Laser radar protection frame

Abstract

The utility model provides a laser radar protection frame, and relates to the technical field of robots. The laser radar protection frame provided by the utility model comprises the protection cover used for protecting the laser radar. The protective frame body and the protective cover are connected into a whole, one end of the protective frame body is gathered on the protective cover, and the other end is divergent. The base is connected with the other end of the protective frame body, and a cavity is defined by the base, the protective frame body and the protective cover and used for containing the laser radar. Through the combination of the protective frame body and the protective cover, one end of the protective frame body is gathered on the protective cover, and the other end is divergent, the visual range of the laser radar is improved, and the coverage volume of the protective cover is reduced under the condition of meeting the protection condition of the laser radar, so that the visual field obstruction of the laser radar is reduced, and the laser radar is protected. And the visual field of the laser radar is further improved. And the protective frame body and the protective cover are integrated, so that the structural strength and the mounting precision between the protective frame body and the protective cover are improved.

Description

Technical Field

[0001] This application relates to the field of robotics technology, and more particularly to a lidar protective frame. Background Technology

[0002] Legged robots typically operate in unstructured environments with varying obstacle compositions, different surface heights, and diverse terrain conditions, including stairs, grass, pebbles, and concrete. During operation, to maintain the robot's balance and forward movement, a complex, time-varying foot-ground interaction exists between the robot and its environment. LiDAR (Light Detection and Ranging) sensors are installed on the legged robot to detect, track, and identify its surroundings. These sensors are usually positioned on the robot's chassis, including the head, tail, sides, and back. Protective covers are required to safeguard the LiDAR sensors from collisions during movement.

[0003] Existing lidar protection devices, in order to meet protection requirements, suffer from problems such as large coverage areas, which affect the lidar's detection field of view. Furthermore, the protective devices use lens coverings, which are highly susceptible to breakage in the event of a robot tipping over or colliding, leading to protection failure. Utility Model Content

[0004] Based on this, this application provides a lidar protective frame that can improve protection strength and reduce obstruction to the lidar detection field of view.

[0005] The lidar protective frame provided in this application includes:

[0006] A protective shield is used to protect the lidar.

[0007] The protective frame is integrated with the protective cover, with one end of the protective frame converging into the protective cover and the other end radiating outwards.

[0008] The base is connected to the other end of the protective frame and together with the protective frame and protective cover, forms a cavity for housing the lidar.

[0009] Optionally, the protective frame includes:

[0010] Multiple support rods converge at one end to the protective cover, and radiate outwards at the other end, connecting to the base;

[0011] A horizontal bar, perpendicular to the length direction of multiple support bars, and connected to multiple support bars as a whole.

[0012] Optionally, each of the plurality of support rods includes:

[0013] The arc-shaped section converges at one end to the protective cover and is integrated with it.

[0014] The straight rod is connected to the other end of the curved part or integrally formed, and the straight rod is connected to the horizontal rod and the base respectively.

[0015] Optionally, the protective frame also includes feet, which are located at the other end of multiple support rods and are integrated with the multiple support rods.

[0016] Optionally, the surface of the foot is provided with a first mounting hole for connecting to the base.

[0017] Optionally, the contact area between the foot and the base is larger than the cross-sectional area of ​​the support rod.

[0018] Optionally, the protective cover and the protective frame are both positioned to avoid the effective field of view of the lidar.

[0019] Optionally, the surface of the base has a positioning boss and a second mounting hole, the second mounting hole being used to connect to the lidar; the positioning boss cooperates with the bottom of the lidar for positioning the lidar.

[0020] Optionally, the protective cover is black to reduce the impact of light reflection on the laser detection performance of the lidar.

[0021] Optionally, the chamber is hemispherical or near-hemispherical in shape and designed to work with a lidar.

[0022] The lidar protective frame provided in this application combines a protective frame body and a protective cover. One end of the protective frame body converges into the protective cover, while the other end diverges, increasing the lidar's field of view. Simultaneously, while meeting the protection requirements for the lidar, the coverage volume of the protective cover is reduced, thereby minimizing visual obstruction and further improving the lidar's field of view. The protective frame body and protective cover are integrated, improving the structural strength and installation accuracy between them. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings, without exceeding the scope of protection claimed by this application.

