CN107064947B - Laser radar module and robot - Google Patents
Laser radar module and robot Download PDFInfo
- Publication number
- CN107064947B CN107064947B CN201710355332.5A CN201710355332A CN107064947B CN 107064947 B CN107064947 B CN 107064947B CN 201710355332 A CN201710355332 A CN 201710355332A CN 107064947 B CN107064947 B CN 107064947B
- Authority
- CN
- China
- Prior art keywords
- laser radar
- top cover
- bottom shell
- robot
- hole
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 230000003014 reinforcing effect Effects 0.000 claims description 15
- 239000003351 stiffener Substances 0.000 claims description 8
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 6
- 230000002787 reinforcement Effects 0.000 description 10
- 238000005192 partition Methods 0.000 description 7
- 230000000712 assembly Effects 0.000 description 5
- 238000000429 assembly Methods 0.000 description 5
- 230000009286 beneficial effect Effects 0.000 description 3
- 238000001514 detection method Methods 0.000 description 3
- 230000007613 environmental effect Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 238000005299 abrasion Methods 0.000 description 2
- 238000003475 lamination Methods 0.000 description 2
- 241000282414 Homo sapiens Species 0.000 description 1
- 238000009825 accumulation Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/66—Tracking systems using electromagnetic waves other than radio waves
Abstract
The invention discloses a laser radar module and a robot. The laser radar module comprises a laser radar, a top cover arranged above the laser radar, a bottom shell arranged below the laser radar and a locking assembly used for connecting the top cover and the bottom shell; a gap for receiving and transmitting signals of the laser radar is formed between the top cover and the bottom shell. In the laser radar module, the purpose of protecting the laser radar is achieved by fixing the laser radar between the top cover and the bottom shell; a gap for receiving and transmitting signals of the laser radar is formed between the top cover and the bottom shell, so that the laser radar can receive and transmit signals normally, and the laser radar can be protected under the condition that the laser radar is guaranteed to work normally.
Description
Technical Field
The invention belongs to the field of robots, and particularly relates to a laser radar module and a robot.
Background
The application field of the laser radar is wide, and the laser radar is required to be utilized by intelligent equipment (such as a service robot and the like) related to environment induction at present. The laser radar can acquire the related information of the target, such as the parameters of the distance, azimuth, altitude, speed, gesture and even shape of the target, by transmitting a laser detection signal (laser beam) to the target, and then comparing and processing the received signal (target echo) reflected from the target with the transmitted signal, so as to detect, track and identify the target.
According to the working principle of the laser radar, the laser radar cannot be shielded by an obstacle when in use, otherwise, the laser radar receives signals reflected by the obstacle instead of a target, and detection, tracking and recognition of the target cannot be realized. To avoid obscuring the lidar, the lidar of existing robots is typically placed directly outside the interior frame or robot housing without a housing. The laser radar is directly arranged on the outer side of an inner frame without a shell or a robot shell, and the laser radar is not provided with a protection structure, is easy to damage and even has potential safety hazards, so that the robot provided with the laser radar cannot serve human beings better.
Disclosure of Invention
The invention provides a robot laser radar module and a robot, which are used for overcoming the defect that the laser radar of the existing robot is directly arranged on the inner frame without a shell or the outer side of a robot shell.
The technical scheme adopted for solving the technical problems is as follows: a laser radar module, comprising a laser radar, a top cover arranged above the laser radar, a bottom shell arranged below the laser radar, and a locking component for connecting the top cover and the bottom shell; a gap for receiving and transmitting signals of the laser radar is formed between the top cover and the bottom shell.
Preferably, the top cover is provided with a containing groove for containing the laser radar, the bottom shell is provided with a limiting groove matched with the laser radar, and the containing groove and the limiting groove are oppositely arranged in parallel.
Preferably, the limit groove is provided with a water leakage port.
Preferably, the top cover is further provided with a limiting hole, and the bottom shell is further provided with a limiting column matched with the limiting hole.
Preferably, the bottom case includes a supporting portion and a limiting portion extending upward from the supporting portion, and a height of the limiting portion matches a height of the gap.
