Laser slam device and robot

Abstract

This application proposes a laser SLAM device and robot, comprising: a main unit; a drive component mounted on the main unit; a lidar located on the top exterior of the main unit, connected to the output end of the drive component, and capable of rotating with the output end of the drive component; and a GNSS antenna housed inside the main unit, positioned on either side of the lidar on the top of the main unit, with the central axis of the GNSS antenna forming an angle with the rotation center line of the lidar. It can utilize the drive component to rotate the lidar, thereby expanding the lidar's scanning angle and reducing or eliminating blind spots. Simultaneously, the concealed installation of the GNSS antenna makes the overall appearance of the device simpler and more aesthetically pleasing. Furthermore, the GNSS antenna and lidar being positioned on opposite sides of the top of the main unit, with the central axis of the GNSS antenna forming an angle with the rotation center line of the lidar, effectively avoid the lidar's scanning area with the electromagnetic field radiated by the GNSS antenna, thus reducing electromagnetic interference between the GNSS antenna and the lidar.

Description

Technical Field

[0001] This application relates to the field of surveying and exploration technology, and in particular to a laser SLAM device and robot. Background Technology

[0002] Laser SLAM devices use lidar to sense the environment and utilize SLAM (Simultaneous Localization and Mapping) technology to achieve real-time localization and mapping.

[0003] To address the interference problem between GNSS antennas and lidar, Chinese utility model patent CN220340404U proposes a solution: embedding the GNSS antenna within a protective cover on top of the lidar. While this design achieves antenna concealment and interference avoidance, it also introduces new problems. To ensure signal reception, the lidar itself is limited to a fixed structure, preventing rotational scanning and resulting in a limited scanning angle. This introduces blind spots and affects the operational stability of the equipment. Utility Model Content

[0004] This application provides a laser SLAM device and robot to solve the problems existing in related technologies. The technical solution is as follows: In a first aspect, embodiments of this application provide a laser SLAM device, comprising: Host; A drive component, wherein the drive component is disposed on the host computer; A lidar, located on the top exterior of the host unit, connected to the output of the drive component, and capable of rotating with the output of the drive component; and A GNSS antenna is installed inside the host unit. The GNSS antenna and the lidar are respectively placed on the top sides of the host unit. The central axis of the GNSS antenna is set at an angle to the rotation center line of the lidar, so that the electromagnetic field generated by the GNSS antenna is misaligned with the scanning area of ​​the lidar.

[0005] In one embodiment, the angle between the central axis of the GNSS antenna and the rotation center line of the lidar is A, where 40°≤A≤50°.

[0006] In one embodiment, the axial centerline of the lidar is perpendicular to its rotation centerline; The laser SLAM device also includes: A first shielding component covers the first axial end of the lidar, and the first shielding component is a structure made of metal. The second shielding component covers the second axial end of the lidar, and the second shielding component is a structure made of metal. The third shielding component is located between the first shielding component and the second shielding component. The third shielding component covers the side of the lidar near the output end of the driving component. The third shielding component is a structure made of metal.

[0007] In one embodiment, the first shielding component and the second shielding component are both connected to the third shielding component, the third shielding component is connected to the output terminal of the driving component, and the lidar is connected to the first shielding component.

[0008] In one embodiment, the host has a first mounting cavity and a mounting port, the first mounting cavity accommodating the GNSS antenna, the mounting port being located on the top side of the host and communicating with the first mounting cavity, the mounting port allowing the GNSS antenna to enter and exit the first mounting cavity; The laser SLAM device also includes: A protective cover is provided on the host unit, the protective cover covers the mounting port, and the protective cover is a structure made of plastic material.

[0009] In one implementation, the host includes: The housing has a first mounting cavity, a mounting opening, and a second mounting cavity, wherein the second mounting cavity is spaced apart from the first mounting cavity; A circuit board is disposed in the second mounting cavity, and the circuit board is electrically connected to the driving component, the lidar, and the GNSS antenna.

[0010] In one embodiment, the outer casing is a structure made of metal.

[0011] In one embodiment, the host has a third mounting cavity on the other side of its top, and the drive component is disposed within the third mounting cavity.

[0012] In one embodiment, the driving component includes a rotary motor.

[0013] Secondly, embodiments of this application provide a robot that includes the aforementioned laser SLAM device.

