CN210008978U - Laser measuring device and robot of sweeping floor - Google Patents
Laser measuring device and robot of sweeping floor Download PDFInfo
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- CN210008978U CN210008978U CN201920718492.6U CN201920718492U CN210008978U CN 210008978 U CN210008978 U CN 210008978U CN 201920718492 U CN201920718492 U CN 201920718492U CN 210008978 U CN210008978 U CN 210008978U
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Abstract
The utility model discloses a laser measuring device and a sweeping robot, wherein the laser measuring device comprises a fixed chassis; the rotating platform is arranged in the inner cavity of the fixed chassis; the first control plate is arranged on the upper surface of the rotary platform; the second control plate is arranged on the lower surface of the fixed chassis; the TOF device is arranged on the upper surface of the first control plate and used for measuring distance data of the periphery; the first energy transmission module is installed on the lower surface of the first control board, and the first control board is in coupling connection with the second control board through the first energy transmission module. The first control panel is connected with the TOF device installed above the first control panel and sends data collected by the TOF device to the second control panel installed below the fixed chassis through the first energy transmission module, and the second control panel can also transmit electric energy required by the TOF device to the first control panel through the first energy transmission module in a wireless mode, so that the inside of the laser measuring device is not required to be connected through a solid line, and the problem of wire winding cannot occur.
Description
Technical Field
The utility model relates to a measuring device's technical field particularly, relates to laser measuring device.
Background
The application of laser measurement is more and more extensive, and laser measuring device can adopt the scanning formula sensor of non-contact laser rangefinder technique to scan the environment of surroundings. The working principle of the system is similar to that of a general radar system, a target is detected by emitting laser beams, reflected beams are collected to form point clouds and acquire data, and the data can be generated into an accurate three-dimensional image after being subjected to photoelectric processing. By adopting the technology, high-precision physical space environment information can be accurately acquired, so that the technology becomes the most central sensor equipment in the fields of automobile automatic driving, unmanned driving, positioning navigation, space surveying and mapping, security and the like. Consumer electronics products such as sweeper machines, unmanned aerial vehicles, home service robots, and the like are increasingly using laser radars for navigation, obstacle avoidance, and path planning.
And the inside connection of prior art's laser measuring device is wired connection, and wired connection appears short circuit, winding scheduling problem easily in service, is unfavorable for increasing laser measuring device's life.
SUMMERY OF THE UTILITY MODEL
In view of this, the utility model provides a laser surveying device and robot of sweeping floor, its aim at improves laser surveying device's life.
The utility model provides a following technical scheme:
laser measuring device, it includes:
fixing the chassis;
the rotating platform is arranged in the inner cavity of the fixed chassis;
a first control plate installed on an upper surface of the rotary platform;
the second control plate is arranged on the lower surface of the fixed chassis;
the TOF device is arranged on the upper surface of the first control plate and used for measuring distance data of the periphery;
the first energy transmission module is installed on the lower surface of the first control board, and the first control board is coupled with the second control board through the first energy transmission module.
Further, in the present invention, the upper surface of the second control board includes a second energy transmission module for establishing a coupling connection with the first energy transmission module.
Further, the utility model discloses in, fixed chassis reaches rotary platform all is equipped with and is used for the order first energy transmission module with second energy transmission module wireless connection's through-hole.
Further, the utility model discloses in, rotary platform's lower surface is equipped with the bulge loop, fixed chassis's inner chamber is equipped with the bearing, the bulge loop is connected the outer lane of bearing, the inner circle of bearing with fixed chassis fixed connection, fixed chassis's through-hole with the inner circle hole of inner circle corresponds.
Further, the utility model discloses a laser surveying device still including install in the sign indicating number box of the inner chamber on fixed chassis and install in the photoelectric sensor of first control panel, photoelectric sensor is used for the record rotary platform for the turned angle of sign indicating number box, rotary platform is equipped with the photoelectric sensor hole.
The utility model discloses a laser surveying device is still including being used for the drive rotary platform for the motor of fixed chassis rotation, the motor install in one side on fixed chassis, the motor with first control panel electric connection.