Preferably, the locking assembly comprises a locking through hole formed in the top cover, a locking screw hole formed in the bottom shell, and a locking screw penetrating through the locking through hole and matched with the locking screw hole.
Preferably, the laser radar module further comprises a rubber pad arranged between the laser radar and the top cover, and the rubber pad extends downwards to form a positioning protrusion; and the laser radar is provided with a positioning groove matched with the positioning protrusion.
Preferably, the lidar module further comprises a stiffener comprising a first stiffener, a second stiffener, and a third stiffener; the second reinforcing part and the third reinforcing part are parallel to each other and perpendicular to the first reinforcing part, the second reinforcing part is fixedly connected with the top cover, and the third reinforcing part is fixedly connected with the bottom shell.
The invention also provides a robot, which comprises a chassis, a shell and the laser radar module, wherein the laser radar module is arranged on the chassis and is positioned in the shell; and the shell is provided with a signal receiving and transmitting hole matched with the gap.
Preferably, the robot further comprises an ultrasonic sensor disposed inside the housing and above the lidar module; the shell is also provided with a sensing window which is arranged above the signal receiving and transmitting hole and is arranged opposite to the ultrasonic sensor.
Preferably, the robot further comprises an internal lamination structure arranged in the housing, a walking structure arranged outside the chassis and a camera arranged on the housing.
Compared with the prior art, the invention has the following advantages: according to the laser radar module and the robot, the top cover is arranged above the laser radar, the bottom shell is arranged below the laser radar, and the locking assembly is used for locking the top cover and the bottom shell so as to fix the laser radar between the top cover and the bottom shell, so that the purpose of protecting the laser radar is achieved; and a gap for receiving and transmitting signals of the laser radar is formed between the top cover and the bottom shell, so that the laser radar can receive and transmit signals normally, and the protection of the laser radar is formed under the condition of ensuring the normal operation of the laser radar, and the damage of the laser radar is avoided.
Drawings
The invention will be further described with reference to the accompanying drawings and examples, in which:
fig. 1 is a schematic view of a robot according to an embodiment of the invention.
Fig. 2 is an exploded view of a robot in an embodiment of the present invention.
Fig. 3 is another exploded view of a robot in an embodiment of the present invention.
Fig. 4 is a cross-sectional view of a robot in an embodiment of the invention.
Fig. 5 is an exploded view of a lidar module according to an embodiment of the invention.
Fig. 6 is a front view of a lidar module in an embodiment of the invention.
In the figure: 10. a laser radar module; 11. a laser radar; 111. a positioning groove; 12. a top cover; 121. a receiving groove; 122. a limiting hole; 13. a bottom case; 131. a limit groove; 132. a water leakage port; 133. a limit column; 134. a support section; 135. a limit part; 14. a locking assembly; 141. locking the through hole; 142. locking the screw hole; 143. locking a screw; 15. a rubber pad; 151. positioning the bulge; 16. a reinforcing member; 161. a first reinforcing part; 162. a second reinforcing part; 163. a third reinforcing part; 164. a connecting through hole; 17. a gap; 20. a chassis; 30. a housing; 31. a front shell; 32. a rear case; 33. a signal receiving and transmitting hole; 34. a sensing window; 40. an internal laminated structure; 41. a support rod; 42. a partition plate; 43. a mounting plate; 431. a gear hole; 44. a gear box; 45. a gear assembly; 451. steering engine; 452. a connecting gear; 453. an upper bearing; 454. a lower bearing; 50. a walking structure; 51. a drive assembly; 511. a driving motor; 512. fixing a bearing; 513. a transfer shaft; 514. an omni-wheel; 52. a fixing assembly; 60. a camera; 70. an ultrasonic sensor.
Detailed Description
For a clearer understanding of technical features, objects and effects of the present invention, a detailed description of embodiments of the present invention will be made with reference to the accompanying drawings.
Fig. 1-4 show the robot base or robot waist in this embodiment. In the two-stage robot, the robot includes a robot waist and a robot head connected to the robot waist, and at this time, the robot waist is provided with a traveling structure 50. In the three-stage robot, the robot includes a robot bottom, a robot waist connected to the robot bottom, and a robot head connected to the robot waist, and at this time, the robot bottom is provided with a traveling structure 50.
