Laser radar device and mobile robot

Abstract

The present invention proposes a laser radar device and a mobile robot, comprising a laser radar sensor, a rotating platform, and a base, wherein the laser radar sensor is arranged above the rotating platform, the base is used to carry the rotating platform, and an adjustment device is arranged between the laser radar sensor and the rotating platform, wherein the adjustment device is configured to drive the laser radar sensor to rotate around a first axis, wherein the first axis is parallel to the rotating platform. By arranging the adjustment device between the laser radar sensor and the rotating platform, the laser radar sensor can be adjusted in the vertical direction to achieve scanning in a three-dimensional space, thereby making the scanning range of the laser radar device wider without adding other laser radar devices. Compared with a multi-line laser radar device, the manufacturing cost is significantly reduced, and the technical problems of a small scanning range of a single-line laser radar device and a high manufacturing cost of a multi-line laser radar device in the prior art are overcome.

Description

Technical Field

[0001] The present invention relates to the field of laser radar, and in particular to a laser radar device and a mobile robot. Background Art

[0002] LiDAR (Light Detection and Ranging), or LidAR for short, uses laser beams as information carriers. LiDAR is a radar system that emits laser beams to detect the position, speed and other characteristic quantities of a target. A detection signal (laser beam) is emitted to the target, and then the received signal reflected from the target (target echo) is compared with the emitted signal. After appropriate processing, relevant information about the target can be obtained, such as target distance, direction, height, speed, attitude, and even shape parameters, so as to detect, track and identify targets such as aircraft and missiles. LiDAR generally consists of a laser transmitter, a laser receiver, a rotating table and an information processing system. In recent years, the application of LiDAR in unmanned driving and mobile robots has attracted much attention.

[0003] Generally, a mobile robot is equipped with a laser radar with a single transmitter. The laser transmitter is driven by the rotation of the rotating table to scan the environment and obstacles around the mobile robot 360 degrees. The laser radar on this traditional mobile robot can scan obstacle information within a two-dimensional space. However, when the environment in which the mobile robot is located changes or the obstacle is large, the laser radar can only scan and obtain part of the obstacle information. This incomplete information will limit the mapping, navigation, and walking of the mobile robot. Some manufacturers have proposed multi-line laser radars, that is, laser radars with multiple transmitters. By increasing the number of transmitters, the laser radar scanning range is increased to achieve scanning of the three-dimensional space environment. However, this method will inevitably increase the cost of the laser radar and is not conducive to mass manufacturing and production. Therefore, it is necessary to improve the existing laser radar technology. Summary of the invention

[0004] The present invention solves at least one of the above technical problems to a certain extent. The present invention provides a laser radar device and a mobile robot. Through an adjustment device, the scanning range of the laser radar device is made wider, thereby realizing laser scanning within a three-dimensional space.

[0005] The present invention proposes a laser radar device, including a laser radar sensor, a rotating platform, and a base. The laser radar sensor is arranged above the rotating platform, and the base is used to support the rotating platform. An adjustment device is arranged between the laser radar sensor and the rotating platform, and the adjustment device is configured to adjust the light emission angle of the laser radar sensor to increase the scanning range of the laser radar device in a non-horizontal direction.

[0006] In some embodiments, the adjustment device is configured to drive the laser radar sensor to rotate around a first axis, and the first axis is parallel to the rotating platform.

[0007] In some embodiments, the adjusting device is disposed on a rotating platform, and the adjusting device includes a gear assembly and a first driving motor for driving the gear assembly to rotate, the first driving motor includes a rotating shaft, and the first axial direction is parallel to the rotating shaft.

[0008] In some embodiments, the laser radar device includes a mounting frame, the laser radar sensor is disposed on the mounting frame, and the mounting frame is provided with a gear mating portion that meshes with the gear assembly.

[0009] In some embodiments, the rotating platform is provided with at least two opposing support frames, and the mounting frame is provided on the support frames.

[0010] In some embodiments, the rotating platform is configured to drive the lidar sensor to rotate around a second axis, and the second axis is perpendicular to the rotating platform.