Further, in the present invention, the motor is connected to the rotating platform through a belt, and the rotating platform is driven by the periphery of the rotating platform.
Further, in the present invention, the TOF apparatus includes a laser module housing, the laser module housing includes:
the device comprises a light sheet side and a light source side, wherein the light sheet side is provided with a transmitting light-gathering sheet and a receiving light-gathering sheet in parallel;
a transmitting side, the transmitting side being mounted with a laser generator;
the receiving side is provided with a light sensor communicated with the receiving light-gathering piece;
the laser module shell comprises a receiving side, a transmitting side and a laser module shell, wherein the receiving side is parallel to the laser module shell, the transmitting side is perpendicular to the laser module shell, and the inner cavity of the laser module shell comprises a reflector for refracting laser of the laser generator to the transmitting light-gathering piece.
Further, in the utility model discloses in, TOF device still includes first signal processing board and second signal processing board, first signal processing board install in laser generator's rear end, the second signal processing board install in photo sensor's rear end, photo sensor with still include the light filter between the receiving light gathering piece, first signal processing board reaches the second signal processing board all with first control panel electric connection.
A sweeping robot comprising any one of the laser measuring devices described above.
The embodiment of the utility model has the following advantage:
the utility model discloses a laser measuring device and a sweeping robot, wherein, the laser measuring device comprises a fixed chassis; the rotating platform is arranged in the inner cavity of the fixed chassis; a first control plate installed on an upper surface of the rotary platform; the second control plate is arranged on the lower surface of the fixed chassis; the TOF device is arranged on the upper surface of the first control plate and used for measuring distance data of the periphery; the first energy transmission module is installed on the lower surface of the first control board, and the first control board is coupled with the second control board through the first energy transmission module. First control panel is connected and sends the data that TOF device collected to the second control panel of installing in fixed chassis below through first energy transmission module with installing the TOF device above it, and the second control panel can also be with TOF device required electric energy through first energy transmission module wireless transmission to first control panel, consequently, the utility model discloses a laser measuring device and included laser measuring device's the inside of sweeping the floor the robot and need not to connect through entity line, the winding problem of wire rod can not appear, has increased laser measuring device's life.
To sum up, the utility model discloses special structure, it has above-mentioned a great deal of advantage and practical value to do not see in like product that similar method is published or is used and really belongs to the innovation, produced well-used and practical effect, had the multinomial efficiency of promoting than current technique, thereby comparatively be suitable for the practicality, and have extensive industrial value.
In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, 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 invention, and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
Fig. 1 is a schematic view showing an overall structure of a laser measuring device provided in embodiment 1 of the present invention;
fig. 2 shows an exploded view of a TOF apparatus of a laser measuring apparatus provided in embodiment 1 of the present invention;
fig. 3 is a schematic top view of a TOF apparatus of a laser measuring apparatus provided in embodiment 1 of the present invention.
Icon:
100-laser measuring device;
10-fixing the chassis; 11-a second control panel; 12-a second energy transfer module;
20-a rotating platform; 21-a first control panel; 22-a first energy transfer module; 23-a convex ring;
30-TOF device; 31-laser module housing; 32-an emission light-gathering sheet; 33-a receiving light-gathering sheet; 34-a laser generator; 35-a light sensor; 36-a mirror; 37-a first signal processing board; 38-a second signal processing board; 39-an optical filter;
40-a bearing; 41-code box; 42-a photosensor;
50-a motor; 51-belt.
Detailed Description
Various embodiments of the present disclosure will be described more fully hereinafter. The present disclosure is capable of various embodiments and of modifications and variations therein. However, it should be understood that: there is no intention to limit the various embodiments of the disclosure to the specific embodiments disclosed herein, but rather, the disclosure is to cover all modifications, equivalents, and/or alternatives falling within the spirit and scope of the various embodiments of the disclosure.
