CN219641919U - Laser radar and robot sweeps floor - Google Patents
Laser radar and robot sweeps floor Download PDFInfo
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- CN219641919U CN219641919U CN202223606760.6U CN202223606760U CN219641919U CN 219641919 U CN219641919 U CN 219641919U CN 202223606760 U CN202223606760 U CN 202223606760U CN 219641919 U CN219641919 U CN 219641919U
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- laser
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- assembly
- lidar
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- 238000001514 detection method Methods 0.000 claims abstract description 27
- 238000010408 sweeping Methods 0.000 claims abstract description 9
- 230000000903 blocking effect Effects 0.000 claims description 3
- 230000003287 optical effect Effects 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 229920002799 BoPET Polymers 0.000 description 1
- 239000005041 Mylar™ Substances 0.000 description 1
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000004880 explosion Methods 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 230000003313 weakening effect Effects 0.000 description 1
Classifications
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/10—Information and communication technologies [ICT] supporting adaptation to climate change, e.g. for weather forecasting or climate simulation
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Abstract
The embodiment of the utility model relates to the technical field of sweeping robots, and particularly discloses a laser radar and a sweeping robot, which comprise a circuit board, a laser emitting assembly, a laser receiving assembly and a shielding structure, wherein the laser emitting assembly is obliquely arranged on the circuit board, the emitting end of the laser emitting assembly outputs detection laser, the laser receiving assembly is arranged on the circuit board and is used for receiving the detection laser reflected by an obstacle, the shielding structure is arranged at the emitting end of the laser emitting assembly, and the shielding structure is positioned in other areas except the emitting end for detecting laser output. By means of the mode, the shielding structure attenuates the brightness of the stray light output by the laser emitting assembly, so that the stray light is reflected to the laser receiving assembly through other obstacles to have low light spot brightness, interference light spots are not formed on the laser receiving assembly, and detection of the laser radar on the real obstacle is not affected.
Description
Technical Field
The embodiment of the utility model relates to the technical field of sweeping robots, in particular to a laser radar and a sweeping robot.
Background
With the continuous development of electronic technology, more and more robots with a certain degree of intelligence are introduced into daily life of people, such as sweeping robots, service robots, and the like. To support intelligent operation of the robot, the robot is configured with various sensors. Wherein lidar is an important part of a robot. The laser radar comprises a circuit board, a laser emission component and a laser receiving component, wherein the laser emission component is installed on the circuit board at a preset inclination angle, the laser receiving component is installed on the circuit board, the emission end of the laser emission component outputs detection laser, and the detection laser is emitted when encountering an obstacle, so that the detection of the obstacle is realized by the laser receiving component.
However, in implementing embodiments of the present utility model, the inventors found that: at present, the area of the transmitting end of the laser transmitting assembly is generally larger, the area of the transmitting end of the laser transmitting assembly is larger than the area of the area occupied by the detection laser, but the laser transmitting assembly is also accompanied by stray light when transmitting the detection laser, when the stray light is output from other areas except the transmitting end for the output of the detection laser, the stray light is reflected back to the laser receiving assembly when passing through other obstacles, so that interference light spots different from real obstacles are formed on the laser receiving assembly, and the detection of the real obstacles can be influenced by the interference light spots.
Disclosure of Invention
The technical problem mainly solved by the embodiment of the utility model is to provide the laser radar, wherein the shielding structure attenuates the brightness of the stray light, so that the stray light is reflected back to the laser receiving assembly through other obstacles to have low spot brightness without forming interference spots on the laser receiving assembly, and the detection of the laser radar on the real obstacle is not influenced.
In order to solve the technical problems, the utility model adopts a technical scheme that: the utility model provides a laser radar, including circuit board, laser emission subassembly, laser receiving module and shielding structure, laser emission subassembly slope set up in the circuit board, laser emission subassembly's transmitting end output detects laser, laser receiving module set up in the circuit board, laser receiving module is used for receiving the detection laser after the barrier reflection, shielding structure set up in laser emission subassembly's transmitting end, and shielding structure is located transmitting end supplies to detect other regions beyond the laser output.
Optionally, the shielding structure includes a first shielding piece, where the first shielding piece is disposed in a direction that the transmitting end deviates from the optical axis of the laser transmitting component.
Optionally, the shielding structure further includes a second shielding piece, and the first shielding piece are relatively disposed on two sides of the area, except for the area where the emission end is used for detecting laser output.
