CN110488249B - Laser radar device and mobile robot - Google Patents
Laser radar device and mobile robot Download PDFInfo
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- CN110488249B CN110488249B CN201910842505.5A CN201910842505A CN110488249B CN 110488249 B CN110488249 B CN 110488249B CN 201910842505 A CN201910842505 A CN 201910842505A CN 110488249 B CN110488249 B CN 110488249B
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- 230000003287 optical effect Effects 0.000 claims description 7
- 230000005540 biological transmission Effects 0.000 claims description 2
- 238000004519 manufacturing process Methods 0.000 abstract description 13
- 238000010586 diagram Methods 0.000 description 13
- 239000011159 matrix material Substances 0.000 description 5
- 230000009471 action Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000004891 communication Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000010365 information processing Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- 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
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
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- 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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
- G01S7/4817—Constructional features, e.g. arrangements of optical elements relating to scanning
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Electromagnetism (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The invention provides a laser radar device and a mobile robot, comprising 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, an adjusting device is arranged between the laser radar sensor and the rotary platform, the adjusting device is configured to drive the laser radar sensor to rotate around a first axial direction, and the first axial direction is parallel to the rotary platform. Through set up adjusting device between laser radar sensor with rotary platform for laser radar sensor can adjust in vertical direction, realizes scanning in the three-dimensional space, thereby makes laser radar device's scanning scope more extensive, need not to increase other laser radar devices, for multi-line laser radar device, obviously reduced manufacturing cost, overcome among the prior art single-line laser radar device scanning scope less, multi-line laser radar device manufacturing cost's technical problem.
Description
Technical Field
The invention relates to the field of laser radars, in particular to a laser radar device and a mobile robot.
Background
The laser radar LightDetection AND RANGING, abbreviated as LidAR, uses a laser beam as an information carrier, and the laser radar is a radar system for detecting the position, speed and other characteristic quantities of a target by emitting the laser beam. And then, the received signal (target echo) reflected from the target is compared with the emission signal, and after proper processing, relevant information of the target, such as parameters of target distance, azimuth, altitude, speed, gesture, even shape and the like, can be obtained, so that the targets of an airplane, a missile and the like are detected, tracked and identified. Lidar generally comprises a laser transmitter, a laser receiver, a turntable, and an information processing system. In recent years, the application of laser radar to unmanned and mobile robots has been attracting attention.
The laser radar with the single transmitter is carried on a common mobile robot, and the laser transmitter is driven to scan the surrounding environment and obstacles of the mobile robot by 360 degrees through the rotation of the rotary table. However, when the environment where the mobile robot is located changes or the obstacle body type is larger, the laser radar can only scan and acquire a part of information of the obstacle, the incompleteness of the information can limit the drawing navigation and walking of the mobile robot, and some manufacturers propose multi-line laser radars, namely the laser radars with a plurality of transmitters, the scanning range of the laser radars is enlarged by increasing the number of the transmitters, and the scanning of the three-dimensional space environment is realized, however, the cost of the laser radars is necessarily increased by the mode, and the batch manufacturing and production are not facilitated. There is therefore a need for improvements over existing lidar technologies.
Disclosure of Invention
The invention solves at least one of the technical problems to a certain extent, and provides a laser radar device and a mobile robot, wherein the laser radar device has a wider scanning range through an adjusting device, and realizes laser scanning in a three-dimensional space range.
The invention provides a laser radar device, which 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, an adjusting device is arranged between the laser radar sensor and the rotary platform, and the adjusting device is configured to adjust the light ray emission angle of the laser radar sensor so as to enlarge the scanning range of the laser radar device in a 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 a 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 axial direction is parallel to the rotating shaft.
In some embodiments, the lidar device comprises a mounting frame on which the lidar sensor is disposed, the mounting frame being provided with a gear-fit portion that meshes with the gear assembly.
In some embodiments, the rotary platform is provided with at least two opposing support frames, and the mounting frame is disposed on the support frames.
