A laser radar assembly and intelligent robot

Abstract

The application provides a laser radar assembly and an intelligent robot. The laser radar assembly is installed on a support of the intelligent robot and comprises a laser radar, an elastic member and a cover plate. The laser radar comprises a base installed on the support and a scanning structure connected to the base; one end of the elastic member is connected to the base, and the other end is connected to a bottom wall of the support; the cover plate is connected to and covers a top surface of the scanning structure away from the base; wherein the base and the support are in sliding connection, and when the scanning structure is subjected to an external force, the scanning structure and the cover plate move together into the support, and the elastic member can drive the scanning structure and the cover plate to reset. In this way, when the laser radar is subjected to an external force, the scanning structure of the laser radar and the cover plate move together into the support, and the elastic member can drive the scanning structure and the cover plate to reset, so as to provide a buffer for the laser radar when the laser radar is subjected to an external force, thereby achieving the effect of protecting the laser radar.

Description

Technical Field

[0001] This application relates to the field of lidar technology, specifically to a lidar component and an intelligent robot. Background Technology

[0002] With the rapid development of robotics technology, LiDAR, as the "eyes" of robots, is becoming increasingly essential. However, during robot operation, LiDAR is at risk of being bumped or knocked. Protective ribs are typically installed at intervals around the periphery of the LiDAR, but these ribs can block the light path emitted from the sides of the LiDAR, affecting its obstacle detection performance. Furthermore, relying solely on these protective ribs makes the LiDAR vulnerable to damage when the robot is subjected to external forces. Utility Model Content

[0003] In view of this, this application provides a lidar component that at least solves the problems of lidar components affecting the performance of radar in identifying obstacles and lidar being easily damaged. This application also provides an intelligent robot including the above-mentioned lidar component.

[0004] To achieve the above objectives, this application provides the following technical solution:

[0005] A lidar assembly, mounted on a support frame of an intelligent robot, includes:

[0006] The lidar includes a base mounted on the bracket and a scanning structure connected to the base;

[0007] An elastic element, one end of which is connected to the base and the other end of which is connected to the bottom wall of the bracket;

[0008] A cover plate is connected to and covers the top surface of the scanning structure opposite to the base;

[0009] The base is slidably connected to the bracket, and when the scanning structure is subjected to an external force, the scanning structure and the cover plate move together into the bracket, and the elastic element can drive the scanning structure and the cover plate to reset.

[0010] Optionally, foam may also be included between the base and the bottom wall of the support to provide support for the base as the scanning structure moves into the support.

[0011] Optionally, the foam has a ring structure and surrounds the elastic element.

[0012] Optionally, a guide post is provided in at least one of the bottom wall of the bracket and the base, and a guide hole is provided in at least the other of the bottom wall of the bracket and the base to guide and cooperate with the guide post.

[0013] Optionally, multiple guide posts and guide holes are provided one-to-one, and the multiple guide posts are equally spaced in the circumferential direction of the bracket.

[0014] Optionally, in the direction away from the scanning structure, the cross-sectional area of ​​the sidewall of the bracket decreases.

[0015] Optionally, the bottom wall of the bracket is provided with a limiting protrusion on the side facing the base, which can abut against the base, and multiple limiting protrusions are provided at equal intervals in the circumferential direction of the bracket.

[0016] Optionally, in the direction opposite to the base, the projection of the scanning structure is located within the cover plate.

[0017] An intelligent robot comprising a lidar component as described in any of the preceding claims.

[0018] Optionally, a housing is included, the bracket is disposed within the housing, and the housing has mounting holes that expose the scanning structure, wherein:

[0019] The diameter of the mounting hole is smaller than the outer diameter of the base, and the diameter of the mounting hole is larger than the inner diameter of the scanning structure.

[0020] The lidar assembly provided in this application utilizes a slidable connection between a base and a bracket. One end of an elastic element is connected to the base, and the other end is connected to the bottom wall of the bracket. When the lidar is subjected to external force, the lidar's scanning structure and cover plate move together into the bracket. The elastic element can also drive the scanning structure and cover plate to reset, thus providing a buffer for the lidar when subjected to external force and protecting it. Furthermore, the cover plate only covers the top surface of the scanning structure away from the base, and the scanning structure lacks circumferential protective ribs. Protection of the lidar is achieved through the elastic element and the slidable connection between the base and bracket. This protects the lidar while reducing obstruction of its scanning structure, thereby improving the lidar's obstacle detection performance. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of this application. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0022] Figure 1 This is a schematic diagram of the structure of the lidar component and bracket provided in the embodiments of this application;

[0023] Figure 2 A top view of the lidar components and support frame;

[0024] Figure 3 for Figure 2 Cross-sectional view at point AA;

[0025] Figure 4 for Figure 3 Cross-sectional view at point BB;

[0026] Figure 5 This is a schematic diagram of the support structure at the first angle;

[0027] Figure 6 This is a schematic diagram of the support structure at the second angle;

[0028] Figure 7 This is a schematic diagram of the structure of a lidar.

[0029] Figure 8 This is a structural diagram of an intelligent robot.

[0030] exist Figures 1 to 8 middle:

[0031] 1-Lidar, 2-Elastic element, 3-Cover plate, 4-Bracket, 5-Foam, 6-Guide post, 7-Guide hole, 8-Limiting protrusion, 9-Housing shell;

[0032] 11-Base, 12-Scanning structure, 41-Bottom wall, 42-Side wall, 91-Mounting hole. Detailed Implementation

[0033] This application provides a lidar component that at least solves the problems of lidar components affecting the performance of radar in identifying obstacles and the easy damage of lidar. This application also provides an intelligent robot including the aforementioned lidar component.

[0034] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0035] like Figures 1 to 7As shown in the illustration, this application provides a lidar component. The lidar component works by emitting a detection signal (laser beam) towards the target, then comparing the received signal reflected back from the target (target echo) with the emitted signal. After appropriate processing, relevant information about the target can be obtained, such as target distance, azimuth, altitude, speed, attitude, and even shape parameters, thereby enabling the detection, tracking, and identification of targets such as aircraft and missiles. Mounted on a support 4 of an intelligent robot, the lidar component mainly includes a lidar 1, an elastic element 2, and a cover plate 3. The lidar 1 includes a base 11 mounted on a bracket 4 and a scanning structure 12 connected to the base 11. The base 11 connects to the bracket 4, and the scanning structure 12 protrudes from the surface of the intelligent robot to detect objects around the robot. One end of an elastic element 2 is connected to the base 11, and the other end is connected to the bottom wall 41 of the bracket 4. The elastic element 2 applies elastic force to the lidar 1. On the one hand, when the lidar 1 is subjected to external force, the elastic element 2 can provide buffering and shock absorption for the lidar 1; on the other hand, after the lidar 1 is moved into the bracket 4 by external force, the elastic element 2 can apply a force to move the lidar 1 away from the bracket 4. A cover plate 3 is connected to and covers the top surface of the scanning structure 12 away from the base 11. Here, the cover plate 3 only covers the top surface of the scanning structure 12 away from the base 11, that is, no protective ribs are provided on the circumferential outer side of the scanning structure 12, thereby reducing the obstruction of the scanning structure 12, increasing the scanning range of the lidar 1 for surrounding objects, and thus accurately and efficiently calculating the position of objects around the lidar 1.

[0036] Here, the base 11 is slidably connected to the support 4. When the scanning structure 12 is subjected to external force, the scanning structure 12 and the cover plate 3 move together into the support 4, and the elastic element 2 can drive the scanning structure 12 and the cover plate 3 to reset. Specifically, when the LiDAR 1 of the intelligent robot is subjected to external force, since the base 11 is slidably connected to the support 4, the base 11, the scanning structure 12, and the cover plate 3 on the scanning structure 12 will move together towards the side where the support 4 is located. The scanning structure 12 is retracted into the support 4 to achieve the effect of protecting the scanning structure 12. During the process of the base 11, the scanning structure 12, and the cover plate 3 on the scanning structure 12 moving together towards the side where the support 4 is located, the elastic element 2 will be squeezed. When the external force caused by the impact on the LiDAR 1 disappears, the elastic element 2 in the squeezed state will apply a force away from the support 4 to the LiDAR 1 and the cover plate 3, thereby resetting the scanning structure 12 and the cover plate 3. That is, the scanning structure 12 protrudes from the surface of the intelligent robot so that the scanning structure 12 can work normally.

[0037] The aforementioned lidar assembly, by slidingly connecting the base 11 to the bracket 4, with one end of the elastic element 2 connected to the base 11 and the other end connected to the bottom wall 41 of the bracket 4, allows the lidar 1's scanning structure 12 and cover plate 3 to move together into the bracket 4 when subjected to external force. The elastic element 2 can also drive the scanning structure 12 and cover plate 3 to reset, thus providing a buffer for the lidar 1 when subjected to external force, effectively protecting it. Furthermore, the cover plate 3 only covers the top surface of the scanning structure 12 facing away from the base 11, and the scanning structure 12 is not protected around the circumference. Protection of the lidar 1 is achieved through the elastic element 2 and the sliding connection between the base 11 and the bracket 4. This protects the lidar 1 while reducing obstruction of its scanning structure 12, thereby improving the lidar's obstacle detection performance.

[0038] In some embodiments, please refer to Figures 2 to 4 The lidar assembly also includes foam 5 located between the base 11 and the bottom wall 41 of the bracket 4 to provide support for the base 11 when the scanning structure 12 moves into the bracket 4. When the lidar 1 is subjected to an external force, during the process of the lidar 1 moving into the bracket 4, the base 11, the scanning structure 12, and the cover plate 3 disposed on the scanning structure 12 will move together into the bracket 4. While an elastic element 2 is provided between the base 11 and the bottom wall 41 of the bracket 4, foam 5 is also provided between the base 11 and the bottom wall 41 of the bracket 4, thereby further improving the stability of the support for the base 11 during movement. Furthermore, through the provision of foam 5, during the resetting process of the lidar 1, foam 5 and elastic element 2 jointly apply an elastic force away from the bracket 4 to the lidar 1, thereby achieving more efficient resetting of the lidar 1.

[0039] In some embodiments, please refer to Figure 3 The foam 5 has a ring-shaped structure, and this ring-shaped structure surrounds the elastic element 2. In other words, the elastic element 2 is located in the hollow area of ​​the ring-shaped structure. The ring-shaped structure of the foam 5 means that it is evenly distributed around the circumference of the support 4. This arrangement provides support for the base 11 around its circumference as the base 11 and scanning structure 12 move into the support 4, improving the stability of the support and thus enhancing the stability of the lidar 1 during movement. Furthermore, this arrangement facilitates the placement of the elastic element 2 and the foam 5, improving the compactness of their layout.

[0040] In some embodiments, please refer to Figures 4 to 7A guide post 6 is provided in at least one of the bottom wall 41 of the bracket 4 and the base 11, and a guide hole 7 that guides and engages with the guide post 6 is provided in at least the other of the bottom wall 41 of the bracket 4 and the base 11. This embodiment includes the following three implementation methods: a guide post 6 is provided on the bottom wall 41 of the bracket 4, and a guide hole 7 that guides and engages with the guide post 6 is provided on the base 11; a guide post 6 is provided on the base 11, and a guide hole 7 that guides and engages with the guide post 6 is provided on the bottom wall 41 of the bracket 4; a guide post 6 is provided on the bottom wall 41 of the bracket 4, and a guide hole 7 that guides and engages with the guide post 6 is provided on the base 11, and a guide post 6 is provided on the bottom wall 41 of the bracket 4. Here, by setting the upper guide post 6 and guide hole 7, the base 11 and scanning structure 12 can play a guiding role in the process of sliding along the bracket 4, thereby improving the stability of the scanning structure 12 when it moves into the bracket 4 and when it moves away from the bracket 4, thus ensuring that the scanning structure 12 can quickly retract into the bracket 4 when subjected to external force and quickly achieve the reset of the scanning structure 12.

[0041] In some embodiments, please refer to Figures 4 to 7 Multiple guide posts 6 and guide holes 7 are provided in a one-to-one configuration. By setting multiple sets of guide posts 6 and guide holes 7, the stability of the scanning structure 12 when it moves into the support 4 and away from the support 4 is further improved during relative sliding between the base 11 and the bracket 4. Furthermore, the multiple guide posts 6 are evenly spaced along the circumference of the bracket 4, and since the guide holes 7 are also evenly spaced along the circumference of the bracket 4, the multiple guide holes 7 provide guidance at various positions along the circumference of the base 11 during relative sliding between the base 11 and the bracket 4, thereby further improving the stability of the relative sliding between the base 11 and the bracket 4.

[0042] In some embodiments, the cross-sectional area of ​​the sidewall 42 of the bracket 4 decreases in the direction away from the scanning structure 12 on the base 11. Here, by decreasing the cross-sectional area of ​​the sidewall of the bracket 4, and since the base 11 is slidably connected to the bracket 4, when the scanning structure 12 is subjected to an external force and moves into the bracket 4 together with the cover plate 3, the sidewall 42 with decreasing cross-sectional area of ​​the bracket 4 will guide the sliding of the base 11, thereby further improving the stability of the sliding between the base 11 and the bracket 4.

