal thread at a position close to the accommodating cavity, and the light-transmitting sleeve is in threaded connection with the inner wall of the second opening through the external thread.

In a possible embodiment, the explosion-proof body is cylindrical, and the opening has a circumferential angle θ satisfying: theta is more than or equal to 270 degrees and less than or equal to 315 degrees.

The application also provides a navigation robot, which comprises the laser radar device in any one of the above embodiments.

The beneficial effect of this application is:

the application provides a laser radar device, including explosion-proof body, printing opacity sleeve and laser radar. Wherein, this internal chamber that holds that is formed with of explosion-proof, the printing opacity sleeve is worn to locate and is held the chamber, and laser radar sets up in the printing opacity sleeve, offers and holds the opening of chamber intercommunication along the circumference of explosion-proof body, and the open-ended is offered the position and is corresponding with laser radar's laser emission region.

In this application, for satisfying laser radar's explosion-proof and detection demand simultaneously, set up the printing opacity sleeve at the intracavity that holds of explosion-proof body, laser radar sets up in the printing opacity sleeve to set up the opening corresponding to laser radar's lasing region on explosion-proof body. Explosion-proof body and printing opacity sleeve provide structural support for laser radar, and structural not exist shelters from, and the laser of laser radar transmission can be in order through printing opacity sleeve and opening to external transmission to carry out normal scanning operation.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.

FIG. 1 illustrates a schematic diagram of a lidar apparatus according to some embodiments of the present disclosure;

FIG. 2 illustrates an exploded view of the structure of a lidar apparatus in some embodiments of the present application;

FIG. 3 illustrates a cross-sectional view of a lidar apparatus in some embodiments of the present application;

FIG. 4 illustrates a cross-sectional view of a housing in some embodiments of the present application;

FIG. 5 shows a cross-sectional view of the A position of FIG. 4;

figure 6 illustrates a cross-sectional view of a bottom cap in some embodiments of the present application.

Description of the main element symbols:

100-a laser radar device; 10-explosion-proof body; 11-a housing; 111-a containment chamber; 112-opening; 113-first open mouth; 114-second open mouth; 115-a mounting groove; 116-internal thread; 12-a bottom cover; 121-mounting a disc; 122-connecting boss; 1221-a first seal ring; 1222-plugging the hole; 1223-mounting holes; 123-plug; 1231-a second seal ring; 124-a fastening element; 13-end cap; 131-an end cap body; 132-connecting convex ring; 1321-a third seal ring; 14-a light-transmissive sleeve; 141-external thread; 15-laser radar; 151-laser emission area.

Detailed Description

Reference will now be made in detail to the embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary only for the purpose of explaining the present application and are not to be construed as limiting the present application.

In the description of the present application, it is to be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the present application and for simplicity in description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of 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.

In this application, unless expressly stated or limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly and encompass, for example, both fixed and removable connections or integral parts thereof; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.

In this application, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through intervening media. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

Referring to fig. 1 and 2, an embodiment of the present application provides a laser radar apparatus 100, which belongs to the field of robotics. The protection level of the laser radar device 100 is IP65, and the laser radar device is mainly applied to places with II-type explosion-proof requirements such as petroleum, gas and chemical engineering, and is used for being carried on a navigation robot to perform equipment failure inspection work.

Lidar device 100 includes an explosion-proof body 10, a light-transmissive sleeve 14, and a lidar 15. Wherein, be formed with in the explosion-proof body 10 and hold chamber 111, light-transmitting sleeve 14 wears to locate and holds chamber 111, and laser radar 15 sets up in light-transmitting sleeve 14, offers along explosion-proof body 10's circumference and holds the opening 112 that chamber 111 communicates, and opening 112 offers the position corresponding with laser emission area 151 of laser radar 15.

In this embodiment, explosion proof body 10 can bear the pressure that the inside part explosion of lidar 15 produced to prevent the explosion range to spread in the surrounding environment, provide explosion proof structural support for lidar 15.

Referring to fig. 2, in particular, the laser radar 15 has a cylindrical structure, and the laser emitting area 151 is disposed along a circumferential direction of the laser radar 15 and is used for emitting laser light to scan a surrounding target object or target environment.