Hereinafter, the term "includes" or "may include" used in various embodiments of the present disclosure indicates the presence of the disclosed functions, operations, or elements, and does not limit the addition of one or more functions, operations, or elements. Furthermore, as used in various embodiments of the present disclosure, the terms "comprising," "having," and their derivatives, are intended to be only representative of the particular features, integers, steps, operations, elements, components, or combinations of the foregoing, and should not be construed as first excluding the existence of, or adding to one or more other features, integers, steps, operations, elements, components, or combinations of the foregoing.
Expressions (such as "first", "second", and the like) used in various embodiments of the present disclosure may modify various constituent elements in the various embodiments, but may not limit the respective constituent elements. For example, the above description does not limit the order and/or importance of the elements described. The foregoing description is for the purpose of distinguishing one element from another. For example, the first user device and the second user device indicate different user devices, although both are user devices. For example, a first element could be termed a second element, and, similarly, a second element could be termed a first element, without departing from the scope of various embodiments of the present disclosure.
It should be noted that: if it is described that one constituent element is "connected" to another constituent element, the first constituent element may be directly connected to the second constituent element, and a third constituent element may be "connected" between the first constituent element and the second constituent element. In contrast, when one constituent element is "directly connected" to another constituent element, it is understood that there is no third constituent element between the first constituent element and the second constituent element.
The terminology used in the various embodiments of the present disclosure is for the purpose of describing particular embodiments only and is not intended to be limiting of the various embodiments of the present disclosure. As used herein, the singular forms are intended to include the plural forms as well, unless the context clearly indicates otherwise. Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the various embodiments of the present disclosure belong. The terms (such as those defined in commonly used dictionaries) should be interpreted as having a meaning that is consistent with their meaning in the context of the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
Example 1
The laser measuring device 100, please refer to fig. 1, which includes a fixed chassis 10; a rotary platform 20 installed in the inner cavity of the fixed chassis 10; a first control plate 21 mounted on an upper surface of the rotary table 20; a second control plate 11 installed on a lower surface of the fixed base plate 10; a TOF (Time of Flight) device 30 mounted on an upper surface of the first control board 21 for measuring peripheral distance data; and a first energy transmission module 22 installed on a lower surface of the first control board 21, wherein the first control board 21 is coupled to the second control board 11 through the first energy transmission module 22.
As described above, the laser surveying instrument 100 includes the fixed base 10, the second control plate 11 is provided on the lower surface of the fixed base 10, the rotary platform 20 is mounted on the inner cavity of the fixed base 10, and the rotary platform 20 is rotatable with respect to the fixed base 10, so that the first control plate 21 mounted on the upper surface of the rotary platform 20 is also rotated with the rotation of the rotary platform 20. And the TOF device 30 mounted to the upper surface of the first control plate 21 is also rotated by the rotation of the first control plate 21. The rotating platform 20 drives the first control board 21 and the TOF device 30 to rotate, so that the TOF device 30 can scan the surrounding environment for 360 degrees.
It will be appreciated that the TOF apparatus 30 is mounted on the first control board 21, and therefore the TOF apparatus 30 is also electrically connected to the first control board 21. The first control board 21 can send a control instruction to the TOF device 30, the first control board 21 can also acquire scanning data of the periphery through the TOF device 30, and the first control board 21 can also provide power for the TOF device 30.
A first energy transmission module 22 is installed below the first control board 21, the first energy transmission module 22 is electrically connected with the first control board 21, and the first energy transmission module 22 is wirelessly connected with a second control board 11 installed on the lower surface of the fixed chassis 10. The second control board 11 can transmit and/or receive data to the first control board 21 through the first energy transmission module 22, and the second control board 11 can also supply power to the first control board 21 through the first energy transmission module 22.
Therefore, the laser measuring device 100 of the present embodiment does not need to arrange a solid wire inside, and especially, the wire is not wound or even short-circuited when the rotating platform 20 rotates, so that the stability and durability of the laser measuring device 100 are increased, and the service life of the laser measuring device is prolonged.
In this embodiment, the upper surface of the second control board 11 includes a second energy transmission module 12 for establishing a coupling connection with the first energy transmission module 22.
