Laser radar and robots

Abstract

The present invention discloses a 3D laser radar, a legged robot, and a cleaning robot 20, which are related to the technical field of laser radar. A light-shielding cavity 51 is provided between a reflector 5 of the 3D laser radar and a protective cover 16. The light-shielding cavity 51 is directly fixed to the rotation axis of the reflector 5 along the direction of emission of the laser signal. The protective cover 16 is provided with an arc-shaped portion 161 that approaches the rotation locus 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 is maintained as it is while the light-shielding cavity 51 is rotating. The light-shielding cavity (51) is provided between the reflector (5) and the protective cover (16), which reduces the scattering and reflection of the laser signal emitted through the reflector (5) within the protective cover (16) and prevents it from interfering with the laser signal on the circuit, improving the scanning effect of the laser radar. In addition, while the light-shielding cavity (51) rotates along with the reflector (5), the distance between the end of the light-shielding cavity (51) and the arc-shaped portion (161) is always maintained, which makes the scanning result of the laser radar more stable in the external environment.

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