[0024] Figure 1 This is a structural schematic diagram of the lidar protective frame provided in this application;

[0025] Figure 2 This is an exploded schematic diagram of the structure of the lidar protective frame provided in this application;

[0026] Figure 3 This is a schematic diagram of the structure of the protective frame in the lidar protective frame provided in this application;

[0027] Figure 4 This is a schematic diagram of the base structure in the lidar protective frame provided in this application;

[0028] Figure 5 This is a schematic diagram of the effective field of view of a lidar.

[0029] Explanation of reference numerals in the attached drawings: 1. Protective cover; 2. Protective frame; 21. Support rod; 211. Arc-shaped part; 212. Straight rod part; 22. Horizontal rod; 23. Foot; 231. First mounting hole; 3. Base; 31. Positioning boss; 32. Second mounting hole; 4. Chamber; 5. Connector; 100. LiDAR. Detailed Implementation

[0030] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without making creative efforts are within the scope of protection of this application.

[0031] In the description of this application, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, features defined with "first," "second," etc., may explicitly or implicitly include one or more of the stated features. In the description of this application, "a plurality of" means two or more, unless otherwise explicitly specified.

[0032] In the description of this application, it should be noted that, unless otherwise expressly specified or limited, the terms "installed," "connected," and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections, electrical connections, or mutual communication; they can refer to direct connections or indirect connections through an intermediate medium; they can refer to internal communication between two components or the interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in this application based on specific circumstances.

[0033] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0034] refer to Figure 1 The lidar protective frame provided in this application includes a protective cover 1, a protective frame body 2, and a base 3. The protective cover 1 protects the lidar 100. The protective frame body 2 is integrally connected to the protective cover 1, with one end of the protective frame body 2 converging at the protective cover 1 and the other end radiating outwards. The base 3 is connected to the other radiating end of the protective frame body 2 and, together with the protective frame body 2 and the protective cover 1, forms a chamber 4, which accommodates the lidar 100.

[0035] The lidar 100 is housed in the chamber 4 and fixed to the base 3. The combination of the protective frame 2 and the protective cover 1, with one end of the protective frame 2 converging at the cover 1 and the other end diverging, increases the visual range of the lidar 100. Simultaneously, while ensuring protection for the lidar 100, the coverage volume of the protective cover 1 is reduced, thereby minimizing visual obstruction and further improving the lidar 100's field of view. The protective frame 2 and the protective cover 1 are integrated, improving the structural strength and installation accuracy between them. Furthermore, both the protective frame 2 and the protective cover 1 can be made of metal, preventing breakage from collisions or impacts.

[0036] In some embodiments, the protective frame 2 and the protective cover 1 can be connected as a whole by welding or die casting. The chamber 4 can cooperate with the lidar 100, or the chamber 4 can be larger than the lidar 100, so that there is a buffer space between the lidar 100 and the protective frame 2 and the protective cover 1, avoiding contact between the lidar 100 and the protective frame 2 and the protective cover 1, and improving the protection effect of the lidar 100.

[0037] refer to Figure 2 As an optional implementation, the protective frame 2 includes multiple support rods 21 and transverse rods 22. One end of each support rod 21 converges at the protective cover 1, while the other end radiates outwards and is connected to the base 3. The transverse rods 22 are perpendicular to the length direction of the multiple support rods 21 and are integrally connected to them.

[0038] Multiple support rods 21 isolate the lidar 100 from the outside environment, achieving a protective effect and preventing collision damage to the lidar 100 during operation. Horizontal rods 22 connect the multiple support rods 21 into a single unit, improving the structural strength of the protective frame 2.

[0039] refer to Figure 3 As an optional implementation, each of the plurality of support rods 21 includes an arc-shaped portion 211 and a straight portion 212. One end of the arc-shaped portion 211 converges to the protective cover 1 and is integrally connected to the protective cover 1. The straight portion 212 is connected to or integrally formed with the other end of the arc-shaped portion 211, and the straight portion 212 is connected to the transverse rod 22 and the base 3 respectively.

[0040] refer to Figure 2 and Figure 3 As an optional implementation, the protective frame 2 also includes a foot 23, which is disposed at the other end of the plurality of support rods 21 and is connected to the plurality of support rods 21 as a whole.

[0041] As an optional implementation, the surface of the foot 23 is provided with a first mounting hole 231 for connecting the base 3.