As mentioned above, the second energy transmission module 12 is disposed on the upper surface of the second control board 11, and it can be understood that the second energy transmission module 12 is electrically connected to the second control board. The second control board may be wirelessly connected to the second energy transmission module 12 through the second energy transmission module 12, and specifically, the wireless connection between the first energy transmission module 22 and the second energy transmission module 12 may be a coupling connection.
Specifically, second energy transfer module 12 may send and/or receive data to first energy transfer module 22 and may also provide electrical energy to second energy transfer module 12.
In this embodiment, the fixed chassis 10 and the rotating platform 20 are both provided with through holes for wirelessly connecting the first energy transmission module 22 and the second energy transmission module 12.
In order to improve the transmission efficiency between the first energy transmission module 22 and the second energy transmission module 12, the fixed chassis 10 and the rotating platform 20 are respectively provided with through holes corresponding to the first energy transmission module 22 and the second energy transmission module 12. Therefore, the energy signal transmitted by the second energy transmission module 12 firstly passes through the through hole on the fixed chassis 10 and then passes through the through hole on the rotating platform 20 to reach the first energy transmission module 22.
In another embodiment, the second energy transmission module 12 may extend through the through hole of the fixed chassis 10 toward the inner cavity of the fixed chassis 10, and the first energy transmission module 22 extends from the through hole of the rotating platform 20 toward the inner cavity of the fixed chassis 10, so that the distance between the first energy transmission module 22 and the second energy transmission module 12 is shorter and the transmission efficiency is higher.
In this embodiment, a protruding ring 23 is disposed on a lower surface of the rotating platform 20, a bearing 40 is disposed in an inner cavity of the fixed chassis 10, the protruding ring 23 is connected to an outer ring of the bearing 40, an inner ring of the bearing 40 is fixedly connected to the fixed chassis 10, and a through hole of the fixed chassis 10 corresponds to an inner ring hole of the inner ring.
As described above, the first control plate 21 is disposed on the upper surface of the rotary platform 20, the protruding ring 23 is disposed on the lower surface of the rotary platform 20, the bearing 40 is fixedly mounted in the inner cavity of the fixed chassis 10, the inner ring of the bearing 40 is fixedly connected to the fixed chassis 10, and the protruding ring 23 is connected to the outer ring of the bearing 40. Accordingly, the rotary platform 20 can rotate on the fixed base plate 10 along the bearing 40. In addition, the inner ring hole of the inner ring of the bearing 40 corresponds to the through hole of the fixed chassis 10 and the rotating platform 20, so that the first energy transmission module 22 is wirelessly connected with the second energy transmission module 12.
The laser measuring device 100 of this embodiment further includes a code box 41 installed in the inner cavity of the fixed chassis 10 and a photoelectric sensor 42 installed on the first control board 21, where the photoelectric sensor 42 is used to record the rotation angle of the rotating platform 20 relative to the code box 41, and the rotating platform 20 is provided with a hole of the photoelectric sensor 42.
As described above, the stacking box 41 is installed in the inner cavity of the fixed chassis 10, specifically, the central hole of the stacking box 41 corresponds to the through holes of the fixed chassis 10 and the rotating platform 20, and the through hole of the rotating platform 20 is disposed at the center of the rotating platform 20. The first control plate 21 is further provided with a photoelectric sensor 42 for recording the rotation angle of the rotary platform 20 relative to the code box 41, the photoelectric sensor 42 is fixedly mounted on the lower surface of the rotary platform 20 and penetrates through the rotary platform 20 in the direction of the inner cavity of the fixed chassis 10, that is, the rotary platform 20 is provided with a photoelectric sensor 42 hole corresponding to the photoelectric sensor 42.
The laser measuring apparatus 100 of this embodiment further includes a motor 50 for driving the rotation platform to rotate with respect to the fixed chassis 10, the motor 50 is installed on one side of the fixed chassis 10, and the motor 50 is electrically connected to the first control board 21.
