CN219758510U - Laser sensor and mobile robot - Google Patents

Abstract

The embodiment of the utility model discloses a laser sensor and a mobile robot, and relates to the technical field of laser ranging. The laser sensor comprises a transmitting assembly, a bracket provided with a first mounting hole for forming a first light path, and a lens and a receiving module which are sequentially arranged along the first light path. The lens can move along the first mounting hole to adjust the position between the lens and the receiving module, so that the size and the intensity of the light beam spot focused on the receiving module can be adjusted to meet the use requirement. The camera lens can with first mounting hole fixed connection to avoid adopting helicitic texture and leg joint, saved the screw thread machining process of camera lens, reduced the camera lens processing time length, reduced camera lens processing cost, simultaneously, camera lens and leg joint, because of screw thread machining precision is not high when avoiding adopting threaded joint, form the clearance between camera lens and support easily, lead to the relative support of camera lens to rock the problem, promoted the connection reliability between camera lens and the support.

Description

Laser sensor and mobile robot

Technical Field

The utility model relates to the technical field of laser ranging, in particular to a laser sensor and a mobile robot.

Background

The laser sensor is an active remote sensing device which uses a laser as an emission light source and adopts photoelectric detection technology means, has the advantages of high measurement precision, good directivity and the like, and is widely applied to intelligent devices such as automatic driving, intelligent robot navigation, unmanned aerial vehicles and the like.

The laser sensor is generally composed of a support, a transmitting assembly, a lens, a receiving module, a circuit board and other elements, in the related art, the lens is generally connected with the support through a threaded structure, so that the lens is long in processing time and high in cost, when the processing precision of threads is low, gaps are easily formed between the lens and the support, the lens is rocked relative to the support, and the reliability is poor.

Disclosure of Invention

Based on this, it is necessary to provide a laser sensor and a mobile robot, which aim to solve the technical problems of high cost of the lens and poor connection reliability with the bracket caused by threaded connection of the lens and the bracket in the existing laser sensor.

In order to solve the technical problems, the first technical scheme adopted by the utility model is as follows:

a laser sensor, comprising:

a transmitting assembly for transmitting a laser signal;

the bracket is provided with a first mounting hole so as to form a first light path after the laser signal is transmitted through the transmitting component, and the transmitting component is arranged on the bracket;

the lens is used for focusing the reflected laser signals on the receiving module, and the lens moves along the axial direction of the first mounting hole and is fixedly connected with the first mounting hole.

In some embodiments of the laser sensor, the first mounting hole comprises a first hole wall, the first hole wall comprises a body and a protruding portion protruding on the body, and the outer wall of the lens is in tight fit connection with the protruding portion.

In some embodiments of the laser sensor, the protrusions are strip-shaped and extend in an axial direction parallel to the first mounting hole, the number of the protrusions is more than three, and each protrusion is uniformly distributed along the circumferential direction of the first hole wall.

In some embodiments of the laser sensor, the body is provided with a notch for improving the deformation capability of the bracket, and the notch penetrates through the bracket along the radial direction of the first mounting hole.

In some embodiments of the laser sensor, the lens comprises a lens and a lens barrel sleeved on the lens, and the lens barrel is fixedly connected with the first mounting hole; or (b)

The lens comprises a lens, and the lens is installed in the first installation hole and fixedly connected with the first installation hole.

In some embodiments of the laser sensor, a mounting groove is formed in the bracket, the laser sensor includes a circuit board provided with the receiving module, and the circuit board is mounted in the mounting groove and can move along the opening direction of the mounting groove so as to adjust the position of the receiving module relative to the lens along the radial direction of the first mounting hole.

In some embodiments of the laser sensor, the laser sensor further comprises a resilient member sandwiched between the circuit board and a slot wall of the mounting slot.

In some embodiments of the laser sensor, the elastic member includes a fixing portion and an elastic portion, the fixing portion is disposed on the slot wall or the circuit board, and the elastic portion is connected to the fixing portion and forms a deformation space with the fixing portion.