[0014] The advantages or beneficial effects of the above technical solutions include at least the following: This invention relates to a laser SLAM device that integrates a wider scanning angle, a streamlined appearance, and effective electromagnetic interference avoidance. The device comprises a main unit, a drive unit, a lidar, and a GNSS antenna. The drive unit, located on the main unit and connected to the lidar, rotates the lidar, thereby expanding its scanning angle, reducing or eliminating blind spots, and improving the device's stability and safety. Simultaneously, the GNSS antenna is concealed within the main unit, resulting in a cleaner and more aesthetically pleasing overall appearance. Furthermore, the GNSS antenna and lidar are positioned on opposite sides of the top of the main unit, with the central axis of the GNSS antenna forming an angle with the rotation centerline of the lidar. This angle separates the electromagnetic field generated by the GNSS antenna from the lidar's scanning area, effectively reducing electromagnetic interference between the two devices and ensuring stable operation of both, thus enhancing the overall operational stability of the device.

[0015] The above overview is for illustrative purposes only and is not intended to be limiting in any way. In addition to the illustrative aspects, embodiments, and features described above, further aspects, embodiments, and features of this application will become readily apparent from the accompanying drawings and the following detailed description. Attached Figure Description

[0016] In the accompanying drawings, unless otherwise specified, the same reference numerals throughout the various drawings denote the same or similar parts or elements. These drawings are not necessarily drawn to scale. It should be understood that these drawings depict only some embodiments disclosed in this application and should not be construed as limiting the scope of this application.

[0017] Figure 1 This is a three-dimensional structural diagram of the laser SLAM device of this utility model; Figure 2 This is an exploded view of the laser SLAM device of this utility model; Figure 3 This is an exploded view of the laser SLAM device of this utility model; Figure 4 This is a cross-sectional view of the laser SLAM device of this utility model.

[0018] Figure Labels 1. Main unit; 11. Housing; 111. First mounting cavity; 112. Second mounting cavity; 113. Third mounting cavity; 12. Circuit board; 2. Drive component; 3. LiDAR; 4. GNSS antenna; 5. First shielding component; 6. Second shielding component; 7. Third shielding component; 8. Protective cover. Detailed Implementation

[0019] In the following description, only certain exemplary embodiments are briefly described. As those skilled in the art will recognize, the described embodiments can be modified in various ways without departing from the spirit or scope of this application. Therefore, the drawings and description are considered to be exemplary in nature and not restrictive.

[0020] See Figures 1-4 This invention illustrates a preferred embodiment of a laser SLAM device, comprising: Host 1; Drive component 2 is mounted on host 1; LiDAR 3 is located on the top of the main unit 1. LiDAR 3 is connected to the output of the drive unit 2 and can rotate with the output of the drive unit 2. The GNSS antenna 4 is located inside the host unit 1. The GNSS antenna 4 and the lidar 3 are placed on the top sides of the host unit 1, that is, the GNSS antenna 4 and the lidar 3 are separated, which helps to reduce electromagnetic interference between the two. The central axis of the GNSS antenna 4 is set at an angle to the rotation center line of the lidar 3, so that the electromagnetic field generated by the GNSS antenna 4 is misaligned with the scanning area of ​​the lidar 3.

[0021] This invention relates to a laser SLAM device that integrates a wider scanning angle, a simpler appearance, and effective electromagnetic interference avoidance. The laser SLAM device includes a main unit 1, a drive unit 2, a lidar 3, and a GNSS antenna 4. The drive unit 2 is mounted on the main unit 1 and connected to the lidar 3. The drive unit 2 rotates the lidar 3, thereby expanding its scanning angle, reducing or eliminating blind spots, and improving the device's stability and safety. Simultaneously, the GNSS antenna 4 is housed within the main unit 1, achieving a concealed installation that makes the overall appearance of the device simpler and more aesthetically pleasing. Furthermore, the GNSS antenna 4 and the lidar 3 are positioned on opposite sides of the top of the main unit 1, with the central axis of the GNSS antenna 4 forming a certain angle with the rotation center line of the lidar 3. This causes the electromagnetic field generated by the GNSS antenna 4 to be offset from the scanning area of ​​the lidar 3, effectively reducing electromagnetic interference between the GNSS antenna 4 and the lidar 3, ensuring stable operation of both, and thus improving the overall operational stability of the device.

[0022] Specifically, the driving component 2 is used to drive the lidar 3 to rotate 360° around its rotation center line so that the lidar 3 has an all-around scanning view.