In some embodiments, the rotating platform is configured to rotate the lidar sensor about a second axis that is perpendicular to the rotating platform.
In some embodiments, the lidar sensor includes a transmitter, a receiver, a circuit board, and a stationary support, where the transmitter, the receiver, and the circuit board are all disposed on the stationary support.
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 laser radar sensor transmitter rotates up and down about the first axis to form a first field of view, the first field of view having an angle in the range of 0 to 60 degrees.
In some embodiments, the angle of the first field of view is 30 degrees.
The second aspect of the present invention also provides a mobile robot, including a robot body, a laser radar device, a driving device and a processor, where the laser radar device, the driving device and the processor are disposed on the robot body, and the laser radar device is any one of the laser radar devices in the foregoing embodiments.
Compared with the prior art, the laser radar device has the advantages that the laser radar device comprises the laser radar sensor, the rotary platform and the base, wherein the laser radar sensor is arranged above the rotary platform, the base is used for bearing the rotary platform, an adjusting device is arranged between the laser radar sensor and the rotary platform and is used for adjusting the light ray emission angle of the laser radar sensor so as to enlarge the scanning range of the laser radar device in the non-horizontal direction, and the adjusting device drives the laser radar sensor to rotate around a first axial direction which is parallel to the rotary platform. Through set up adjusting device between laser radar sensor with rotary platform for laser radar sensor can adjust in vertical direction, realizes the dynamic scanning in the three-dimensional space, thereby makes laser radar device's scanning scope more extensive, need not to increase other laser radar devices, for multi-line laser radar device, obviously reduced manufacturing cost, overcome among the prior art single-line laser radar device scanning scope less, multi-line laser radar device manufacturing cost high technical problem.
Drawings
Fig. 1 is an exploded view of a lidar device according to an embodiment of the present invention.
Fig. 2 is a schematic diagram of a lidar sensor according to an embodiment of the present invention.
Fig. 3 is a schematic view of an adjusting device according to an embodiment of the invention.
Fig. 4 is a partial enlarged view of a portion a in fig. 3.
Fig. 5 is a schematic diagram of a lidar device according to an embodiment of the present invention.
Fig. 6 is a schematic diagram of a first state of a lidar device according to an embodiment of the present invention.
Fig. 7 is a schematic diagram of a second state of the lidar device according to an embodiment of the present invention.
Fig. 8 is a schematic diagram illustrating a third state of the lidar device according to the embodiment of the present invention.
Fig. 9 is a schematic diagram of a mobile robot according to an embodiment of the present invention.
Fig. 10 is a schematic diagram of a mobile robot working state according to an embodiment of the present invention.
Reference numerals illustrate the mobile robot 10, the robot body 110, the lidar device 20, the top cover 100, the lidar sensor 200, the transmitter 201, the receiver 202, the fixing bracket 203, the circuit board 204, the mounting frame 300, the gear fitting portion 300a, the adjusting device 400, the first driving motor 410, the gear assembly 420, the rotating platform 500, the supporting frame 501, the driving wheel 502, the conveyor belt 503, the bearing 600, the base 700, and the second driving motor 701.
Detailed Description
In order to make the technical problems, technical schemes and beneficial effects solved by the invention more clear, the invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative and intended to explain the present invention and should not be construed as limiting the invention.
In the description of the present invention, it should be understood that the terms "transverse", "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "clockwise", "counterclockwise", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present invention, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.
In the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed, mechanically connected, electrically connected, directly connected, indirectly connected through an intervening medium, or in communication between two elements or in an interaction relationship between two elements, unless otherwise explicitly specified. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
In the present invention, unless expressly stated or limited otherwise, a first feature "up" or "down" a second feature may be the first and second features in direct contact, or the first and second features in indirect contact via an intervening medium. Moreover, a first feature being "above," "over" and "on" a second feature may be a first feature being directly above or obliquely above the second feature, or simply indicating that the first feature is level higher than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the first feature is less level than the second feature.