In some embodiments of the laser sensor, a guide surface is provided on a side of the elastic portion facing away from the deformation space; one end of the elastic part is connected with the fixing part, and the other end of the elastic part is connected with the guide surface and is suspended on the fixing part.

In order to solve the technical problems, the second technical scheme adopted by the utility model is as follows:

the mobile robot comprises a robot main body and the laser sensor, wherein the laser sensor is arranged on the robot main body.

The implementation of the embodiment of the utility model has the following beneficial effects:

the laser sensor is applied to the mobile robot, and can assist the mobile robot in obstacle recognition, ranging, map building positioning, road edge detection and the like. Specifically, the laser sensor comprises a transmitting assembly for transmitting laser signals, a bracket provided with a first mounting hole to form a first light path, a lens and a receiving module which are sequentially arranged along the first light path. The lens can move along the first mounting hole to adjust the position between the lens and the receiving module, so that the size and the intensity of the reflected laser signal light spot focused on the receiving module can be adjusted to meet the use requirement. Further, the camera lens can with first mounting hole fixed connection to avoid adopting screw structure and leg joint, saved the screw thread machining process of camera lens, reduced the camera lens processing duration, reduced camera lens processing cost, simultaneously, camera lens and leg joint, because of screw thread machining precision is not high when avoiding adopting screw thread joint, form the clearance easily between camera lens and support, lead to the relative support of camera lens to rock the problem, promoted the connection reliability between camera lens and the support.

Drawings

In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the utility model, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Wherein:

FIG. 1 is a perspective view of a laser sensor in one embodiment;

FIG. 2 is a schematic diagram of an exploded construction of the laser sensor shown in FIG. 1;

FIG. 3 is an enlarged schematic view of the portion A in FIG. 2;

FIG. 4 is a top view of the laser sensor shown in FIG. 1;

FIG. 5 is a cross-sectional view taken along B-B in FIG. 3;

FIG. 6 is an enlarged view of the portion C of FIG. 5;

FIG. 7 is a schematic diagram illustrating the assembly of the circuit board and the elastic member in the laser sensor shown in FIG. 1;

fig. 8 is an enlarged view of the portion D in fig. 7.

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. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.

In the description of the present utility model, it should be noted that, if the terms "upper", "lower", "inner", "outer", and the like indicate an azimuth or a positional relationship based on the azimuth or the positional relationship shown in the drawings, or the azimuth or the positional relationship in which the inventive product is conventionally put in use, it is merely for convenience of describing the present utility model and simplifying the description, and it is not indicated or implied that the apparatus or element referred to must have a specific azimuth, be configured and operated in a specific azimuth, and thus it should not be construed as limiting the present utility model.

Furthermore, the terms "first," "second," and the like, if any, are used merely for distinguishing between descriptions and not for indicating or implying a relative importance.

It should be noted that the features of the embodiments of the present utility model may be combined with each other without conflict.

The laser sensor is an active remote sensing device which uses a laser as an emission light source and adopts photoelectric detection technology means, has the advantages of high measurement precision, good directivity and the like, and is widely applied to intelligent devices such as automatic driving, intelligent robot navigation, unmanned aerial vehicles and the like.

The laser sensor is generally composed of a support, a transmitting assembly, a lens, a receiving module, a circuit board and other elements, in the related art, the lens is generally connected with the support through a threaded structure, so that the lens is long in processing time and high in cost, when the processing precision of threads is low, gaps are easily formed between the lens and the support, and the lens can shake relative to the support, so that the reliability is poor.

Further, the support of the existing laser sensor is of a split structure, the support is easy to loose in reliability test, and relative displacement of each component of the support is easy to occur. Meanwhile, the split structure causes the expansion relative displacement of each component part of the bracket to be asynchronous, so that the relative positions of the transmitting assembly and the lens are changed, and the ranging precision is poor. The split structure adopts screw fastening, falls/temperature cycle/damp and hot test in, easily takes place to loosen and takes off, and range finding precision becomes poor.