[0023] See Figure 4In one embodiment, the angle between the central axis of the GNSS antenna 4 and the rotation center line of the lidar 3 is A, 40°≤A≤50°, so that the electromagnetic field generated by the GNSS antenna 4 and the scanning area of ​​the lidar 3 are effectively misaligned in space, thereby significantly reducing the electromagnetic interference between the two.

[0024] Specifically, the angle between the rotation center line of the lidar 3 and the vertical center line of the host 1 is A1, and the angle between the central axis of the GNSS antenna 4 and the vertical center line of the host 1 is A2, where A2 + A1 = A.

[0025] See Figure 4 In one embodiment, the axial centerline of the lidar 3 is perpendicular to its rotation centerline. Laser SLAM equipment also includes: The first shielding component 5 covers the axis of the lidar 3 at the first end, and the first shielding component 5 is a structure made of metal. The second shielding component 6 covers the second axial end of the lidar 3, and the second shielding component 6 is a structure made of metal. The third shielding component 7 is located between the first shielding component 5 and the second shielding component 6. The third shielding component 7 covers the side of the lidar 3 closest to the output end of the driving component 2 and is made of metal. Thus, the first shielding component 5, the second shielding component 6, and the third shielding component 7 constitute an electromagnetic shielding structure surrounding the lidar 3. This effectively blocks the electromagnetic field generated by the GNSS antenna 4, preventing it from intruding into the sensitive area of ​​the lidar 3 from multiple axial and radial directions. This significantly reduces the coupling effect of continuous electromagnetic interference on the radar signal, improving the signal stability and measurement stability of the lidar 3 in complex operating environments.

[0026] For ease of installation, in one embodiment, both the first shielding component 5 and the second shielding component 6 are connected to the third shielding component 7. The third shielding component 7 is connected to the output end of the driving component 2, and the lidar 3 is connected to the first shielding component 5. Thus, using the third shielding component 7 as the core connecting component, it is directly fixed to the output end of the driving component 2, and the first shielding component 5 and the second shielding component 6 are both connected to the third shielding component 7. Simultaneously, the lidar 3 is installed on the first shielding component 5, thereby forming a modular shielding assembly with the third shielding component 7 as a common assembly base. This modular structure greatly simplifies the assembly process. During installation, only the third shielding component 7 needs to be fixed as a whole to the output end of the driving component 2 to complete the connection of the modular shielding assembly. This effectively reduces the number of parts and independent alignment steps, improving production assembly efficiency and maintenance convenience.

[0027] See Figures 1-4 In one embodiment, the host 1 has a first mounting cavity 111 and a mounting port. The first mounting cavity 111 accommodates the GNSS antenna 4, and the mounting port is located on the top side of the host 1. The mounting port communicates with the first mounting cavity 111 and allows the GNSS antenna 4 to enter and exit the first mounting cavity 111. Laser SLAM equipment also includes: A protective cover 8 is mounted on the main unit 1, covering the mounting opening. The protective cover 8 is made of plastic. The GNSS antenna 4 is encapsulated within the main unit 1 through the protective cover 8. Because the protective cover 8 is made of plastic, its dielectric properties effectively reduce reflection and loss of the GNSS antenna 4 beam, thus achieving physical protection while ensuring the stability of the GNSS antenna 4, thereby improving positioning accuracy.

[0028] See Figures 1-4 In one embodiment, host 1 includes: The outer casing 11 has a first mounting cavity 111, a mounting opening and a second mounting cavity 112, the second mounting cavity 112 being spaced apart from the first mounting cavity 111; Circuit board 12 is disposed within the second mounting cavity 112 and is electrically connected to the drive component 2, the lidar 3, and the GNSS antenna 4. Since the second mounting cavity 112 is separated from the first mounting cavity 111, the circuit board 12 and the GNSS antenna 4 are physically isolated from each other, thereby reducing electromagnetic interference between the circuit board 12 and the GNSS antenna 4 and ensuring the stability of the GNSS antenna 4.

[0029] In one embodiment, the outer shell 11 is a structure made of metal, so that the host 1 as a whole constitutes a continuous and complete electromagnetic shield, which can effectively suppress the leakage of electromagnetic energy generated when the GNSS antenna 4 and circuit board 12 are working, thereby achieving effective electromagnetic isolation and ultimately significantly improving the anti-interference performance of the device.

[0030] Specifically, the aforementioned metal material can be any of the following: aluminum alloy, stainless steel, etc.