As described above, the first control board 21 is electrically connected to the motor 50, so that a control command for controlling the rotation direction and the rotation time of the motor 50 can be sent to the motor 50. Specifically, the motor 50 is mounted to one side of the fixed chassis 10.
In the present embodiment, the motor 50 is connected to the outer circumference of the rotary platform 20 by a belt 51 and drives the rotary platform 20 to rotate.
As described above, the motor 50 is connected to the outer circumference of the rotary platform 20 through the belt 51 to drive the rotary platform 20 to rotate.
In this embodiment, please refer to fig. 2, the TOF apparatus includes a laser module housing 31, and the laser module housing 31 includes: a transmitting light-gathering sheet 32 and a receiving light-gathering sheet 33 are arranged side by side on the light sheet side; a transmitting side, which is mounted with a laser generator 34; a receiving side, on which a light sensor 35 communicated with the receiving light-gathering sheet 33 is mounted; the light sheet side is parallel to the receiving side, the light sheet side is perpendicular to the emitting side, and the inner cavity of the laser module housing 31 includes a reflective mirror 36 for refracting the laser light of the laser generator 34 to the emission light-collecting sheet 32.
The light sheet side of the laser module housing 31 may be divided into two chambers side by side, wherein the chamber near the emitting side is provided with the emitting light-gathering sheet 32, and the other chamber is provided with the receiving light-gathering sheet 33. The laser generator 34 on the emission side emits a laser beam toward the inner cavity of the laser module case 31, and the laser beam is refracted by a light emitting mirror installed in the inner cavity of the laser module case 31 and then emitted outward toward the emission light-collecting sheet 32.
A light sensor 35 is installed on the receiving side parallel to the light sheet side, and the laser beam emitted from the laser generator 34 reaches an obstacle to generate reflected laser, and the light sensor 35 is configured to receive the emitted laser passing through the receiving light-condensing sheet 33.
In this embodiment, as shown in fig. 3, the TOF apparatus further includes a first signal processing board 37 and a second signal processing board 38, the first signal processing board 37 is mounted at the rear end of the laser generator 34, the second signal processing board 38 is mounted at the rear end of the optical sensor 35, an optical filter 39 is further included between the optical sensor 35 and the light-receiving and collecting sheet 33, and both the first signal processing board 37 and the second signal processing board 38 are electrically connected to the first control board 21.
A filter 39 for preprocessing the reflected laser beam is provided between the photo sensor 35 and the light receiving/condensing sheet 33. It is understood that the installation position of the photo sensor 35 corresponds to the position of the receiving light-gathering sheet 33. In addition, a first signal processing board 37 for controlling the operation of the laser generator 34 is provided at the rear end of the laser generator 34, and a second signal processing board 38 for receiving sensing data of the optical sensor 35 is provided at the rear end of the optical sensor 35. In this embodiment, the first control board 21 may control the operation of the laser generator 34 through the first signal processing board 37, and acquire the time when the light sensor 35 senses the reflected laser light through the second signal processing board 38, and the first control board 21 may calculate the time difference between the time when the laser generator 34 sends the laser light and the time when the reflected laser light is sensed, so as to obtain the distance between the TOF apparatus 30 and the obstacle.
Example 2
A sweeping robot comprising any of the laser measuring devices 100 described above.
The sweeping robot of the present embodiment includes the laser measuring device 100 of any one of embodiments 1.
Although terms indicating structures are used more often above, the possibility of using other terms is not excluded. These terms are used merely to more conveniently describe and explain the nature of the present invention; they are to be construed in a manner that is inconsistent with the spirit of the invention.
The above description is only for the specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto, and any person skilled in the art can easily think of the changes or substitutions within the technical scope of the present invention, and all should be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. Laser measuring device, its characterized in that includes:
fixing the chassis;
the rotating platform is arranged in the inner cavity of the fixed chassis;
a first control plate installed on an upper surface of the rotary platform;
the second control plate is arranged on the lower surface of the fixed chassis;
the TOF device is arranged on the upper surface of the first control plate and used for measuring distance data of the periphery;
the first energy transmission module is installed on the lower surface of the first control board, and the first control board is coupled with the second control board through the first energy transmission module.