The invention is further described below with reference to the 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 laser radar apparatus 20 includes a top cover 100, a laser radar sensor 200, a rotating platform 500, and a base 700, wherein the top cover 100 is disposed above the laser radar sensor 200, the top cover 100 is used for protecting the laser radar sensor 200 from external impact, the top of the top cover 100 is in a non-complete circular shape, an inclined plane is disposed at a side edge of the top cover 100, and the inclined plane is provided with a light emitting hole and a light receiving hole, and the light emitting hole and the light receiving hole are at approximately the same height as the laser radar sensor 200.
The laser radar sensor 200 is disposed above the rotating platform 500, the base 700 is used for bearing the rotating platform 500, an adjusting device 400 is disposed between the laser radar sensor 200 and the rotating platform 500, and the adjusting device 400 is configured to drive the laser radar sensor 200 to rotate around a first axial direction, and the first axial direction is parallel to the rotating platform 500. The first axial direction (not shown) is a reference direction, and the lidar sensor 200 rotates around the first axial direction.
According to the invention, the adjusting device 400 is arranged between the laser radar sensor 200 and the rotary platform 500, so that the laser radar sensor 200 can be adjusted in the vertical direction, and dynamic scanning in a three-dimensional space is realized, so that the scanning range of the laser radar device 20 is wider, other laser radar devices 20 are not required to be added, the manufacturing cost is obviously reduced compared with that of the multi-line laser radar device 20, and the technical problems of smaller scanning range of the single-line laser radar device 20 and high manufacturing cost of the multi-line laser radar device 20 in the prior art are solved.
Referring to fig. 2, fig. 2 is a schematic diagram of a lidar sensor 200 according to an embodiment of the present invention, 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 emitter 201 emits light, the emitted light is received by the receiver 202 through the reflection of the obstacle, specifically, after the reflected light passes through the optical lens, the light spot falls on the photoelectric detector on the circuit board 204, and after the light spot is perceived by the photoelectric detector, the electric signal changes, and the processor on the circuit board 204 records the obstacle position information corresponding to the light spot.
Referring to fig. 3 and fig. 1, fig. 3 is a schematic diagram 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, and the first driving motor 410 includes a rotating shaft, and the first axial direction is parallel to the rotating shaft.
Still further, referring to fig. 4, fig. 4 is a partial enlarged view of a portion a in fig. 3, the lidar device 20 includes a mounting frame 300, the lidar sensor 200 is disposed on the mounting frame 300, the mounting frame 300 is provided with a gear matching portion 300a meshed with the gear assembly 420, and preferably, the gear matching portion 300a is disposed at a bottom of the mounting frame 300. The accessory gear is integrally formed with the mounting frame 300, or welded to the bottom of the mounting frame 300, when the first driving motor 410 drives the gear assembly 420 to rotate, as the gear assembly 420 is meshed with the gear matching part 300a, the gear assembly 420 transmits a rotating moment to the gear matching part 300a, so that the mounting frame 300 and the laser radar sensor 200 on the mounting frame 300 rotate upwards or downwards, the laser radar device 20 further comprises a controller, the controller is electrically connected with the first driving motor 410, the controller is configured to control the rotating direction and the rotating time of the first driving motor 410, so that the rotating angle of the gear assembly 420 is controlled, specifically, the controller can control the gear assembly 420 to rotate clockwise or anticlockwise for a specific time, the laser radar sensor 200 rotates upwards or downwards by a preset angle value, the 3D scanning of the laser radar device 20 in a space range is realized, the scanning range is enlarged, the manufacturing cost is obviously reduced compared with the multi-line laser radar device 20, the manufacturing cost of the multi-line radar device 20 has the advantages of small manufacturing cost and the multi-line radar device 20 in the market, and the multi-line radar device has the advantages of the market price 20.