In order to solve the technical problems, the embodiment of the utility model provides a mobile robot, which comprises a robot main body and a laser sensor, wherein the laser sensor is arranged on the robot main body. Referring to fig. 1, 2, 4 and 5, the laser sensor includes a transmitting assembly 10, a bracket 20, a lens 31, a receiving module 32 and a circuit board 40. Wherein the emitting assembly 10 is used for emitting laser signals. The bracket 20 is provided with a first mounting hole 100 to form a first optical path after the laser signal is emitted through the emitting assembly 10. The transmitting assembly 10 is provided to the stand 20. The lens 31 and the receiving module 32 are disposed in this order along the first optical path. In this embodiment, the first optical path is parallel to the direction indicated by the arrow X in fig. 1. The lens 31 is used to focus the reflected laser signal on the receiving module 32. The receiving module 32 is configured to receive the reflected laser light signal and convert it into an electrical signal. The lens 31 moves along the axial direction of the first mounting hole 100 and is fixedly connected to the first mounting hole 100. Wherein, the fixed connection comprises plugging, clamping or bonding, etc. The receiving module 32 is disposed on the circuit board 40 and is connected to the bracket 20 through the circuit board 40.

The laser sensor can be used for obstacle recognition, ranging, map building positioning or road edge detection and the like. The specific working principle is as follows: after the laser sensor is started, the emission component 10 can be used for emitting laser signals to peripheral target objects, and the laser signals irradiate the target objects and are reflected; then, the laser signal reflected by the target object may be focused on the receiving module 32 through the lens 31, and the receiving module 32 may perform photoelectric conversion after receiving the reflected laser signal, generate an electrical signal, and process the electrical signal to obtain relevant parameter information of the target object, for example, parameter information such as distance, azimuth, speed, altitude, posture, shape, etc. of the target object relative to the laser sensor.

In summary, the implementation of the embodiment of the utility model has the following beneficial effects: the laser sensor is applied to the mobile robot, and can assist the mobile robot in obstacle recognition, ranging, map building positioning, road edge detection and the like. Specifically, the laser sensor includes a transmitting assembly 10 for transmitting a laser signal, a bracket 20 provided with a first mounting hole 100 to form a first optical path, a lens 31 and a receiving module 32 sequentially disposed along the first optical path, and a circuit board 40. The lens 31 can move along the first mounting hole 100 to adjust the position between the lens 31 and the receiving module 32, so that the size and intensity of the reflected laser signal spot focused on the receiving module 32 can be adjusted to meet the use requirement. Further, the lens 31 can be fixedly connected with the first mounting hole 100, so that the threaded structure is prevented from being connected with the support 20, the threaded processing procedure of the lens 31 is saved, the processing time of the lens 31 is reduced, the processing cost of the lens 31 is reduced, meanwhile, the lens 31 is fixedly connected with the support 20, the problem that when the threaded connection is adopted, due to low threaded processing precision, a gap is easily formed between the lens 31 and the support 20, the lens 31 shakes relative to the support 20 is avoided, and the connection reliability between the lens 31 and the support 20 is improved.

In one embodiment, referring to fig. 3 and fig. 5 together, the first mounting hole includes a first hole wall 21, the first hole wall 21 includes a main body 211 and a protruding portion 212 protruding from the main body 211, and an outer wall of the lens 31 is tightly coupled to the protruding portion 212. So can reduce the area of connection between camera lens 31 and the body 211 through the setting of bellying 212, and then reduce the area of connection with between the first pore wall 21, can conveniently drive camera lens 31 through external force when tight fit to make camera lens 31 can follow the axial displacement of first mounting hole 100, with adjusting camera lens 31 and receiving module 32 position, and then adjust and focus on the reflected laser signal spot size and intensity on the receiving module 32.

In one embodiment, referring to fig. 3 and 5, the protruding portion 212 is strip-shaped and extends along an axial direction parallel to the first mounting hole 100, so as to ensure a larger connection area between the protruding portion 212 and the side wall of the lens 31, and ensure stability of the tight fit. Further, the number of the protruding portions 212 is more than three, and each protruding portion 212 is uniformly distributed along the circumferential direction of the first hole wall 21, so as to further improve the stability of the tight fit between the lens 31 and the bracket 20. Specifically, the respective bosses 212 are uniformly distributed in the circumferential direction of the first hole wall 21 around the axis 360 ° of the first mounting hole 100 and the lens 31 is disposed coaxially with the first mounting hole 100. In addition, in order to further improve the connection stability between the lens 31 and the bracket 20, the dispensing process may be performed at the gap between the lens 31 and the bracket 20. Further, the dimensions of each boss 212 in the axial direction of the first mounting hole 100 are the same. It is understood that in other embodiments, the dimensions of each boss 212 along the axis of the first mounting hole 100 may not be identical.

