Lidar system with a protective mount and four-legged robot for its application

Abstract

Lidar system with a protective bracket, comprising a protective bracket (2), a mounting section (11) and a rotating section (12) which rotates relative to the mounting section (11), characterized in that the protective bracket (2) has a base (21) and a protective cover (22), the protective cover (22) is arranged on the outside of the rotating section (12) and is firmly connected to it, so that the protective cover (22) can rotate with the rotating section (12), within the base (21) a receiving cavity (23) for mounting the fastening section (11) is arranged, wherein an elastic element (3) is arranged between the fastening section (11) and the bottom of the receiving cavity (23) such that the fastening section (11) is elastically connected to the inner wall of the receiving cavity (23), the elastic element (3) is pressed so that the protective cover (22) can rest against the base (21) when the protective cover (22), the rotating section (12) and the fastening section (11) move towards the bottom of the receiving cavity (23).

Description

TECHNICAL AREA

[0001] The present invention relates to the technical field of lidar (light detection and ranging) or light distance measurement systems, in particular to a lidar system with a protective bracket and a four-legged robot for its application. STATE OF THE ART

[0002] Currently, lidar systems are widely used in various fields, such as autonomous driving, enabling four-legged robots equipped with lidar to perform functions like automatic obstacle avoidance. Chinese utility model CN ​​218122240 U discloses a lidar system (hereinafter referred to as lidar) with good scanning capability, comprising a laser transmitter for emitting laser signals, a rotatable reflector for reflecting laser signals, and a protective housing with an arc-shaped structure. The protective housing is covered by a reflector, and a light-shielding cavity is arranged between the reflector and the protective housing. The light-shielding cavity is a cylindrical section extending from the end face of the reflector towards the wall surface of the protective housing.

[0003] The lidar mentioned above is a four-legged robot that inevitably collides with objects on the ground or in its surroundings. The lidar's structure is relatively fragile, so it cannot be adequately protected by a housing. The impact force on the housing is directly transferred to the lidar's internal components, potentially damaging them and also reducing the housing's lifespan. Therefore, effectively protecting the lidar is impossible, which hinders its promotion and use.

[0004] The information disclosed in the present prior art serves only to provide an understanding of the background of the inventive concept and may therefore contain information that does not represent the prior art. CONTENT OF THE PRESENT INVENTION

[0005] With regard to the problems mentioned above, or any of the problems mentioned above, the first purpose of the present invention is to provide a lidar with a protective bracket, wherein the protective bracket is covered on the outside of the lidar, so that the lidar is effectively protected from damage upon impact.

[0006] With regard to the problems mentioned above, or any one of them, the second purpose of the present invention is to provide a lidar with a protective mount. A mounting section of the lidar is installed in the base of the protective mount, and an elastic element is provided between the mounting section and the base. The protective cover of the protective mount is mounted on the outside of the rotating section of the lidar and rotates with it. When the lidar collides with an external object, the protective cover is struck first, so that the movement of the mounting section towards the bottom of the base is driven by the rotating section.The elastic element is compressed to absorb external impact energy, thus playing the role of protecting the lidar's internal components and providing a protective cover to extend the lidar's lifespan, which is beneficial for its promotion and use.

[0007] In light of the aforementioned problems, or any one of them, the third purpose of the present invention is to provide a lidar with a protective mount. When the protective cover is subjected to excessive external impact, the cover, in addition to the elastic element being compressed to absorb some of the impact energy, can come into direct contact with the base. This prevents the impact force from acting directly on the lidar's internal components, thus providing additional protection.

[0008] In light of the aforementioned problems, or any one of them, the fourth purpose of the present invention is to provide a lidar with a protective housing. An annular groove and an annular projection are arranged to form a rotationally compatible protective cover through the interaction of both. The axial range of movement of the protective cover is limited, which offers a simple and practical solution.

[0009] In light of the aforementioned problems, or any one of them, the fifth purpose of the present invention is to provide a four-legged robot equipped with a lidar. The exterior is covered with a protective bracket, effectively protecting the lidar from damage upon impact.

