CN220289854U - Distance sensor assembly and mobile robot - Google Patents

Abstract

The embodiment of the utility model provides a distance sensor assembly and a mobile robot, wherein the distance sensor assembly comprises an optical distance sensor and a defogging device; the optical distance sensor comprises a body part and a light emitting part, wherein the body part is connected with the light emitting part, the light emitting part is provided with a first light emitting surface, and light rays emitted by the optical distance sensor are emitted from the first light emitting surface; the demisting device comprises a shell and a heating module; the shell is provided with an accommodating space, and the heating module and the first light-emitting surface of the optical distance sensor are sealed in the accommodating space; the shell is provided with a second light-emitting surface which is arranged at intervals with the first light-emitting surface, so that light rays emitted by the optical distance sensor sequentially pass through the first light-emitting surface and the second light-emitting surface to be emitted; a gas flow space is formed between the first light-emitting surface and the second light-emitting surface, and the heating module is used for heating gas in the gas flow space. The distance sensor component reduces the heating power consumption of the optical distance sensor and improves the cruising ability of the mobile robot.

Description

Distance sensor assembly and mobile robot

Technical Field

The utility model relates to the technical field of distance sensors, in particular to a distance sensor assembly and a mobile robot.

Background

With the rapid development of technology, mobile robots have been put deep into people's life. Mobile robots typically include an optical distance sensor for detecting a distance between the mobile robot and an obstacle so that the mobile robot has an obstacle avoidance function. When the temperature of the working environment of the mobile robot changes, the light emergent surface of the optical distance sensor is easy to fog, so that the detection accuracy of the optical distance sensor is reduced.

There is a distance sensor assembly in the related art that defogging is performed on the light-emitting surface of an optical distance sensor by blowing hot air straight to the light-emitting surface of the optical distance sensor. According to the scheme, although the problem of fog formation on the light emitting surface of the optical distance sensor is solved, the air outlet for discharging hot air is directly communicated with external air, a large amount of heat can be dissipated into the air in a convection heat dissipation mode, the problem of heat waste exists, and further the heating power consumption of the distance sensor assembly is larger, and the cruising ability of the mobile robot is reduced.

Disclosure of Invention

The embodiment of the utility model aims to provide a distance sensor assembly and a mobile robot, so as to reduce the heating power consumption of an optical distance sensor and improve the cruising ability of the mobile robot. The specific technical scheme is as follows:

embodiments of the first aspect of the present application provide a distance sensor assembly comprising an optical distance sensor and a defogging device; the optical distance sensor comprises a body part and a light emitting part, the body part is connected with the light emitting part, the light emitting part is provided with a first light emitting surface, and light rays emitted by the optical distance sensor are emitted from the first light emitting surface; the demisting device comprises a shell and a heating module; the shell is provided with an accommodating space, and the heating module and the first light-emitting surface of the optical distance sensor are sealed in the accommodating space; the shell is provided with a second light-emitting surface which is arranged at intervals with the first light-emitting surface, so that light rays emitted by the optical distance sensor sequentially pass through the first light-emitting surface and the second light-emitting surface to be emitted; and a gas flow space is formed between the first light-emitting surface and the second light-emitting surface, and the heating module is used for heating gas in the gas flow space.

In some embodiments of the present application, the heating module includes a heating element, a heat sink, and a fan;

the heating element is in contact with the radiator and is fixedly connected with the radiator;

the fan is arranged at intervals with the radiator, and is used for driving the gas in the accommodating space to flow in the accommodating space and enabling the gas in the accommodating space to circularly flow through the gas flowing space between the first light-emitting surface and the second light-emitting surface.

In some embodiments of the present application, the housing includes an upper cover and a bottom plate, the upper cover and the bottom plate together forming the accommodation space;

an opening structure is formed on one side of the upper cover, which faces the bottom plate; the light emergent part of the optical distance sensor extends into the accommodating space from the opening structure, and the body part of the optical distance sensor is positioned outside the accommodating space;

a portion of the opening structure, where the optical distance sensor is not disposed, is covered by the bottom plate, so that a light emitting portion of the optical distance sensor is sealed in the accommodating space;

the heating module is arranged on the bottom plate and is arranged at intervals with the upper cover.

In some embodiments of the present application, the first light-emitting surface and the second light-emitting surface are both cylindrical arc surfaces;

the gas flow space between the first light-emitting surface and the second light-emitting surface is an arc gap;

the fan is provided with an air inlet and an air outlet;

the gas flow space between the first light-emitting surface and the second light-emitting surface is provided with a gas flow inlet and a gas flow outlet;

the radiator is arranged between the air outlet and the gas flow inlet;

the air inlet is opposite to the gas flow outlet and is arranged at intervals;

the fan is used for driving the gas in the accommodating space to flow through the fan, the radiator and the arc-shaped gap in sequence.