In an embodiment, referring to fig. 1 and fig. 2 together, the main body 211 is provided with a notch 200 to improve the deformability of the bracket 20, reduce the magnitude of an external force driving the lens 31 to move relative to the first mounting hole 100, and simultaneously, the first hole wall 21 can be elastically abutted to the lens 31 to further improve the reliability between the lens 31 and the bracket 20. In this embodiment, the notch 200 penetrates the bracket 20 along the radial direction of the first mounting hole 100, so as to further enhance the deformability of the bracket 20.

In one embodiment, please combine fig. 1, fig. 2 and fig. 4 together, the bracket 20 is integrally formed, so as to avoid the risk of relative displacement of each component caused by the split structure, and improve reliability. Meanwhile, the locking screw adopted when all components in the split structure are connected is omitted, so that the process of the laser sensor is simplified, the production efficiency is improved, and the cost is reduced.

In one embodiment, please combine fig. 1, 2, 4 and 5, the lens 31 includes a lens and a barrel sleeved on the lens, and the barrel is fixedly connected with the first mounting hole 100. Therefore, the processing of the thread structure on the lens barrel can be avoided, and the processing procedure is saved, so that the cost is reduced. The lens cone can provide protection for the lens, and the working stability of the lens can be guaranteed.

It will be appreciated that in other embodiments, the lens 31 includes a lens that is mounted in the first mounting hole 100 and fixedly coupled to the first mounting hole 100. In this way, the lens barrel can be omitted, and the lens can be directly connected with the bracket 20 through the lens, so that the lens is arranged on the first optical path. Therefore, the assembly process of the lens and the lens barrel is avoided, the process is further simplified, and the cost is reduced.

In one embodiment, referring to fig. 1, 2 and 5, the bracket 20 is provided with a mounting groove 300. The circuit board 40 is mounted in the mounting groove 300 and can move along the opening direction of the mounting groove 300 to adjust the position of the receiving module 32 relative to the lens 31 along the radial direction of the first mounting hole 100, so that the receiving module 32 can be positioned at the focusing position of the lens 31, and the peak value of the reflected laser signal reaches the specification requirement.

In one embodiment, as shown in fig. 5, 7 and 8, the laser sensor further includes an elastic member 50, and the elastic member 50 is clamped between the circuit board 40 and the groove wall of the mounting groove 300. So can make things convenient for circuit board 40 to remove relative mounting groove 300 through setting up of elastic component 50, utilize the elastic force that elastic component 50 resetted to produce simultaneously can promote the connection stability between circuit board 40 and the support 20, avoid causing circuit board 40 to remove for support 20 because of gravity or other slight vibrations, guarantee the position stability between camera lens 31 and the receiving module 32.

In one embodiment, as shown in fig. 8, the elastic member 50 includes a fixing portion 51 and an elastic portion 52, and the fixing portion 51 is disposed on the slot wall or the circuit board 40. In the present embodiment, the fixing portion 51 is disposed on the circuit board 40. It will be appreciated that in other embodiments, the securing portion 51 may also be provided on the slot wall. Further, the elastic portion 52 is connected to the fixing portion 51 and forms a deformation space 400 with the fixing portion 51.

In one embodiment, referring to fig. 8, a guiding surface 521 is disposed on a side of the elastic portion 52 facing away from the deformation space 400, so as to facilitate deformation of the elastic portion 52 when the circuit board 40 contacts with the slot wall, and facilitate rapid assembly of the circuit board 40 and the bracket 20.

