CN211318732U - Laser radar device and mobile robot - Google Patents
Laser radar device and mobile robot Download PDFInfo
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- CN211318732U CN211318732U CN201921479534.1U CN201921479534U CN211318732U CN 211318732 U CN211318732 U CN 211318732U CN 201921479534 U CN201921479534 U CN 201921479534U CN 211318732 U CN211318732 U CN 211318732U
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Abstract
The utility model provides a laser radar device and mobile robot, including laser radar sensor, rotary platform, base, laser radar sensor set up in the rotary platform top, the base is used for bearing rotary platform, the laser radar sensor with be provided with adjusting device between the rotary platform, adjusting device is configured to drive the laser radar sensor is around first axial rotation, first axial be on a parallel with rotary platform. Through at the laser radar sensor with set up adjusting device between the rotary platform for the laser radar sensor can be adjusted in vertical direction, realizes the scanning in the three-dimensional space, thereby makes the scanning range of laser radar device wider, need not to increase other laser radar devices, for multi-thread laser radar device, has obviously reduced manufacturing cost, has overcome among the prior art less, the high technical problem of multi-thread laser radar device manufacturing cost of single line laser radar device scanning range.
Description
Technical Field
The utility model relates to a laser radar field especially relates to a laser radar device and mobile robot.
Background
LidAR, light detection and Ranging, abbreviated as LidAR, uses a laser beam as an information carrier, and is a radar system that emits a laser beam to detect characteristic quantities such as position, speed, and the like of a target. The method comprises the steps of transmitting a detection signal (laser beam) to a target, comparing a received signal (target echo) reflected from the target with the transmitted signal, and after proper processing, obtaining relevant information of the target, such as target distance, azimuth, height, speed, attitude, even shape and other parameters, thereby detecting, tracking and identifying the target such as an airplane, a missile and the like. The laser radar generally comprises a laser transmitter, a laser receiver, a rotating platform and an information processing system. In recent years, laser radars have attracted attention for use in unmanned and mobile robots.
A general mobile robot is provided with a single-emitter laser radar, the laser emitter is driven to scan the environment and the obstacles around the mobile robot by 360 degrees through the rotation of the rotating platform, and the laser radar on the traditional mobile robot can scan the information of the obstacles in a two-dimensional space range. However, when the environment where the mobile robot is located changes or the size of the obstacle is large, the lidar can only scan and acquire part of information of the obstacle, the imperfection of the information can limit the mapping, navigation and walking of the mobile robot, some manufacturers propose the multi-line lidar, namely the lidar with a plurality of transmitters, the scanning range of the lidar is enlarged by increasing the number of the transmitters, and the scanning of the three-dimensional space environment is realized. There is therefore a need for improvements to existing lidar technology.
SUMMERY OF THE UTILITY MODEL
The utility model discloses solve one of above-mentioned technical problem to a certain extent at least, the utility model provides a laser radar device and mobile robot makes laser radar device's scanning range more extensive through adjusting device, realizes three-dimensional space within range laser scanning.
The utility model provides a laser radar device, including laser radar sensor, rotary platform, base, the laser radar sensor set up in the rotary platform top, the base is used for bearing rotary platform, the laser radar sensor with be provided with adjusting device between the rotary platform, adjusting device is configured to adjust the light of laser radar sensor jets out the angle to increase the scanning range of laser radar device at non-horizontal direction.
In some embodiments, the adjustment device is configured to rotate the lidar sensor about a first axis that is parallel to the rotating platform.
In some embodiments, the adjusting device is disposed on the rotating platform, the adjusting device includes a gear assembly and a first driving motor for driving the gear assembly to rotate, the first driving motor includes a rotating shaft, and the first shaft is axially parallel to the rotating shaft.
In some embodiments, the lidar device includes a mounting bracket on which the lidar sensor is disposed, the mounting bracket being provided with a gear engagement that engages with the gear assembly.
In some embodiments, the rotating platform is provided with at least two opposite support frames, and the mounting frame is arranged on the support frames.
In some embodiments, the rotating platform is configured to rotate the lidar sensor about a second axial direction that is perpendicular to the rotating platform.