In some embodiments of the present application, the fan is a centrifugal fan having a first air inlet and a first air outlet;

the plane where the first air inlet is positioned is perpendicular to the air outlet direction of the air flow outlet of the arc-shaped gap;

the air outlet direction of the first air outlet is tangential to the extending direction of the gas flow inlet of the arc-shaped gap.

In some embodiments of the present application, the fan is an axial flow fan having a second air inlet and a second air outlet;

an air duct is arranged in the shell of the demisting device; the inlet of the air duct is arranged at the second air outlet; the outlet of the air duct is opposite to the gas flow inlet;

the radiator is arranged between the outlet of the air duct and the gas flow inlet;

the second air inlet is opposite to the gas flow outlet and is arranged at intervals;

the axial flow fan is used for driving the gas in the accommodating space to flow through the axial flow fan, the air duct, the radiator and the gas flowing space in sequence.

In some embodiments of the present application, the distance sensor assembly further comprises a baffle; the baffle is arranged in the shell;

the baffle and the housing cooperate to define the air duct.

In some embodiments of the present application, the heating element is a heating film, the heating film being connected to a power source;

the heating module further comprises a metal heat dissipation block and a heat conduction pad; the metal heat dissipation block is fixedly connected with the heat conduction pad;

the heat conducting pad is arranged in contact with the heating film, and is positioned between the heating film and the metal heat dissipation block;

the metal radiating block and the radiator are respectively positioned at two sides of the heating film.

In some embodiments of the present application, the distance sensor assembly further comprises a first mount and a second mount disposed within the housing;

the heating film, the metal radiating block, the heat conducting pad and the radiator are fixed with the bottom plate through the first fixing frame; the fan is fixed with the bottom plate through the second fixing frame.

In some embodiments of the present application, the distance sensor assembly further comprises a seal;

the upper cover is provided with a first sealing surface, the optical distance sensor is provided with a second sealing surface, and the sealing element is arranged between the first sealing surface and the second sealing surface;

the second light-emitting surface is formed on the side wall of the upper cover;

the seal is also disposed between the top wall of the upper housing and the light outlet of the optical distance sensor.

In some embodiments of the present application, the bottom plate is a metal plate; the upper cover is made of acrylic.

In some embodiments of the present application, the optical distance sensor is a lidar; the first light-emitting surface is the light-emitting surface of the laser radar;

the first light-emitting surface and the second light-emitting surface are cylindrical arc surfaces;

the central axis of the first light-emitting surface is overlapped with the central axis of the second light-emitting surface;

the range of the central angle corresponding to the second light-emitting surface is 180-300 degrees, preferably 270 degrees;

the width of the gas flow space between the first light-emitting surface and the second light-emitting surface ranges from 3mm to 10mm, preferably 5mm.

Embodiments of the second aspect of the present application provide a mobile robot comprising a mobile robot body, a mobile device and a distance sensor assembly of any of the embodiments of the first aspect; the distance sensor component is fixedly arranged on the mobile robot body and is electrically connected with the mobile robot body; the mobile robot body is connected with the mobile device.

The beneficial effects are that:

the distance sensor assembly of the present application includes an optical distance sensor and a defogging device; the optical distance sensor comprises a body part and a light emitting part, wherein the body part is connected with the light emitting part, the light emitting part is provided with a first light emitting surface, and light rays emitted by the optical distance sensor are emitted from the first light emitting surface; the demisting device comprises a shell and a heating module; the shell is provided with an accommodating space, and the heating module and the first light-emitting surface of the optical distance sensor are sealed in the accommodating space; the shell is provided with a second light-emitting surface which is arranged at intervals with the first light-emitting surface, so that light rays emitted by the optical distance sensor sequentially pass through the first light-emitting surface and the second light-emitting surface to be emitted; a gas flow space is formed between the first light-emitting surface and the second light-emitting surface, and the heating module is used for heating gas in the gas flow space.

The distance sensor assembly heats the gas in the gas flow space between the first light-emitting surface and the second light-emitting surface through the heating module, and the heated gas exchanges heat with the first light-emitting surface and the second light-emitting surface, so that the temperature of the first light-emitting surface and the temperature of the second light-emitting surface are increased. Therefore, when the temperature of the working environment of the distance sensor assembly changes, water vapor inside the light emitting part, inside the shell and outside the shell cannot meet condensation junctions, and water mist cannot be generated on the first light emitting surface and the second light emitting surface, so that the light transmittance of the first light emitting surface and the second light emitting surface is ensured, the accuracy of the detection result of the distance sensor assembly is improved, the use reliability of the mobile robot is improved, and the normal work of the distance sensor assembly is ensured.