In one embodiment, with continued reference to fig. 8, one end of the elastic portion 52 is connected to the fixing portion 51, and the other end is connected to the guiding surface 521 and suspended on the fixing portion 51. This allows the elastic portion 52 to have a larger deformation amount and generate a larger elastic force during the resetting to ensure the connection stability of the circuit board 40 and the bracket 20. It will be understood that in other embodiments, both ends of the elastic portion 52 are connected to the fixing portion 51, so as to form a head-tail connection structure of the elastic portion 52 and the fixing portion 51, and the positions of the elastic portion 52 near the ends thereof may be provided with guide surfaces 521, so as to facilitate installation in the installation slot 300 from two directions.

In one embodiment, referring to fig. 1, 2 and 5, the bracket 20 is provided with a avoiding space 500, and the avoiding space 500 communicates with the mounting groove 300. So can conveniently set up components and parts on circuit board 40 through the setting of dodging space 500, dodge the wiring of circuit board 40 simultaneously.

In one embodiment, please combine fig. 1, 2, 4, 5 and 6, the bracket 20 is provided with a second mounting hole 600 to form a second optical path. In this embodiment, the second optical path is parallel to the direction indicated by the arrow Y in fig. 1. The emission assembly 10 includes a laser light source 11 and a lens 12 disposed in sequence along a second optical path. The laser signal emitted from the laser light source 11 can be transmitted outward through the lens 12, and the laser light source 11 and the lens 12 are installed in the second installation hole 600. In this way, the sleeve structure for connecting the laser light source 11 and the lens 12 can be omitted, and the laser light source 11 and the lens 12 can be directly connected to the bracket 20 through the laser light source 11 and the lens 12, thereby realizing the arrangement of the laser light source 11 and the lens 12 on the second optical path. Therefore, the assembly process of the laser light source 11, the lens 12 and the sleeve structure is avoided, the process is further simplified, and the cost is reduced. Meanwhile, the sleeve structure is omitted, locking screws adopted during installation of the sleeve structure and the support 20 can be omitted, reliability is improved, and meanwhile, the process of the laser sensor is simplified, production efficiency is improved, and cost is reduced. It will be appreciated that in other embodiments, the emitting assembly 10 includes a laser source 11, a lens 12 and a sleeve structure disposed in sequence along the second optical path, the laser source 11 and the lens 12 being disposed in the sleeve structure and mounted in the second mounting hole 600 by the sleeve structure.

In one embodiment, as shown in fig. 5 and 6, the laser light source 11 can be moved along the second mounting hole 600 to adjust the position between the laser light source 11 and the lens 12 so that the laser light source 11 is at the focus of the lens 12, thereby making the spot of the laser signal after passing through the lens 12 small and high in brightness. Further, the laser light source 11 can be fixedly connected with the second hole wall 22 of the bracket 20 for forming the second mounting hole 600, thereby improving connection reliability.

In one embodiment, as shown in fig. 6, the laser light source 11 includes a light source base 111 and a light source body 112. The diameter of the light source body 112 is smaller than the diameter of the base. The second mounting hole 600 includes a first receiving hole 601 and a first fixing hole 602, the diameter of the first receiving hole 601 is larger than that of the first fixing hole 602, the light source base 111 is disposed in the first receiving hole 601, and the light source main body 112 extends from the first receiving hole 601 and is connected with the first fixing hole 602 in a tight fit. Therefore, the connection area between the laser light source 11 and the second hole wall 22 can be increased, and the connection stability is improved. At the same time, the entire aperture of the second mounting hole 600 is prevented from becoming large, and laser signal divergence is prevented.

In one embodiment, referring to fig. 6, the first receiving hole 601 is filled with sealant at a position where the light source base 111 is not disposed, so as to form a seal between the light source base 111 and the second hole wall 22, thereby preventing a short circuit of the circuit.

In one embodiment, referring to fig. 6, the second mounting hole 600 further provides the second receiving hole 221 and the second fixing hole 900. The diameter of the second receiving hole 221 is not smaller than the diameter of the lens 12, the diameter of the second fixing hole 900 is smaller than the diameter of the light emitting surface of the lens 12, the lens 12 is disposed in the second receiving hole 221, and the light emitting surface of the lens is abutted to the extension of the second fixing hole 900. . So can make things convenient for the location installation of lens 12 through the setting of second mounting hole 600, guarantee its position accuracy, increased the area of connection between lens 12 and support 20 simultaneously, promote the connection stability between lens 12 and the support 20.

