Radar components and mobile robots
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-10-17
- Publication Date
- 2026-08-11
AI Technical Summary
[0004]本申请的目的在于提供一种雷达组件及移动机器人，以解决激光雷达安装在机器人的侧面，激光雷达易因侧向碰撞受损的技术问题
本申请的雷达组件通过安装件连接于机器人的侧面上，激光雷达与防撞装置间隔设于活页板上，由于防撞装置远离活页板的一端至活页板的距离大于激光雷达的发射端至活页板的距离，当机器人移动至较窄通道时，侧面障碍物先抵接防撞装置，防撞装置推动活页板带着激光雷达翻转进机器人内部，从而避免激光雷达被侧向撞击而破坏。当机器人通过障碍物，在弹性复位件的弹性作用下，活页板带动激光雷达复位至初始工作位置。
Smart Images
Figure CN224617591U_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of radar technology, and more particularly to a radar component and a mobile robot. Background Technology
[0002] Currently, mobile robots generate high-precision 3D point cloud data by emitting laser pulses through lidar, accurately perceiving the shape, distance, and dynamic changes of surrounding objects. LiDAR can provide robots with long-distance environmental modeling capabilities, enabling robot localization and path planning functions.
[0003] In related technologies, installing LiDAR on the side of a mobile robot can achieve obstacle detection in the vertical direction at all heights. However, in order to ensure detection performance, the LiDAR needs to be exposed, which lacks physical protection. This makes the LiDAR easily damaged by collisions with lateral obstacles when the robot passes through narrow passages. Utility Model Content
[0004] The purpose of this application is to provide a radar component and a mobile robot to solve the technical problem that the lidar is easily damaged by lateral collisions when it is installed on the side of the robot.
[0005] To achieve the above objectives, this application provides a radar assembly comprising: Mounting components for connecting mobile robots; The radar module includes a hinged plate, a lidar, and an anti-collision device. The hinged plate is rotatably connected to the mounting component. The lidar and the anti-collision device are spaced apart on the hinged plate, with the emitting end of the lidar and the anti-collision device located on the same side of the hinged plate. The distance from the end of the anti-collision device away from the hinged plate to the hinged plate is greater than the distance from the emitting end of the lidar to the hinged plate. The anti-collision device can push the hinged plate to flip towards the mobile robot under external force. An elastic reset member is provided, with its two ends abutting against the mounting member and the hinge plate, respectively, and the elastic reset member is used to reset the hinge plate.
[0006] In the radar assembly of this application, the anti-collision device includes at least one anti-collision ring, the two ends of which are connected to the hinge plate at a distance, and the middle of the anti-collision ring extends away from the lidar.
[0007] In the radar assembly of this application, the anti-collision ring is disposed on the upper and / or lower side of the lidar in the vertical direction; The projection range of the anti-collision ring in the horizontal direction at least partially covers the projection range of the lidar in the horizontal direction.
[0008] In the radar assembly of this application, the anti-collision ring is located on the left and / or right side of the lidar in the horizontal direction; The projection range of the anti-collision ring in the vertical direction at least partially covers the projection range of the lidar in the vertical direction.
[0009] In the radar assembly of this application, the anti-collision ring is an arc-shaped rod.
[0010] In the radar assembly of this application, the radar assembly further includes a rotating shaft, the hinge plate is rotatably connected to the mounting member through the rotating shaft, the elastic reset member is sleeved on the rotating shaft, one end of the elastic reset member abuts against the mounting member, and the other end of the elastic reset member abuts against the hinge plate.
[0011] In the radar assembly of this application, the elastic reset element is a torsion spring.
[0012] In the radar assembly of this application, the mounting member is provided with a first mounting hole, the hinge plate is provided with a second mounting hole, and the rotating shaft passes through the first mounting hole and the second mounting hole to make the hinge plate rotatably connected to the mounting member.
[0013] In the radar assembly of this application, the hinge plate is provided with a limiting groove communicating with the second mounting hole, and the elastic reset member is disposed in the limiting groove. The limiting groove is used to restrict the axial movement of the elastic reset member along the rotation axis.
[0014] Secondly, this application also provides a mobile robot, which includes a robot body and the radar assembly, the radar assembly being disposed on the side of the robot body.