In some embodiments, the lidar sensor includes a transmitter, a receiver, a circuit board, and a mounting bracket, with the transmitter, receiver, and circuit board all disposed on the mounting bracket.
In some embodiments, the receiver includes an optical lens, and a photodetector is disposed on the circuit board at a position opposite the optical lens.
In some embodiments, the transmitter of the lidar sensor rotates up and down about the first axis to form a first field of view having an angular range of 0 to 60 degrees.
In some embodiments, the angle of the first field of view is 30 degrees.
The utility model discloses the second aspect still provides a mobile robot, including robot main part, laser radar device, drive arrangement and treater set up in the main part, the laser radar device be any one of above-mentioned embodiment the laser radar device.
Compared with the prior art, the utility model following beneficial effect has at least: the utility model provides a laser radar device, including laser radar sensor, rotary platform, base, the laser radar sensor set up in the rotary platform top, the base is used for bearing rotary platform, wherein, the laser radar sensor with be provided with adjusting device between the rotary platform, adjusting device is configured to the regulation the light of laser radar sensor jets out the angle to increase the scanning range of laser radar device at non-horizontal direction, adjusting device drives the laser radar sensor rotates around the primary shaft, the primary shaft is on a parallel with rotary platform. Through at the laser radar sensor with set up adjusting device between the rotary platform for the laser radar sensor can be adjusted in vertical direction, realizes the dynamic scanning in the three-dimensional space, thereby makes the scanning range of laser radar device wider, need not to increase other laser radar devices, for multi-thread laser radar device, obviously reduced manufacturing cost, overcome among the prior art single line laser radar device scanning range less, multi-thread laser radar device high technical problem of manufacturing cost.
Drawings
Fig. 1 is an exploded schematic view of a laser radar apparatus according to an embodiment of the present invention.
Fig. 2 is a schematic diagram of a lidar sensor provided by an embodiment of the present invention.
Fig. 3 is a schematic view of an adjusting device according to an embodiment of the present invention.
Fig. 4 is a partially enlarged view of a portion a in fig. 3.
Fig. 5 is a schematic diagram of a laser radar apparatus according to an embodiment of the present invention.
Fig. 6 is a schematic view of a first state of the laser radar apparatus according to an embodiment of the present invention.
Fig. 7 is a schematic diagram of a second state of the laser radar apparatus according to an embodiment of the present invention.
Fig. 8 is a schematic diagram of a third state of the laser radar apparatus according to the embodiment of the present invention.
Fig. 9 is a schematic view of a mobile robot according to an embodiment of the present invention.
Fig. 10 is a schematic view of a working state of the mobile robot according to the embodiment of the present invention.
Description of reference numerals: a mobile robot 10; a robot main body 110; a laser radar device 20; a top cover 100; a laser radar sensor 200; a transmitter 201; a receiver 202; a fixed bracket 203; a circuit board 204; a mounting frame 300; the gear fitting portion 300 a; an adjustment device 400; a first drive motor 410; a gear assembly 420; a rotating platform 500; a support frame 501; a driving wheel 502; a conveyor belt 503; a bearing 600; a base 700; a second drive motor 701.
Detailed Description
In order to make the technical problem, technical solution and advantageous effects solved by the present invention more clearly understood, the following description is given in conjunction with the accompanying drawings and embodiments to further explain the present invention in detail. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present invention, and should not be construed as limiting the present invention.
In the description of the present invention, it is to be understood that the terms "lateral," "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "clockwise," "counterclockwise," and the like are used in the orientation or positional relationship indicated in the drawings, which is only for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element so referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the present invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.
In the present application, unless expressly stated or limited otherwise, the first feature may be directly on or directly under the second feature or indirectly via intermediate members. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
The present invention will be further described with reference to the accompanying drawings and examples.
Referring to fig. 1, fig. 1 is an exploded schematic view of a laser radar apparatus 20 according to an embodiment of the present invention, the present invention provides a laser radar apparatus 20, where the laser radar apparatus 20 includes: top cap 100, lidar sensor 200, rotary platform 500, base 700, top cap 100 set up in lidar sensor 200 top, top cap 100 is used for right the lidar sensing protects, makes lidar sensor 200 avoids receiving external impact, the upper portion of top cap 100 is incomplete circular, the side edge of top cap 100 is provided with the inclined plane, the inclined plane is equipped with light and jets out hole and light receiving hole, light jet out hole and light receiving hole with lidar sensor 200 is roughly in same high department.