[0031] In one embodiment, the top of the host 1 has a third mounting cavity 113 on the other side, and the drive component 2 is disposed in the third mounting cavity 113 to achieve the hidden installation of the drive component 2, making the overall appearance of the device simpler and more beautiful. At the same time, it facilitates the firm installation of the drive component 2 and improves the structural stability.

[0032] Specifically, in one embodiment, the driving component 2 includes a rotary motor, which directly drives the lidar 3 to rotate 360° around its rotation center line, making the scanning angle of the lidar 3 wider. At the same time, by directly connecting the lidar 3 to the rotary motor, intermediate transmission components are reduced, making the overall structure of the device more compact and convenient for measurement and carrying.

[0033] Of course, in other embodiments, the driving component 2 includes a drive motor and a belt drive mechanism (or a gear mechanism). The drive motor transmits power to the pulley connected to the lidar 3 via a belt, thereby driving the lidar 3 to rotate.

[0034] Of course, in other embodiments, the driving component 2 may also include a linear motor and a conversion mechanism (such as a gear and rack mechanism or a crank and slider mechanism) that converts linear motion into rotational motion. The linear reciprocating output of the linear motor drives the lidar 3 to reciprocate through the conversion mechanism.

[0035] It is understood that the host 1 also includes a vision camera and an inertial navigation module, both of which are mounted on the housing 11 and are electrically connected to the circuit board.

[0036] A preferred embodiment of this utility model provides a robot, including the laser SLAM device described above.

[0037] The robot of this invention, by adopting the aforementioned laser SLAM equipment, can also integrate a wider scanning angle, a simple appearance, and effective electromagnetic interference avoidance.

[0038] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of those different embodiments or examples.

[0039] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "a plurality of" means two or more, unless otherwise explicitly specified.

[0040] The above 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 variations or substitutions within the technical scope disclosed in this application, and these should all be included 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 laser SLAM device, characterized in that, include: Host; A drive component, wherein the drive component is disposed on the host computer; A lidar is located on the top of the host unit and connected to the output of the drive component. The lidar can rotate with the output of the drive component. as well as A GNSS antenna is installed inside the host unit. The GNSS antenna and the lidar are respectively placed on the top sides of the host unit. The central axis of the GNSS antenna is set at an angle to the rotation center line of the lidar, so that the electromagnetic field generated by the GNSS antenna is misaligned with the scanning area of ​​the lidar.

2. The laser SLAM device according to claim 1, characterized in that, The angle between the central axis of the GNSS antenna and the rotation center line of the lidar is A, where 40°≤A≤50°.

3. The laser SLAM device according to claim 1, characterized in that, The axial centerline of the lidar is perpendicular to its rotation centerline; The laser SLAM device also includes: A first shielding component covers the first axial end of the lidar, and the first shielding component is a structure made of metal. The second shielding component covers the second axial end of the lidar, and the second shielding component is a structure made of metal. The third shielding component is located between the first shielding component and the second shielding component. The third shielding component covers the side of the lidar near the output end of the driving component. The third shielding component is a structure made of metal.

4. The laser SLAM device according to claim 3, characterized in that, The first shielding component and the second shielding component are both connected to the third shielding component, the third shielding component is connected to the output end of the driving component, and the lidar is connected to the first shielding component.

5. The laser SLAM device according to claim 1, characterized in that, The host has a first mounting cavity and a mounting port. The first mounting cavity accommodates the GNSS antenna, and the mounting port is located on the top side of the host. The mounting port communicates with the first mounting cavity and allows the GNSS antenna to enter and exit the first mounting cavity. The laser SLAM device also includes: A protective cover is provided on the host unit, the protective cover covers the mounting port, and the protective cover is a structure made of plastic material.

6. The laser SLAM device according to claim 5, characterized in that, The host includes: The housing has a first mounting cavity, a mounting opening, and a second mounting cavity, wherein the second mounting cavity is spaced apart from the first mounting cavity; A circuit board is disposed in the second mounting cavity, and the circuit board is electrically connected to the driving component, the lidar, and the GNSS antenna.

7. The laser SLAM device according to claim 6, characterized in that, The outer shell is a structure made of metal.

8. The laser SLAM device according to claim 1, characterized in that, The host has a third mounting cavity on the other side of its top, and the drive component is disposed in the third mounting cavity.

9. The laser SLAM device according to claim 1, characterized in that, The driving component includes a rotary motor.

10. A robot, characterized in that, The laser SLAM device included in any one of claims 1-9.

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