CN108802752A - The optics module of barrier is surveyed for robot ranging - Google Patents
The optics module of barrier is surveyed for robot ranging Download PDFInfo
- Publication number
- CN108802752A CN108802752A CN201811044288.7A CN201811044288A CN108802752A CN 108802752 A CN108802752 A CN 108802752A CN 201811044288 A CN201811044288 A CN 201811044288A CN 108802752 A CN108802752 A CN 108802752A
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- Prior art keywords
- led element
- barrier
- robot
- light
- ranging
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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- 230000004888 barrier function Effects 0.000 title claims abstract description 45
- 230000003287 optical effect Effects 0.000 claims abstract description 34
- 238000009434 installation Methods 0.000 claims abstract description 7
- 230000008054 signal transmission Effects 0.000 claims abstract description 7
- 238000005259 measurement Methods 0.000 claims abstract description 5
- 239000000835 fiber Substances 0.000 claims description 14
- 230000005540 biological transmission Effects 0.000 claims description 6
- 238000001514 detection method Methods 0.000 claims description 4
- 238000004519 manufacturing process Methods 0.000 abstract description 8
- 238000010408 sweeping Methods 0.000 description 17
- 238000010586 diagram Methods 0.000 description 5
- 238000003780 insertion Methods 0.000 description 5
- 230000037431 insertion Effects 0.000 description 5
- 239000000463 material Substances 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 238000001914 filtration Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000012546 transfer Methods 0.000 description 2
- 238000005406 washing Methods 0.000 description 2
- 206010063385 Intellectualisation Diseases 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 238000004806 packaging method and process Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
- G01S7/4818—Constructional features, e.g. arrangements of optical elements using optical fibres
Landscapes
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Electromagnetism (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The present invention is provided to the optics modules that barrier is surveyed in robot ranging, including pcb board, are installed on robot interior, as the carrier of installation electronic component, including transmitting LED element, are welded on pcb board；First flexible light-conducting device, one end stretch to robot interior, and are directed at transmitting LED element, optical signal transmission are gone out, the other end is fixed in robot shells；LED element is received, is welded on pcb board, is directed at the second flexible light-conducting device；The optical signal that LED element is launched will be emitted, reception LED element is imported by the second flexible light-conducting device after barrier reflects, receives LED element by converting optical signals to electric signal, realization is adjusted the distance and/or the measurement of barrier judges.Second flexible light-conducting device, one end are fixed on robot shells, and one end, which is fixed on robot interior and is aligned, receives LED；The present invention surveys the structure of barrier module, it can be achieved that the function of barrier is surveyed in ranging by optimizing ranging, and easy to assembly simple, production capacity greatly improves, and overall cost is reduced more than 50%.
Description
Technical field
The present invention relates to ranging inductor technical field, more particularly to a kind of optical mode for surveying barrier for robot ranging
Group.
Background technology
With the arrival of intellectualization times, the people that are produced as of various smart machines bring huge facility.It sweeps the floor machine
People can mitigate the housework burden of people as a kind of intelligent robot of automated cleaning.Due to there is step and numerous within doors
Barrier, in order to avoid sweeping robot falls from step or encounters barrier, this field skill in the process of work
Art personnel can survey barrier module in the bottom of sweeping robot and side installation ranging.
Barrier module 1 is surveyed in ranging in the prior art, and structure is as described in Figure 1, including shell 11, and enclosure is equipped with one
Pcb board 12, being welded on pcb board 12 has transmitting LED element 13, receives LED element 14 and transfer plug 15, and the lower part of shell 11 is also
Optical lens 16 equipped with one for filtering light wave, shell are assembled with unification rear cover 17, are formed an independent ranging and are surveyed barrier
Module；In use, needing sweeping robot to open up the mounting groove for installing module in the specific position of shell, then by module
It is put into fixing at mounting groove, further needing exist for will be inside the pcb board and sweeping robot in module by a connecting line
Master control pcb board is electrically connected.
It is found during practicality, barrier module is surveyed in existing ranging, and there are following drawbacks：1, barrier module component is surveyed in ranging
More, worker needs to take a substantial amount of time when assembling module, and packaging efficiency is low；2, manufacturing cost is high, and barrier module portion is surveyed in ranging
Part is more, and using individual pcb board for be welded light-sensitive element and connector socket, manufacturing process is complicated and expends a large amount of
Material and cost of labor；3, angle is non-adjustable, and surveying barrier module due to ranging can only be loaded in mounting groove, and shell is once
After die sinking, the module that barrier is surveyed in ranging is difficult to adjust the angle.
Therefore it needs to improve.
Invention content
The purpose of the present invention, which is that, provides a kind of optics module for surveying barrier for robot ranging, to solve above-mentioned ask
Topic.
The present invention is achieved through the following technical solutions above-mentioned purpose：
The optics module of barrier, including pcb board are surveyed for robot ranging, are installed on the robot interior using the optics module,
As the carrier of installation electronic component, further includes transmitting LED element, be welded on pcb board, convert electrical signals to optical signal
And launch；First flexible light-conducting device, one end stretch to robot interior, and are directed at the transmitting LED element, will be described
The optical signal transmission that transmitting LED element emits is gone out, and the other end is fixed in robot shells, is come out transmission with realizing
Optical signal export to any direction；Receive LED element, be welded on pcb board, for receive transmitting LED element send out and by
The reflected optical signal of barrier, is converted into electric signal, to realize whether measurement distance or detection front have obstacle
Object；Second flexible light-conducting device, one end are fixed on robot shells, are used for transmission reflected optical signal, other end alignment
The reception LED element, to realize the optical signal transmission that will reflect back into and at the reception LED element.
As the further technical solution of the present invention, the transmitting LED element selects infrared LED emitting diode, described
It receives LED element and selects infrared LED reception diode.
As the further technical solution of the present invention, the transmitting LED element selects direct insertion infrared LED to emit two poles
Pipe, the reception LED element select direct insertion infrared LED reception diode.
As the further technical solution of the present invention, the transmitting LED element selects patch type infrared LED to emit two poles
Pipe, the reception LED element select patch type infrared LED reception diode.
As the further technical solution of the present invention, the first flexible light-conducting device includes light-conductive optic fibre and optical lens
The both ends of mirror, the light-conductive optic fibre are equipped with fastener for fixing, and the optical lens is fixed or dismounted setting and buckling
In part.
As the further technical solution of the present invention, the knot of the second flexible light-conducting device and the first flexible light-conducting device
Structure is identical.
As the further technical solution of the present invention, a straight slot, the end of the light-conductive optic fibre are equipped in the fastener
It is inserted in the straight slot.
As the further technical solution of the present invention, the transmitting LED element and reception LED element are all made of the side that side fills
Formula is welded on the pcb board.
The beneficial effects of the present invention are：1, the present invention surveys the structure of barrier module by optimizing ranging, on arbitrary pcb board
Increase setting transmitting LED element, receive LED element, the first flexible light-conducting device and the second flexible light-conducting device, you can realizes and survey
Away from the function of surveying barrier, easy to assembly simple, production capacity increases substantially；2, unnecessary component is reduced, system need not be separately molded
Make the shell and cover board of optics module, transmitting LED element and reception LED element can also be directly welded at robot interior
On PCB, a large amount of material and artificial manufacturing cost are saved, overall cost is reduced more than 50%；3, the first flexible light-conducting device is selected
The delivery vehicles of part and the second flexible light-conducting device as optical signal, since material itself can arbitrarily bend distortion, light
Learning the ranging survey barrier angle of module can also arbitrarily adjust, to realize raising measurement accuracy.
Description of the drawings
Attached drawing a is the configuration schematic diagram that barrier optical mould is surveyed in ranging in the prior art in Fig. 1, and attached drawing b is in technology
The assembling structure schematic diagram of barrier optical mould is surveyed in ranging；
Fig. 2 is the overall structure diagram that barrier optics module is surveyed in ranging of the present invention；
Fig. 3 is the configuration schematic diagram of the first flexible light-conducting device；
Fig. 4 is the fundamental diagram of the present invention.
Specific implementation mode
The invention will be further described below in conjunction with the accompanying drawings：
The sweeping robot of the prior art all surveys barrier module, including shell 11, enclosure using ranging as described in Figure 1 mostly
Equipped with a pcb board 12, being welded on pcb board 12 has transmitting LED element 13, receives LED element 14 and transfer plug 15, shell 11
Lower part is additionally provided with an optical lens 16 for filtering light wave, and shell is assembled with unification rear cover 17, forms an independent survey
Hinder module away from surveying；However the design of this modular structure is unreasonable, there are shortcomings, in order to solve existing in the prior art ask
Topic, the present invention propose embodiment in detail below.
As shown in Fig. 2, a kind of optics module for surveying barrier for robot ranging, including pcb board 2, transmitting LED element 3, connect
LED element 4, the first flexible light-conducting device 5 and the second flexible light-conducting device 6 are received, pcb board 2, which is installed on, to be needed to use the optics
The robot interior of module, the pcb board can be the pcb board of robot itself, or be individually increased to be made exclusively for carrier
Pcb board, as the carrier of installation electronic component, pcb board 2 signified in the present embodiment is to realize robot interior work(
The pcb board 2 that there must be described in energy, and it is not wishing to the pcb board individually added required for the prior art 2, component is few, easy to assembly
Simply, production capacity increases substantially.
In the present embodiment, the transmitting LED element 3 selects direct insertion infrared LED reception diode, emits LED element 3
It is welded on the pcb board 2, converts electrical signals to optical signal and launch, in the present embodiment, the transmitting LED members
Part 3 selects infrared LED emitting diode, preferably direct insertion infrared LED emitting diode.
As shown in figure 3, the first flexible light-conducting device 5 includes light-conductive optic fibre 51 and optical lens 52, the leaded light light
The both ends of fibre 51 are equipped with fastener 53 for fixing, and the optical lens 52 is fixed or dismounting is arranged in the fastener 53
Interior, one end of the light-conductive optic fibre 51 stretches to robot interior, and a straight slot, the light-conductive optic fibre are equipped in the fastener 53
51 end is inserted in the alignment optical lens 52 in the straight slot, and is fixedly mounted on the pcb by fastener 53,
And it is directed at the transmitting LED element 3, and the optical signal transmission that the transmitting LED element 3 emits is gone out, the leaded light light
The other end of fibre 51 is fixedly installed in by the fastener 53 in robot shells, is led the optical signal of transmission out with realizing
Go out to any direction.
In the present embodiment, the reception LED element 4 selects direct insertion infrared LED reception diode, receives LED element 4
It is welded on the pcb board 2, sends out for reception transmitting LED element and by the reflected optical signal of barrier, be converted
For electric signal, whether there is barrier in front of measurement distance or detection to realize.
In conclusion the present invention optimizes the structure that barrier module is surveyed in ranging, increase setting on the pcb board 2 of robot interior
Emit LED element 3, receive LED element 4, the first flexible light-conducting device 5 and the second flexible light-conducting device 6, you can realizes that ranging is surveyed
The function of barrier, easy to assembly simple, production capacity increases substantially.
When being welded reception LED element 4 and transmitting LED element 3, in order to save installation space and optimization internal structure,
The transmitting LED element 3 and reception LED element 4 of the present invention is all made of the mode of being mounted laterally, can be to avoid light-conductive optic fibre 51 substantially
Bending is spent, top will not arch upward, and the thickness of optics module entirety is made thinner, is not take up excessive installation space；In addition, side
The mode of dress is but also more convenient, dismounting repair or replacement component side are fixed in the combination between fastener 53 and pcb board 2
Just.