As shown in fig. 1-4, the robot base or robot waist includes a chassis 20, a housing 30 disposed on the chassis 20, an internal laminate structure 40 disposed on the chassis 20 and within the housing 30, a walking structure 50 disposed on the exterior of the chassis 20, and a lidar module 10 disposed on the chassis 20 and within the housing 30. Wherein the housing 30 includes a front case 31 and a rear case 32, the front case 31 and the rear case 32 are fixed together by screws, and the front case 31 and the rear case 32 are fixed to the mounting plate 43 by screws.
As shown in fig. 1 to 4, the front shell 31 may further be provided with a depth camera 60 for collecting environmental image information and transmitting the collected environmental image information to a main control circuit board of the robot, so that the main control circuit board controls the walking structure 50 to move or controls other mechanisms to work according to the environmental image information. Specifically, the robot further includes a sensor assembly such as an ultrasonic sensor 70 or an infrared sensor, wherein the ultrasonic sensor 70 is disposed inside the housing 30 and above the lidar module 10. Correspondingly, the shell 30 can be further provided with a sensing window 34, the sensing window 34 is in a net structure, is arranged above the signal receiving and transmitting hole 33 of the shell 30 and is opposite to the ultrasonic sensor 70, so that ultrasonic signals received and transmitted by the ultrasonic sensor 70 can pass through the sensing window 34 and are not blocked by the shell 30. In the present embodiment, the sensing window 34, the signal receiving and transmitting hole 33, and the depth camera 60 are all provided on the front case 31.
As shown in fig. 1 to 4, the inner laminated structure 40 includes at least three support bars 41 provided on the chassis 20, a partition plate 42 provided on the at least three support bars 41, and a mounting plate 43. That is, at least three support bars 41 are fixed at one end to the chassis 20 and at the other end to the mounting plate 43, and the at least three support bars 41 are not aligned so that a plane is defined between the at least three support bars 41. Each partition board 42 is fixed on at least three support rods 41, so that each partition board 42 is parallel to the chassis 20 or the mounting plate 43, and at least one partition board 42 can divide the space between the chassis 20 and the mounting plate 43 into at least two accommodating spaces, which is beneficial to increasing the space utilization rate. The chassis 20, the partition plate 42 and the mounting plate 43 are respectively provided with mounting positions for mounting components, for example, a power supply of a robot can be mounted on the mounting positions of the partition plate 42. The internal lamination structure 40 is simple and convenient in assembly process, and better in stability without adopting a multi-section separated connecting structure.
The internal laminate structure 40 further includes a gear box 44 disposed on at least three support bars 41 below the mounting plate 43 and a gear assembly 45 mounted within the gear box 44. Wherein a steering engine mounting position (not shown) is provided in the gear box 44. The gear assembly 45 includes a steering engine 451, a connecting gear 452, an upper bearing 453, and a lower bearing 454. The connecting gear 452 is fixed on the gear box 44 through an upper bearing 453, and is fixed on the gear box 44 through a lower bearing 454, and the arrangement of the upper bearing 453 and the lower bearing 454 can support the connecting gear 452, reduce friction in the rotating process of the connecting gear 452 and ensure the rotating precision of the connecting gear 452. Steering wheel 451 sets up on steering wheel installation position, and the output gear of steering wheel 451 meshes with connecting gear 452, and connecting gear 452 stretches out gear hole 431. When the steering engine 451 receives the control signal output by the main control circuit board and works, the output gear drives the connecting gear 452 meshed with the steering engine 451 to rotate, so that the connecting gear 452 extending out of the gear hole 431 drives the robot waist or the robot head connected with the steering engine 452 to rotate.