[0011] In some embodiments, the laser radar sensor includes a transmitter, a receiver, a circuit board and a fixed bracket, and the transmitter, the receiver and the circuit board are all arranged on the fixed bracket.

[0012] In some embodiments, the receiver includes an optical lens, and a photodetector is disposed on the circuit board at a position opposite to the optical lens.

[0013] In some embodiments, the transmitter of the laser radar sensor rotates up and down around the first axis to form a first field of view, and the angle range of the first field of view is 0 to 60 degrees.

[0014] In some embodiments, the angle of the first field of view is 30 degrees.

[0015] The second aspect of the present invention also proposes a mobile robot, including a robot body, a laser radar device, a driving device and a processor, wherein the laser radar device, the driving device and the processor are arranged on the body, and the laser radar device is the laser radar device described in any one of the above embodiments.

[0016] Compared with the prior art, the present invention has at least the following beneficial effects: the present invention proposes a laser radar device, including a laser radar sensor, a rotating platform, and a base, wherein the laser radar sensor is arranged above the rotating platform, and the base is used to carry the rotating platform, wherein an adjustment device is arranged between the laser radar sensor and the rotating platform, and the adjustment device is configured to adjust the light emission angle of the laser radar sensor to increase the scanning range of the laser radar device in a non-horizontal direction, and the adjustment device drives the laser radar sensor to rotate around a first axis, and the first axis is parallel to the rotating platform. By arranging the adjustment device between the laser radar sensor and the rotating platform, the laser radar sensor can be adjusted in the vertical direction to realize dynamic scanning in a three-dimensional space, thereby making the scanning range of the laser radar device wider, without adding other laser radar devices, and significantly reducing the manufacturing cost compared to the multi-line laser radar device, overcoming the technical problems of the small scanning range of the single-line laser radar device and the high manufacturing cost of the multi-line laser radar device in the prior art. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 A schematic diagram of an exploded view of a laser radar device provided in an embodiment of the present invention.

[0018] Figure 2 A schematic diagram of a laser radar sensor provided in an embodiment of the present invention.

[0019] Figure 3 Schematic diagram of an adjusting device according to an embodiment of the present invention.

[0020] Figure 4 for Figure 3 A partial enlarged view of part A.

[0021] Figure 5 A schematic diagram of a laser radar device provided in an embodiment of the present invention.

[0022] Figure 6 A schematic diagram of a first state of a laser radar device provided in an embodiment of the present invention.

[0023] Figure 7 A schematic diagram of the second state of the laser radar device provided in an embodiment of the present invention.

[0024] Figure 8 A schematic diagram of the third state of the laser radar device provided in an embodiment of the present invention.

[0025] Fig. 9 A schematic diagram of a mobile robot provided in an embodiment of the present invention.

[0026] Fig.10 A schematic diagram of the working state of a mobile robot provided by an embodiment of the present invention.

[0027] Explanation of the reference numerals: mobile robot 10; robot body 110; laser radar device 20; top cover 100; laser radar sensor 200; transmitter 201; receiver 202; fixed bracket 203; circuit board 204; mounting frame 300; gear mating part 300a; adjustment device 400; first drive motor 410; gear assembly 420; rotating platform 500; support frame 501; transmission wheel 502; conveyor belt 503; bearing 600; base 700; second drive motor 701. DETAILED DESCRIPTION

[0028] In order to make the technical problems, technical solutions and beneficial effects solved by the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0029] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0030] In the description of the present invention, it should be understood that the terms "lateral", "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "clockwise", "counterclockwise" and the like indicating directions or positional relationships are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore should not be understood as a limitation on the present invention.

[0031] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0032] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0033] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0034] The present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0035] Please refer to Figure 1 , Figure 1 The present invention provides a decomposed schematic diagram of a laser radar device 20 according to an embodiment of the present invention. The laser radar device 20 includes: a top cover 100, a laser radar sensor 200, a rotating platform 500, and a base 700. The top cover 100 is arranged above the laser radar sensor 200. The top cover 100 is used to protect the laser radar sensor so that the laser radar sensor 200 is protected from external impact. The upper part of the top cover 100 is an incomplete circle, and the side edge of the top cover 100 is provided with a slope, and the slope is provided with a light emitting hole and a light receiving hole, and the light emitting hole and the light receiving hole are approximately at the same height as the laser radar sensor 200.