Meanwhile, as the heating module and the first light emitting surface of the optical distance sensor are sealed in the accommodating space, the internal environment of the shell and the external environment of the shell are isolated from each other, heated gas only circularly flows in the shell, heat generated by the heating module cannot be dissipated into air outside the shell in a convection mode, heat dissipation is reduced, heating power consumption of the optical distance sensor is reduced, and cruising ability of the mobile robot is improved.

The mobile robot of the embodiment of the application comprises a mobile robot body, a mobile device and the distance sensor assembly of any embodiment of the first aspect; the distance sensor component is fixedly arranged on the mobile robot body and is electrically connected with the mobile robot body; the mobile robot body is connected with the mobile device. The distance sensor assembly is arranged, so that the mobile robot has an obstacle avoidance function. When the temperature of the working environment of the mobile robot changes, the first light-emitting surface and the second light-emitting surface can not generate water mist, so that the light transmittance of the first light-emitting surface and the second light-emitting surface is ensured, the accuracy of the detection result of the distance sensor assembly is improved, the use reliability of the mobile robot is improved, and the normal work of the mobile robot is ensured. Meanwhile, the heating power consumption of the optical distance sensor is reduced, and the cruising ability of the mobile robot is improved.

Drawings

In order to more clearly illustrate the embodiments of the present utility model or the technical solutions in the prior art, the drawings used in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are only some embodiments of the present utility model, and other drawings may be obtained according to these drawings for a person having ordinary skill in the art.

FIG. 1 is a schematic diagram of a distance sensor assembly according to an embodiment of the present application;

FIG. 2 is a schematic diagram of an optical distance sensor according to an embodiment of the present application;

FIG. 3 is a gas flow path diagram of a distance sensor assembly according to a first embodiment of the present application;

fig. 4 is a schematic structural view of an upper cover in an embodiment of the present application;

FIG. 5 is a schematic structural view of a base plate according to an embodiment of the present application;

FIG. 6 is a top view of FIG. 5;

FIG. 7 is an exploded view of a heating module according to an embodiment of the present disclosure;

FIG. 8 is a schematic view of a distance sensor assembly of an embodiment of the present application with an upper cover removed;

FIG. 9 is a gas flow path diagram of a distance sensor assembly according to a second embodiment of the present application;

fig. 10 is a schematic structural diagram of a mobile robot according to an embodiment of the present application;

fig. 11 is a front view of fig. 10.

Reference numerals illustrate:

a mobile robot 1; a distance sensor assembly 10; a mobile robot body 20; a mobile device 30;

an optical distance sensor 100; a body portion 110; a light-emitting unit 120; a first light-emitting surface 121; a defogging device 200; a housing 210; an upper cover 211; a second light-emitting surface 2111; a bottom plate 212; an air duct 213; a baffle 214; a first holder 215; a heating module 220; a heating element 221; a heat sink 222; a fan 223; a centrifugal fan 2231; an axial flow fan 2232; a metal heat sink 224; a thermal pad 225; a gas flow space 300.

Detailed Description

The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. Based on the embodiments of the present utility model, those of ordinary skill in the art will be able to devise all other embodiments that are obtained based on this application and are within the scope of the present utility model.

In order to reduce heating power consumption of an optical distance sensor and improve cruising ability of a mobile robot, an embodiment of a first aspect of the present application provides a distance sensor assembly.

As shown in fig. 1 to 3, a distance sensor assembly 10 according to an embodiment of the present application includes an optical distance sensor 100 and a defogging device 200. Specifically, as shown in fig. 2, the optical distance sensor 100 includes a body portion 110 and a light emitting portion 120, where the body portion 110 and the light emitting portion 120 are connected, the light emitting portion 120 has a first light emitting surface 121, and light emitted by the optical distance sensor 100 exits from the first light emitting surface 121; as shown in fig. 3, the defogging device 200 includes a housing 210 and a heating module 220; the housing 210 has an accommodating space in which the heating module 220 and the first light-emitting surface 121 of the optical distance sensor 100 are sealed; the housing 210 has a second light-emitting surface 2111 spaced from the first light-emitting surface 121, so that the light emitted by the optical distance sensor 100 sequentially passes through the first light-emitting surface 121 and the second light-emitting surface 2111; a gas flow space 300 is formed between the first light-emitting surface 121 and the second light-emitting surface 2111, and the heating module 220 is used for heating the gas in the gas flow space 300.