[0015] This application provides a radar component, the advantages of which are: The radar assembly of this application is connected to the side of the robot via a mounting bracket. The lidar and anti-collision device are spaced apart on a hinged plate. Because the distance from the end of the anti-collision device furthest from the hinged plate to the plate is greater than the distance from the lidar's transmitting end to the hinged plate, when the robot moves into a narrow passage, side obstacles first abut against the anti-collision device. The anti-collision device then pushes the hinged plate, carrying the lidar, to flip inside the robot, thus preventing the lidar from being damaged by lateral impact. When the robot passes through an obstacle, the hinged plate, under the elastic action of the elastic reset component, moves the lidar back to its initial working position. Attached Figure Description
[0016] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0017] Figure 1 This is a schematic diagram of the structure of the mobile robot provided in the embodiments of this application; Figure 2 An exploded view of the mobile robot provided in an embodiment of this application; Figure 3 This is a schematic diagram of the structure of the radar component provided in the embodiments of this application; Figure 4 Another schematic diagram of the radar assembly provided in the embodiments of this application; Figure 5 A cross-sectional schematic diagram of a radar component provided in an embodiment of this application; Figure 6 An exploded view of a radar component provided in an embodiment of this application; Figure 7 Another cross-sectional schematic diagram of the radar assembly provided in the embodiments of this application; Figure 8 Another cross-sectional view of the radar assembly provided in an embodiment of this application.
[0018] The following markings are used in the diagram: 10, mounting component; 11, first mounting hole; 20, radar module; 21, hinge plate; 22, lidar; 23, anti-collision device; 231, anti-collision ring; 24, second mounting hole; 25, limiting groove; 30, elastic reset component; 40, rotating shaft; 100, radar assembly; 200, robot body; 201, assembly hole. Detailed Implementation
[0019] The specific embodiments of this application will be described in further detail below with reference to the accompanying drawings and examples. The following examples are used to illustrate this application, but are not intended to limit the scope of this application.
[0020] In the description of this application, it should be noted that the terms "upper", "lower", "front", "rear", "inner", "outer", etc. used in this application to indicate the orientation or positional relationship are based on the positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and are not intended to indicate or imply that the device and 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.
[0021] In the description of this application, it should be understood that the terms "first," "second," etc., are used to describe various types of information, but these terms are not limited to them and are only used to distinguish information of the same type from one another. For example, without departing from the scope of this application, "first" information may also be referred to as "second" information, and similarly, "second" information may also be referred to as "first" information.
[0022] The following is in conjunction with the appendix Figure 1 To be continued Figure 8 This application will be described in further detail.
[0023] like Figure 1 As shown, this application embodiment provides a mobile robot, including a robot body 200 and a radar component 100, the radar component 100 being disposed on the side of the robot body 200. The forward or backward direction of the mobile robot is defined as the front-back direction, and the left and right sides are the sides of the robot body 200, which can be either the left or right side.
[0024] In this embodiment, by installing a radar component 100 on the side of the robot body 200, the detection capability for low obstacles, lateral obstacles, and complex terrain is enhanced, thereby improving the robot's obstacle avoidance capability. The mobile robot may also include components such as a power system, actuators, and a control system, which can be housed inside the robot body 200. The power system includes a battery and a power management module; the battery provides power to the robot, and the power management module monitors and regulates the power output. The control system includes a processor and a communication module; the processor processes various data and instructions and controls the robot's movement; the communication module enables communication between the robot and external devices, such as wireless LAN or Bluetooth devices. The actuators include a robotic arm and a gripper, which are used to grasp and transport objects, respectively.
[0025] In some embodiments, such as Figure 2 As shown, the robot body 200 has an assembly hole 201 on its side. The radar component 100 is installed in the assembly hole 201 and is electrically connected to the control system. After detection, the radar component 100 sends the position detection information of obstacles to the control system.