The utility model discloses an at laser radar sensor 200 with set up adjusting device 400 between rotary platform 500 for laser radar sensor 200 can be adjusted in vertical direction, realize the dynamic scanning in the three-dimensional space, thereby make laser radar device 20's scanning range wider, need not to increase other laser radar device 20, for multi-thread laser radar device 20, manufacturing cost has obviously been reduced, the technical problem that among the prior art single line laser radar device 20 scanning range is less, multi-thread laser radar device 20 manufacturing cost is high has been overcome.
Referring to fig. 2, fig. 2 is a schematic view of a lidar sensor 200 according to an embodiment of the present invention, where the lidar sensor 200 includes a transmitter 201, a receiver 202, a circuit board 204, and a fixing bracket 203, and the transmitter 201, the receiver 202, and the circuit board 204 are all disposed on the fixing bracket 203. Further, the receiver 202 includes an optical lens, and a photodetector is disposed on the circuit board 204 at a position opposite to the optical lens. After the light emitted by the emitter 201 passes through the barrier, the emitted light is reflected by the receiver 202, specifically, after the reflected light passes through the optical lens, the light spot falls on the photodetector on the circuit board 204, and after being sensed by the photodetector, the light spot causes the change of the electrical signal, and the processor on the circuit board 204 records the position information of the barrier corresponding to the light spot.
Referring to fig. 3 and fig. 1, fig. 3 is a schematic view of an adjusting device 400 according to an embodiment of the present invention, preferably, the adjusting device 400 is disposed on a rotating platform 500, the adjusting device 400 includes a gear assembly 420 and a first driving motor 410 for driving the gear assembly 420 to rotate, the first driving motor 410 includes a rotating shaft, and the first axis is parallel to the rotating shaft.
Further, referring to fig. 4, fig. 4 is a partial enlarged view of a portion a of fig. 3, the lidar device 20 includes a mounting bracket 300, the lidar sensor 200 is disposed on the mounting bracket 300, the mounting bracket 300 is provided with a gear engaging portion 300a engaged with the gear assembly 420, and preferably, the gear engaging portion 300a is disposed at a bottom of the mounting bracket 300. The accessory gear is integrally formed with the mounting bracket 300 or welded to the bottom of the mounting bracket 300, when the first driving motor 410 drives the gear assembly 420 to rotate, since the gear assembly 420 is engaged with the gear matching part 300a, the gear assembly 420 transmits a rotational torque to the gear matching part 300a, so that the mounting bracket 300 and the lidar sensor 200 on the mounting bracket 300 rotate upwards or downwards, the lidar device 20 further comprises a controller electrically connected to the first driving motor 410, the controller is configured to control the rotation angle of the gear assembly 420 by controlling the rotation direction and the rotation time of the first driving motor 410, and particularly, the controller may control the gear assembly 420 to rotate in a clockwise direction or a counterclockwise direction for a specific time, so that the lidar sensor 200 rotates upwards or downwards for a preset angle value, realize the 3D scanning of laser radar device 20 in space range, enlarged the scanning range, for multi-thread laser radar device 20, obviously reduced manufacturing cost, overcome among the prior art that single line laser radar device 20 scanning range is less, multi-thread laser radar device 20 high manufacturing cost's technical problem, the scheme makes laser radar device 20 more have technical advantage and price advantage in market, has stronger competitiveness in market.
Referring to fig. 1 and 5, fig. 5 is a schematic view of a laser radar apparatus 20 according to an embodiment of the present invention, and optionally, the rotating platform 500 is at least provided with two opposite supporting frames 501, and the mounting frame 300 is disposed on the supporting frames 501. Two support frames 501 are provided with the notch, and the installed part both ends are through setting up the screw, will the screw has penetrated the notch, then with mounting bracket 300 is connected, realizes the setting of mounting bracket 300 on support frame 501, owing to be provided with the notch, mounting bracket 300 can with support frame 501 swing joint, mounting bracket 300 and laser radar sensor 200 can swing on support frame 501 promptly, swing joint does benefit to and reduces the frictional force between mounting bracket 300 and the support frame 501, is favorable to laser radar sensor 200 to rotate on support frame 501 for laser radar device 20 can the dynamic adjustment scanning range.