Referring to fig. 1 and 5, fig. 5 is a schematic diagram of a lidar device 20 according to an embodiment of the present invention, optionally, the rotating platform 500 is provided with at least two opposite supporting frames 501, and the mounting frame 300 is disposed on the supporting frames 501. The two support frames 501 are provided with notches, two ends of the mounting piece are provided with screws, the screws penetrate through the notches and then are connected with the mounting frame 300, the mounting frame 300 is arranged on the support frames 501, the mounting frame 300 can be movably connected with the support frames 501 due to the notches, namely, the mounting frame 300 and the laser radar sensor 200 can swing on the support frames 501, and the movable connection is beneficial to reducing friction between the mounting frame 300 and the support frames 501 and the rotation of the laser radar sensor 200 on the support frames 501, so that the laser radar device 20 can dynamically adjust the scanning range.
In some embodiments, the rotating platform 500 is configured to rotate the lidar sensor 200 about a second axis that is perpendicular to the rotating platform 500 to enable the lidar sensor 200 to obtain environmental obstacle location information over a 360 degree range of surroundings through rotation in a plane.
Referring again to fig. 1, 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 is connected with the driving wheel 502, the laser radar device 20 further includes a conveyor belt 503, and the rotating platform 500 is connected with the driving wheel 502 through the conveyor belt 503. A bearing 600 is disposed 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 perform 360-degree rotary motion through a driving belt. The laser radar sensor 200 scans, and the chip of the laser radar sensor 200 can record the dot matrix data in the horizontal direction. When the second driving motor 701 drives the lidar sensor 200 to perform a rotational motion on a vertical plane, the chip of the lidar sensor 200 scans to record the dot matrix data in the vertical direction. The 2.5D three-dimensional 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 object and the size and shape of the surrounding object can be measured. According to the scheme of the invention, the laser radar device 20 acquires the dot matrix data in the horizontal direction and the vertical direction, so that the size and the form information of surrounding objects are obtained, the data information is more accurate and precise, and the performance of the laser radar device 20 is improved.
Three operating states of the present lidar device 20 are described below,
Referring to fig. 6, fig. 6 is a schematic diagram of a first state of the laser radar apparatus 20 according to the embodiment of the present invention, where an emitting direction of the emitter 201 of the laser radar sensor 200 is substantially parallel to a horizontal direction, if the current scan angle of the laser radar apparatus 20 cannot meet the requirement, a controller of the laser radar apparatus 20 issues a control command, so that the first driving motor 410 drives the laser radar sensor 200 to rotate upwards or downwards through the gear assembly 420.
Fig. 7 is a schematic diagram of a second state of the lidar device 20 according to the embodiment of the present invention, when the controller of the lidar device 20 sends a control command, as shown in fig. 7, the lidar sensor 200 is lifted up under the action of the gear assembly 420, so that the first driving motor 410 drives the lidar sensor 200 to rotate upwards by a preset angle through the gear assembly 420.
As shown in fig. 8, fig. 8 is a schematic diagram illustrating a third state of the lidar device 20 according to the embodiment of the present invention, where the lidar sensor 200 rotates downward by a preset angle under the transmission action of the gear assembly 420. The transmitter 201 of the lidar sensor 200 rotates up and down around the first axis to form a first field of view, and the angle of the first field of view ranges from 0 to 60 degrees, and preferably, the angle of the first field of view is 30 degrees. The laser radar rotates upwards and downwards at the same angle.
The second aspect of the present invention further proposes a mobile robot 10, referring to fig. 9, the mobile robot 10 includes a robot main body 110, a laser radar device 20, a driving device and a processor, wherein the laser radar device 20, the driving device and the processor are disposed on the main body, and the laser radar device 20 is the laser radar device 20 according to any one of the above embodiments. Referring to fig. 10, the transmitter 201 of the lidar device 20 rotates up and down, so that the lidar device 20 forms a field of view range with an angle β with respect to the wall, and the scanning range of the mobile robot 10 is wider. According to the scheme, the laser radar device 20 is used for acquiring dot matrix data in the horizontal direction and the vertical direction, so that size and form information of surrounding objects are acquired, the data information is more accurate and precise, the performance of the laser radar device 20 is improved, an environment map established by the mobile robot 10 is more accurate, the mobile robot 10 adopts the single-line laser radar device 20, the scanning range of the laser radar device 20 is wider by adding the adjusting device 400 into the laser radar device 20, compared with the multi-line laser radar device 20, the manufacturing cost is obviously reduced, the technical problems that the single-line laser radar device 20 is smaller in scanning range and the multi-line laser radar device 20 is high in manufacturing cost in the prior art are solved, and the scheme enables the mobile robot 10 to have more technical advantages and price in the market and stronger competitiveness in the market.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means 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 present invention. In this specification, schematic representations of the above terms are not necessarily directed 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, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the invention.