[0043] It should be noted that the direction in which the base 11 faces away from the scanning structure 12 is... Figure 3 The direction indicated by the double-headed arrow C.

[0044] When the scanning structure 12 is subjected to external force, the scanning structure 12 and the cover plate 3 will move together into the bracket 4. To limit the movement of the scanning structure 12 and prevent it from moving completely into the bracket 4 and failing to pop out under the action of the elastic member 2, in some embodiments, please refer to... Figure 4 and Figure 6 The bottom wall 41 of the bracket 4 is provided with a limiting protrusion 8 that can abut against the base 11. With this configuration, when the scanning structure 12 is moved into the bracket 4 by an external force, the limiting protrusion 8 can limit the movement of the base 11. Since the scanning structure 12 is connected to the base 11, the position of the scanning structure 12 can be limited, thereby preventing the scanning structure 12 from moving completely into the bracket 4 and failing to pop out under the action of the elastic member 2.

[0045] Further details based on the above embodiments can be found in the following examples. Figure 4 and Figure 6 Multiple limiting protrusions 8 are evenly spaced along the circumference of the bracket 4, meaning that multiple limiting protrusions 8 are evenly spaced along the circumference of the base 11. This arrangement allows the limiting protrusions 8 to limit the position of the base 11 in the circumferential direction, thereby improving the stability of the base 11 during sliding and enhancing the stability of the lidar 1.

[0046] In some embodiments, the projection of the scanning structure 12 in the direction away from the base 11 is located within the cover plate 3. That is, the cover plate 3 completely covers the top surface of the scanning structure 12. With this configuration, when the scanning structure 12 is moved into the bracket 4 by an external force, since the cover plate 3 is located on the top surface of the scanning structure 12 and the size of the scanning structure 12 is smaller than the size of the cover plate 3, the cover plate 3 can abut against the bracket 4 when the scanning structure 12 is fully inside the bracket 4. This prevents the scanning structure 12 from moving completely into the bracket 4 and failing to pop out under the action of the elastic member 2, thus ensuring that the scanning structure 12 can be reset under the elastic force of the elastic member 2. Furthermore, the cover plate 3 only covers the top surface of the scanning structure 12 away from the base 11, and the scanning structure 12 has no protective ribs in the circumferential direction. The protection of the LiDAR 1 is achieved through the elastic member 2 and the sliding connection between the base 11 and the bracket 4. In this way, while protecting the LiDAR 1, the obstruction of the scanning structure 12 of the LiDAR 1 is reduced, thereby improving the performance of the radar in identifying obstacles.

[0047] It should be noted that the direction in which the scanning structure 12 is away from the base 11 is... Figure 3 The direction indicated by the middle arrow D.

[0048] This application also provides an intelligent robot that includes the lidar component mentioned in the above embodiments. Since the intelligent robot includes the lidar component, the beneficial effects brought by the lidar component to the intelligent robot can be found in the above content and will not be repeated here.

[0049] In some embodiments, please refer to Figure 3 and Figure 8 The intelligent robot includes a housing 9, with a support 4 housed inside the housing 9. The housing 9 has mounting holes 91 that expose the scanning structure 12. In other words, the scanning structure 12 of the lidar 1 protrudes from the housing 9 through the mounting holes 91, thereby enabling the detection of objects around the intelligent robot. Furthermore, the diameter of the mounting holes 91 is smaller than the outer diameter of the base 11, and larger than the inner diameter of the scanning structure 12. Specifically, when the lidar 1 is subjected to external force, since the diameter of the mounting hole 91 is larger than the inner diameter of the scanning structure 12, the base 11, the scanning structure 12, and the cover plate 3 on the scanning structure 12 will move into the bracket 4. Due to the setting of the limiting protrusion 8 in the above embodiment, the base 11 is limited during the movement of the base 11, the scanning structure 12, and the cover plate 3 on the scanning structure 12 to ensure the moving position of the lidar 1. When the base 11, the scanning structure 12, and the cover plate 3 on the scanning structure 12 are reset under the action of the elastic member 2, since the diameter of the mounting hole 91 is smaller than the outer diameter of the base 11, when the base 11, the scanning structure 12, and the cover plate 3 on the scanning structure 12 move away from the bracket 4, the base 11 will abut against the hole wall of the mounting hole 91, thereby preventing the base 11 from moving out of the mounting hole 91, thus limiting the moving position of the scanning structure 12, limiting the moving position of the lidar 1, and ensuring the stability of the movement of the lidar 1.