The distance sensor assembly 10 of the present application includes an optical distance sensor 100 and a defogging device 200; the optical distance sensor 100 comprises a body part 110 and a light emitting part 120, the body part 110 is connected with the light emitting part 120, the light emitting part 120 is provided with a first light emitting surface 121, and light rays emitted by the optical distance sensor 100 are emitted from the first light emitting surface 121; the defogging device 200 comprises a housing 210 and a heating module 220; the housing 210 has an accommodating space in which the heating module 220 and the first light-emitting surface 121 of the optical distance sensor 100 are sealed; the housing 210 has a second light-emitting surface 2111 spaced from the first light-emitting surface 121, so that the light emitted by the optical distance sensor 100 sequentially passes through the first light-emitting surface 121 and the second light-emitting surface 2111; a gas flow space 300 is formed between the first light-emitting surface 121 and the second light-emitting surface 2111, and the heating module 220 is used for heating the gas in the gas flow space 300.

The distance sensor assembly 10 of the present application heats the gas in the gas flow space 300 between the first light-emitting surface 121 and the second light-emitting surface 2111 through the heating module 220, and the heated gas exchanges heat with the first light-emitting surface 121 and the second light-emitting surface 2111, so that the temperatures of the first light-emitting surface 121 and the second light-emitting surface 2111 are increased. In this way, when the temperature of the working environment of the distance sensor assembly 10 changes, the water vapor inside the light emitting part 120, inside the housing 210 and outside the housing 210 does not encounter condensation, and water mist is not generated on the first light emitting surface 121 and the second light emitting surface 2111, so that the light transmittance of the first light emitting surface 121 and the second light emitting surface 2111 is ensured, the accuracy of the detection result of the distance sensor assembly 10 is improved, the reliability of the use of the mobile robot 1 is improved, and the normal operation of the distance sensor assembly 10 is ensured.

Meanwhile, since the heating module 220 and the first light emitting surface 121 of the optical distance sensor 100 are sealed in the accommodating space, the internal environment of the housing 210 and the external environment of the housing 210 are isolated from each other, the heated gas only circularly flows in the housing 210, and the heat generated by the heating module 220 is not dissipated into the air outside the housing 210 in a convection manner, so that the heat dissipation is reduced, the heating power consumption of the optical distance sensor 100 is reduced, and the cruising ability of the mobile robot 1 is improved.

In some embodiments of the present application, as shown in fig. 4 to 6, the housing 210 includes an upper cover 211 and a bottom plate 212, and the upper cover 211 and the bottom plate 212 together constitute an accommodating space; an opening structure is formed on one side of the upper cover 211 facing the bottom plate 212; as shown in fig. 1, the light emitting portion 120 of the optical distance sensor 100 extends into the accommodating space from the opening structure, and the body portion 110 of the optical distance sensor 100 is located outside the accommodating space; the portion of the opening structure where the optical distance sensor 100 is not disposed is covered by the bottom plate 212 so that the light emitting portion 120 of the optical distance sensor 100 is sealed in the accommodation space; the heating module 220 is mounted on the base plate 212 and spaced apart from the upper cover 211. Compared with the whole optical distance sensor 100 sealed in the housing 210, the housing 210 of the distance sensor assembly 10 of the present application only seals the light emitting portion 120 of the optical distance sensor 100 in the housing 210, the body 110 is disposed outside the housing 210, and the housing 210 has smaller volume, which is beneficial to miniaturization and light weight design of the distance sensor assembly 10.

Specifically, the light emitting part 120 may be disposed at the front end of the upper cover 211, and the heating module 220 may be disposed at the rear end of the upper cover 211, and it is understood that the forward direction is the direction in which the mobile robot 1 travels.

In some embodiments of the present application, optical distance sensor 100 may be a lidar; the first light-emitting surface 121 is a light-emitting surface of the laser radar.

In some embodiments of the present application, as shown in fig. 3, the first light-emitting surface 121 and the second light-emitting surface 2111 are both cylindrical arc surfaces; the gas flow space 300 between the first light-emitting surface 121 and the second light-emitting surface 2111 is an arc gap. Compared with the arrangement in which the first light-emitting surface 121 and the second light-emitting surface 2111 are planar, the cylindrical arc surface is more beneficial to the emission of the light emitted by the optical distance sensor 100, so that the light can cover a larger range, and the optical distance sensor 100 can better detect the external environment.