[0010] To achieve one of the above-mentioned purposes, the first technical solution of the present invention is: Lidar system with a protective mount, comprising a protective mount, a mounting section and a rotating section that rotates relative to the mounting section, the protective mount having a base and a protective cover, wherein the protective cover is arranged on the outside of the rotating section and is firmly connected to it, so that the protective cover can rotate with the rotating section, wherein a receiving cavity for mounting the fastening section is arranged within the base, wherein an elastic element is arranged between the fastening section and the bottom of the receiving cavity such that the fastening section is elastically connected to the inner wall of the receiving cavity, wherein the elastic element is pressed so that the protective cover can rest against the base when the protective cover, the rotating section and the fastening section move towards the bottom of the receiving cavity.

[0011] In the present invention, following continuous research and testing, a mounting section of the lidar system is installed in the base of the protective bracket, and an elastic element is provided between the mounting section and the base. The protective cover of the bracket is mounted on the outside of the lidar's rotating section and rotates with it. When the lidar collides with an external object, the protective cover is struck first, so that the movement of the mounting section towards the bottom of the base is driven by the rotating section. The elastic element is compressed to absorb external impact energy, thus protecting the lidar's internal components and the protective cover, thereby extending the lidar's service life and promoting its use.Furthermore, if the protective cover is subjected to excessive external impact, the cover can come into direct contact with the base, in addition to the elastic element being compressed to absorb some of the impact energy. This prevents the impact force from acting directly on the lidar's internal components, thus providing additional protection.

[0012] Furthermore, it is provided that the internal components are designed as laser sensors and / or rotary sections and / or mounting sections and / or control panels and / or circuit chips or the like.

[0013] Furthermore, the protective cover rotates synchronously with the lidar's rotating section, ensuring that the lidar's scanning is not blocked when the cover is deployed, thus preserving its functionality. Therefore, the protective bracket not only shields the lidar from external impacts but also allows it to scan the surrounding environment without interference.

[0014] Furthermore, the protective cover and the elastic element according to the present invention are fitted together with the base structure to form a multi-buffer protective structure, so that damage to the lidar after a collision can be largely avoided, which has a simple and practical structure and a practical and feasible solution.

[0015] As a preferred technical measure, it is provided that a U-shaped scanning surface for sending and receiving laser signals is arranged on the rotating section, and that a through-opening associated with the U-shaped scanning surface for the passage of a laser signal is arranged on the protective cover.

[0016] The protective cover features a through-opening so that the lidar's U-shaped scanning surface is not blocked and its function is not impaired when it rotates synchronously with the rotating section. Therefore, the protective bracket not only effectively protects the lidar from external impacts but also ensures that its scanning of the surrounding environment is not affected.

[0017] As a preferred technical measure, it is provided that one of the inner walls of the receiving cavity and the protective cover is provided with an annular groove and the other with an annular projection cooperating with the annular groove, wherein the annular groove interacts with the annular projection to form a rotationally compatible design of the protective cover and to limit the axial range of movement of the protective cover, so that the rotation and axial movement of the protective cover and the rotating section can be effectively controlled, which is a simple and practical solution.

[0018] As a preferred technical measure, it is provided that one section, formed by the base of the mounting section and the inner wall of the receiving cavity, is provided with a stop ring and the other with a stop table that interacts with the stop ring; the elastic element is compressed so that the stop ring is driven by the spring force of the elastic element to come into contact with the stop table when the mounting section is installed in the receiving cavity, wherein the ring extension is out of contact with the annular groove at this time, so that the protective cover can be rotated with the rotating section; the stop ring is out of contact with the stop table when the movement of the protective cover towards the base is driven by an external force, wherein the ring extension abuts against the annular groove at this time, so that the protective cover is stopped from rotating, so that the lidar is stopped in time upon external impact.to rotate and operate, thereby preventing further damage.

[0019] As a preferred technical measure, it is provided that one of the fastening section and the base is provided with a guide column and the other with a slide cooperating with the guide column, the guide column being arranged in the axial direction such that the fastening section can only move axially relative to the base.

[0020] The guide column and the slide are arranged in such a way that the axial rotation of the lidar's mounting section is limited upon impact of the lidar, thus providing guidance for the lidar's axial movement.

[0021] To achieve one of the above-mentioned purposes, the second technical solution of the present invention is: Lidar system with a protective mount, comprising a rotary section for driving the rotation of a laser sensor, a mounting section for mounting the rotary section, a protective cover for covering the rotary section, and a base for mounting the protective cover, wherein the upper end section of the fastening section is rotatably connected to the rotating section and the lower end section is connected to the base by an elastic element, the protective cover is firmly connected to the rotating section, the lower edge of which is spaced from the upper edge of the base to form a protective bracket.