In some embodiments, the rotating platform 500 is configured to rotate the lidar sensor 200 about a second axial direction that is perpendicular to the rotating platform 500, such that the lidar sensor 200 is capable of acquiring environmental obstacle position information within 360 degrees of the surroundings by rotating in a plane.
Referring to fig. 1 again, the base 700 is provided with a second driving motor 701, a driving wheel 502 is disposed above the second driving motor 701, the second driving motor 701 and the driving wheel 502 are connected to each other, the lidar device 20 further includes a conveyor belt 503, and the rotary platform 500 and the driving wheel 502 are connected by the conveyor belt 503. A bearing 600 is arranged between the rotary platform 500 and the base 700, and when the second driving motor 701 at the bottom works, the second driving motor 701 drives the rotary platform 500 to rotate 360 degrees through a transmission belt. The lidar sensor 200 scans while the chip of the lidar sensor 200 records the dot matrix data in the horizontal direction. When the second driving motor 701 drives the laser radar sensor 200 to rotate on the vertical plane, the chip of the laser radar sensor 200 scans to record dot matrix data in the vertical direction. The 2.5D stereo point cloud data can be obtained by fitting the dot matrix data in the horizontal direction and the vertical direction, so that the distance between the laser radar device 20 and the surrounding objects and the size and the shape of the surrounding objects can be measured. The utility model discloses a scheme passes through laser radar device 20 and acquires the dot matrix data of horizontal direction and vertical direction, obtains the size and the form information of object on every side, and data information is more accurate and accurate, has improved laser radar device 20's performance.
Three operating states of the laser radar device 20 will be described,
please refer to fig. 6, fig. 6 is a schematic diagram of a first state of the laser radar apparatus 20 according to an embodiment of the present invention, a direction of the transmitter 201 of the laser radar sensor 200 is substantially parallel to a horizontal direction, if a scanning angle of the current laser radar apparatus 20 can not satisfy a requirement, a controller of the laser radar apparatus 20 sends a control instruction, so that the first driving motor 410 drives the laser radar sensor 200 to rotate upwards or downwards through the gear assembly 420, the scheme of the present invention realizes the light emitting angle of the automatically adjustable laser radar sensor 200 through the automatic detection of the software, and is more intelligent.
Fig. 7 is the embodiment of the utility model provides a laser radar device 20's second state schematic diagram, the controller when laser radar device 20 sends control command, as shown in fig. 7, laser radar sensor 200 rises upwards under the effect of gear assembly 420 for first driving motor 410 passes through gear assembly 420 drives laser radar sensor 200 upwards rotates and predetermines the angle.
As shown in fig. 8, fig. 8 is a schematic diagram of a third state of the lidar device 20 according to an embodiment of the present invention, in which the lidar sensor 200 rotates downward by a predetermined angle under the driving action of the gear assembly 420. The transmitter 201 of the lidar sensor 200 rotates up and down about the first axis to form a first field of view having an angle in the range of 0 to 60 degrees, preferably 30 degrees. The upward rotation angle and the downward rotation angle of the laser radar are equal.
The second aspect of the present invention further provides a mobile robot 10, please refer to fig. 9, the mobile robot 10 includes a robot main body 110, a laser radar device 20, a driving device and a processor, the laser radar device 20, the driving device and the processor are disposed on the main body, the laser radar device 20 is the laser radar device 20 in any one of the above embodiments. Referring to fig. 10, the transmitter 201 of the laser radar device 20 rotates up and down, so that the laser radar device 20 forms a field range with an angle β with respect to the wall, and the scanning range of the mobile robot 10 is wider. The proposal of the utility model obtains the dot matrix data in the horizontal direction and the vertical direction through the laser radar device 20 to obtain the size and shape information of the surrounding objects, the data information is more accurate and precise, the performance of the laser radar device 20 is improved, the environment map built by the mobile robot 10 is more accurate, the mobile robot 10 of the utility model adopts the laser radar device 20 with single line, the adjustment device 400 is added in the laser radar device 20, so that the scanning range of the laser radar device 20 is wider, the manufacturing cost is obviously reduced compared with that of a multi-line laser radar device 20, the technical problems of smaller scanning range of a single-line laser radar device 20 and high manufacturing cost of the multi-line laser radar device 20 in the prior art are solved, the solution makes the mobile robot 10 have technical and price advantages in the market and stronger competitiveness in the market.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
The above description is only exemplary of the present invention and should not be taken as limiting the scope of the present invention, as any modifications, equivalents, improvements and the like made within the spirit and principles of the present invention are intended to be included within the scope of the present invention.