In some embodiments of the present application, as shown in fig. 3, a central axis of the first light-emitting surface 121 and a central axis of the second light-emitting surface 2111 coincide; the second light-emitting surface 2111 corresponds to a central angle in the range of 180 ° to 300 °, preferably 270 °. The central angle of 270 ° may enable all light rays emitted from the optical distance sensor 100 to exit from the second light-exiting surface 2111.

In some embodiments of the present application, as shown in fig. 3, the width of the gas flow space 300 between the first light-emitting surface 121 and the second light-emitting surface 2111 ranges from 3mm to 10mm, preferably 5mm. The width of the gas flow space 300 between the first light-emitting surface 121 and the second light-emitting surface 2111 is 5mm, so that on one hand, sufficient gas can flow through the arc-shaped gap to exchange heat with the first light-emitting surface 121 and the second light-emitting surface 2111, and on the other hand, light emitted by the optical distance sensor 100 can be better emitted.

In some embodiments of the present application, bottom plate 212 may be a metal plate; the upper cover 211 may be made of acrylic; as shown in fig. 3, the heating module 220 is mounted on the base plate 212 and spaced apart from the upper cover 211. Acrylic is also called organic glass, has better transparency and chemical stability, and has the characteristics of easy dyeing, easy processing and beautiful appearance. Acrylic sheet has a light transmittance comparable to glass, but a density of only half that of glass. In addition, it is not as brittle as glass, and even if broken, it does not form sharp fragments as glass does. Compared with the upper cover 211 made of glass, the upper cover 211 made of acrylic material can not only meet the light emitting requirement of the optical distance sensor 100, but also facilitate reducing the quality of the distance sensor assembly 10. The heating module 220 is fixed on the bottom plate 212, and the heating module 220 and the upper cover 211 are arranged at intervals, so that the deformation of the upper cover 211 made of acrylic material caused by overhigh temperature of the heating module 220 can be prevented.

In some embodiments of the present application, as shown in fig. 7 and 8, the heating module 220 includes a heating element 221, a heat sink 222, and a fan 223; the heating element 221 and the heat sink 222 are disposed in contact and fixedly connected; the fan 223 is disposed at a distance from the heat sink 222, and the fan 223 is configured to drive the gas in the accommodating space to flow in the accommodating space, and make the gas in the accommodating space circulate through the gas flow space 300 between the first light-emitting surface 121 and the second light-emitting surface 2111. The heating element 221 and the radiator 222 are in contact, heat generated by the heating element 221 is transferred to the radiator 222 in a contact mode, the radiator 222 transfers the heat into the accommodating space more efficiently, the fan 223 drives gas in the accommodating space to flow in the accommodating space, so that the heated gas can flow through the gas flow space 300 to exchange heat with the first light-emitting surface 121 and the second light-emitting surface 2111, and the temperature of the first light-emitting surface 121 and the second light-emitting surface 2111 is increased; when the temperature of the working environment of the distance sensor assembly 10 changes, the water vapor inside the light emitting portion 120, inside the housing 210 and outside the housing 210 will not encounter condensation, and thus water mist will not be generated on the first light emitting surface 121 and the second light emitting surface 2111, thereby ensuring the light transmittance of the first light emitting surface 121 and the second light emitting surface 2111 and improving the accuracy of the detection result of the distance sensor assembly 10.

In some embodiments of the present application, as shown in fig. 7 and 8, the heating element 221 is a heating film, which is connected to a power source; the heating module 220 further includes a metal heat sink 224 and a thermal pad 225; the metal heat dissipation block 224 is fixedly connected with the heat conduction pad 225; the heat conducting pad 225 is arranged in contact with the heating film, and the heat conducting pad 225 is positioned between the heating film and the metal heat dissipation block 224; the metal heat sink 224 and the heat sink 222 are located on both sides of the heating film, respectively. The thickness of the heating film is very thin, the occupied space is small, and the miniaturization design of the heating module 220 is facilitated; the thermal pad 225 is a gap-filling thermal conductive material with excellent performance, has good viscosity, flexibility, good compression performance, and excellent thermal conductivity, so that the heat dissipation effect is significantly increased. The metal heat dissipation block 224 is added to further improve the heat dissipation efficiency.

Specifically, the heat-conducting pad 225 may be made of a heat-conducting material such as heat-conducting silica gel or heat-conducting silicone grease; the metal heat sink 224 may be a copper block. In other embodiments of the present application, the metal heat dissipation block 224 may be made of other metal materials, which is not limited in this application. As shown in fig. 7 and 8, the number of the metal heat dissipation blocks 224 may be two, both may be rectangular, and the two volumes may be different, so as to increase the heat dissipation area and improve the heat dissipation efficiency.

In some embodiments of the present application, as shown in fig. 7 and 8, the distance sensor assembly 10 further includes a first mount 215 and a second mount (not shown) disposed within the housing 210; the heating film, the metal heat dissipation block 224, the heat conduction pad 225 and the heat sink 222 are fixed with the bottom plate 212 through the first fixing frame 215; the fan 223 is fixed to the base plate 212 by a second fixing frame. The heating module 220 is fixed in the housing 210 by the first fixing frame 215 and the second fixing frame, so that installation and maintenance are facilitated. Because the fan 223 and the radiator 222 are arranged at intervals, the two fixing frames are designed to be more convenient to install than the case that only one fixing frame is used.

Specifically, the material of the first fixing frame 215 may be metal, and disposed between the heat conducting pad 225 and the metal heat dissipating block 224, where the heat sink 222, the heating film, the heat conducting pad 225, the first fixing frame 215 and the metal heat dissipating block 224 are sequentially disposed, and two adjacent parts are in contact with each other, so as to realize efficient heat transfer.

In some embodiments of the present application, as shown in fig. 3, the fan 223 has an air inlet and an air outlet; the gas flow space 300 between the first light-emitting surface 121 and the second light-emitting surface 2111 has a gas flow inlet and a gas flow outlet; the radiator 222 is disposed between the air outlet and the gas flow inlet; the air inlet is opposite to the air flow outlet and is arranged at intervals; the fan 223 is used for driving the air in the accommodating space to flow through the fan 223, the radiator 222 and the arc-shaped gap in sequence. The heat sink 222 is disposed between the gas flow inlet and the air outlet of the fan 223, the fan 223 accelerates the flow of the gas around the heat sink 222, and the heated gas is directly blown into the gas flow space 300 from around the heat sink 222, which is advantageous for improving the heat exchange efficiency.

Specifically, the fan 223 may be a centrifugal fan 2231 or an axial fan 2232. The centrifugal fan 2231 sucks the fluid from the axial direction of the centrifugal fan 2231 and then throws the fluid out from the circumferential direction by centrifugal force, such as a blower and a range hood. The axial flow fan 2232 is characterized in that fluid flows along the axial direction of the blades, such as an electric fan and an exhaust fan in a home.

In some embodiments of the present application, as shown in fig. 3, the fan 223 is a centrifugal fan 2231, and the centrifugal fan 2231 has a first air inlet and a first air outlet; the plane where the first air inlet is positioned is vertical to the air outlet direction of the air flow outlet of the arc-shaped gap; the air outlet direction of the first air outlet is tangential to the extending direction of the gas flow inlet of the arc-shaped gap. The low-temperature gas coming out of the gas flow outlet of the arc gap directly enters the centrifugal fan 2231 from the first air inlet, leaves the centrifugal fan 2231 from the first air outlet, reaches the radiator 222, exchanges heat with the radiator 222, then enters the arc gap through the gas flow inlet of the arc gap, exchanges heat with the first light-emitting surface 121 and the second light-emitting surface 2111, and can form a short-distance gas circulation, so that the heat exchange efficiency is improved.

In other embodiments of the present application, as shown in fig. 9, the fan 223 is an axial flow fan 2232, and the axial flow fan 2232 has a second air inlet and a second air outlet; an air duct 213 is arranged in the shell 210 of the demisting device 200; the inlet of the air duct 213 is disposed at the second air outlet; the outlet of the air duct 213 is disposed opposite to the gas flow inlet; the radiator 222 is disposed between the outlet of the air duct 213 and the gas flow inlet; the second air inlet is opposite to the gas flow outlet and is arranged at intervals; the axial flow fan 2232 is configured to drive the gas in the accommodating space to flow through the axial flow fan 2232, the air duct 213, the heat sink 222, and the gas flow space 300 in sequence. An air duct 213 is disposed between the second air outlet of the axial fan 2232 and the heat sink 222 to change the flow direction of the air discharged from the second air outlet, so as to improve the heat exchange efficiency.

In some embodiments of the present application, as shown in fig. 9, the distance sensor assembly 10 further includes a baffle 214; the baffle 214 is disposed inside the housing 210; the baffle 214 and the housing 210 cooperate to define an air channel 213. Specifically, the baffle 214 may be formed integrally with the housing 210, or may be formed separately, and fixedly connected with the housing 210 by a fastener according to actual requirements.

In some embodiments of the present application, the distance sensor assembly 10 further includes a seal (not shown in the figures); the upper cover 211 has a first sealing surface formed thereon, and the optical distance sensor 100 has a second sealing surface formed thereon, with a seal disposed therebetween. The upper cover 211 and the bottom plate 212 are in rigid contact, and a seal member is provided between the first sealing surface and the second sealing member, so that the sealing performance of the housing 210 can be improved.