[0026] In some embodiments, such as Figures 3 to 5As shown, the radar assembly 100 includes a mounting component 10, a radar module 20, and a resilient reset component 30. The mounting component 10 is used to connect to the mobile robot. The radar module 20 includes a hinge plate 21, a lidar 22, and an anti-collision device 23. The hinge plate 21 is rotatably connected to the mounting component 10. The lidar 22 and the anti-collision device 23 are spaced apart on the hinge plate 21. The emitting end of the lidar 22 and the anti-collision device 23 are located on the same side of the hinge plate 21. The distance from the end of the anti-collision device 23 away from the hinge plate 21 to the hinge plate 21 is greater than the distance from the emitting end of the lidar 22 to the hinge plate 21. The anti-collision device 23 can push the hinge plate 21 to flip towards the mobile robot under the action of external force. The two ends of the resilient reset component 30 abut against the mounting component 10 and the hinge plate 21, respectively. The resilient reset component 30 is used to reset the hinge plate 21.
[0027] The mounting component 10 is detachably connected to the robot body 200 via fasteners such as screws and bolts, allowing the radar assembly 100 to be attached to the side of the robot body 200. The hinge plate 21 is rotatably connected to the mounting component 10, either horizontally, vertically, or in other planar directions. The hinge plate 21 can rotate around the mounting component 10 to adjust its position. The two ends of the elastic reset member 30 abut against the mounting component 10 and the hinge plate 21 respectively, allowing the hinge plate 21 to return to its initial position under the action of the elastic reset member 30.
[0028] Based on the above technical solutions, such as Figure 5 As shown, Figure 5 This is a top-view cross-sectional diagram of the radar assembly 100. The radar assembly 100 is connected to the side of the mobile robot via the mounting member 10. The lidar 22 and the anti-collision device 23 are spaced apart on the hinge plate 21. The distance from the end of the anti-collision device 23 away from the hinge plate 21 is L1, and the distance from the emitting end of the lidar 22 to the hinge plate 21 is L2. When the robot moves into a narrow passage, because L1 is greater than L2, the anti-collision device 23 is closer to the obstacle, causing the obstacle on the side to hit the anti-collision device 23 first. The anti-collision device 23 pushes the hinge plate 21, causing the lidar 22 to flip into the robot or flip towards the mobile robot, preventing the lidar 22 from being damaged by a side impact. After the robot passes through the obstacle, under the elastic action of the elastic reset member 30, the hinge plate 21 drives the lidar 22 to reset to its initial position.
[0029] In some embodiments, at least a portion of the anti-collision devices 23 surround the outer periphery of the lidar 22. This can be a partial or complete enclosure of the lidar 22, as long as it protects the lidar 22. It should be noted that the anti-collision devices 23 are not located in the direction of the lidar 22's emitting end, i.e., not in the direction of the lidar 22's laser path, to avoid obstructing the laser and affecting the lidar 22's detection function.
[0030] In some embodiments, such as Figure 7 As shown, Figure 7 This is another cross-sectional view of the radar assembly 100 from a top-down perspective. The anti-collision device 23 includes two anti-collision bars perpendicular to the hinge plate 21, spaced apart on the left and right sides of the lidar 22. The distance from the end of the anti-collision bar away from the hinge plate 21 to the hinge plate 21 is L1, which is greater than the distance from the transmitting end of the lidar 22 to the hinge plate 21 is L2. When the robot moves into a narrow passage, obstacles on the side first abut against the anti-collision bars to prevent the lidar 22 from being directly impacted.
[0031] In some embodiments, such as Figure 5 and Figure 6 As shown, the anti-collision device 23 includes at least one anti-collision ring 231, with its two ends connected to the hinge plate 21 at intervals, and the middle of the anti-collision ring 231 extending away from the lidar 22.
[0032] Specifically, the shape of the anti-collision ring 231 is not limited. The two ends of the anti-collision ring 231 are connected at different positions on the hinge plate 21. The middle of the anti-collision ring 231 extends away from the lidar 22 to form a raised structure. The distance from the farthest end of the raised structure to the hinge plate 21 is L1. The shape of the raised structure is not limited. It can be an arc-shaped structure or other convex structures.
[0033] In this embodiment, the anti-collision ring 231 can extend along the horizontal plane or have a certain angle with the horizontal plane, that is, the anti-collision ring 231 is inclined, as long as the anti-collision ring 231 can push the hinge plate 21 when it is abutted.