[0042] As an optional implementation, the contact area between the foot 23 and the base 3 is larger than the cross-sectional area of ​​the support rod 21.

[0043] The foot 23 increases the contact area between the protective frame 2 and the base 3, making the connection between the protective frame 2 and the base 3 more stable and reliable.

[0044] In some embodiments, the foot 23 can be connected to the base 3 via the connector 5 through the first mounting hole 231, and the connector 5 can be a connecting screw.

[0045] refer to Figure 1and Figure 5 As an optional implementation, both the protective cover 1 and the protective frame 2 are located at a point that avoids the effective field of view of the lidar 100.

[0046] like Figure 1 and 5 As shown, the lidar 100 is installed inside the chamber 4. The effective field of view of the lidar 100 is located in the space of the chamber 4 formed by the arc-shaped part 211 of the protective frame 2. The arc-shaped parts 211 are spaced apart from each other. The straight rod part 212 and the horizontal rod 22 are both located below the effective field of view. The protective cover 1 is located above the effective field of view and at the top center of the lidar 100. This achieves the avoidance of the effective field of view, while reducing the impact on the effective field of view of the lidar 100 and the obstruction of the field of view, thus improving the field of view and visibility.

[0047] refer to Figure 4 As an optional implementation, the surface of the base 3 has a positioning boss 31 and a second mounting hole 32, the second mounting hole 32 being used to connect to the lidar 100; the positioning boss 31 is engaged with the bottom of the lidar 100 for positioning the lidar 100.

[0048] The positioning boss 31 positions the lidar 100, making the position between the lidar 100 and the base 3 more accurate. The connector 5 can pass through the second mounting hole 32 and connect to the lidar 100, thereby fixing the lidar 100 on the base 3.

[0049] refer to Figure 1 As an optional implementation, the protective cover 1 is black to reduce the impact of light reflection on the laser detection performance of the lidar 100.

[0050] As an alternative implementation, the chamber 4 is hemispherical or near-hemispherical in shape and is designed to work in conjunction with the lidar 100.

[0051] The embodiments of this application have been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of this application. The descriptions of the embodiments above are only for the purpose of helping to understand the method and core ideas of this application. Furthermore, any changes or modifications made by those skilled in the art based on the ideas of this application, and on the specific implementation methods and application scope of this application, are all within the scope of protection of this application. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A laser radar protective frame, characterized in that, include: A protective shield is used to protect the lidar. The protective frame is integrated with the protective cover, with one end of the protective frame converging into the protective cover and the other end radiating outwards. The base is connected to the other end of the protective frame and together with the protective frame and the protective cover, forms a cavity for accommodating the lidar.

2. The lidar protective frame according to claim 1, characterized in that, The protective frame includes: Multiple support rods converge at one end to the protective cover, and diverge at the other end, connecting to the base; The horizontal bar is perpendicular to the length direction of the plurality of support bars and is integrated with the plurality of support bars.

3. The lidar protective frame according to claim 2, characterized in that, Each of the plurality of support rods includes: The arc-shaped part converges at one end to the protective cover and is integrated with the protective cover; The straight rod portion is connected to or integrally formed with the other end of the arc-shaped portion, and the straight rod portion is connected to the transverse rod and the base respectively.

4. The lidar protective frame according to claim 2, characterized in that, The protective frame also includes feet, which are disposed at the other end of the plurality of support rods and are integrally connected to the plurality of support rods.

5. The lidar protective frame according to claim 4, characterized in that, The surface of the foot is provided with a first mounting hole for connecting to the base.

6. The lidar protective frame according to claim 4, characterized in that, The contact area between the foot and the base is greater than the cross-sectional area of ​​the support rod.

7. The lidar protective frame according to claim 1, characterized in that, Both the protective cover and the protective frame are positioned to avoid the effective field of view of the lidar.

8. The lidar protective frame according to claim 1, characterized in that, The base has a positioning boss and a second mounting hole on its surface. The second mounting hole is used to connect with the lidar. The positioning boss cooperates with the bottom of the lidar to position the lidar.

9. The lidar protective frame according to claim 1, characterized in that, The protective cover is black and is used to reduce the impact of light reflection on the laser detection performance of the lidar.

10. The lidar protective frame according to claim 1, characterized in that, The chamber is hemispherical or near-hemispherical in shape and is designed to work with the lidar.

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