Claims (10)
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, the adjusting device is configured to adjust the light emitting angle of the laser radar sensor so as to enlarge the scanning range of the laser radar device in the non-horizontal direction, the adjusting device is arranged on the rotating platform and comprises a gear assembly and a first driving motor used for driving the gear assembly to rotate, the laser radar device comprises a mounting frame, the laser radar sensor is arranged on the mounting frame, the mounting frame is provided with a gear matching part meshed with the gear assembly, the gear matching part is integrally formed with the mounting frame, a second driving motor is arranged on the base, when a second driving motor at the bottom works, the second driving motor drives the rotating platform to conduct 360-degree rotation through a transmission belt, the laser radar sensor scans, a chip of the laser radar sensor records lattice data in the horizontal direction, and when the first driving motor drives the laser radar sensor to conduct rotation in the vertical plane, the chip of the laser radar sensor scans lattice data in the vertical direction, and cloud point fitting of the lattice data in the vertical direction and the vertical direction through the horizontal direction is obtained by recording lattice data in the vertical direction and the vertical direction D2.5.
2. The lidar device according to claim 1, wherein the adjustment device is configured to rotate the lidar sensor around a first axis, which is parallel to the rotation platform.
3. The lidar device according to claim 2, wherein the first driving motor comprises a rotation shaft, and the first axis is parallel to the rotation shaft.
4. The lidar device according to claim 1, wherein the rotating platform is provided with at least two opposing support frames, and the mounting frame is provided on the support frames.
5. The lidar device according to claim 1, wherein the rotation platform is arranged to rotate the lidar sensor around a second axis, which is perpendicular to the rotation platform.
6. The lidar device according to claim 2 or 3, wherein the lidar sensor comprises a transmitter, a receiver, a circuit board and a stationary support, wherein the transmitter, the receiver and the circuit board are all arranged on the stationary support.
7. The lidar device according to claim 6, wherein the receiver comprises an optical lens, and a photodetector is provided on the circuit board at a position opposite to the optical lens.
8. The lidar device according to claim 6, wherein the transmitter of the lidar sensor is rotated up and down around the first axis to form a first field of view, and wherein the angle of the first field of view is in the range of 0 to 60 degrees.
9. The lidar device according to claim 8, wherein the angle of the first field of view is 30 degrees.
10. A mobile robot comprising a robot body, a laser radar device, a driving device and a processor, wherein the laser radar device, the driving device and the processor are arranged on the robot body, and the laser radar device is the laser radar device according to any one of claims 1 to 9.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910842505.5A CN110488249B (en) | 2019-09-06 | 2019-09-06 | Laser radar device and mobile robot |
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| CN201910842505.5A CN110488249B (en) | 2019-09-06 | 2019-09-06 | Laser radar device and mobile robot |
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| CN110488249A CN110488249A (en) | 2019-11-22 |
| CN110488249B true CN110488249B (en) | 2025-01-21 |
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| CN112909712A (en) * | 2021-03-08 | 2021-06-04 | 北京石头世纪科技股份有限公司 | Line laser module and self-moving equipment |
| CN112924973B (en) * | 2021-03-10 | 2023-11-21 | 李烜 | Campus anticollision safety device based on microwave radar |
| CN113960566A (en) | 2021-10-15 | 2022-01-21 | 杭州宇树科技有限公司 | A 3D Lidar and Footed Robot |
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