[0036] The laser radar sensor 200 is arranged above the rotating platform 500, the base 700 is used to carry the rotating platform 500, and an adjustment device 400 is arranged between the laser radar sensor 200 and the rotating platform 500, and the adjustment device 400 is configured to drive the laser radar sensor 200 to rotate around a first axis, and the first axis is parallel to the rotating platform 500. The first axis (not shown in the figure) is a reference direction, and the laser radar sensor 200 rotates around the first axis.

[0037] The present invention sets an adjustment device 400 between the laser radar sensor 200 and the rotating platform 500, so that the laser radar sensor 200 can be adjusted in the vertical direction to achieve dynamic scanning in three-dimensional space, thereby making the scanning range of the laser radar device 20 wider without adding other laser radar devices 20. Compared with the multi-line laser radar device 20, the manufacturing cost is significantly reduced, and the technical problems in the prior art that the single-line laser radar device 20 has a small scanning range and the multi-line laser radar device 20 has a high manufacturing cost are overcome.

[0038] Please refer to Figure 2 , Figure 2 The schematic diagram of the laser radar sensor 200 provided in the embodiment of the present invention includes a transmitter 201, a receiver 202, a circuit board 204 and a fixing bracket 203, wherein the transmitter 201, the receiver 202 and the circuit board 204 are all arranged on the fixing bracket 203. Furthermore, the receiver 202 includes an optical lens, and a photodetector is arranged at a position opposite to the optical lens on the circuit board 204. After the transmitter 201 emits light, the emitted light is reflected by an obstacle and received by the receiver 202. Specifically, after the reflected light passes through the optical lens, the light spot falls on the photodetector on the circuit board 204, and the electric signal changes after being sensed by the photodetector. The processor on the circuit board 204 records the obstacle position information corresponding to the light spot.

[0039] Please refer to Figure 3 and Figure 1 , Figure 3 This is a schematic diagram of an adjusting device 400 according to an embodiment of the present invention. Preferably, the adjusting device 400 is disposed on a rotating platform 500. The adjusting device 400 includes a gear assembly 420 and a first driving motor 410 for driving the gear assembly 420 to rotate. The first driving motor 410 includes a rotating shaft, and the first axial direction is parallel to the rotating shaft.

[0040] For further information, please refer to Figure 4 , Figure 4 for Figure 3The partial enlarged view of the A part in the figure, the laser radar device 20 includes a mounting frame 300, the laser radar sensor 200 is arranged on the mounting frame 300, and the mounting frame 300 is provided with a gear matching portion 300a meshing with the gear assembly 420. As a preferred embodiment, the gear matching portion 300a is arranged at the bottom of the mounting frame 300. The accessory gear is integrally formed with the mounting frame 300, or welded to the bottom of the mounting frame 300. When the first driving motor 410 drives the gear assembly 420 to rotate, since the gear assembly 420 meshes with the gear matching portion 300a, the gear assembly 420 transmits the rotational torque to the gear matching portion 300a, so that the mounting frame 300 and the laser radar sensor 200 on the mounting frame 300 rotate upward or downward. The laser radar device 20 also includes a controller, which is electrically connected to the first driving motor 410. The controller is configured to control the rotation direction and rotation time of the first driving motor 410, thereby By controlling the rotation angle of the gear assembly 420, specifically, the controller can control the gear assembly 420 to rotate in a clockwise direction or counterclockwise direction for a specific time, so that the laser radar sensor 200 rotates upward or downward by a preset angle value, thereby realizing 3D scanning of the laser radar device 20 within a spatial range, expanding the scanning range, and significantly reducing the manufacturing cost relative to the multi-line laser radar device 20. The technical problems in the prior art that the single-line laser radar device 20 has a small scanning range and the multi-line laser radar device 20 has a high manufacturing cost are overcome. The solution enables the laser radar device 20 to have more technical and price advantages in the market and to have stronger competitiveness in the market.