As shown in fig. 1 to 4, the walking structure 50 includes at least two driving assemblies 51 disposed outside the chassis 20, and a fixing assembly 52 for fixing the driving assemblies 51 outside the chassis 20, and when the driving assemblies 51 fail, the driving assemblies 51 can be replaced without disassembling the robot chassis 20, so that the post maintenance of the driving assemblies 51 is simpler and more convenient. In this embodiment, the driving assembly 51 includes a driving motor 511, a fixed bearing 512 for fixing an output shaft of the driving motor 511, a switching shaft 513 connected to an output shaft of the driving motor 511, and an omni wheel 514 connected to the switching shaft 513, which are sequentially disposed in a radial direction of the chassis 20. The driving motor 511 is connected with a motor control board (not shown in the figure) arranged inside the chassis 20 through a signal wire, and can drive the omni-wheel 514 to rotate according to a control signal output by the motor control board, so as to achieve the purpose of controlling the robot to walk.
As shown in fig. 2-4, the housing 30 is provided with a signal receiving and transmitting hole 33, and in this embodiment, the signal receiving and transmitting hole 33 is disposed at a junction between the front shell 31 and the chassis 20. The lidar module 10 is disposed on the chassis 20, and is disposed in the housing 30 and opposite to the signal receiving/transmitting hole 33. As shown in fig. 5 and 6, the lidar module 10 includes a lidar 11, a top cover 12 provided above the lidar 11, a bottom case 13 provided below the lidar 11, and a locking assembly 14 for connecting the top cover 12 and the bottom case 13; a gap 17 for receiving and transmitting signals of the laser radar 11 is formed between the top cover 12 and the bottom cover 13, and the gap 17 is matched with a signal receiving and transmitting hole 33 arranged on the shell 30. Wherein, top cap 12 and drain pan 13 edge are the arc setting, and the radian of top cap 12 and drain pan 13 matches with the radian of chassis 20, makes it more coordinated pleasing to the eye when assembling on robot chassis 20.
According to the laser radar module 10 provided by the embodiment, the top cover 12 is arranged above the laser radar 11, the bottom shell 13 is arranged below the laser radar 11, and the locking assembly 14 is used for locking the top cover 12 and the bottom shell 13, so that the laser radar 11 is fixed between the top cover 12 and the bottom shell 13, and the purpose of protecting the laser radar 11 is achieved; and a gap 17 for receiving and transmitting signals of the laser radar 11 is formed between the top cover 12 and the bottom shell 13, so that the laser radar 11 can receive and transmit signals normally, and the laser radar 11 is protected under the condition that the laser radar 11 is ensured to work normally, and the laser radar 11 is prevented from being damaged.
Specifically, the top cover 12 is provided with a containing groove 121 for containing the laser radar 11, the bottom shell 13 is provided with a limit groove 131 matched with the laser radar 11, and the containing groove 121 and the limit groove 131 are oppositely arranged in parallel. During assembly, the laser radar 11 is fixed in the accommodating groove 121 of the top cover 12, then the limiting groove 131 on the bottom shell 13 is aligned with the laser radar 11, so that the laser radar 11 is arranged in the accommodating groove 121 and the limiting groove 131, the top cover 12 is connected with the bottom shell 13 by the locking assembly 14, the laser radar 11 is protected by the top cover 12 and the bottom shell 13, damage is avoided, and the assembly process is simpler and more convenient. In this embodiment, the laser radar 11 is inverted in the accommodating groove 121, and the bottom is fixed on the top cover 12 by a screw, and the bottom of the laser radar 11 is not in contact with the bottom of the limiting groove 131 because the upper and lower portions of the laser radar 11 can rotate relatively. In this embodiment, the ultrasonic sensor 70 is disposed above the top cover 12 and located in the area outside the accommodating groove 121, which is beneficial to improving the utilization rate of the internal space.