Second flexible light-conducting device 6 is identical as the structure of the first flexible light-conducting device 5, and one end is fixed on by fastener 53
Robot shells, and it is fixedly installed on by fastener 53 side of the first flexible light-conducting device 5, it is used for transmission reflection
Optical signal back, the other end are fixed on by fastener 53 on pcb board 2, and the reception LED element 4 is directed at, will be anti-with realization
The optical signal transmission come is emitted back towards at the reception LED element 4.
In another embodiment, the transmitting LED element 3 selects patch type infrared LED emitting diode, the reception
LED element 4 selects patch type infrared LED reception diode；Since light-sensitive element is a kind of sensor for being used as media by light,
Therefore only there is provided two kinds of optimal embodiments, any dresses that ranging is realized by light progress reflection receivable in specification
It sets, can be applicable in this optics module, belong to the protection domain of the technical program.
Barrier optics module is surveyed in the ranging referred in the present embodiment, is mainly used in sweeping robot, is generally mounted to
The bottom and/or side of sweeping robot, to which realization prevents sweeping robot " pendant precipice " and/or encounters barrier；It is manufacturing
When the pcb board 2 of sweeping robot, light-sensitive element is directly sticked on pcb board 2, and will lead to and sweep by light-conductive optic fibre 51
The bottom and/or side of floor-washing robot, it is only necessary to a tiny hole is opened up on the shell of sweeping robot by light-conductive optic fibre
51 one end is drawn, and in addition its both ends can be separately fixed at pcb board 2 and swept by light-conductive optic fibre 51 by fastener 53
At the shell 7 of floor-washing robot；As shown in figure 4, ranging provided by the invention surveys barrier optics module at runtime, by emitting LED members
Part 3 sends out optical signal, is output to sweeping robot exterior space via the first flexible light-conducting device 5, optical signal launch is gone out,
When infrared detection direction encounters barrier, infrared signal reflects, and reception is transferred to via the second flexible light-conducting device 6
After processing sweeping robot bottom can be calculated at a distance from ground, if judging sweeping robot in LED element 4
The distance between bottom and ground are excessively high, then feed back controller of the backing signal to sweeping robot, avoid robot " pendant precipice ".
Barrier optics module, when being installed on the side wall of sweeping robot, operation principle phase are surveyed in the ranging referred in the present embodiment
Together, determination method makes corresponding change；Being calculated by the signal of return has in front of sweeping robot apart from close obstacle
Object then feeds back backing signal to the controller of sweeping robot, robot is avoided to encounter barrier.
Above example is only to provide a kind of specific example application and embodiment, and barrier light is surveyed in ranging disclosed by the invention
Module is learned, barrier is surveyed in the robot ranging for being equally applicable to various fields, therefore, is surveyed in this practical ranging of the robot of other field
Hinder optics module, all fall within the protetion scope of the claimed invention.
The basic principles, main features and advantages of the invention have been shown and described above.The technical staff of the industry should
Understand, the present invention is not limited to the above embodiments, and the above embodiments and description only describe the originals of the present invention
Reason, without departing from the spirit and scope of the present invention, various changes and improvements may be made to the invention, these changes and improvements
It all fall within the protetion scope of the claimed invention.The claimed scope of the invention is by appending claims and equivalents circle
It is fixed.
Claims (2)
1. surveying the optics module of barrier, including pcb board for robot ranging, it is installed in the robot using the optics module
Portion, the carrier as installation electronic component, it is characterised in that：Further include
Emit LED element, is welded on pcb board, converting electrical signals to optical signal and launch；
First flexible light-conducting device, one end stretch to robot interior, and are directed at the transmitting LED element, by the transmitting LED
The optical signal transmission that element emits is gone out, and the other end is fixed in robot shells, is believed the light of transmission out with realizing
It number exports to any direction；
LED element is received, is welded on pcb board, is sent out and by the reflected light letter of barrier for receiving transmitting LED element
Number, it is converted into electric signal, to realize whether measurement distance or detection front have barrier；
Second flexible light-conducting device, one end are fixed on robot shells, are used for transmission reflected optical signal, other end alignment
The reception LED element, to realize the optical signal transmission that will reflect back into and at the reception LED element.