[0034] In some embodiments, such as Figure 5 and Figure 6 As shown, in the vertical direction, the anti-collision ring 231 is disposed on the upper side and / or lower side of the lidar 22; the projection range of the anti-collision ring 231 in the horizontal direction at least partially covers the projection range of the lidar 22 in the horizontal direction, and the distance from the farthest end of the anti-collision ring 231 away from the hinge plate 21 to the hinge plate 21 is greater than the distance from the transmitting end of the lidar 22 to the hinge plate 21, that is, L1 is greater than L2.
[0035] For example, the anti-collision device 23 includes an anti-collision ring 231, which is located on the upper side of the lidar 22 or on the lower side of the lidar 22.
[0036] For example, the anti-collision device 23 includes two anti-collision rings 231, which are respectively located on the upper and lower sides of the lidar 22.
[0037] In some embodiments, in the horizontal direction, the anti-collision ring 231 is disposed on the left and / or right side of the lidar 22; the projection range of the anti-collision ring 231 in the vertical direction at least partially covers the projection range of the lidar 22 in the vertical direction.
[0038] For example, the anti-collision device 23 includes three anti-collision rings 231, two of which are located on the upper and lower sides of the lidar 22, and the other is located on the left or right side of the lidar 22.
[0039] For example, the anti-collision device 23 includes four anti-collision rings 231, which are respectively located on the upper and lower sides and the left and right sides of the lidar 22.
[0040] In the above example, the two anti-collision rings 231 can have the same or different shapes and structures; the specific structure of the anti-collision rings 231 is not limited here. The two anti-collision rings 231 are spaced apart on the top, bottom, left, and right sides of the lidar 22, surrounding the lidar 22 from different positions, increasing the protection range of the lidar 22, and further preventing the lidar 22 from being directly impacted.
[0041] In some embodiments, such as Figure 3 as well as Figure 6 As shown, the anti-collision ring 231 is an arc-shaped rod. For example, two arc-shaped anti-collision rings 231 are arranged vertically on the upper and lower sides of the lidar 22. When an obstacle comes into contact with the anti-collision ring 231, the anti-collision ring 231 can be pushed more smoothly, thereby pushing the hinge plate 21 to flip into the robot's interior.
[0042] In some embodiments, such as Figure 8 As shown, Figure 8 This is another cross-sectional view of the radar assembly 100 from a top view. The anti-collision ring 231 is a square or frame structure, which can also protect the lidar 22 from impacts.
[0043] In some embodiments, such as Figure 3 as well as Figure 6As shown, the anti-collision ring 231 extends in the horizontal direction. Since the mobile robot moves in the forward and backward direction, and the anti-collision ring 231 extends in the horizontal direction, when an obstacle comes into contact with the anti-collision ring 231 in the horizontal direction, a force is applied in the horizontal direction, pushing the anti-collision ring 231 more smoothly.
[0044] In some embodiments, such as Figure 5 as well as Figure 6 As shown, the radar assembly 100 also includes a rotating shaft 40, a hinge plate 21 is rotatably connected to the mounting member 10 through the rotating shaft 40, and an elastic reset member 30 is sleeved on the rotating shaft 40. One end of the elastic reset member 30 abuts against the mounting member 10, and the other end of the elastic reset member 30 abuts against the hinge plate 21.
[0045] For example, the rotating shaft 40 extends vertically, with its two ends passing through the corresponding connection points of the hinge plate 21 and the mounting member 10, forming a stable rotational support structure. The hinge plate 21 is rotatably connected to the mounting member 10 via the rotating shaft 40 and can rotate relative to the rotating shaft 40 within a certain angle range, enabling the hinge plate 21 to switch between different position states and thus achieve the flipping effect of the hinge plate 21. This pivotal connection method ensures the structural stability of the hinge plate 21 and also ensures the smoothness and reliability of the hinge plate 21 during rotation.
[0046] In some embodiments, such as Figure 6 As shown, the elastic reset element 30 is a torsion spring.
[0047] Specifically, the helical coil of the torsion spring is sleeved on the rotating shaft 40, with one end arm abutting against the mounting part 10 and the other end arm abutting against the hinge plate 21. Elastic energy is stored in the spring through the torsional action. When the robot passes over an obstacle, the external force is released, and the elastic reset member 30 (or the torsion spring) releases the stored elastic energy, driving the hinge plate 21 to rotate relative to the mounting part 10, automatically returning it to its initial working position. This, in turn, resets the lidar 22 to its initial working position, thus achieving the reset of the lidar 22.
