The invention discloses a quadruped robot which comprises a head, a trunk, front leg parts and rear leg parts, the head is provided with at least two laser radars, the first laser radar is provided with a first scanning area, the second laser radar is provided with a second scanning area, and the second scanning area is used for reinforcing the first scanning area. An area 0-2m forward with the projection of the head on the ground as a base point is a visible area; at least two laser radars are arranged at the tail of the trunk, the third laser radar is provided with a third scanning area, and the fourth laser radar is provided with a fourth scanning area; the second shooting area and the third shooting area have an intersection line, and the intersection line is located on the plane where the highest position of the obstacle below the trunk is located or above the plane where the highest position of the obstacle is located. Accurate detection of the quadruped robot is achieved through the laser radar, and the detection area range is large and comprises a long-distance exploration area and a short-distance exploration area; environmental influence factors are small; and a depth camera is not needed.
本发明公开了一种四足机器人,包括头部,躯干,前腿部,及后腿部,头部至少设有两个激光雷达,其中第一激光雷达具有第一扫射区域,第二激光雷达具有第二扫射区域,该第二扫射区域用于补强第一扫射区域,使得以头部在地面的投影为基点向前0‑2m区域为可视区域;躯干的尾部至少设有两个激光雷达,其中第三激光雷达具有第三扫射区域,第四激光雷达具有第四扫射区域;第二扫射区域和第三扫射区域具有相交线,该相交线位于所述躯干下方障碍物的最高处所在平面或障碍物最高处所在平面的上方。本发明依靠激光雷达实现四足机器人精确的探测,探测区域范围大,包括远距离探索区域和近距离探索区域;受环境影响因素小;无需设置深度相机。
Quadruped robot
一种四足机器人
2023-12-12
Patent
Electronic Resource
Chinese