Optionally, the first shielding sheet and the second shielding sheet are both attenuation sheets, and the attenuation sheets are used for attenuating the brightness of the stray light output by the laser emission component.
Optionally, the first shielding sheet and the second shielding sheet are opaque shielding sheets, and the shielding sheets are used for shielding stray light output by the laser generating assembly.
Optionally, one of the first shielding sheet and the second shielding sheet is an attenuation sheet, and the other is a blocking sheet.
Optionally, the first shielding piece and the second shielding piece are both arcuate.
Optionally, the shielding structure includes the sleeve, telescopic one end is provided with the opening, laser emission subassembly cover is located in the sleeve, the opening with the transmitting end supplies the region of surveying laser output to be relative, the sleeve cap the transmitting end supplies the other regions beyond surveying laser output.
Optionally, the circuit board is provided with a through cavity;
the side wall of the other end of the sleeve is provided with an abutting part, the abutting part extends towards the direction of one end of the sleeve to form a clamping hook, the sleeve is inserted into the through cavity, the abutting part abuts against the first surface of the circuit board, the clamping hook is clamped to the second surface of the circuit board, and the first surface and the second surface are oppositely arranged.
In order to solve the technical problems, the utility model adopts another technical scheme that: the floor sweeping robot comprises the laser radar.
In the embodiment of the utility model, the laser radar comprises a circuit board, a laser emitting assembly, a laser receiving assembly and a shielding structure, wherein the laser emitting assembly is obliquely arranged on the circuit board, the emitting end of the laser emitting assembly outputs detection laser, the laser receiving assembly is arranged on the circuit board and is used for receiving the detection laser reflected by an obstacle, the shielding structure is arranged at the emitting end of the laser emitting assembly, and the shielding structure is positioned at other areas except the emitting end for detecting laser output. The shielding structure attenuates the brightness of the stray light output by the laser emission component, so that the stray light is reflected back to the laser receiving component through other obstacles, the light spot brightness is low, interference light spots are not formed on the laser receiving component, and the detection of the laser radar on the real obstacle is not affected.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present utility model, the drawings that are needed in the embodiments of the present utility model will be briefly described below, and it is obvious that the drawings described below are only some embodiments of the present utility model, and other drawings may be obtained according to the drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic structural diagram of a lidar according to an embodiment of the present utility model;
FIG. 2 is a schematic diagram of a structural explosion of a lidar according to an embodiment of the present utility model;
fig. 3 is a schematic structural diagram of a shielding structure in a lidar according to an embodiment of the present utility model.
Reference numerals illustrate:
100. a laser radar; 1. a circuit board; 11. a cavity is communicated; 12. a mounting hole; 13. avoidance holes; 2. a laser emitting assembly; 3. a laser receiving assembly; 4. a shielding structure; 41. a first shielding sheet; 42. a second shielding sheet; 43. a sleeve; 431. an opening; 432. an abutting portion; 433. and (5) clamping the hook.
Detailed Description
In order that the utility model may be readily understood, a more particular description thereof will be rendered by reference to specific embodiments that are illustrated in the appended drawings. It will be understood that when an element is referred to as being "fixed" to another element, it can be directly on the other element or one or more intervening elements may be present therebetween. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or one or more intervening elements may be present therebetween. The terms "vertical," "horizontal," "left," "right," and the like are used herein for illustrative purposes only.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this utility model belongs. The terminology used in the description of the utility model herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the utility model. The term "and/or" as used in this specification includes any and all combinations of one or more of the associated listed items.
Referring to fig. 1 and 2, the lidar 100 includes a circuit board 1, a laser emitting assembly 2, a laser receiving assembly 3, and a shielding structure 4. The laser emission component 2 is obliquely arranged on the circuit board 1, and the emission end of the laser emission component 2 outputs detection laser. The laser receiving component 3 is arranged on the circuit board 1, the laser receiving component 3 is used for receiving detection laser reflected by an obstacle, specifically, after the detection laser is reflected by the obstacle, a spot with preset brightness is formed on the laser receiving component 3, and accordingly, the spot is perceived by the laser receiving component 3. The shielding structure 4 is arranged at the transmitting end of the laser transmitting assembly 2, the shielding structure 4 is positioned at the transmitting end and used for detecting other areas except laser output, the shielding structure 4 is used for weakening the brightness of stray light output from the transmitting end and used for detecting other areas except laser output, so that the stray light is reflected back to the laser receiving assembly 3 through other obstacles to have low light spot brightness without forming interference light spots on the laser receiving assembly 3, and the detection of the laser radar 100 on real obstacles is not affected.
For the above-mentioned circuit board 1, please refer to fig. 2, the circuit board 1 is provided with a through cavity 11 and a mounting hole 12, the laser emitting assembly 2 is obliquely disposed in the through cavity 11, and the mounting hole 12 is used for connecting and fixing the circuit board 1 with the outside.
In some embodiments, the circuit board 1 may not be provided with the through cavity 11, and the laser emitting assembly 2 is obliquely disposed on one side of the circuit board 1.
For the above shielding structure 4, please refer to fig. 3, the shielding structure 4 includes a first shielding sheet 41 and a second shielding sheet 42. The first shielding piece 41 is arranged in a direction that the emitting end deviates from the optical axis of the laser emitting assembly. The second shielding piece 42 and the first shielding piece 41 are oppositely arranged at two sides of the area of the emitting end for detecting laser output. The first shielding sheet 41 and the second shielding sheet 42 serve to attenuate the brightness of stray light output by the laser emitting assembly 2.
In some embodiments, both the first and second shielding sheets 41, 42 are arcuate.
In some embodiments, the first shielding sheet 41 and the second shielding sheet 42 are both attenuation sheets, and the attenuation sheets are used to attenuate the brightness of the stray light output by the laser emitting assembly 2. The attenuation sheet reduces the brightness of light by utilizing the absorption characteristics of the substance to the light. The attenuation sheet is a mylar sheet, and the attenuation sheet may be of other structures as long as it can attenuate the brightness of the stray light output from the laser emitting assembly 2.
In some embodiments, the first shielding sheet 41 and the second shielding sheet 42 may be opaque shielding sheets, which are used to block the laser emitting assembly 2 from outputting stray light. Further, one of the first shielding sheet 41 and the second shielding sheet 42 is an attenuation sheet, and the other is a blocking sheet.
In some embodiments, referring to fig. 2 and 3, the circuit board 1 is provided with a relief hole 13, and the relief hole 13 communicates with the through cavity 11. The shielding structure 4 is not limited to the above structure, and the shielding structure 4 may be other structures, for example: the shielding structure 4 comprises a sleeve 43, the sleeve 43 is obliquely inserted into the through cavity 11, and the laser emitting assembly 2 is sleeved in the sleeve 43. The sleeve 43 is provided with an opening 431, an abutment 432 and a snap-in hook 433. The opening 431 is located at one end of the sleeve 43, the opening 431 is opposite to the area of the emitting end for outputting the detection laser, the opening 431 is for outputting the detection laser of the emitting end outwards, the sleeve 43 covers the other areas except for the output of the detection laser, so that the sleeve 43 attenuates the brightness of the stray light output by the laser emitting assembly 2. The abutting portion 432 is provided on the side wall of the other end of the sleeve 43, and the abutting portion 432 abuts against the first surface of the circuit board 1. The locking hook 433 is formed by extending the abutting portion 432 towards one end of the sleeve 43, and the locking hook 433 penetrates through the avoidance hole 13 to be locked on the second surface of the circuit board 1, so that the sleeve 43 is fixedly connected with the circuit board 1, and the first surface and the second surface are opposite to each other.
In some embodiments, the abutting portion 432 is disposed around the sleeve 43, the number of the engaging hooks 433 and the avoiding holes 13 is plural, and one engaging hook 433 passes through one avoiding hole 13 to be engaged with the second surface of the circuit board 1.
In the embodiment of the utility model, the laser radar 100 comprises a circuit board 1, a laser emitting component 2, a laser receiving component 3 and a shielding structure 4, wherein the laser emitting component 2 is obliquely arranged on the circuit board 1, the emitting end of the laser emitting component 2 outputs detection laser, the laser receiving component 3 is arranged on the circuit board 1, the laser receiving component 3 is used for receiving the detection laser reflected by an obstacle, the shielding structure 4 is arranged at the emitting end of the laser emitting component 2, and the shielding structure 4 is positioned at other areas except the emitting end for detecting laser output. The shielding structure 4 attenuates the brightness of the stray light output by the laser emission component 2, so that the stray light is reflected back to the laser receiving component 3 through other obstacles, the light spot brightness is low, and interference light spots are not formed on the laser receiving component 3, so that the detection of the laser radar 100 on the real obstacles is not affected.
The present utility model also provides an embodiment of a sweeping robot, where the sweeping robot includes the above-mentioned lidar 100, and the structure and the function of the lidar 100 may refer to the above-mentioned embodiment, and are not described herein again.
It should be noted that the description of the present utility model and the accompanying drawings illustrate preferred embodiments of the present utility model, but the present utility model may be embodied in many different forms and should not be construed as limited to the embodiments set forth herein, which are not to be construed as additional limitations of the utility model, but are provided for a more thorough understanding of the present utility model. The above-described features are further combined with each other to form various embodiments not listed above, and are considered to be the scope of the present utility model described in the specification; further, modifications and variations of the present utility model may be apparent to those skilled in the art in light of the foregoing teachings, and all such modifications and variations are intended to be included within the scope of this utility model as defined in the appended claims.
Claims (10)
1. A lidar, comprising:
a circuit board;
the laser emission component is obliquely arranged on the circuit board, and the emission end of the laser emission component outputs detection laser;
the laser receiving assembly is arranged on the circuit board and is used for receiving detection laser reflected by an obstacle;
the shielding structure is arranged at the transmitting end of the laser transmitting assembly and is positioned in other areas except the transmitting end for detecting laser output.
2. The lidar of claim 1, wherein the laser radar is configured to,
the shielding structure comprises a first shielding sheet, and the first shielding sheet is arranged in the direction that the transmitting end deviates from the optical axis of the laser transmitting assembly.
3. The lidar of claim 2, wherein the laser radar is configured to,
the shielding structure further comprises a second shielding sheet, and the first shielding sheet are oppositely arranged on two sides of the area, except for the area where the emission end is used for detecting laser output.
4. The lidar of claim 3, wherein the laser radar is configured to,
the first shielding sheet and the second shielding sheet are attenuation sheets, and the attenuation sheets are used for attenuating the brightness of stray light output by the laser emission assembly.
5. The lidar of claim 3, wherein the laser radar is configured to,
the first shielding sheet and the second shielding sheet are opaque shielding sheets, and the shielding sheets are used for shielding stray light output by the laser generating assembly.
6. The lidar of claim 3, wherein the laser radar is configured to,
one of the first shielding sheet and the second shielding sheet is an attenuation sheet, and the other is a blocking sheet.
7. The lidar of claim 3, wherein the laser radar is configured to,
the first shielding piece and the second shielding piece are both arched.
8. The lidar of claim 1, wherein the laser radar is configured to,
the shielding structure comprises a sleeve, an opening is formed in one end of the sleeve, the laser emitting assembly is sleeved in the sleeve, the opening is opposite to the area of the emitting end for detecting laser output, and the sleeve cover covers the other areas of the emitting end for detecting laser output.
9. The lidar of claim 8, wherein the laser radar is configured to,
the circuit board is provided with a through cavity;
the side wall of the other end of the sleeve is provided with an abutting part, the abutting part extends towards the direction of one end of the sleeve to form a clamping hook, the sleeve is inserted into the through cavity, the abutting part abuts against the first surface of the circuit board, the clamping hook is clamped to the second surface of the circuit board, and the first surface and the second surface are oppositely arranged.
10. A sweeping robot comprising a lidar according to any of claims 1 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202223606760.6U CN219641919U (en) | 2022-12-29 | 2022-12-29 | Laser radar and robot sweeps floor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202223606760.6U CN219641919U (en) | 2022-12-29 | 2022-12-29 | Laser radar and robot sweeps floor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN219641919U true CN219641919U (en) | 2023-09-05 |
Family
ID=87813353
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202223606760.6U Active CN219641919U (en) | 2022-12-29 | 2022-12-29 | Laser radar and robot sweeps floor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN219641919U (en) |
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2022
- 2022-12-29 CN CN202223606760.6U patent/CN219641919U/en active Active
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address | ||
| CP03 | Change of name, title or address |
Address after: 518000, Floor 1801, Block C, Minzhi Stock Commercial Center, North Station Community, Minzhi Street, Longhua District, Shenzhen City, Guangdong Province Patentee after: Shenzhen Huanchuang Technology Co.,Ltd. Address before: 518000 2407-2409, building 4, phase II, Tian'an Yungu Industrial Park, Gangtou community, Bantian street, Longgang District, Shenzhen, Guangdong Patentee before: SHENZHEN CAMSENSE TECHNOLOGIES Co.,Ltd. |