As shown in fig. 5 and 6, the bottom chassis 13 includes a supporting portion 134 and a stopper portion 135 extending upward from the supporting portion 134, the height of the stopper portion 135 matching the height of the gap 17. It will be appreciated that when the lidar 11 is assembled to the top cover 12 and the bottom cover 13, a gap 17 is formed between the top cover 12 and the supporting portion 134 of the bottom cover 13, and the gap 17 is matched with the signal receiving and transmitting hole 33 on the front cover 31, so that the lidar 11 sends out the lasing signal and receives the reflected signal of the target feedback. The edges of the supporting portions 134 of the bottom shell 13 are arc-shaped, the limiting grooves 131 are formed in the middle of the supporting portions 134, the two limiting portions 135 extend outwards from the limiting grooves 131 to form a certain angle, the angle can be set according to the detection range of the laser radar 11 in actual needs, so that when the laser radar 11 rotates left and right, laser signals can pass through a gap 17 formed between the bottom shell 13 and the top cover 12, and normal operation of the laser radar 11 is guaranteed.
Further, the limiting groove 131 is disposed on the supporting portion 134, and the limiting groove 131 is provided with a water leakage port 132, and the chassis 20 opposite to the water leakage port 132 is provided with a sewer, so as to prevent the lidar 11 from being unable to work normally due to water accumulation of the lidar module 10.
The laser radar module 10 further comprises a rubber pad 15 arranged between the laser radar 11 and the top cover 12, and the rubber pad 15 is beneficial to further protecting the laser radar 11 and avoiding abrasion of the laser radar 11 caused by collision between the laser radar 11 and the top cover 12. Further, the rubber pad 15 extends downwards to form a plurality of positioning protrusions 151, and the laser radar 11 is provided with a plurality of positioning grooves 111 matched with the positioning protrusions 151, so that the rubber pad 15 is required to be fixed on the laser radar 11 during assembly, and abrasion of the laser radar 11 is avoided, so that the purpose of protecting the laser radar 11 is achieved. In the present embodiment, the number of the positioning projections 151 and the positioning grooves 111 is four each.
Specifically, the top cover 12 is further provided with a plurality of limiting holes 122, and the bottom shell 13 is further provided with a plurality of limiting columns 133 matched with the limiting holes 122. During assembly, only the limiting column 133 on the bottom shell 13 extends into the limiting hole 122 of the top cover 12, so that the connection between the top cover 12 and the bottom shell 13 can be realized, and the relative displacement between the top cover 12 and the bottom shell 13 is avoided, so that the laser radar 11 is arranged between the top cover 12 and the bottom shell 13, namely, the top cover 12, the laser radar 11 and the bottom shell 13 are matched into a whole through the limiting column 133 and the limiting hole 122. The top cover 12 and the bottom shell 13 are provided with reinforcing ribs to strengthen the bearing force of the top cover 12 and the bottom shell 13 under collision, so that the safety of the laser radar 11 arranged between the top cover 12 and the bottom shell 13 is better.
The locking assembly 14 includes a locking through hole 141 provided on the top cover 12, a locking screw hole 142 provided on the bottom case 13, and a locking screw 143 passing through the locking through hole 141 and engaged with the locking screw hole 142. During assembly, the locking screw 143 penetrates through the locking through hole 141 on the top cover 12 and is matched with the locking screw hole 142 on the bottom shell 13, so that the laser radar 11 is fixed between the top cover 12 and the bottom shell 13, and the purpose of protecting the laser radar 11 is achieved.
In this embodiment, the lidar module 10 further comprises a stiffening member 16 arranged in a pi shape for further stiffening the fixed connection between the top cover 12 and the bottom housing 13. The reinforcement 16 includes integrally formed first, second and third reinforcement portions 161, 162 and 163. Wherein the second reinforcement part 162 and the third reinforcement part 163 are parallel to each other and perpendicular to the first reinforcement part 161; the second reinforcement part 162 is fixedly connected to the top cover 12, and the third reinforcement part 163 is fixedly connected to the bottom chassis 13. Specifically, the second reinforcement portion 162 and the third reinforcement portion 163 are respectively provided with a connection through hole 164, and the top cover 12 and the bottom casing 13 are respectively provided with a connection screw hole (not shown in the figure), so that the reinforcement 16 can be fixedly connected with the top cover 12 and the bottom casing 13 by using a connection screw (not shown in the figure).
