The invention relates to the technical field of laser radar equipment, and discloses a 3D laser radar and a foot type robot and a cleaning robot applying the 3D laser radar. The 3D laser radar comprises a vertical scanning unit and a transverse rotating device, the vertical scanning unit comprises a laser emitting port for emitting laser pulse signals and a reflective mirror capable of rotating at a non-uniform speed, the laser emitting port is formed in the rotation axis of the reflective mirror, and the reflective mirror scans the external environment in a constant-speed or non-uniform-speed rotating mode. Therefore, the spatial distribution condition of the scanned point clouds is controlled. According to the invention, through the constant-speed or non-constant-speed rotation of the reflective mirror, the constant-speed or non-constant-speed scanning of the laser emitting electrode in the vertical plane is realized, and the transverse rotating device drives the vertical scanning unit to rotate at the constant speed or non-constant speed, so that the control on the spatial distribution condition of scanning point clouds is realized.
本发明涉及激光雷达设备技术领域,公开了一种3D激光雷达及应用其的足式机器人和清洁机器人。本发明提供的一种3D激光雷达,包括竖向扫描单元和横向旋转装置,竖向扫描单元包括发射激光脉冲信号的激光发射口、能非匀速转动的反光镜,激光发射口设于反光镜的回转轴线上,反光镜匀速或非匀速转动的扫描外部环境,以对扫描获得的点云空间分布情况进行控制。本发明通过反光镜的匀速或非匀速转动,实现了激光发射极对竖向平面内的匀速或非匀速扫描,以及横向旋转装置驱动所述竖向扫描单元的匀速或非匀速转动,进而实现对扫描点云的空间分布情况的控制。
3D laser radar and foot type robot and cleaning robot applying 3D laser radar
一种3D激光雷达及应用其的足式机器人和清洁机器人
2022-10-04
Patent
Electronic Resource
Chinese
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