[0048] In some embodiments, such as Figure 6 As shown, the mounting component 10 has a first mounting hole 11, and the hinge plate 21 has a second mounting hole 24. During assembly, the first mounting hole 11 and the second mounting hole 24 are aligned, and the rotating shaft 40 passes through the first mounting hole 11 and the second mounting hole 24. The hinge plate 21 and the mounting component 10 are rotatably connected through the pivot connection of the rotating shaft 40.
[0049] In some embodiments, such as Figure 6As shown, the hinge plate 21 is provided with a limiting groove 25 that communicates with the second mounting hole 24. The elastic reset member 30 is provided in the limiting groove 25. The limiting groove 25 is used to restrict the axial movement of the elastic reset member 30 along the rotating shaft 40.
[0050] For example, the elastic reset member 30 is a torsion spring. During assembly, the elastic reset member 30 is first assembled in the limiting groove 25, the rotating shaft 40 passes through the first mounting hole 11 and the second mounting hole 24, and the helical coil of the torsion spring passes through the rotating shaft 40. One end of the torsion spring abuts against the mounting member 10, and the other end abuts against the hinge plate 21. The limiting groove 25 restricts the axial movement of the elastic reset member 30 along the rotating shaft 40, preventing the torsion spring from moving axially when the hinge plate 21 rotates.
[0051] It should be understood that the term "and / or" as used in this specification and the appended claims refers to any combination and all possible combinations of one or more of the associated listed items, and includes such combinations. It should be noted that, herein, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or system. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or system that includes that element.
[0052] The sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments. The above descriptions are merely specific embodiments of this application, but the scope of protection of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.
Claims
1. A radar assembly, characterized by include: Mounting components for connecting mobile robots; The radar module includes a hinged plate, a lidar, and an anti-collision device. The hinged plate is rotatably connected to the mounting component. The lidar and the anti-collision device are spaced apart on the hinged plate, with the emitting end of the lidar and the anti-collision device located on the same side of the hinged plate. The distance from the end of the anti-collision device away from the hinged plate to the hinged plate is greater than the distance from the emitting end of the lidar to the hinged plate. The anti-collision device can push the hinged plate to flip towards the mobile robot under external force. An elastic reset member is provided, with its two ends abutting against the mounting member and the hinge plate, respectively, and the elastic reset member is used to reset the hinge plate.
2. The radar assembly of claim 1, wherein, The anti-collision device includes at least one anti-collision ring, with its two ends connected to the hinge plate at intervals, and the middle of the anti-collision ring extending away from the lidar.
3. The radar assembly of claim 2, wherein, In the vertical direction, the anti-collision ring is located on the upper and / or lower side of the lidar; The projection range of the anti-collision ring in the horizontal direction at least partially covers the projection range of the lidar in the horizontal direction.
4. The radar assembly of claim 2 or 3, wherein, In the horizontal direction, the anti-collision ring is located on the left and / or right side of the lidar; The projection range of the anti-collision ring in the vertical direction at least partially covers the projection range of the lidar in the vertical direction.
5. The radar assembly of claim 4, wherein, The anti-collision ring is an arc-shaped rod.
6. The radar assembly of claim 1, wherein, The radar assembly also includes a rotating shaft, the hinge plate is rotatably connected to the mounting component via the rotating shaft, the elastic reset component is sleeved on the rotating shaft, one end of the elastic reset component abuts against the mounting component, and the other end of the elastic reset component abuts against the hinge plate.
7. The radar assembly of claim 6, wherein, The elastic reset element is a torsion spring.
8. The radar assembly according to claim 6, characterized in that, The mounting component has a first mounting hole, the hinge plate has a second mounting hole, and the rotating shaft passes through the first mounting hole and the second mounting hole to make the hinge plate rotatably connected to the mounting component.
9. The radar assembly according to claim 8, characterized in that, The hinge plate is provided with a limiting groove communicating with the second mounting hole, and the elastic reset member is disposed in the limiting groove. The limiting groove is used to restrict the axial movement of the elastic reset member along the rotation axis.
10. A mobile robot, characterized in that, It includes a robot body and a radar assembly as described in any one of claims 1 to 9, the radar assembly being disposed on the side of the robot body.