In addition, the light-transmitting sleeve 14 is made of direct glass, has thin wall thickness, good permeability and uniform periphery, meets the divergence requirement of optical components, has high strength performance and can bear a 2MPa hydraulic pressure test. The transparent sleeve 14 is made of high-strength composite high-temperature viewing glass, and a precise high-end mold is adopted in the manufacturing process to ensure the light transmission and uniformity.

Referring to fig. 5, in some embodiments, the explosion-proof body 10 has a cylindrical shape, and a circumferential angle θ corresponding to the opening 112 formed in the explosion-proof body 10 satisfies: theta is more than or equal to 270 degrees and less than or equal to 315 degrees.

Illustratively, the circumferential angle θ may take 270 °, 280 °, 281 °, 300 °, 315 °, and so on, with different angles corresponding to different sizes of the openings 112.

With continued reference to fig. 5, in some embodiments, the opening 112 of the explosion-proof body 10 corresponds to a circumferential angle θ =315 °.

In this embodiment, it should be noted that, in the conventional laser radar apparatus with an explosion-proof function, there is a large shielding in its structure, so that the scanning angle of the laser radar 15 is insufficient, and the actual situation of the surrounding environment cannot be completely read. The insufficiency of the scanning angle needs to be compensated by software, and the software compensation process has certain errors and is not true.

In this embodiment, the size of the opening 112 corresponding to the circumferential angle θ =315 ° not only meets the explosion-proof strength standard of the explosion-proof body 10, but also provides the scanning angle range of the laser radar 15 to the maximum extent, that is, the scanning angle range of 300 °.

Referring to fig. 3, in some embodiments, the inner diameter of transparent sleeve 14 is D and the outer diameter of lidar 15 is D, satisfying the relationship: t = D-D, t is less than or equal to 5mm.

In this embodiment, light-transmitting sleeve 14 and lidar 15 are cylindrical structures, and t is twice the gap between the inner wall of light-transmitting sleeve 14 and lidar 15. In other words, the gap between the inner wall of the light-transmitting sleeve 14 and the surface of the lidar 15 is less than or equal to 2.5mm. Under the relation, the clearance between the light-transmitting sleeve 14 and the laser radar 15 is small, so that optical loss caused by the influence of the clearance distance on optical elements in the laser radar 15 in multiple media can be avoided, the scanning of the laser radar 15 is clearer and more complete, and the scanning distance is longer.

Illustratively, t can take on values of 5mm, 4mm, 1.1mm, 0.5mm, and the like.

Referring to fig. 3 and 4, in some embodiments, the explosion-proof body 10 may include a housing 11, a bottom cover 12, and an end cover 13, the housing 11 is formed with an accommodating cavity 111 and an opening 112, and one end of the housing 11 is formed with a first opening 113, and the other end of the housing 11 is formed with a second opening 114, the first opening 113 and the second opening 114 may be respectively communicated with the accommodating cavity 111, the bottom cover 12 is connected with the first opening 113, the end cover 13 is connected with the second opening 114, and the bottom cover 12 and the end cover 13 are respectively used for closing the first opening 113 and the second opening 114.

In this embodiment, the bottom cover 12 and the end cover 13 are disposed to facilitate assembly of the parts such as the laser radar 15 and the transparent sleeve 14 in the housing 11.

Specifically, the shell 11, the bottom cover 12 and the end cover 13 are all made of high-strength die-cast aluminum materials, the materials not only take the heat dissipation effect of the laser radar 15 into consideration, but also ensure that the whole weight of the explosion-proof body 10 is light, so that the laser radar device 100 is carried on a navigation robot and is not easy to resonate, and the service life of the laser radar 15 in the explosion-proof body 10 is prolonged.

Referring to fig. 6, in some embodiments, the bottom cover 12 includes a mounting plate 121 and a connection boss 122, the connection boss 122 is disposed on the mounting plate 121, the connection boss 122 is connected to the first opening 113, an end of the laser radar 15 is mounted on the connection boss 122, a first sealing ring 1221 is disposed along a circumferential direction of the connection boss 122, and the first sealing ring 1221 abuts against an inner wall of the first opening 113.

In this embodiment, the connection boss 122 is provided to facilitate the connection between the bottom cover 12 and the inner wall of the housing 11, and to facilitate the installation of the laser radar 15. The arrangement of the first sealing ring 1221 not only improves the connection strength between the connection boss 122 and the first opening 113 of the housing 11, but also improves the sealing performance therebetween, so that the laser radar apparatus 100 meets the explosion-proof requirement.

Specifically, an external thread 141 is provided along the circumferential direction of the connection boss 122, an internal thread is provided on the inner wall of the first opening 113, and the connection boss 122 is connected with the first opening 113 through the external thread 141, thereby realizing detachable connection.

Referring to fig. 2, 3, and 6, in some embodiments, the laser radar apparatus 100 further includes a plug 123, a blocking hole 1222 is formed in an end of the connecting boss 122, a mounting hole 1223 penetrating the connecting boss 122 is formed in a bottom of the blocking hole 1222, a hole wall of the mounting hole 1223 is connected to an end of the laser radar 15 through a fastening element 124, the plug 123 is in threaded connection with a hole wall of the blocking hole 1222 and abuts against the fastening element 124, a second sealing ring 1231 is disposed along a circumferential direction of the plug 123, and a first annular groove matched with the second sealing ring 1231 is formed in the hole wall of the blocking hole 1222.

In this embodiment, the blocking hole 1222 and the mounting hole 1223 may be respectively configured as a circular hole or a polygonal hole. The plug 123 abuts against the fastening element 124 to provide a force to the fastening element 124 to prevent it from loosening.

In addition, the second sealing ring 1231 and the first annular groove are arranged to improve the connection strength and the sealing performance between the plug 123 and the bottom cover 12, so that the laser radar apparatus 100 meets the explosion-proof requirement.

The fastening element 124 may be a screw or a bolt, etc. for example, and is not limited in particular.

With continued reference to fig. 3, in some embodiments, the end cap 13 includes an end cap body 131 and a connecting protruding ring 132, the connecting protruding ring 132 is connected to the second opening 114, a third sealing ring 1321 is disposed along the circumference of the connecting protruding ring 132, and a second annular groove matched with the third sealing ring 1321 is disposed along the circumference of the second opening 114.

In this embodiment, the third sealing ring 1321 and the second annular groove cooperate to improve the connection strength and the sealing performance between the end cap 13 and the second opening 114, so that the laser radar apparatus 100 meets the explosion-proof requirement.

Specifically, an external thread is disposed on an outer wall of the connection convex ring 132, an internal thread is disposed on an inner wall of the second opening 114, and the connection convex ring 132 is in threaded connection with the inner wall of the second opening 114 through the external thread.

Referring to fig. 3 and 4, in some embodiments, a mounting groove 115 is formed along a circumferential direction of the accommodating cavity 111, two end portions of the light-transmitting sleeve 14 are respectively provided with an adhesive layer, and the light-transmitting sleeve 14 is connected to the bottom wall of the mounting groove 115 and the connecting convex ring 132 through the adhesive layer.

In this embodiment, a fluid medium having an adhesive effect, such as epoxy resin, is provided on the adhesive layer. The setting of adhesive linkage and mounting groove 115 is convenient for the installation of printing opacity sleeve 14, and printing opacity sleeve 14 bonds between the diapire of the connection bulge loop 132 of end cover 13 and mounting groove 115, firm in connection to make laser radar device 100 satisfy explosion-proof requirement.

Referring to fig. 2 and 4, in some embodiments, the outer wall of the light-transmitting sleeve 14 is provided with an external thread 141 (the structure of the external thread 141 is not shown in the drawings), the inner wall of the second opening 114 is provided with an internal thread 116 at a position close to the accommodating cavity 111, and the light-transmitting sleeve 14 is in threaded connection with the inner wall of the second opening 114 through the external thread 141.

In this embodiment, the transparent sleeve 14 is connected to the inner wall of the second opening 114 of the housing 11 through the external thread 141 and the internal thread 116, so as to facilitate the installation of the transparent sleeve 14, and the strength of the connection mode is high, so that the transparent sleeve 14 is connected stably and is not easy to loosen, thereby enabling the laser radar apparatus 100 to meet the explosion-proof requirement.

In summary, the embodiment of the present application provides a laser radar apparatus 100, which mainly includes the following advantages:

1. explosion-proof body 10 and printing opacity sleeve 14 have provided structural support for lidar 15, structural nothing shelters from, and the laser of lidar 15 transmission can be in order through printing opacity sleeve 14 and opening 112 transmission to external environment.