In one embodiment, referring to fig. 6, the light emitting surface of the lens 12 and the extension of the second fixing hole 900 are bonded by an adhesive, so as to further improve the connection stability between the lens 12 and the bracket 20.

In one embodiment, as shown in fig. 1 and 2, the bracket 20 is provided with a dispensing hole 800, and the dispensing hole 800 communicates with the second mounting hole 600. Further, the dispensing hole 800 is located at the mounting position of the lens 12, so as to fix the lens 12 and the second hole wall 22 by dispensing.

In one embodiment, referring to fig. 1, 2, 4 and 5, the bracket 20 is provided with an extension portion 23, and the second mounting hole 600 penetrates the extension portion 23, so that the axial dimension of the second mounting hole 600 is extended due to a certain divergence of the laser signal emitted by the laser source 11, so that the laser signal with an excessively large part of divergence angle can be shielded, and the excessive light spot of the laser signal transmitted by the laser sensor can be avoided.

The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.

The foregoing disclosure is illustrative of the present utility model and is not to be construed as limiting the scope of the utility model, which is defined by the appended claims.

Claims (10)

1. A laser sensor, comprising:

a transmitting assembly (10) for transmitting a laser signal;

the bracket (20) is provided with a first mounting hole (100) so as to form a first light path after a laser signal is emitted by the emitting component (10), and the emitting component (10) is arranged on the bracket (20);

the lens (31) is used for focusing the reflected laser signals on the receiving module (32), and the lens (31) moves along the axial direction of the first mounting hole (100) and is fixedly connected with the first mounting hole (100).

2. The laser sensor according to claim 1, wherein the first mounting hole comprises a first hole wall (21), the first hole wall (21) comprises a body (211) and a protruding portion (212) protruding on the body (211), and an outer wall of the lens (31) is in tight fit connection with the protruding portion (212).

3. The laser sensor according to claim 2, wherein the protrusions (212) are stripe-shaped and extend in an axial direction parallel to the first mounting hole (100), the number of the protrusions (212) is three or more, and each protrusion (212) is uniformly distributed in a circumferential direction of the first hole wall (21).

4. A laser sensor according to claim 3, characterized in that the body (211) is provided with a notch (200) for improving the deformability of the bracket (20), the notch (200) extending through the bracket (20) in the radial direction of the first mounting hole (100).

5. The laser sensor according to claim 1, characterized in that the lens (31) comprises a lens and a barrel sleeved on the lens, the barrel being fixedly connected with the first mounting hole (100); or (b)

The lens (31) comprises a lens, and the lens is installed in the first installation hole (100) and is fixedly connected with the first installation hole (100).

6. The laser sensor according to any one of claims 1 to 5, characterized in that a mounting groove (300) is provided on the bracket (20), the laser sensor comprising a circuit board (40) provided with the receiving module (32), the circuit board (40) being mounted to the mounting groove (300) and being movable in the opening direction of the mounting groove (300) to adjust the position of the receiving module (32) relative to the lens (31) in the radial direction of the first mounting hole (100).

7. The laser sensor according to claim 6, further comprising an elastic member (50), the elastic member (50) being sandwiched between the circuit board (40) and a groove wall of the mounting groove (300).

8. The laser sensor according to claim 7, characterized in that the elastic member (50) comprises a fixing portion (51) and an elastic portion (52), the fixing portion (51) being provided on the groove wall or the circuit board (40), the elastic portion (52) being connected with the fixing portion (51) and forming a deformation space (400) with the fixing portion (51).

9. The laser sensor according to claim 8, characterized in that a side of the elastic portion (52) facing away from the deformation space (400) is provided with a guide surface (521); one end of the elastic part (52) is connected with the fixed part (51), and the other end is connected with the guide surface (521) and is suspended on the fixed part (51).

10. Mobile robot comprising a robot body and a laser sensor according to any of claims 1 to 9, said laser sensor being arranged on said robot body.