In some embodiments of the present application, the second light-emitting surface 2111 is formed on a sidewall of the upper cover 211; the seal may also be disposed between the top wall of the upper housing 211 and the light outlet 120 of the optical distance sensor 100. In this way, the gap between the upper cover 211 and the optical distance sensor 100 can be filled, so that gas can precisely flow from the gas flow space 300, and the occurrence of a decrease in heat exchange efficiency caused by the mess of gas in the housing 210 can be prevented.

In particular, the seal may be foam. In other embodiments of the present application, the sealing member may be other parts that may perform a sealing function, which is not limited in this application.

As shown in fig. 10 and 11, an embodiment of the second aspect of the present application proposes a mobile robot 1, the mobile robot 1 including a mobile robot body 20, a mobile device 30, and a distance sensor assembly 10 of any one of the embodiments of the first aspect; the distance sensor assembly 10 is fixedly installed on the mobile robot body 20 and is electrically connected with the mobile robot body 20; the mobile robot body 20 is connected to the mobile device 30.

The mobile robot body 20 supplies power to the distance sensor assembly 10, and the mobile device 30 drives the mobile robot body 20 and the distance sensor assembly 10 to move.

The mobile robot 1 of the embodiment of the present application includes a mobile robot body 20, a mobile device 30, and a distance sensor assembly 10 of any of the embodiments of the first aspect; the distance sensor assembly 10 is fixedly installed on the mobile robot body 20 and is electrically connected with the mobile robot body 20; the mobile robot body 20 is connected to the mobile device 30. The distance sensor assembly 10 is provided such that the mobile robot 1 has an obstacle avoidance function. When the temperature of the working environment of the mobile robot 1 changes, the first light-emitting surface 121 and the second light-emitting surface 2111 do not generate water mist, so that the light transmittance of the first light-emitting surface 121 and the second light-emitting surface 2111 is ensured, the accuracy of the detection result of the distance sensor assembly 10 is improved, the use reliability of the mobile robot 1 is improved, and the normal operation of the mobile robot 1 is ensured. Meanwhile, the heating power consumption of the optical distance sensor 100 is reduced, and the cruising ability of the mobile robot 1 is improved.

The foregoing description is only of the preferred embodiments of the present utility model and is not intended to limit the scope of the present utility model. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present utility model are included in the protection scope of the present utility model.

Claims (13)

1. A distance sensor assembly, comprising: an optical distance sensor (100) and a defogging device (200);

the optical distance sensor (100) comprises a body part (110) and a light emitting part (120), wherein the body part (110) is connected with the light emitting part (120), the light emitting part (120) is provided with a first light emitting surface (121), and light rays emitted by the optical distance sensor (100) are emitted from the first light emitting surface (121);

the demisting device (200) comprises a shell (210) and a heating module (220); the shell (210) is provided with an accommodating space, and the heating module (220) and the first light-emitting surface (121) of the optical distance sensor (100) are sealed in the accommodating space; the shell (210) is provided with a second light-emitting surface (2111) which is arranged at intervals with the first light-emitting surface (121), so that light rays emitted by the optical distance sensor (100) sequentially pass through the first light-emitting surface (121) and the second light-emitting surface (2111) to be emitted;

a gas flow space (300) is formed between the first light emitting surface (121) and the second light emitting surface (2111), and the heating module (220) is used for heating the gas in the gas flow space (300).

2. The distance sensor assembly according to claim 1, wherein the heating module (220) comprises a heating element (221), a heat sink (222) and a fan (223);

the heating element (221) and the radiator (222) are arranged in contact and fixedly connected;

the fan (223) is arranged at a distance from the radiator (222), and the fan (223) is used for driving the gas in the accommodating space to flow in the accommodating space and enabling the gas in the accommodating space to circularly flow through the gas flowing space (300) between the first light-emitting surface (121) and the second light-emitting surface (2111).

3. The distance sensor assembly according to claim 2, characterized in that the housing (210) comprises an upper cover (211) and a bottom plate (212), the upper cover (211) and the bottom plate (212) together constituting the accommodation space;

an opening structure is formed on one side of the upper cover (211) facing the bottom plate (212); the light emergent part (120) of the optical distance sensor (100) extends into the accommodating space from the opening structure, and the body part (110) of the optical distance sensor (100) is positioned outside the accommodating space;

a portion of the opening structure where the optical distance sensor (100) is not disposed is covered by the bottom plate (212) so that a light emitting portion (120) of the optical distance sensor (100) is sealed within the accommodation space;

the heating module (220) is installed on the bottom plate (212) and is arranged at intervals with the upper cover (211).