[0050] The basic principles of this application have been described above with reference to specific embodiments. However, it should be noted that the advantages, benefits, and effects mentioned in this application are merely examples and not limitations, and should not be considered as essential features of each embodiment of this application. Furthermore, the specific details disclosed above are for illustrative and facilitative purposes only, and are not limitations. These details do not limit the application to the necessity of employing the aforementioned specific details for implementation.

[0051] The block diagrams of devices, apparatuses, devices, and systems involved in this application are merely illustrative examples and are not intended to require or imply that they must be connected, arranged, or configured in the manner shown in the block diagrams. As those skilled in the art will recognize, these devices, apparatuses, devices, and systems can be connected, arranged, and configured in any manner. Words such as “comprising,” “including,” “having,” etc., are open-ended terms meaning “including but not limited to,” and are used interchangeably with them. The terms “or” and “and” as used herein refer to the terms “and / or,” and are used interchangeably with them unless the context clearly indicates otherwise. The term “such as” as used herein refers to the phrase “such as but not limited to,” and is used interchangeably with it.

[0052] It should also be noted that in the apparatus, equipment, and methods of this application, the components or steps can be disassembled and / or recombined. These disassemblies and / or recombinations should be considered as equivalent solutions of this application.

[0053] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use this application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein can be applied to other aspects without departing from the scope of this application. Therefore, this application is not intended to be limited to the aspects shown herein, but rather to be accorded the widest scope consistent with the principles and novel features disclosed herein.

[0054] It should be understood that the qualifiers “first,” “second,” “third,” “fourth,” “fifth,” and “sixth” used in the description of the embodiments of this application are only used to more clearly illustrate the technical solutions and are not intended to limit the scope of protection of this application.

[0055] The above description has been given for purposes of illustration and description. Furthermore, this description is not intended to limit the embodiments of this application to the forms disclosed herein. Although numerous exemplary aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, alterations, additions, and sub-combinations thereof.

Claims

1. A lidar component, characterized in that, Mounted on the stand of the intelligent robot, including: The lidar includes a base mounted on the bracket and a scanning structure connected to the base; An elastic element, one end of which is connected to the base and the other end of which is connected to the bottom wall of the bracket; A cover plate is connected to and covers the top surface of the scanning structure opposite to the base; The base is slidably connected to the bracket, and when the scanning structure is subjected to external force, the scanning structure and the cover plate move together into the bracket, and the elastic element can drive the scanning structure and the cover plate to reset.

2. The lidar component according to claim 1, characterized in that, It also includes foam located between the base and the bottom wall of the support to provide support for the base as the scanning structure moves into the support.

3. The lidar component according to claim 2, characterized in that, The foam has a ring structure and surrounds the elastic element.

4. The lidar component according to claim 1, characterized in that, A guide post is provided in at least one of the bottom wall of the bracket and the base, and a guide hole is provided in at least the other of the bottom wall of the bracket and the base to guide and cooperate with the guide post.

5. The lidar component according to claim 4, characterized in that, The guide posts and guide holes are each provided in multiple pairs, and the multiple guide posts are arranged at equal intervals in the circumferential direction of the bracket.

6. The lidar component according to claim 1 or 4, characterized in that, In the direction away from the scanning structure, the cross-sectional area of ​​the sidewall of the support decreases.

7. The lidar component according to claim 1, characterized in that, The bottom wall of the bracket has a limiting protrusion on the side facing the base that can abut against the base, and multiple limiting protrusions are evenly spaced in the circumferential direction of the bracket.

8. The lidar component according to claim 1, characterized in that, In the direction away from the base, the projection of the scanning structure is located within the cover plate.

9. An intelligent robot, characterized in that, Includes a lidar component as described in any one of claims 1-8 above.

10. The intelligent robot according to claim 9, characterized in that, The system includes a housing, with the bracket disposed within the housing. The housing has mounting holes that expose the scanning structure. The diameter of the mounting hole is smaller than the outer diameter of the base, and the diameter of the mounting hole is larger than the inner diameter of the scanning structure.

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