2. The clearance between the light-transmitting sleeve 14 and the laser radar 15 is reasonably arranged, so that the optical loss caused by the laser of the laser radar 15 in the process of penetrating multiple media is reduced.

3. The size of the opening 112 in the explosion-proof body 10 is reasonably set, so that the scanning angle range of the laser radar 15, namely the scanning angle range of 300 degrees, is improved to the maximum extent on the basis of ensuring the structural strength of the explosion-proof body 10, software compensation processing is not needed, and the scanning result is real and reliable.

4. The laser radar apparatus 100 has a protection level of IP65, and can be applied to places requiring class II explosion protection, such as petroleum, gas, and chemical engineering.

5. The housing 11, the bottom cover 12 and the end cover 13 are made of high-strength die-cast aluminum, which not only helps to dissipate heat of the laser radar device 15, but also makes the overall weight of the laser radar device 100 light.

On the basis of any one of the above embodiments, the embodiment of the application further provides a navigation robot, which is applied to places with explosion-proof requirements and used for equipment fault inspection. The navigation robot includes a laser radar device 100 and a machine body, and the laser radar device 100 is connected to the machine body through a mounting plate 121.

In the description herein, reference to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.

While embodiments of the present application have been shown and described above, it will be understood that the above embodiments are exemplary and should not be construed as limiting the present application and that changes, modifications, substitutions and alterations in the above embodiments may be made by those of ordinary skill in the art within the scope of the present application.

Claims

1. A lidar device characterized by comprising:

the explosion-proof body is internally provided with an accommodating cavity;

the light-transmitting sleeve penetrates through the accommodating cavity;

2. The lidar device of claim 1, wherein an inner diameter of the light-transmissive sleeve is D and an outer diameter of the lidar is D, such that: t = D-D, t is less than or equal to 5mm.

3. The lidar apparatus according to claim 1, wherein the explosion-proof body comprises a housing, a bottom cover and an end cover, the housing is formed with the accommodating cavity and the opening, and one end of the housing is formed with a first opening, the other end of the housing is formed with a second opening, the first opening and the second opening are respectively communicated with the accommodating cavity, and the bottom cover and the end cover are respectively connected with the first opening and the second opening for respectively closing the first opening and the second opening.

4. The lidar device according to claim 3, wherein the bottom cover comprises a mounting plate and a connecting boss, the connecting boss is disposed on the mounting plate and connected with the first opening, an end of the lidar is mounted on the connecting boss, a first sealing ring is disposed along a circumferential direction of the connecting boss, and the first sealing ring abuts against an inner wall of the first opening.

5. The lidar device according to claim 4, further comprising a plug, wherein a plugging hole is formed in an end portion of the connecting boss, a mounting hole penetrating through the connecting boss is formed in a bottom of the plugging hole, a hole wall of the mounting hole is connected with the end portion of the lidar through a fastening element, the plug is in threaded connection with a hole wall of the plugging hole and abuts against the fastening element, a second sealing ring is arranged along a circumferential direction of the plug, and a first annular groove matched with the second sealing ring is formed in the hole wall of the plugging hole.

6. The lidar device of claim 3, wherein the end cap comprises an end cap body and a connecting convex ring, the connecting convex ring is connected with the second opening, a third sealing ring is arranged along the circumferential direction of the connecting convex ring, and a second annular groove matched with the third sealing ring is arranged along the circumferential direction of the second opening.

7. The lidar device according to claim 6, wherein a mounting groove is formed along a circumferential direction of the accommodating chamber, and both ends of the transparent sleeve are respectively provided with an adhesive layer, and the transparent sleeve is respectively connected with the connecting convex ring and a bottom wall of the mounting groove through the adhesive layers.

8. The lidar device of claim 6, wherein an outer wall of the light-transmitting sleeve is provided with an external thread, an inner wall of the second opening is provided with an internal thread at a position close to the accommodating cavity, and the light-transmitting sleeve is in threaded connection with the inner wall of the second opening through the external thread.

9. The lidar device of claim 1, wherein the explosion-proof body is cylindrical, and a circumferential angle θ corresponding to the opening satisfies: theta is more than or equal to 270 degrees and less than or equal to 315 degrees.

10. A navigation robot comprising the lidar device according to any one of claims 1 to 9.