While the invention has been described with reference to the specific embodiments, it will be understood by those skilled in the art that various changes may be made and equivalents may be substituted without departing from the scope of the invention. In addition, many modifications may be made to adapt a particular situation or material to the teachings of the invention without departing from its scope. Therefore, it is intended that the invention not be limited to the particular embodiment disclosed, but that the invention will include all embodiments falling within the scope of the appended claims.
Claims (9)
1. The laser radar module is characterized by comprising a laser radar, a top cover arranged above the laser radar, a bottom shell arranged below the laser radar and a locking assembly used for connecting the top cover and the bottom shell; a gap for receiving and transmitting signals of the laser radar is formed between the top cover and the bottom shell;
the bottom shell comprises a supporting part and a limiting part extending upwards from the supporting part, and the height of the limiting part is matched with the height of the gap;
the top cover is provided with a containing groove for containing the laser radar, the supporting part of the bottom shell is provided with a limiting groove matched with the laser radar, and the containing groove and the limiting groove are oppositely arranged in parallel.
2. The lidar module according to claim 1, wherein the limiting groove is provided with a water leakage port.
3. The lidar module of claim 1, wherein the top cover is further provided with a limiting hole, and the bottom shell is further provided with a limiting post matched with the limiting hole.
4. The lidar module of claim 1, wherein the locking assembly comprises a locking through hole provided on the top cover, a locking screw hole provided on the bottom cover, and a locking screw passing through the locking through hole and cooperating with the locking screw hole.
5. The lidar module of claim 1, further comprising a rubber pad disposed between the lidar and the top cover, the rubber pad extending downward beyond a locating boss; and the laser radar is provided with a positioning groove matched with the positioning protrusion.
6. The lidar module of claim 1, further comprising a stiffener comprising a first stiffener, a second stiffener, and a third stiffener; the second reinforcing part and the third reinforcing part are parallel to each other and perpendicular to the first reinforcing part, the second reinforcing part is fixedly connected with the top cover, and the third reinforcing part is fixedly connected with the bottom shell.
7. A robot comprising a chassis, a housing, and the lidar module of any of claims 1-6, the lidar module being disposed on the chassis and within the housing; and the shell is provided with a signal receiving and transmitting hole matched with the gap.
8. The robot of claim 7, further comprising an ultrasonic sensor disposed inside the housing and above the lidar module; the shell is also provided with a sensing window which is arranged above the signal receiving and transmitting hole and is arranged opposite to the ultrasonic sensor.
9. The robot of claim 7, further comprising an internal laminate structure disposed within the housing, a walking structure disposed outside of the chassis, and a camera disposed on the housing.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710355332.5A CN107064947B (en) | 2017-05-19 | 2017-05-19 | Laser radar module and robot |
| US15/647,263 US10384541B2 (en) | 2017-05-19 | 2017-07-12 | Laser radar module and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710355332.5A CN107064947B (en) | 2017-05-19 | 2017-05-19 | Laser radar module and robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107064947A CN107064947A (en) | 2017-08-18 |
| CN107064947B true CN107064947B (en) | 2024-02-20 |
Family
ID=59610907
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710355332.5A Active CN107064947B (en) | 2017-05-19 | 2017-05-19 | Laser radar module and robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107064947B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110870719A (en) * | 2018-09-04 | 2020-03-10 | 北京雷动云合智能技术有限公司 | Laser radar is located inside robot of sweeping floor |