2. the optics module according to claim 1 for surveying barrier for robot ranging, it is characterised in that：Described first is flexible
Leaded light device includes light-conductive optic fibre and optical lens, and the both ends of the light-conductive optic fibre are equipped with fastener for fixing, described
Optical lens, which is fixed or dismounted, is set to the fastener.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811044288.7A CN108802752A (en) | 2018-09-07 | 2018-09-07 | The optics module of barrier is surveyed for robot ranging |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811044288.7A CN108802752A (en) | 2018-09-07 | 2018-09-07 | The optics module of barrier is surveyed for robot ranging |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108802752A true CN108802752A (en) | 2018-11-13 |
Family
ID=64082119
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811044288.7A Pending CN108802752A (en) | 2018-09-07 | 2018-09-07 | The optics module of barrier is surveyed for robot ranging |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108802752A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110522368A (en) * | 2019-09-03 | 2019-12-03 | 珠海市一微半导体有限公司 | Angle and distance adjustment device, sensor module and cleaning robot |
| CN110596730A (en) * | 2019-08-21 | 2019-12-20 | 珠海市一微半导体有限公司 | Assembly structure, infrared sensor module and cleaning robot |
| CN115220063A (en) * | 2022-07-25 | 2022-10-21 | 上海集成电路制造创新中心有限公司 | Sensor and machine equipment |
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| US5239353A (en) * | 1991-03-12 | 1993-08-24 | Stanley Electric Co., Ltd. | Optical distance measuring apparatus |
| JPH11237535A (en) * | 1997-12-16 | 1999-08-31 | Sony Corp | Optical transmitting / receiving apparatus and optical transmitting / receiving method |
| US20100243870A1 (en) * | 2009-03-26 | 2010-09-30 | Keyence Corporation | Main Body Unit Of Optical Fiber Photoelectric Sensor And Optical Fiber Photoelectric Sensor |
| CN102349836A (en) * | 2011-06-16 | 2012-02-15 | 中国科学院高能物理研究所 | Positron emission tomography ray detector |
| CN202771400U (en) * | 2012-08-27 | 2013-03-06 | 成都吉锐触摸技术股份有限公司 | Optical touch screen changing transmission path of lights |
| CN104266946A (en) * | 2014-10-18 | 2015-01-07 | 山东理工大学 | Multi-angle optical fiber probe for measuring dynamic light scattering particles and and detection method |
| CN104297757A (en) * | 2012-11-05 | 2015-01-21 | 张周新 | Electro-optical distance measurement device for robot |
| CN106371101A (en) * | 2015-07-20 | 2017-02-01 | 北醒（北京）光子科技有限公司 | Intelligent range finding and obstacle avoidance device |
-
2018
- 2018-09-07 CN CN201811044288.7A patent/CN108802752A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5239353A (en) * | 1991-03-12 | 1993-08-24 | Stanley Electric Co., Ltd. | Optical distance measuring apparatus |
| JPH11237535A (en) * | 1997-12-16 | 1999-08-31 | Sony Corp | Optical transmitting / receiving apparatus and optical transmitting / receiving method |
| US20100243870A1 (en) * | 2009-03-26 | 2010-09-30 | Keyence Corporation | Main Body Unit Of Optical Fiber Photoelectric Sensor And Optical Fiber Photoelectric Sensor |
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| CN104266946A (en) * | 2014-10-18 | 2015-01-07 | 山东理工大学 | Multi-angle optical fiber probe for measuring dynamic light scattering particles and and detection method |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110596730A (en) * | 2019-08-21 | 2019-12-20 | 珠海市一微半导体有限公司 | Assembly structure, infrared sensor module and cleaning robot |
| CN110522368A (en) * | 2019-09-03 | 2019-12-03 | 珠海市一微半导体有限公司 | Angle and distance adjustment device, sensor module and cleaning robot |
| CN115220063A (en) * | 2022-07-25 | 2022-10-21 | 上海集成电路制造创新中心有限公司 | Sensor and machine equipment |
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Application publication date: 20181113 |
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