Claims (11)
1. A laser radar device comprises a laser radar sensor, a rotary platform and a base, wherein the laser radar sensor is arranged above the rotary platform, the base is used for bearing the rotary platform,
the laser radar device is characterized in that an adjusting device is arranged between the laser radar sensor and the rotating platform, and the adjusting device is configured to adjust the light ray emitting angle of the laser radar sensor so as to enlarge the scanning range of the laser radar device in the non-horizontal direction.
2. The lidar apparatus of claim 1, wherein the adjustment device is configured to rotate the lidar sensor about a first axis, the first axis being parallel to the rotating platform.
3. The lidar apparatus of claim 2, wherein the adjustment device is disposed on a rotating platform, the adjustment device comprises a gear assembly and a first drive motor for driving the gear assembly to rotate, the first drive motor comprises a shaft, and the first shaft is axially parallel to the shaft.
4. The lidar apparatus of claim 3, comprising a mounting bracket, wherein the lidar sensor is disposed on the mounting bracket, and wherein the mounting bracket is provided with a gear engagement portion that engages the gear assembly.
5. Lidar device according to claim 4, wherein the rotary platform is provided with at least two opposing support brackets, the mounting bracket being provided on the support brackets.
6. The lidar apparatus of claim 1, wherein the rotary platform is configured to rotate the lidar sensor about a second axial direction, the second axial direction being perpendicular to the rotary platform.
7. The lidar apparatus of any of claims 1 to 6, wherein the lidar sensor comprises a transmitter, a receiver, a circuit board, and a mounting bracket, the transmitter, the receiver, and the circuit board being disposed on the mounting bracket.
8. The lidar apparatus of claim 7, wherein the receiver comprises an optical lens, and wherein a photodetector is disposed on the circuit board at a position opposite the optical lens.
9. The lidar apparatus of claim 7, wherein the adjustment device is configured to rotate the lidar sensor about a first axis, wherein the transmitter of the lidar sensor rotates up and down about the first axis to form a first field of view, and wherein the first field of view has an angular extent of 0 to 60 degrees.
10. The lidar apparatus of claim 9, wherein the angle of the first field of view is 30 degrees.
11. A mobile robot comprising a robot body, a lidar device, a drive device, and a processor, the lidar device, the drive device, and the processor being disposed on the body, the lidar device being as claimed in any one of claims 1 to 10.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921479534.1U CN211318732U (en) | 2019-09-06 | 2019-09-06 | Laser radar device and mobile robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201921479534.1U CN211318732U (en) | 2019-09-06 | 2019-09-06 | Laser radar device and mobile robot |
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| CN211318732U true CN211318732U (en) | 2020-08-21 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110488249A (en) * | 2019-09-06 | 2019-11-22 | 深圳市银星智能科技股份有限公司 | A kind of laser radar apparatus and mobile robot |
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- 2019-09-06 CN CN201921479534.1U patent/CN211318732U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110488249A (en) * | 2019-09-06 | 2019-11-22 | 深圳市银星智能科技股份有限公司 | A kind of laser radar apparatus and mobile robot |
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Address after: 518110 1701, building 2, Yinxing Zhijie, No. 1301-72, sightseeing Road, Xinlan community, Guanlan street, Longhua District, Shenzhen, Guangdong Province Patentee after: Shenzhen Yinxing Intelligent Group Co.,Ltd. Address before: 518110 Building A1, Yinxing Hi-tech Industrial Park, Guanlan Street Sightseeing Road, Longhua District, Shenzhen City, Guangdong Province Patentee before: Shenzhen Silver Star Intelligent Technology Co.,Ltd. |