[0022] When the protective cover is struck by an external force, the rotating section and the fastening section are driven to move towards the base, pressing the elastic element to counteract the impact force or cushion the impact of the external force, thus forming a multiple protective structure.

[0023] In the present invention, following continuous research and testing, a mounting section of the lidar is installed in the base of the protective bracket, and an elastic element is provided between the mounting section and the base. The protective cover of the bracket is mounted on the outside of the rotating section of the lidar and rotates with it. When the lidar collides with an external object, the protective cover is struck first, so that the movement of the mounting section towards the bottom of the base is driven by the rotating section. The elastic element is compressed to absorb external impact energy, thus protecting the internal components of the lidar and the protective cover, thereby extending the service life of the lidar and promoting its use.

[0024] Furthermore, if the protective cover is subjected to excessive external impact, the protective cover according to the present invention can, in addition to the elastic element being compressed to absorb some of the impact energy, come into direct contact with the base. This prevents the impact force from acting directly on the internal components of the lidar, thus providing additional protection for the lidar.

[0025] Furthermore, the protective cover and the elastic element are fitted together with the base structure to form a multi-buffer protective structure, so that damage to the lidar after a collision can be largely avoided, resulting in a simple and practical structure and a practical and feasible solution.

[0026] As a preferred technical measure, it is provided that the rotating section is designed as a column, arc, or square, the upper end section of which is provided with a U-shaped scanning surface for transmitting and receiving laser signals, and / or, the mounting section is designed as a column, arc, or square, the lower end section of which is provided with protrusions or depressions or multi-rod arrangement structures for mounting the elastic element, which facilitates the mounting of the elastic element, and / or, the protective cover is provided with a cavity whose cross-sectional shape is arc, square, or irregular, the upper end section of which is provided with a through-opening for the passage of a laser signal.Furthermore, the protective cover rotates synchronously with the lidar's rotating section, ensuring that the lidar's U-shaped scanning area is not blocked when the cover is deployed, thus preserving the lidar's functionality. Therefore, the protective mount not only shields the lidar from external impacts but also prevents the lidar from interfering with its scanning of the surrounding environment; and / or, the base is designed as a flat plate, a tubular structure with cavities, or a frame structure, the edge of which is provided at least at one point with a convex structure to define the lower edge of the protective cover. This guides the protective cover's travel, preventing the impact force from acting directly on the lidar's internal components and effectively preventing damage to them.

[0027] As a preferred technical measure, it is provided that the base is provided with a receiving cavity for receiving the fastening section, wherein the lower wall surface of the receiving cavity is provided with a protruding structure for mounting the elastic element, and / or, a rotational clearance of 1-10 mm is provided between the upper edge of the base and the protective cover, and / or, the number of elastic elements is one or more, which are designed as springs or elastic rubber or pads, or, the number of elastic elements is three, which are in the form of a lettering “ "arranged to improve the elastic damping effect, or, the elastic element is designed as a multi-layered array structure having at least one elastic layer I in the middle of the base and one elastic layer II in the periphery of the base, wherein the elastic layer I and the elastic layer II have a height difference, so that the elastic damping effect is further enhanced and the degree of damage from the impact force is further reduced."

[0028] As a preferred technical measure, it is provided that a stop ring is arranged at the bottom of the mounting section, wherein a stop table cooperating with the stop ring is arranged on the inner wall of the receiving cavity, the elastic element is compressed so that the stop ring can rest against the stop table when the mounting section is installed in the receiving cavity, an annular groove is arranged on the inner wall of the receiving cavity, wherein a ring extension cooperating with the annular groove is arranged on the protective cover, the ring extension can be rotated with the protective cover within the annular groove when the stop ring rests against the stop table, the protective cover and / or the ring extension can rest against the base when the stop ring is out of contact with the stop table, and a guide arrangement is arranged between the mounting section and the base.The guide assembly comprises a guide column and a slide that interact with each other, the guide column being arranged axially such that the mounting section can only move axially relative to the base. The guide assembly is arranged to limit the axial rotation of the lidar's mounting section upon impact, thus providing guidance for the lidar's axial movement.

[0029] To achieve one of the above-mentioned purposes, the third technical solution of the present invention is: Four-legged robot, featuring the lidar described above with a protective mount. The present invention has the following advantageous effects: For the lidar with a protective mount according to the present invention, a mounting section of the lidar is installed in the base of the protective mount, and an elastic element is provided between the mounting section and the base. The protective cover of the protective mount is mounted on the outside of the rotating section of the lidar and rotates with the protective cover. When the lidar collides with an external object, the protective cover is struck first, so that the movement of the mounting section towards the bottom of the base is driven by the rotating section. The elastic element is compressed to absorb external impact energy, thus acting as a protective shield for the lidar. If the protective cover is subjected to an excessive external impact, in addition to the elastic element being compressed to absorb some of the impact energy, the protective cover can come into direct contact with the base.This prevents the impact force from acting directly on the internal components of the lidar, thus providing additional protection for the lidar.

[0030] A quadrupedal robot according to the present invention, equipped with a lidar and a protective mount. A mounting section of the lidar is installed in the base of the protective mount, and an elastic element is provided between the mounting section and the base. The protective cover of the mount is attached to the outside of the rotating section of the lidar and rotates with it. When the lidar collides with an external object, the protective cover is struck first, so that the movement of the mounting section towards the bottom of the base is driven by the rotating section. The elastic element is compressed to absorb external impact energy, thus acting as a protective element for the lidar.If the protective cover is subjected to excessive external impact, in addition to the elastic element being compressed to absorb some of the impact energy, it can come into direct contact with the base. This prevents the impact force from acting directly on the lidar's internal components, thus providing additional protection.

[0031] The present invention is explained in more detail below in conjunction with drawings and specific embodiments. BRIEF DESCRIPTION OF THE DRAWING Fig. Figure 1 is a schematic full-section view of a lidar according to the present invention; Fig. 2 is a schematic exploded view of a lidar according to the present invention; Fig. Figure 3 is a schematic axial side view of a lidar according to the present invention; Fig. Figure 4 is a schematic representation of a protective bracket of a lidar according to the present invention, mounted on the head of a four-legged robot; Fig. Figure 5 is another schematic full-section view of a lidar according to the present invention.

[0032] Reference symbols: 1. Lidar body; 11. Mounting section; 111. Stop ring; 12. Rotating section; 2. Protective bracket; 21. Base; 22. Protective cover; 221. Ring attachment; 23. Receiving cavity; 231. Stop table; 232. Ring groove; 3. Elastic element; 4. Guide column; 5. Slide; 6. U-shaped scanning surface; 7. Through opening. DETAILED DESCRIPTION

[0033] To clarify the objectives, technical solutions, and advantages of the present invention, it will be explained in more detail below in conjunction with the drawings and exemplary embodiments. It is understood that the specific exemplary embodiments described here serve only to illustrate the present invention and not to limit it.

[0034] Instead, the present invention encompasses all alternatives, modifications, equivalent methods, and solutions that are substantially and comprehensively defined in the claims. Furthermore, some specific details are described in detail below to facilitate a better understanding of the present invention by the public. The present invention can be fully understood by a person skilled in the art without the description of these individual parts.

[0035] It should be noted that the two elements can be directly connected, or an intermediate element can be present if the two elements are rigidly or rotationally connected. In contrast, there is no intermediate element if one element is directly positioned on top of another. The terms axial, top, bottom, and similar expressions used herein are for illustrative purposes only.

[0036] Unless otherwise defined, all technical and scientific terms used in the present invention have the same meaning as they are generally understood by those skilled in the field of the present invention. The terms used in the present invention serve only to describe specific embodiments and not to limit the present invention. The term "or / and" used herein includes any and all combinations of one or more of the related elements listed.

[0037] The first specific embodiment of the lidar with a protective bracket according to the present invention: Lidar system with a protective mount, comprising a rotary section for driving the rotation of a laser sensor, a mounting section for mounting the rotary section, a protective cover for covering the rotary section, and a base for mounting the protective cover, wherein the upper end section of the fastening section is rotatably connected to the rotating section and the lower end section is connected to the base by an elastic element, the protective cover is firmly connected to the rotating section, the lower edge of which is spaced from the upper edge of the base to form a protective bracket.

[0038] When the protective cover is struck by an external force, the rotating section and the fastening section are driven to move towards the base, pressing the elastic element to counteract the impact force or cushion the impact of the external force, thus forming a multiple protective structure.

[0039] The second specific embodiment of the lidar with a protective bracket 2 according to the present invention, as shown in Fig. 1, Fig. 2, Fig. 3 and Fig. 4 shown: Lidar with a protective bracket 2, comprising a lidar body 1 and a protective bracket 2.

[0040] Furthermore, it is provided that the lidar body 1 comprises a mounting section 11 and a rotating section 12 which rotates relative to the mounting section 11, wherein the protective bracket 2 has a base 21 and a protective cover 22, the protective cover 22 being arranged on the outside of the rotating section 12 and fixedly connected to it in order to rotate with it, wherein a receiving cavity 23 for mounting the mounting section 11 is arranged inside the base 21, wherein an elastic element 3 is arranged between the mounting section 11 and the bottom of the receiving cavity 23 such that the mounting section 11 bears against the inner wall of the receiving cavity 23, wherein the elastic element 3 is pressed so that the protective cover 22 can bear against the base 21 when the lidar moves towards the bottom of the receiving cavity 23.

[0041] For the lidar with a protective bracket 2 according to the present invention, a mounting section 11 of the lidar is mounted in the base 21 of the protective bracket 2, and an elastic element 3 is provided between the mounting section 11 and the base 21. The protective cover 22 of the protective bracket 2 is mounted on the outside of the rotating section 12 of the lidar and rotates with the protective cover 22. When the lidar collides with an external object, the protective cover 22 is struck first, so that the movement of the mounting section 11 towards the bottom of the base 21 is driven by the rotating section 12. The elastic element 3 is compressed to absorb external impact energy, thus acting as a protective element for the lidar.If the protective cover 22 is subjected to excessive external impact, the protective cover 22 can come into direct contact with the base 21, in addition to the elastic element 3 being compressed to absorb some of the impact energy. This prevents the impact force from acting directly on the internal components of the lidar, thus providing additional protection for the lidar.

[0042] A specific embodiment of the rotary structure according to the present invention: Furthermore, a U-shaped scanning surface 6 for transmitting and receiving laser signals is arranged on the rotating section 12, with a through-opening 7 associated with the U-shaped scanning surface 6 for the passage of a laser signal being arranged on the protective cover 22. Moreover, the protective cover 22 rotates synchronously with the rotating section 12 of the lidar, so that the U-shaped scanning surface 6 of the lidar is not blocked when the cover is deployed, thus ensuring that the lidar's function is not impaired. Therefore, the protective cover 2 not only protects the lidar from external impacts, but also prevents the lidar from interfering with the scanning of the external environment.

[0043] A specific embodiment of the arrangement of the stop limitation structure according to the present invention: Furthermore, it is provided that a stop ring 111 is arranged on the bottom of the fastening section 11, wherein a stop table 231 cooperating with the stop ring 111 is arranged on the inner wall of the receiving cavity 23, wherein the elastic element 3 is compressed so that the stop ring 111 can rest against the stop table 231 when the fastening section 11 is mounted in the receiving cavity 23, wherein an annular groove 232 is arranged on the inner wall of the receiving cavity 23, and wherein a ring projection 221 cooperating with the annular groove 232 is arranged on the protective cover 22.

[0044] Furthermore, it is provided that the grooves of the ring grooves 232 are arranged inwards and the projections of the ring projections 221 are arranged outwards, with reference to Fig. 1, or wherein the grooves of the ring grooves 232 are arranged facing outwards and the projections of the ring projections 221 are arranged facing inwards, with reference to Fig. 5.

[0045] Furthermore, it is provided that the ring extension 221 with the protective cover 22 can be rotated within the ring groove 232 when the stop ring 111 rests against the stop table 231, whereby the protective cover 22 and / or the ring extension 221 can rest against the base 21 when the stop ring 111 is out of contact with the stop table 231.

[0046] A specific embodiment of the arrangement of the guide structure according to the present invention: Furthermore, a guide arrangement is provided between the mounting section 11 and the base 21, the guide arrangement comprising a guide column 4 and a slide 5 that interact with each other, the guide column 4 being arranged axially such that the mounting section 11 can only move axially relative to the base 21. The guide arrangement is positioned such that the axial rotation of the lidar's mounting section 11 is limited upon impact of the lidar, thus providing guidance for the lidar's axial movement.