[0041] Please refer to Figure 1 and Figure 5 , Figure 5 Schematic diagram of the laser radar device 20 provided in an embodiment of the present invention, optionally, the rotating platform 500 is provided with at least two opposing support frames 501, and the mounting frame 300 is provided on the support frames 501. The two support frames 501 are provided with notches, and screws are provided at both ends of the mounting member, and the screws are inserted through the notches, and then connected with the mounting frame 300, so as to realize the setting of the mounting frame 300 on the support frame 501. Due to the notches, the mounting frame 300 can be movably connected with the support frame 501, that is, the mounting frame 300 and the laser radar sensor 200 can swing on the support frame 501, and the movable connection is conducive to reducing the friction between the mounting frame 300 and the support frame 501, and is conducive to the rotation of the laser radar sensor 200 on the support frame 501, so that the laser radar device 20 can dynamically adjust the scanning range.

[0042] In some embodiments, the rotating platform 500 is configured to drive the lidar sensor 200 to rotate around a second axis, which is perpendicular to the rotating platform 500, so that the lidar sensor 200 can obtain environmental obstacle position information within a 360-degree range around it by rotating in a plane.

[0043] Reference again Figure 1 , the base 700 is provided with a second drive motor 701, a transmission wheel 502 is provided above the second drive motor 701, the second drive motor 701 and the transmission wheel 502 are connected to each other, the laser radar device 20 also includes a conveyor belt 503, and the rotating platform 500 and the transmission wheel 502 are connected through the conveyor belt 503. A bearing 600 is provided between the rotating platform 500 and the base 700. When the second drive motor 701 at the bottom works, the second drive motor 701 drives the rotating platform 500 to rotate 360° through the transmission belt. The laser radar sensor 200 scans, and the chip of the laser radar sensor 200 can record the dot matrix data in the horizontal direction. When the second drive motor 701 drives the laser radar sensor 200 to rotate in the vertical plane, the chip of the laser radar sensor 200 scans and can record the dot matrix data in the vertical direction. By fitting the dot matrix data in the horizontal and vertical directions, 2.5D stereo point cloud data can be obtained, so that the distance between the laser radar device 20 and the surrounding objects and the size and shape of the surrounding objects can be measured. The solution of the present invention obtains the dot matrix data in the horizontal and vertical directions through the laser radar device 20 to obtain the size and shape information of the surrounding objects. The data information is more accurate and precise, and the performance of the laser radar device 20 is improved.

[0044] The following describes three working states of the laser radar device 20.

[0045] Please refer to Figure 6 , Figure 6 The first state schematic diagram of the laser radar device 20 provided in an embodiment of the present invention, the emission direction of the transmitter 201 of the laser radar sensor 200 is basically parallel to the horizontal direction. If the data obtained by the current scanning angle of the laser radar device 20 cannot meet the requirements, the controller of the laser radar device 20 issues a control instruction to make the first drive motor 410 drive the laser radar sensor 200 to rotate upward or downward through the gear assembly 420. The scheme of the present invention automatically detects through software to automatically adjust the light emission angle of the laser radar sensor 200, which is more intelligent.

[0046] Figure 7 Schematic diagram of the second state of the laser radar device 20 provided in an embodiment of the present invention, when the controller of the laser radar device 20 issues a control instruction, such as Figure 7As shown, the laser radar sensor 200 is lifted upward by the gear assembly 420 , so that the first drive motor 410 drives the laser radar sensor 200 to rotate upward by a preset angle through the gear assembly 420 .

[0047] Another example Figure 8 As shown, Figure 8 The third state schematic diagram of the laser radar device 20 provided in the embodiment of the present invention, the laser radar sensor 200 rotates downward by a preset angle under the transmission action of the gear assembly 420. The transmitter 201 of the laser radar sensor 200 rotates up and down around the first axis to form a first field of view, and the angle range of the first field of view is 0 to 60 degrees. As a preferred embodiment, the angle of the first field of view is 30 degrees. The laser radar rotates upward and downward at the same angle.