| CN109551503B (en) * | 2018-12-29 | 2021-03-02 | 深圳市优必选科技有限公司 | Robot and radar scanning layered structure thereof |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4710020A (en) * | 1986-05-16 | 1987-12-01 | Denning Mobil Robotics, Inc. | Beacon proximity detection system for a vehicle |
| JP2012208058A (en) * | 2011-03-30 | 2012-10-25 | Denso Wave Inc | Laser radar device |
| CN103474771A (en) * | 2013-09-26 | 2013-12-25 | 宁波迪泰电子科技有限公司 | Marine satellite antenna |
| CN203740115U (en) * | 2014-01-24 | 2014-07-30 | 深圳一电科技有限公司 | Unmanned aerial vehicle |
| US8958911B2 (en) * | 2012-02-29 | 2015-02-17 | Irobot Corporation | Mobile robot |
| JP2016183877A (en) * | 2015-03-25 | 2016-10-20 | 株式会社デンソーウェーブ | Laser radar device |
| CN106471337A (en) * | 2014-04-28 | 2017-03-01 | 深圳市大疆创新科技有限公司 | Interchangeable mounting platform |
| CN205998155U (en) * | 2016-08-31 | 2017-03-08 | 易瓦特科技股份公司 | It is applied to the inner shell structure of gondola |
| CN206848475U (en) * | 2017-05-19 | 2018-01-05 | 深圳市优必选科技有限公司 | Laser radar module and robot |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102006013340A1 (en) * | 2006-03-23 | 2007-09-27 | Carl Zeiss Optronics Gmbh | Apparatus and method for detecting optical systems in a terrain area |
-
2017
- 2017-05-19 CN CN201710355332.5A patent/CN107064947B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4710020A (en) * | 1986-05-16 | 1987-12-01 | Denning Mobil Robotics, Inc. | Beacon proximity detection system for a vehicle |
| JP2012208058A (en) * | 2011-03-30 | 2012-10-25 | Denso Wave Inc | Laser radar device |
| US8958911B2 (en) * | 2012-02-29 | 2015-02-17 | Irobot Corporation | Mobile robot |
| CN103474771A (en) * | 2013-09-26 | 2013-12-25 | 宁波迪泰电子科技有限公司 | Marine satellite antenna |
| CN203740115U (en) * | 2014-01-24 | 2014-07-30 | 深圳一电科技有限公司 | Unmanned aerial vehicle |
| CN106471337A (en) * | 2014-04-28 | 2017-03-01 | 深圳市大疆创新科技有限公司 | Interchangeable mounting platform |
| JP2016183877A (en) * | 2015-03-25 | 2016-10-20 | 株式会社デンソーウェーブ | Laser radar device |
| CN205998155U (en) * | 2016-08-31 | 2017-03-08 | 易瓦特科技股份公司 | It is applied to the inner shell structure of gondola |
| CN206848475U (en) * | 2017-05-19 | 2018-01-05 | 深圳市优必选科技有限公司 | Laser radar module and robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107064947A (en) | 2017-08-18 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107064947B (en) | Laser radar module and robot | |
| US20170313441A1 (en) | Unmanned aerial vehicle | |
| CN109986533B (en) | Household service robot with mobile grabbing function | |
| CN106363643B (en) | A kind of automatic patrol robot and its mating charging pile | |
| KR20200011557A (en) | Electric drive and electric power steering | |
| CN216759895U (en) | Self-moving robot | |
| US20200288586A1 (en) | Unmanned aerial vehicle and avionics system thereof | |
| CN211718512U (en) | Radar subassembly and vehicle that has it | |
| CN109562837B (en) | Unmanned vehicles and battery compartment subassembly and battery compartment | |
| US10384541B2 (en) | Laser radar module and robot | |
| WO2022052386A1 (en) | Intelligent robot | |
| CN208255418U (en) | A kind of laser radar apparatus | |
| CN215534019U (en) | Anti-collision device and mobile robot | |
| CN212307727U (en) | Intelligent robot | |
| CN113895622A (en) | Unmanned aerial vehicle's safety protection structure | |
| CN211809397U (en) | Insulated mounting structure for camera system and camera system | |
| CN209290560U (en) | A kind of 4 wheel driven robot chassis of the floating type avoidance in interior and service robot | |
| CN109367653A (en) | A kind of 4 wheel driven robot chassis of the floating type avoidance in interior | |
| CN110412991A (en) | A kind of mechanical structure of independent navigation peddrail mobile robot | |
| KR102491470B1 (en) | Vehicle hood with sensor mounting structure | |
| CN219923843U (en) | Sensor cleaning device and unmanned system | |
| CN111830532A (en) | Multi-module multiplexing laser radar and sweeping robot | |
| CN213399311U (en) | Intelligent robot | |
| CN217467170U (en) | Multi-radar high-precision positioning structure for disinfection robot | |
| CN216464625U (en) | Intelligent security patrol robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |