Laser radar and robot

Abstract

A 3D laser radar, a legged robot, and a cleaning robot (20), relating to the technical field of laser radars. In the 3D laser radar, a light-shielding cavity (51) is provided between a reflective mirror (5) and a protective cover (16), the light-shielding cavity (51) is directly fixed on the rotation axis of the reflective mirror (5) along a laser signal emission direction, and an arc-shaped part (161) close to the rotation trajectory of an end portion of the light-shielding cavity (51) is provided on the protective cover (16), such that the distance between said end portion and the arc-shaped part (161) remains unchanged during rotation of the light-shielding cavity (51). By providing the light-shielding cavity (51) between the reflective mirror (5) and the protective cover (16), scattering and reflection of a laser signal emitted by the reflective mirror (5) in the protective cover (16) are reduced, interference on the laser signal on a loop is avoided, and the scanning effect of the laser radar is enhanced; moreover, in the process that the light-shielding cavity (51) rotates along with the reflective mirror (5), the distance between said end portion of the light-shielding cavity (51) and the arc-shaped part (161) always remains unchanged, so that the result of scanning an external environment using the laser radar is more stable.

Description

Laser radar and robot Technical Field

[0001] The present invention relates to the field of laser radar technology, and in particular to a laser radar and a robot. Background Art

[0002] At present, 3D lidar is widely used in industrial surveying and mapping, three-dimensional modeling, autonomous driving and other fields, but most of the existing 3D lidars are multi-threaded lidars and are expensive.

[0003] Chinese patent CN113960566A discloses a 3D laser radar and a legged robot, including a vertical scanning unit and a horizontal rotation device that rotates the vertical scanning unit in the horizontal direction; the vertical scanning unit includes a mounting seat, and a laser receiving electrode, a convex lens, a laser emitting electrode, and a reflector arranged on the mounting seat in sequence, the laser receiving electrode is arranged at the focal position of the convex lens, the laser emitting electrode is arranged on the main optical axis of the convex lens, and the reflector is rotatably arranged on the mounting seat, and the rotation center of the reflector coincides with the main optical axis of the convex lens; the laser emitting electrode emits a laser pulse signal, and the rotation of the reflector realizes scanning of the surrounding environment in the vertical plane, and can realize scanning of the three-dimensional environment through a horizontal rotation device provided with a rotating motor. Technical issues

[0004] The above technical solution realizes three-dimensional scanning of a single-threaded lidar. However, during use, it was found that since the shading channel is far away from the protective cover, the laser signal will be scattered inside the protective cover after it is emitted from the shading channel and before passing through the protective cover, and will interfere with the laser signal in the loop, affecting the laser receiving electrode's reception of the laser signal, which in turn leads to unsatisfactory scanning results of the lidar, poor user experience, and is not conducive to promotion and use.

[0005] Furthermore, when the laser signal emitted by the laser emitter passes through the protective cover on the mounting seat, the laser signal will be reflected, thereby affecting the laser receiving electrode's reception of the laser signal of the loop. Technical Solutions

[0006] In order to overcome the shortcomings of the existing technology, one purpose of the present invention is to provide a 3D laser radar, which sets a light-shielding cavity between the reflector and the protective cover to reduce the scattering and reflection of the laser signal emitted by the reflector in the protective cover, thereby improving the scanning effect of the laser radar.

[0007] The second purpose of the present invention is to provide a 3D laser radar, in which the distance between the end of the light-shielding cavity and the arc-shaped portion is always kept unchanged during the rotation of the light-shielding cavity following the reflective mirror, and the scattering and reflection of the emitted laser signal in the protective cover remain unchanged, thereby making the laser radar's scanning results of the external environment more stable.

[0008] The third object of the present invention is to provide a laser radar with good scanning effect, which sets a light-shielding cavity between the reflector and the protective shell to reduce the scattering and reflection of the laser signal emitted through the reflector in the protective shell, thereby improving the scanning effect of the laser radar.

[0009] The fourth object of the present invention is to provide a laser radar and a robot with good scanning effect. When the light-shielding cavity rotates following the reflector, the distance between the end of the light-shielding cavity and the arc-shaped portion remains unchanged, and the scattering and reflection of the emitted laser signal in the protective shell remain unchanged, thereby making the laser radar's scanning results of the external environment more stable.

[0010] The fifth objective of the present invention is to provide a legged robot equipped with a 3D laser radar, which has a light-shielding cavity set between the reflector and the protective cover to reduce the scattering and reflection of the laser signal emitted by the reflector in the protective cover, thereby improving the scanning effect of the laser radar.

[0011] The sixth objective of the present invention is to provide a cleaning robot equipped with a 3D laser radar, which has a light-shielding cavity set between the reflector and the protective cover to reduce the scattering and reflection of the laser signal emitted through the reflector in the protective cover, thereby improving the scanning effect of the laser radar.

[0012] To achieve one of the above purposes, the first technical solution of the present invention is:

[0013] A 3D laser radar comprises a vertical scanning unit, wherein the vertical scanning unit comprises a mounting base and a protective cover fixed on the mounting base;

[0014] A laser emission port, a convex lens, and a rotatable reflector are horizontally disposed in sequence between the mounting base and the protective cover. The rotation axis of the reflector coincides with the principal optical axis of the convex lens, and the laser emission port is disposed on the principal optical axis of the convex lens. The laser signal horizontally emitted from the laser emission port is reflected and rotated by the reflector to scan the surrounding environment within the vertical plane.

[0015] A light-shielding cavity is provided between the reflector and the protective cover. The light-shielding cavity extends along the reflection direction of the laser signal and is arranged on the rotation axis of the reflector. The protective cover is provided with an arc-shaped portion close to the rotation trajectory of the end of the light-shielding cavity, and the distance between the end of the light-shielding cavity and the arc-shaped portion remains unchanged during the rotation process.

[0016] After continuous exploration, the present invention sets a light-shielding cavity between the reflector and the protective cover to reduce the scattering and reflection of the laser signal emitted by the reflector in the protective cover, avoids interference with the laser signal on the loop, and improves the scanning effect of the laser radar. It has a simple and practical structure, low manufacturing cost, good user experience, and is easy to promote and use.

[0017] Furthermore, the light-shielding cavity of the present invention always maintains a constant distance between the end of the light-shielding cavity and the arc-shaped portion during the process of following the rotation of the reflective mirror, and the scattering and reflection of the emitted laser signal in the protective cover remain unchanged, thereby making the laser radar's scanning results of the external environment more stable.

[0018] As a preferred technical measure, a transverse light shielding member is provided between the laser emission port and the reflector. The transverse light shielding member includes a first light shielding member fixed to the main optical axis of the convex lens and a second light shielding member directly fixed to the reflector and rotating with it. The first light shielding member is mounted on the outside of the second light shielding member. The transverse light shielding member is connected to the light shielding cavity, and a light shielding pad is provided at the contact area between the second light shielding member, the light shielding cavity, and the reflector. By arranging the transverse light shielding member in the horizontal direction, interference between the emitted laser signal and the return laser signal is avoided, and leakage into the internal space of the protective cover and interference with the return laser signal are prevented. The transverse light shielding member is configured as a structure that separates the first light shielding member from the second light shielding member, and the first light shielding member is mounted on the outside of the second light shielding member to prevent the emitted laser signal from reflecting on the second light shielding member, thereby affecting the scanning effect of the laser radar.

[0019] As a preferred technical measure, the vertical scanning unit includes a laser receiving electrode arranged at the focal position of the convex lens, a first motor that drives the reflector to rotate, and a first encoder; the first encoder is concentrically fixedly connected to the reflector, and the rotation information of the reflector is obtained through the first encoder; the laser emitting port emits a laser signal and drives the reflector to rotate through the first motor to realize scanning of the surrounding environment in the vertical plane.

[0020] As a preferred technical measure, the 3D laser radar includes a horizontal rotation device that drives the vertical scanning unit to rotate horizontally. The horizontal rotation device includes an upper bottom shell rotor, a lower bottom shell, and a motor stator fixed within the lower bottom shell. The mounting base and the protective cover are fixed to the upper bottom shell rotor and rotate with it. A dynamic sealing structure is provided between the upper bottom shell rotor and the lower bottom shell. The horizontal rotation device drives the vertical scanning unit to rotate horizontally, thereby enabling the single-threaded laser radar to achieve three-dimensional scanning. The provision of a dynamic sealing structure improves the overall waterproofness of the laser radar, allowing it to be used in a wider range of scenarios.

[0021] As a preferred technical measure, a hollow wireless power transmission module is concentrically positioned between the upper rotor and the lower housing to power the vertical scanning unit. Because the upper rotor and the lower housing rotate relative to each other, the wireless power transmission module replaces traditional cables when power and signal transmission are required, preventing fatigue damage to the cables during reciprocating rotation.

[0022] Or / and through holes are evenly opened along the same circle on the circumference of the upper bottom shell rotor, and a photoelectric encoder is formed through the through holes to obtain the rotation information of the upper bottom shell rotor, and then obtain the horizontal rotation information of the vertical scanning unit.

[0023] Alternatively, a magnetic steel sheet is fixedly mounted within the upper bottom shell rotor. The axial width of the magnetic steel sheet is greater than the axial width of the motor stator, and the upper edge of the magnetic steel sheet is higher than the upper edge of the motor stator. This structural design allows the magnetic steel sheet to vertically protrude a certain distance above the motor stator, generating a greater axial magnetic pull between the upper bottom shell rotor and the motor stator. This ensures more stable and reliable rotation of the horizontal rotating device, further ensuring that the upper bottom shell rotor does not separate from the lower bottom shell during rotation.

[0024] As an optimal technical measure, a base circuit board is fixed on the lower bottom shell, and a wireless signal transmission component is concentrically provided between the upper bottom shell rotor and the lower bottom shell, which uses optical communication to achieve wireless communication; the vertical scanning unit achieves wireless communication with the base circuit board through the wireless signal transmission component.

[0025] To achieve one of the above purposes, the second technical solution of the present invention is:

[0026] A 3D laser radar includes a rotatable reflector for reflecting laser signals and a protective cover with an arc-shaped structure;

[0027] A light-shielding cavity is provided between the protective cover and the reflector; the light-shielding cavity is a cylindrical structure having an outer end portion with an arc-shaped rotation trajectory and can rotate with the reflector;

[0028] The protective cover is provided with an arc-shaped portion for covering the light-shielding cavity;

[0029] Partial or entire cross-sectional shapes of the arc-shaped portion are concentric arcs with the rotation trajectory of the outer end, forming a structure with constant spacing, so that the distance between the end of the light-shielding cavity and the arc-shaped portion remains unchanged during the rotation process.

[0030] After continuous exploration, the present invention sets a light-shielding cavity between the reflector and the protective cover to reduce the scattering and reflection of the laser signal emitted by the reflector in the protective cover, avoids interference with the laser signal on the loop, and improves the scanning effect of the laser radar. It has a simple and practical structure, low manufacturing cost, good user experience, and is easy to promote and use.

[0031] Furthermore, the cross-sectional shape of the arc-shaped portion of the present invention and the rotation trajectory of the outer end are concentric arcs, thereby forming a structure with constant spacing, so that the distance between the end of the light-shielding cavity and the arc-shaped portion is always maintained unchanged during the process of following the rotation of the reflector, thereby keeping the scattering and reflection of the laser signal in the protective cover unchanged, thereby making the laser radar's scanning results of the external environment more stable.

[0032] As a preferred technical measure,

[0033] The cylindrical structure is an L-shaped structure, wherein the vertical section is used to receive the laser signal reflected from the reflector, and the horizontal section is used to receive the laser signal emitted from the convex lens;

[0034] The vertical section extends toward the wall surface of the protective cover and is adjacent to the wall surface of the protective cover;

[0035] A first light shielding member is provided on the convex lens;

[0036] The first shading member is sleeved on the outer side of the transverse section of the L-shaped structure.

[0037] To achieve one of the above purposes, the third technical solution of the present invention is:

[0038] A 3D laser radar, characterized by comprising a rotatable reflector for reflecting laser signals and a protective cover with an arc-shaped structure;

[0039] A light-shielding cavity is provided between the protective cover and the reflector; the light-shielding cavity is a cylindrical structure, extending from the end surface of the reflector toward the wall surface of the protective cover.

[0040] After continuous exploration, the present invention sets a light-shielding cavity between the reflector and the protective cover to reduce the scattering and reflection of the laser signal emitted by the reflector in the protective cover, avoids interference with the laser signal on the loop, and improves the scanning effect of the laser radar. It has a simple and practical structure, low manufacturing cost, good user experience, and is easy to promote and use.

[0041] Furthermore, the reflector is an object that can reflect light, including but not limited to common reflectors or reflective mirrors or reflective films or other reflective materials in the prior art. To achieve one of the above-mentioned purposes, the fourth technical solution of the present invention is:

[0042] A laser radar with good scanning effect,

[0043] It includes a laser transmitter for emitting laser signals, a rotatable reflector for reflecting laser signals, and a protective shell with an arc-shaped structure;

[0044] The protective shell is covered with a reflector;

[0045] A light-shielding cavity is provided between the reflector and the protective shell;

[0046] The light-shielding cavity is a cylindrical member, which extends from the end surface of the reflector toward the wall surface of the protective shell.

[0047] After continuous exploration, the present invention sets a light-shielding cavity between the reflector and the protective shell to reduce the scattering and reflection of the laser signal emitted through the reflector in the protective shell, avoids interference with the laser signal on the loop, and improves the scanning effect of the laser radar. It has a simple and practical structure, low manufacturing cost, good user experience, and is easy to promote and use.

[0048] Furthermore, the reflector is a reflector, a reflective mirror, a reflective film or other reflective materials.

[0049] As preferred technical measures:

[0050] The laser emitter is arranged horizontally and is provided with a laser emission port;

[0051] The reflector is provided with an inclined reflective surface;

[0052] The extension line of the laser emission port intersects with the reflective surface to achieve reflection of the laser signal.

[0053] As preferred technical measures:

[0054] The cylindrical member is an L-shaped structure, wherein the vertical section is used to receive the laser signal reflected from the reflector, and the horizontal section is used to receive the laser signal emitted from the convex lens;

[0055] The vertical section extends toward the wall surface of the protective shell and is adjacent to the wall surface of the protective shell.

[0056] The light-shielding cavity is provided with a transverse section in the horizontal direction to prevent the emitted laser signal from interfering with the loop laser signal and to prevent the laser signal from leaking into the inner space of the protective shell and interfering with the loop laser signal.

[0057] As preferred technical measures:

[0058] The convex lens is provided with a first light shielding member, and a laser receiving electrode is provided at the focal position of the first light shielding member.

[0059] The first shading member is mounted on the outside of the transverse section of the L-shaped structure to prevent the emitted laser signal from being reflected on the shading cavity, thereby affecting the scanning effect of the laser radar.

[0060] To achieve one of the above objectives, the fifth technical solution of the present invention is:

[0061] The cylindrical member is arranged on the rotation axis of the reflector, and the rotation track of the outer end thereof is arc-shaped and can rotate with the reflector;

[0062] The protective shell is provided with an arc-shaped portion for covering the light-shielding cavity; part of the cross-sectional shape or the entire cross-sectional shape of the arc-shaped portion is a concentric arc with the rotation trajectory of the outer end, forming a structure with constant spacing, so that the distance between the end of the light-shielding cavity and the arc-shaped portion remains unchanged during the rotation process.

[0063] During the rotation of the light-shielding cavity following the reflector, the distance between the end of the light-shielding cavity and the arc-shaped portion is always kept unchanged, and the scattering and reflection of the emitted laser signal in the protective shell remain unchanged, thereby making the laser radar's scanning results of the external environment more stable.

[0064] As preferred technical measures:

[0065] The rotation axis of the reflector coincides with the main optical axis of the convex lens, and the laser emission port is arranged on the main optical axis of the convex lens; the laser signal emitted horizontally from the laser emission port is reflected and rotated by the reflector to scan the surrounding environment in the vertical plane.

[0066] As preferred technical measures:

[0067] A transverse light shielding member is provided between the laser emitter and the reflector, the transverse light shielding member comprising a first light shielding member fixed on the main optical axis of the convex lens, and a second light shielding member directly fixed on the reflector and rotating therewith, wherein the first light shielding member is sleeved on the outside of the second light shielding member;

[0068] The transverse light-shielding member is communicated with the light-shielding cavity, and a light-shielding pad is provided at the contact portion between the second light-shielding member, the light-shielding cavity and the reflector.

[0069] By providing a horizontal shading member, the emitted laser signal is prevented from interfering with the return laser signal and from leaking into the interior of the protective housing, where it would interfere with the return laser signal. The horizontal shading member is configured as a structure with a first shading member and a second shading member separated, with the first shading member positioned outside the second shading member, to prevent the emitted laser signal from reflecting off the second shading member and thus affecting the laser radar's scanning effect.

[0070] To achieve one of the above objectives, the sixth technical solution of the present invention is:

[0071] A robot uses the above-mentioned 3D laser radar to achieve real-time scanning of its surrounding environment information;

[0072] The robot is a foot-type robot or a cleaning robot.

[0073] To achieve one of the above objectives, the seventh technical solution of the present invention is:

[0074] A robot comprises the above-mentioned laser radar with good scanning effect; the robot is a legged robot or a cleaning robot. Beneficial effects

[0075] The present invention provides a 3D laser radar, in which a light-shielding cavity is arranged between the reflector and the protective cover, so as to reduce the scattering and reflection of the laser signal emitted by the reflector in the protective cover, avoid interference with the laser signal on the loop, and improve the scanning effect of the laser radar; moreover, when the light-shielding cavity rotates following the reflector, the distance between the end of the light-shielding cavity and the arc-shaped portion is always kept unchanged, and the scattering and reflection of the emitted laser signal in the protective cover remain unchanged, thereby making the laser radar's scanning results of the external environment more stable.

[0076] The present invention provides a cleaning robot, which is equipped with a 3D laser radar, and a light-shielding cavity is provided between the reflector and the protective cover, so as to reduce the scattering and reflection of the laser signal emitted through the reflector in the protective cover, avoid interference with the laser signal on the loop, and improve the scanning effect of the laser radar; moreover, when the light-shielding cavity rotates following the reflector, the distance between the end of the light-shielding cavity and the arc-shaped portion is always kept unchanged, and the scattering and reflection of the emitted laser signal in the protective cover remain unchanged, thereby making the laser radar's scanning results of the external environment more stable.

[0077] The present invention provides a legged robot, which is equipped with a 3D laser radar. A light-shielding cavity is provided between the reflector and the protective cover, so as to reduce the scattering and reflection of the laser signal emitted through the reflector in the protective cover, avoid interference with the laser signal on the loop, and improve the scanning effect of the laser radar; moreover, when the light-shielding cavity rotates following the reflector, the distance between the end of the light-shielding cavity and the arc-shaped portion is always kept unchanged, and the scattering and reflection of the emitted laser signal in the protective cover remain unchanged, thereby making the laser radar's scanning results of the external environment more stable. BRIEF DESCRIPTION OF THE DRAWINGS

[0078] FIG1 is a schematic diagram of the overall structure of a 3D laser radar provided by the present invention;

[0079] FIG2 is an exploded view of a vertical scanning unit of a 3D laser radar provided by the present invention;

[0080] FIG3 is a full cross-sectional view of a 3D laser radar provided by the present invention;

[0081] FIG4 is an exploded view of a 3D laser radar provided by the present invention;

[0082] FIG5 is a schematic diagram of the overall structure of the cleaning robot provided by the present invention.

[0083] In the figure: 1. Mounting seat; 2. Laser receiving electrode; 3. Convex lens; 4. Laser emitting port; 5. Reflector; 51. Shading cavity; 52. First shading member; 53. Second shading member; 54. Shading pad; 6. First motor; 7. First encoder; 8. Upper bottom shell rotor; 9. Lower bottom shell; 10. Motor stator; 11. Through hole; 12. Wireless power transmission module; 13. Base circuit board; 14. Dynamic sealing structure; 15. Magnetic steel sheet; 16. Protective cover; 161. Arc-shaped portion; 17. Wireless signal transmission component; 18. Laser drive circuit board; 19. Horizontal rotating bearing; 20. Cleaning robot body. Modes for Carrying Out the Invention

[0084] The present invention will be further described below in conjunction with the accompanying drawings and specific implementation methods. It should be noted that, under the premise of no conflict, the various embodiments or technical features described below can be arbitrarily combined to form new embodiments.

[0085] It should be noted that when two elements are "fixedly connected" or "rotatably connected", the two elements can be directly connected or there can be an intermediate element. In contrast, when an element is referred to as being "directly on" another element, there is no intermediate element. The terms "horizontal", "vertical", "lateral", "upper", "lower" and similar expressions used herein are for illustrative purposes only. Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which the present invention belongs. The terms used herein are for the purpose of describing specific embodiments only and are not intended to limit the present invention.

[0086] As shown in Figures 1, 2, 3 and 4, the first embodiment of the 3D laser radar of the present invention:

[0087] A 3D laser radar includes a vertical scanning unit, which includes a mounting base 1 and a protective cover 16 directly fixed to the mounting base 1; a laser emission port 4, a convex lens 3, and a rotatable reflector 5 are horizontally arranged in sequence between the mounting base 1 and the protective cover 16, the rotation axis of the reflector 5 coincides with the main optical axis of the convex lens 3, and the laser emission port 4 is arranged on the main optical axis of the convex lens 3; the laser signal horizontally emitted by the laser emission port 4 is reflected and rotated by the reflector 5 to scan the surrounding environment in the vertical plane; a light-shielding cavity 51 is provided between the reflector 5 and the protective cover 16, the light-shielding cavity 51 is directly fixed to the rotation axis of the reflector 5 along the direction of laser signal emission, and the protective cover 16 is provided with an arc-shaped portion 161 close to the rotation trajectory of the end of the light-shielding cavity 51, so that the distance between the end of the light-shielding cavity 51 and the arc-shaped portion 161 remains unchanged during the rotation of the light-shielding cavity 51.

[0088] The second embodiment of the 3D laser radar of the present invention:

[0089] A 3D laser radar includes a vertical scanning unit, wherein the vertical scanning unit includes a mounting base 1 and a protective cover 16 fixed on the mounting base 1.

[0090] A laser emission port 4, a convex lens 3, and a rotatable reflector 5 are horizontally arranged in sequence between the mounting base 1 and the protective cover 16. The rotation axis of the reflector 5 coincides with the main optical axis of the convex lens 3, and the laser emission port 4 is arranged on the main optical axis of the convex lens 3. The laser signal horizontally emitted from the laser emission port 4 is reflected and rotated by the reflector 5 to scan the surrounding environment in the vertical plane.

[0091] A light-shielding cavity 51 is provided between the reflector 5 and the protective cover 16. The light-shielding cavity 51 extends along the reflection direction of the laser signal and is arranged on the rotation axis of the reflector 5. The protective cover 16 is provided with an arc-shaped portion 161 close to the rotation trajectory of the end of the light-shielding cavity 51, and the distance between the end of the light-shielding cavity 51 and the arc-shaped portion 161 remains unchanged during the rotation process.

[0092] The third embodiment of the 3D laser radar of the present invention:

[0093] A 3D laser radar comprises a rotatable reflector 5 for reflecting laser signals and a protective cover 16 with an arc-shaped structure.

[0094] A light shielding cavity 51 is provided between the protective cover 16 and the reflector 5. The light shielding cavity 51 is a cylindrical structure having an outer end portion with an arc-shaped rotation trajectory and can rotate with the reflector 5.

[0095] The protective cover 16 is provided with an arc-shaped portion 161 for covering the light-shielding cavity 51 .

[0096] Partial or entire cross-sectional shapes of the arc-shaped portion 161 are concentric arcs with the rotation trajectory of the outer end, forming a structure with constant spacing, so that the distance between the end of the light-shielding cavity 51 and the arc-shaped portion 161 remains unchanged during the rotation process.

[0097] A specific embodiment of the present invention in which a transverse shading member is added:

[0098] A transverse light shield is provided between the laser emission port 4 and the reflector 5. This transverse light shield comprises a first light shield 52 fixed to the principal optical axis of the convex lens 3 and a second light shield 53 directly fixed to the reflector 5 and rotating with it. The first light shield 52 is positioned outside the second light shield 53. The transverse light shield communicates with the light shielding cavity 51, and a light shielding pad 54 is provided at the point where the second light shield 53, the light shielding cavity 51, and the reflector 5 come into contact. The horizontal placement of the transverse light shield prevents interference between the emitted laser signal and the return laser signal, and prevents leakage into the interior of the protective cover 16 and interference with the return laser signal. The transverse light shield is configured as a separate first light shield 52 and second light shield 53, with the first light shield 52 positioned outside the second light shield 53 to prevent the emitted laser signal from reflecting off the second light shield 53 and thereby affecting the laser radar's scanning performance.

[0099] A specific embodiment of the vertical scanning unit of the present invention:

[0100] The vertical scanning unit includes a laser receiving electrode 2 arranged at the focal position of the convex lens 3 , a first motor 6 that drives the reflective mirror 5 to rotate, a first encoder 7 , and a laser driving circuit board 18 .

[0101] The first encoder 7 is fixedly connected concentrically with the reflector 5, and the rotation information of the reflector 5 is obtained through the first encoder 7; the laser emission port 4 emits a laser signal and drives the reflector 5 to rotate through the first motor 6 to realize scanning of the surrounding environment in the vertical plane.

[0102] A specific embodiment of the present invention in which a horizontal rotating device is added:

[0103] The 3D laser radar includes a horizontal rotation device that drives the vertical scanning unit to rotate horizontally. The horizontal rotation device includes an upper base rotor 8, a lower base 9, a horizontal rotation bearing 19, and a motor stator 10 fixed in the lower base 9. The mounting base 1 and the protective cover 16 are fixed to the upper base rotor 8 and rotate with it. A dynamic sealing structure 14 is provided between the upper base rotor 8 and the lower base 9. The horizontal rotation device drives the vertical scanning unit to rotate in the horizontal direction, thereby enabling the single-threaded laser radar to achieve three-dimensional scanning. The provision of the dynamic sealing structure 14 improves the overall waterproofness of the laser radar, allowing it to be used in a wider range of scenarios.

[0104] A specific embodiment of the present invention in which a wireless power transmission module 12 is added:

[0105] A hollow wireless power transmission module 12 is concentrically disposed between the upper rotor 8 and the lower housing 9. Power is supplied to the vertical scanning unit via this module. Because the upper rotor 8 and the lower housing 9 rotate relative to each other, the module 12 replaces traditional cables when power and signal transmission are required, preventing fatigue damage to the cables during reciprocating rotation.

[0106] A specific embodiment of the present invention for realizing wireless communication:

[0107] A base circuit board 13 is fixed on the lower bottom shell 9, and a wireless signal transmission component 17 is concentrically provided between the upper bottom shell rotor 8 and the lower bottom shell 9, which uses optical communication to achieve wireless communication; the vertical scanning unit achieves wireless communication with the base circuit board 13 through the wireless signal transmission component 17.

[0108] A specific embodiment of the present invention for obtaining rotation information:

[0109] The upper bottom shell rotor 8 is provided with through holes 11 uniformly along the same circle in the circumference thereof. A photoelectric encoder is formed through the through holes 11 to obtain the rotation information of the upper bottom shell rotor 8 and further obtain the horizontal rotation information of the vertical scanning unit.

[0110] A specific embodiment of the present invention in which a magnetic steel sheet 15 is added:

[0111] A magnetic steel sheet 15 is fixedly mounted within the upper bottom shell rotor 8. The axial width of the magnetic steel sheet 15 is greater than the axial width of the motor stator 10, and the upper edge of the magnetic steel sheet 15 is higher than the upper edge of the motor stator 10. This structural design allows the magnetic steel sheet 15 to extend vertically above the motor stator 10, generating a strong axial magnetic pull between the upper bottom shell rotor 8 and the motor stator 10. This ensures more stable and reliable rotation of the horizontal rotating device, thereby ensuring that the upper bottom shell rotor 8 does not separate from the lower bottom shell 9 during rotation.

[0112] As shown in FIG5 , the first specific embodiment of the 3D laser radar of the present invention is applied:

[0113] A cleaning robot comprises the above-mentioned 3D laser radar and a cleaning robot body 20.

[0114] A second specific embodiment of the 3D laser radar of the present invention is applied:

[0115] A legged robot comprises the above-mentioned 3D laser radar.

[0116] In the present application, the fixed connection method can be screw connection, welding, riveting, plug connection, or connection through a third component, and those skilled in the art can choose according to actual conditions.

[0117] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit it. Although the present invention has been described in detail with reference to the above embodiments, ordinary technicians in the field should understand that the specific implementation methods of the present invention can still be modified or replaced by equivalents. Any modification or equivalent replacement that does not depart from the spirit and scope of the present invention should be covered by the scope of protection of the claims of the present invention.

Claims

1. A 3D laser radar, characterized in that: It comprises a vertical scanning unit, the vertical scanning unit comprising a mounting base (1) and a protective cover (16) fixed on the mounting base (1); A laser emission port (4), a convex lens (3), and a rotatable reflector (5) are horizontally arranged in sequence between the mounting seat (1) and the protective cover (16); the rotation axis of the reflector (5) coincides with the main optical axis of the convex lens (3); the laser emission port (4) is arranged on the main optical axis of the convex lens (3); the laser signal emitted horizontally from the laser emission port (4) is reflected and rotated by the reflector (5), thereby realizing scanning of the surrounding environment in the vertical plane; A light-shielding cavity (51) is provided between the reflector (5) and the protective cover (16), the light-shielding cavity (51) extending along the direction of reflection of the laser signal and arranged on the rotation axis of the reflector (5), and the protective cover (16) is provided with an arc-shaped portion (161) close to the rotation trajectory of the end of the light-shielding cavity (51), so that the distance between the end of the light-shielding cavity (51) and the arc-shaped portion (161) remains unchanged during the rotation process.

2. A 3D laser radar according to claim 1, characterized in that: A transverse light shielding member is provided between the laser emission port (4) and the reflector (5), the transverse light shielding member comprising a first light shielding member (52) fixed on the main optical axis of the convex lens (3), a second light shielding member (53) directly fixed on the reflector (5) and rotating with the reflector (5), the first light shielding member (52) being sleeved on the outside of the second light shielding member (53); The transverse light-shielding member is in communication with the light-shielding cavity (51); and a light-shielding pad (54) is provided at the contact portion between the second light-shielding member (53), the light-shielding cavity (51) and the reflector (5).

3. A 3D laser radar according to claim 2, characterized in that: The vertical scanning unit comprises a laser receiving electrode (2) arranged at the focal position of the convex lens (3), a first motor (6) for driving the reflective mirror (5) to rotate, and a first encoder (7); The first encoder (7) is fixedly connected concentrically to the reflector (5), and rotation information of the reflector (5) is obtained through the first encoder (7); The laser emission port (4) emits a laser signal and drives the reflector (5) to rotate via the first motor (6), thereby realizing scanning of the surrounding environment in the vertical plane.

4. A 3D laser radar according to any one of claims 1 to 3, characterized in that: The 3D laser radar includes a horizontal rotation device for driving the vertical scanning unit to rotate horizontally, the horizontal rotation device includes an upper bottom shell rotor (8), a lower bottom shell (9) and a motor stator (10) fixed in the lower bottom shell (9), the mounting seat (1) and the protective cover (16) are fixed on the upper bottom shell rotor (8) and rotate therewith, and a dynamic sealing structure (14) is provided between the upper bottom shell rotor (8) and the lower bottom shell (9).

5. A 3D laser radar according to claim 4, characterized in that: A hollow wireless power transmission module (12) is concentrically provided between the upper bottom shell rotor (8) and the lower bottom shell (9), and the vertical scanning unit is powered by the wireless power transmission module (12); Or / and through holes (11) are evenly opened along the same circle on the circumference of the upper bottom shell rotor (8), and a photoelectric encoder is formed through the through holes (11) to obtain the rotation information of the upper bottom shell rotor (8), thereby obtaining the horizontal rotation information of the vertical scanning unit; Or / and a magnetic steel sheet (15) is fixedly provided in the upper bottom shell rotor (8), the axial width of the magnetic steel sheet (15) is greater than the axial width of the motor stator (10), and the upper edge of the magnetic steel sheet (15) is higher than the upper edge of the motor stator (10).

6. A 3D laser radar according to claim 5, characterized in that: A base circuit board (13) is fixedly provided on the lower bottom shell (9), and a wireless signal transmission component (17) is concentrically provided between the upper bottom shell rotor (8) and the lower bottom shell (9), which uses optical communication to achieve wireless communication; the vertical scanning unit achieves wireless communication with the base circuit board (13) through the wireless signal transmission component (17).

7. A 3D laser radar, characterized in that: It includes a rotatable reflector (5) for reflecting laser signals and a protective cover (16) with an arc structure; A light-shielding cavity (51) is provided between the protective cover (16) and the reflector (5); the light-shielding cavity (51) is a cylindrical structure having an outer end portion with an arc-shaped rotation trajectory and can rotate with the reflector (5); The protective cover (16) is provided with an arc-shaped portion (161) for covering the light-shielding cavity (51); a partial cross-sectional shape or the entire cross-sectional shape of the arc-shaped portion (161) is a concentric arc with the rotation trajectory of the outer end, forming a structure with a constant spacing, so that the distance between the end of the light-shielding cavity (51) and the arc-shaped portion (161) remains unchanged during the rotation process.

8. The 3D laser radar according to claim 7, wherein: The cylindrical structure is an L-shaped structure, wherein the vertical section is used to receive the laser signal reflected from the reflector, and the horizontal section is used to receive the laser signal emitted from the convex lens (3); The vertical section extends toward the wall surface of the protective cover (16) and is adjacent to the wall surface of the protective cover (16); A first light shielding member (52) is provided on the convex lens (3); The first light shielding member (52) is sleeved on the outside of the transverse section of the L-shaped structure.

9. A laser radar with good scanning effect, characterized in that: It includes a laser transmitter for emitting laser signals, a rotatable reflector for reflecting laser signals, and a protective shell with an arc-shaped structure; The protective shell is covered with a reflector; A light-shielding cavity (51) is provided between the reflector and the protective shell; The light-shielding cavity (51) is a cylindrical piece, which extends from the end surface of the reflector toward the wall surface of the protective shell.

10. A laser radar with good scanning effect as claimed in claim 9, characterized in that: The laser emitter is arranged horizontally and is provided with a laser emission port; The reflector is provided with an inclined reflective surface; The extension line of the laser emission port intersects with the reflective surface; The cylindrical member is an L-shaped structure, wherein the vertical section is used to receive the laser signal reflected from the reflector, and the horizontal section is used to receive the laser signal emitted from the convex lens; The vertical section extends toward the wall of the protective shell and is adjacent to the wall of the protective shell; The convex lens is provided with a first light shielding member, and a laser receiving electrode is provided at the focal position of the first light shielding member. The first light shielding member is sleeved on the outer side of the transverse section of the L-shaped structure; The cylindrical member is arranged on the rotation axis of the reflector, and the rotation track of the outer end thereof is arc-shaped and can rotate with the reflector; The protective housing is provided with an arc-shaped portion for covering the light-shielding cavity; a partial or entire cross-sectional shape of the arc-shaped portion is a concentric arc with the rotation trajectory of the outer end portion, forming a structure with a constant spacing, so that the distance between the end portion of the light-shielding cavity and the arc-shaped portion remains unchanged during the rotation process; The rotation axis of the reflector coincides with the main optical axis of the convex lens, and the laser emission port is provided on the main optical axis of the convex lens; the laser signal emitted horizontally from the laser emission port is reflected and rotated by the reflector to scan the surrounding environment in the vertical plane; A transverse light shielding member is provided between the laser emitter and the reflector, the transverse light shielding member comprising a first light shielding member fixed on the main optical axis of the convex lens, and a second light shielding member directly fixed on the reflector and rotating therewith, wherein the first light shielding member is sleeved on the outside of the second light shielding member; The transverse light-shielding member is communicated with the light-shielding cavity, and a light-shielding pad is provided at the contact portion between the second light-shielding member, the light-shielding cavity and the reflector.

11. A robot, characterized in that: Using the 3D laser radar as described in any one of claims 1 to 8, the robot can scan its surrounding environment in real time; The robot is a foot-type robot or a cleaning robot.

12. A robot, characterized in that: It comprises a laser radar with good scanning effect as described in claims 9-10; the robot is a foot-type robot or a cleaning robot.