[0048] The second aspect of the present invention further provides a mobile robot 10, please refer to Fig. 9 The mobile robot 10 includes a robot body 110, a laser radar device 20, a driving device and a processor. The laser radar device 20, the driving device and the processor are arranged on the body. The laser radar device 20 is the laser radar device 20 described in any one of the above embodiments. Please refer to Fig.10 , the transmitter 201 of the laser radar device 20 rotates up and down, so that the laser radar device 20 forms a field of view with an angle of β relative to the wall, so that the scanning range of the mobile robot 10 is wider. The solution of the present invention obtains dot matrix data in the horizontal and vertical directions through the laser radar device 20 to obtain the size and shape information of the surrounding objects. The data information is more accurate and precise, which improves the performance of the laser radar device 20 and makes the environmental map established by the mobile robot 10 more accurate. The mobile robot 10 of the present invention adopts a single-line laser radar device 20. By adding an adjustment device 400 to the laser radar device 20, the scanning range of the laser radar device 20 is wider. Compared with the multi-line laser radar device 20, the manufacturing cost is significantly reduced, and the technical problems of the small scanning range of the single-line laser radar device 20 and the high manufacturing cost of the multi-line laser radar device 20 in the prior art are overcome. The solution makes the mobile robot 10 have more technical advantages and price advantages in the market and has stronger competitiveness in the market.

[0049] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0050] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A laser radar device, comprising a laser radar sensor, a rotating platform, and a base, wherein the laser radar sensor is arranged above the rotating platform, and the base is used to support the rotating platform. It is characterized in that An adjustment device is provided between the laser radar sensor and the rotating platform, and the adjustment device is configured to adjust the light emission angle of the laser radar sensor to increase the scanning range of the laser radar device in a non-horizontal direction. The adjustment device is provided on the rotating platform, and the adjustment device includes a gear assembly and a first drive motor for driving the gear assembly to rotate. The laser radar device includes a mounting frame, and the laser radar sensor is provided on the mounting frame. The mounting frame is provided with a gear matching portion meshing with the gear assembly, and the gear matching portion is integrally formed with the mounting frame. The base is provided with a second drive motor. When the second drive motor at the bottom works, the second drive motor drives the rotating platform to perform a 360° rotational motion through a transmission belt, and the laser radar sensor performs scanning. At the same time, the chip of the laser radar sensor records the dot matrix data in the horizontal direction. When the first drive motor drives the laser radar sensor to perform a rotational motion in a vertical plane, the chip of the laser radar sensor scans and records the dot matrix data in the vertical direction, and 2.5D stereo point cloud data is obtained by fitting the dot matrix data in the horizontal and vertical directions.

2. The laser radar device according to claim 1, characterized in that: The adjusting device is configured to drive the laser radar sensor to rotate around a first axis, and the first axis is parallel to the rotating platform.

3. The laser radar device according to claim 2, characterized in that: The first driving motor comprises a rotating shaft, and the first axial direction is parallel to the rotating shaft.

4. The laser radar device according to claim 1, characterized in that: The rotating platform is provided with at least two opposing supporting frames, and the mounting frame is arranged on the supporting frames.

5. The laser radar device according to claim 1, characterized in that: The rotating platform is configured to drive the laser radar sensor to rotate around a second axis, and the second axis is perpendicular to the rotating platform.

6. The laser radar device according to claim 2 or 3, characterized in that: The laser radar sensor includes a transmitter, a receiver, a circuit board and a fixing bracket, and the transmitter, the receiver and the circuit board are all arranged on the fixing bracket.

7. The laser radar device according to claim 6, characterized in that: The receiver comprises an optical lens, and a photoelectric detector is arranged at a position on the circuit board opposite to the optical lens.

8. The laser radar device according to claim 6, characterized in that: The transmitter of the laser radar sensor rotates up and down around the first axis to form a first field of view, and the angle range of the first field of view is 0 to 60 degrees.

9. The laser radar device according to claim 8, characterized in that: The angle of the first field of view is 30 degrees.

10. A mobile robot, characterized in that: It includes a robot body, a laser radar device, a driving device and a processor, wherein the laser radar device, the driving device and the processor are arranged on the body, and the laser radar device is the laser radar device according to any one of claims 1-9.

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