[0047] A specific embodiment for the application of lidar according to the present invention: Four-legged robot featuring the lidar system described above with a protective bracket 2.

[0048] A quadrupedal robot according to the present invention, equipped with a lidar and a protective mount 2. A mounting section 11 of the lidar is installed in the base 21 of the protective mount 2, and an elastic element 3 is provided between the mounting section 11 and the base 21. The protective cover 22 of the protective mount 2 is mounted on the outside of the rotating section 12 of the lidar and rotates with the protective cover 22. When the lidar collides with an external object, the protective cover 22 is struck first, so that the movement of the mounting section 11 towards the bottom of the base 21 is driven by the rotating section 12. The elastic element 3 is compressed to absorb external impact energy, thus acting as a protective element for the lidar.If the protective cover 22 is subjected to excessive external impact, the protective cover 22 can come into direct contact with the base 21, in addition to the elastic element 3 being compressed to absorb some of the impact energy. This prevents the impact force from acting directly on the internal components of the lidar, thus providing additional protection for the lidar.

[0049] In the present application, the type of fixed connection can be screws, welding, riveting, plug connection, or connection by a third component which can be selected by the person skilled in the art according to the actual situation.

[0050] The solution to this application is already in product trial production. Please do not consider it an abnormal patent application.

[0051] Finally, it should be noted that the above embodiments serve only to illustrate the technical solution of the present invention and not to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art will understand that the specific embodiments of the present invention can still be modified or equivalently replaced. Any modification or equivalent replacement that does not deviate from the spirit and scope of the present invention should be covered within the scope of protection of the claims of the present invention.

[0052] In summary, the present invention relates to the technical field of lidar and discloses a lidar system with a protective mount and a four-legged robot for its application. For the lidar with a protective mount according to the present invention, a mounting section of the lidar is installed in the base of the protective mount, and an elastic element is provided between the mounting section and the base. The protective cover of the protective mount is mounted on the outside of the rotating section of the lidar. When the lidar collides with an external object, the protective cover is struck first, so that the movement of the mounting section towards the bottom of the base is driven by the rotating section. The elastic element is compressed to absorb external impact energy, thus acting as a protective element for the internal components of the lidar and the protective cover.Furthermore, if the protective cover is subjected to excessive external impact, the cover can come into direct contact with the base, in addition to the elastic element being compressed to absorb some of the impact energy. This prevents the impact force from acting directly on the lidar's internal components, thus providing additional protection. QUOTES INCLUDED IN THE DESCRIPTION

[0000] This list of documents cited by the applicant was automatically generated and is included solely for the reader's convenience. The list is not part of the German patent or utility model application. The DPMA accepts no liability for any errors or omissions. Cited patent literature

[0000] CN 218122240 U

[0002]