2. The laser measuring device of claim 1, wherein an upper surface of the second control board includes a second energy transfer module for establishing a coupling connection with the first energy transfer module.
3. The laser measuring device of claim 2, wherein the fixed chassis and the rotating platform are each provided with a through hole for wirelessly connecting the first energy transmission module and the second energy transmission module.
4. The laser measuring device according to claim 3, wherein a protruding ring is disposed on a lower surface of the rotating platform, a bearing is disposed in an inner cavity of the fixed chassis, the protruding ring is connected to an outer ring of the bearing, an inner ring of the bearing is fixedly connected to the fixed chassis, and a through hole of the fixed chassis corresponds to an inner ring hole of the inner ring.
5. The laser measuring device as claimed in claim 1, further comprising a code box mounted in the inner cavity of the fixed chassis and a photoelectric sensor mounted on the first control board, wherein the photoelectric sensor is used for recording the rotation angle of the rotating platform relative to the code box, and the rotating platform is provided with a photoelectric sensor hole.
6. The laser measuring device of claim 1, further comprising a motor for driving the rotating platform to rotate relative to the fixed chassis, wherein the motor is mounted on one side of the fixed chassis, and the motor is electrically connected to the first control board.
7. The laser measuring device according to claim 6, wherein the motor is connected to an outer periphery of the rotary stage by a belt and drives the rotary stage to rotate.
8. The laser measurement device of claim 1, wherein the TOF apparatus comprises a laser module housing comprising:
the device comprises a light sheet side and a light source side, wherein the light sheet side is provided with a transmitting light-gathering sheet and a receiving light-gathering sheet in parallel;
a transmitting side, the transmitting side being mounted with a laser generator;
the receiving side is provided with a light sensor communicated with the receiving light-gathering piece;
the laser module shell comprises a receiving side, a transmitting side and a laser module shell, wherein the receiving side is parallel to the laser module shell, the transmitting side is perpendicular to the laser module shell, and the inner cavity of the laser module shell comprises a reflector for refracting laser of the laser generator to the transmitting light-gathering piece.
9. The laser measuring device of claim 8, wherein the TOF apparatus further comprises a first signal processing board and a second signal processing board, the first signal processing board is installed at a rear end of the laser generator, the second signal processing board is installed at a rear end of the optical sensor, an optical filter is further included between the optical sensor and the light-receiving and focusing sheet, and the first signal processing board and the second signal processing board are both electrically connected to the first control board.
10. A sweeping robot, characterized in that it comprises a laser measuring device according to any one of claims 1-9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920718492.6U CN210008978U (en) | 2019-05-16 | 2019-05-16 | Laser measuring device and robot of sweeping floor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920718492.6U CN210008978U (en) | 2019-05-16 | 2019-05-16 | Laser measuring device and robot of sweeping floor |
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| Publication Number | Publication Date |
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| CN210008978U true CN210008978U (en) | 2020-02-04 |
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| CN201920718492.6U Active CN210008978U (en) | 2019-05-16 | 2019-05-16 | Laser measuring device and robot of sweeping floor |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111381241A (en) * | 2020-03-31 | 2020-07-07 | 深圳市银星智能科技股份有限公司 | Laser radar and cleaning robot |
| WO2021196467A1 (en) * | 2020-03-31 | 2021-10-07 | 深圳市银星智能科技股份有限公司 | Cleaning robot |
-
2019
- 2019-05-16 CN CN201920718492.6U patent/CN210008978U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111381241A (en) * | 2020-03-31 | 2020-07-07 | 深圳市银星智能科技股份有限公司 | Laser radar and cleaning robot |
| WO2021196467A1 (en) * | 2020-03-31 | 2021-10-07 | 深圳市银星智能科技股份有限公司 | Cleaning robot |
| US11910975B2 (en) | 2020-03-31 | 2024-02-27 | Shenzhen Silver Star Intelligent Group Co., Ltd. | Cleaning robot |
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