4. A distance sensor assembly according to claim 3, wherein the first light exit surface (121) and the second light exit surface (2111) are each cylindrical arcuate surfaces; the gas flow space (300) between the first light-emitting surface (121) and the second light-emitting surface (2111) is an arc-shaped gap;

the fan (223) is provided with an air inlet and an air outlet;

a gas flow space (300) between the first light-emitting surface (121) and the second light-emitting surface (2111) has a gas flow inlet and a gas flow outlet;

the heat sink (222) is disposed between the air outlet and the gas flow inlet;

the air inlet is opposite to the gas flow outlet and is arranged at intervals;

the fan (223) is used for driving the gas in the accommodating space to sequentially flow through the fan (223), the radiator (222) and the arc-shaped gap.

5. The distance sensor assembly of claim 4, wherein the fan (223) is a centrifugal fan (2231), the centrifugal fan (2231) having a first air inlet and a first air outlet;

the plane where the first air inlet is positioned is perpendicular to the air outlet direction of the air flow outlet of the arc-shaped gap;

the air outlet direction of the first air outlet is tangential to the extending direction of the gas flow inlet of the arc-shaped gap.

6. The distance sensor assembly according to claim 2, characterized in that the fan (223) is an axial flow fan (2232), the axial flow fan (2232) having a second air inlet and a second air outlet;

an air duct (213) is arranged in the shell (210) of the demisting device (200); an inlet of the air duct (213) is arranged at the second air outlet; the outlet of the air duct (213) is arranged opposite to the gas flow inlet;

the radiator (222) is arranged between the outlet of the air duct (213) and the gas flow inlet;

the second air inlet is opposite to the gas flow outlet and is arranged at intervals;

the axial flow fan (2232) is used for driving the gas in the accommodating space to sequentially flow through the axial flow fan (2232), the air duct (213), the radiator (222) and the gas flow space (300).

7. The distance sensor assembly of claim 6, further comprising a baffle (214); the baffle (214) is arranged inside the shell (210);

the baffle (214) and the housing (210) cooperate to define the air channel (213).

8. The distance sensor assembly according to any of claims 3 to 7, characterized in that the heating element (221) is a heating film, which is connected to a power source;

the heating module (220) further comprises a metal heat dissipation block (224) and a heat conduction pad (225); the metal heat dissipation block (224) is fixedly connected with the heat conduction pad (225);

the heat conducting pad (225) is arranged in contact with the heating film, and the heat conducting pad (225) is positioned between the heating film and the metal heat dissipation block (224);

the metal heat dissipation block (224) and the heat sink (222) are respectively positioned at two sides of the heating film.

9. The distance sensor assembly of claim 8, further comprising a first mount (215) and a second mount disposed within the housing (210);

the heating film, the metal heat dissipation block (224), the heat conduction pad (225) and the heat sink (222) are fixed with the bottom plate (212) through the first fixing frame (215); the fan (223) is fixed with the bottom plate (212) through the second fixing frame.

10. The distance sensor assembly according to any one of claims 3 to 5, further comprising a seal;

a first sealing surface is formed on the upper cover (211), a second sealing surface is formed on the optical distance sensor (100), and the sealing element is arranged between the first sealing surface and the second sealing surface;

the second light-emitting surface (2111) is formed on the side wall of the upper cover (211);

the seal is also provided between the top wall of the upper cover (211) and the light outlet portion (120) of the optical distance sensor (100).

11. A distance sensor assembly according to claim 3, characterized in that the base plate (212) is a metal plate; the upper cover (211) is made of acrylic.

12. The distance sensor assembly according to claim 1, characterized in that the optical distance sensor (100) is a lidar; the first light-emitting surface (121) is a light-emitting surface of a laser radar;

the first light-emitting surface (121) and the second light-emitting surface (2111) are cylindrical arc surfaces;

the central axis of the first light-emitting surface (121) and the central axis of the second light-emitting surface (2111) are overlapped;

the range of the central angle corresponding to the second light-emitting surface (2111) is 180-300 degrees, preferably 270 degrees;

the width of the gas flow space (300) between the first light-emitting surface (121) and the second light-emitting surface (2111) ranges from 3mm to 10mm, preferably 5mm.

13. A mobile robot comprising a mobile robot body (20), a mobile device (30) and a distance sensor assembly according to any of claims 1 to 12;

the distance sensor assembly is fixedly arranged on the mobile robot body (20) and is electrically connected with the mobile robot body (20);

the mobile robot body (20) is connected to the mobile device (30).