Claims

[1] Lidar system with a protective bracket, comprising a protective bracket (2), a mounting section (11) and a rotating section (12) which rotates relative to the mounting section (11), characterized by , that the protective bracket (2) has a base (21) and a protective cover (22), the protective cover (22) is arranged on the outside of the rotating section (12) and is firmly connected to it, so that the protective cover (22) can rotate with the rotating section (12), within the base (21) a receiving cavity (23) for mounting the fastening section (11) is arranged, wherein an elastic element (3) is arranged between the fastening section (11) and the bottom of the receiving cavity (23) such that the fastening section (11) is elastically connected to the inner wall of the receiving cavity (23), the elastic element (3) is pressed so that the protective cover (22) can rest against the base (21) when the protective cover (22), the rotating section (12) and the fastening section (11) move towards the bottom of the receiving cavity (23). [2] Lidar system with a protective bracket according to claim 1, characterized by , that a U-shaped scanning surface (6) for sending and receiving laser signals is arranged on the rotating section (12), A passage opening (7) for the passage of a laser signal is arranged on the protective cover (22) and is associated with the U-shaped scanning surface (6). [3] Lidar system with a protective bracket according to claim 1 or 2, characterized by, that one of the inner wall of the receiving cavity (23) and the protective cover (22) is provided with an annular groove (232) and the other with an annular projection (221) cooperating with the annular groove (232), wherein the annular groove (232) cooperates with the annular projection (221) to form a rotationally play-compatible design of the protective cover (22). [4] Lidar system with a protective bracket according to claim 3, characterized by , that one is provided with a stop ring (111) between the base of the fastening section (11) and the inner wall of the receiving cavity (23), and the other with a stop table (231) that interacts with the stop ring (111), the elastic element (3) is compressed so that the stop ring (111) is driven by the springback force of the elastic element (3) to come into contact with the stop table (231) when the fastening section (11) is mounted in the receiving cavity (23), wherein the ring extension (221) is out of contact with the ring groove (232) at this time, so that the protective cover (22) can be rotated with the rotating section (12), The stop ring (111) is out of contact with the stop table (231) when the movement of the protective cover (22) to the base (21) is driven by an external force, whereby the ring extension (221) at this time abuts the ring groove (232), so that the protective cover (22) is stopped from rotating. [5] Lidar system with a protective bracket according to claim 4, characterized by , that one of the fastening section (11) and the base (21) is provided with a guide column (4) and the other with a slide (5) that interacts with the guide column (4), the guide column (4) is arranged in the axial direction such that the fastening section (11) can only move axially relative to the base (21). [6] Lidar system with a protective bracket, comprising a rotary section (12) for driving the rotation of a laser sensor, a mounting section (11) for mounting the rotary section (12), a protective cover (22) for covering the rotary section (12), a base (21) for mounting the protective cover (22), characterized by , that the upper end section of the fastening section (11) is rotatably connected to the rotating section (12) and the lower end section is connected to the base (21) by an elastic element (3), the protective cover (22) is firmly connected to the rotating section (12), the lower edge of which is spaced from the upper edge of the base (21) to form a protective support (2). [7] Lidar system with a protective bracket according to claim 6, characterized by , that the rotating section (12) is designed as a column, arc or square, the upper end section of which is provided with a U-shaped scanning surface (6) for sending and receiving laser signals, or / and, the fastening section (11) is designed as a column or arc or square, the lower end section of which is provided with protrusions or depressions or multi-rod arrangement structures for mounting the elastic element (3), or / and, the protective cover (22) is provided with a cavity whose cross-sectional shape is arcuate, square or irregular, and whose upper end section is provided with a through-opening (7) for the passage of a laser signal, or / and, the base (21) is designed as a flat plate or as a tubular structure with cavities or as a frame structure, the edge of which is provided at least at one point with a convex structure to limit the lower edge of the protective cover (22). [8] Lidar system with a protective bracket according to claim 6, characterized by , that the base (21) is provided with a receiving cavity (23) for receiving the fastening section (11), wherein the lower wall surface of the receiving cavity (23) is provided with a projection structure for mounting the elastic element (3), or / and, a rotational clearance of 1-10 mm is provided between the upper edge of the base (21) and the protective cover (22), or / and, the number of elastic elements (3) is one or more which are designed as springs or elastic rubber or cushions, or, the number of elastic elements (3) is three, which are in the form of a font “ "arranged or, the elastic element (3) is designed as a multilayer array structure having at least one elastic layer I in the middle of the base (21) and one elastic layer II in the periphery of the base (21), wherein the elastic layer I and the elastic layer II have a height difference. [9] Lidar system with a protective bracket according to claim 8, characterized by , that a stop ring (111) is arranged at the bottom of the fastening section (11), wherein a stop table (231) cooperating with the stop ring (111) is arranged on the inner wall of the receiving cavity (23), the elastic element (3) is compressed so that the stop ring (111) can rest against the stop table (231) when the fastening section (11) is mounted in the receiving cavity (23), an annular groove (232) is arranged on the inner wall of the receiving cavity (23), wherein a ring projection (221) cooperating with the annular groove (232) is arranged on the protective cover (22), the ring extension (221) with the protective cover (22) can be rotated within the ring groove (232) when the stop ring (111) rests against the stop table (231), the protective cover (22) and / or the ring extension (221) can rest against the base (21) when the stop ring (111) is out of contact with the stop table (231), a guide arrangement is arranged between the fastening section (11) and the base (21), the guide arrangement comprising a guide column (4) and a slide (5) that interact with each other, the guide column (4) being arranged in the axial direction such that the fastening section (11) can only move axially relative to the base (21). [10] Four-legged robot, characterized by that the robot has a lidar system with a protective bracket according to one of claims 1 to 9.

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