Cleaning robot and laser radar

Abstract

The embodiment of the utility model discloses a cleaning robot and a laser radar, the laser radar comprises a receiving mirror, a receiving and transmitting assembly, an emitter and a circuit, in the using process, the emitter emits laser, the laser is projected on an object and can be reflected, and the reflected laser passes through the receiving mirror and then is fed back to the receiving and transmitting assembly; based on the laser radar, the distance of the object can be determined based on the emitted laser and the received laser. According to the laser radar provided by the embodiment of the invention, the transmitter is independently arranged, the transmitter and the receiving and transmitting assembly are separately arranged, one end of the line is connected to the transmitter, and the other end of the line is connected to the receiving and transmitting assembly, so that the width of the line can be greatly reduced, and only the line can shield the light path of the receiving mirror; the shielding area of the receiving mirror is reduced, the ranging precision is improved, and the size of the laser radar is reduced.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of smart home appliance technology, and in particular to a cleaning robot and a laser radar. Background Art

[0002] The traditional laser radar transmitting circuit design scheme generally arranges the transmitting device on the FPC soft board or on the FR4 board. The transmitting device includes laser, MosDriver, driving MOSFET, peripheral resistor and capacitor circuit, etc. Therefore, the width of the FPC soft board and FR4 board is relatively large. This design has the following disadvantages: (1) Optically blocking the area of ​​the receiving mirror, resulting in a reduction in the received signal. (2) When the laser radar is applied to the sweeper, during the laser radar rotation ranging process of the sweeper, the return light received by the laser radar may be blocked by the transmitting circuit, which will have a great impact on the ranging accuracy and cause inaccurate ranging. Utility Model Content

[0003] The utility model aims to solve at least one of the technical problems existing in the prior art or related technology.

[0004] To this end, the first aspect of the utility model provides a laser radar.

[0005] A second aspect of the utility model provides a cleaning robot.

[0006] In view of this, according to a first aspect of an embodiment of the present application, a laser radar is proposed, comprising:

[0007] Receiving mirror;

[0008] an emitter, the emitter being used to emit light;

[0009] A transmitting and receiving assembly, the transmitting and receiving assembly is used to receive the light returned via the receiving mirror and / or to excite the transmitter;

[0010] A line, one end of which is connected to the transmitter, and the other end of which is connected to the transmitting and receiving assembly.

[0011] In a feasible implementation manner, the circuit includes a flexible printed circuit board.

[0012] In a feasible implementation manner, the flexible circuit board includes a first circuit layer distributed on a first surface of the flexible circuit board and a second circuit layer distributed on a second surface of the flexible circuit board;

[0013] Among them, one end of the first circuit layer is connected to the transmitter, and the other end is connected to the transceiver component; one end of the second circuit layer is connected to the transmitter, and the other end is connected to the transceiver component.

[0014] In a feasible implementation manner, the hair extension assembly includes:

[0015] An excitation member, one end of the circuit is connected to the excitation member, and the other end is connected to the transmitter, and the excitation member is used to drive the transmitter;

[0016] A receiver is used to receive the returning light.

[0017] In a feasible implementation manner, the hair extension assembly further includes:

[0018] An encoder, one end of the line is connected to the encoder, and the other end is connected to the transmitter, and the encoder is used to obtain the angle of the light emitted by the laser radar;

[0019] A main control board, the encoder is connected to the main control board, the excitation element is connected to the main control board, the receiver is arranged on the main control board, and the main control board is used for measuring distance based on emitted light and returned light.

[0020] In a feasible implementation manner, the laser radar further includes: a shielding member, the shielding member is arranged between the main control board and the transmitter, and a light-transmitting through hole is formed in a region of the shielding member opposite to the receiver.

[0021] In a feasible implementation, the laser radar further includes: a light-distributing sheet and a connecting member, wherein the light-distributing sheet is connected to the shielding member via the connecting member, and the light-distributing sheet covers the light-transmitting through hole.

[0022] In a feasible implementation manner, the laser radar further includes:

[0023] A limiting member is arranged between the transmitter and the transmitting and receiving assembly, and is used to support and limit the circuit.

[0024] In a feasible implementation manner, the limiting member includes:

[0025] A support body, wherein the support body is annular or arc-shaped;

[0026] A limiting body, the limiting body is connected to the supporting body, and the limiting body is used to limit the line.

[0027] In a feasible implementation manner, the laser radar further includes:

[0028] A transmitting mirror is arranged on a side of the receiving mirror away from the transmitter.

[0029] In a feasible implementation, the laser radar further includes: a fixing member, a through portion is formed in the middle of the receiving mirror, the fixing member is arranged in the through portion, and the transmitting mirror is connected to the fixing member;

[0030] A pressure ring, a groove is formed on the side of the fixing member facing the emitting mirror, and the pressure ring is arranged in the groove to limit the emitting mirror.

[0031] In a feasible implementation manner, the laser radar further includes:

[0032] A light-shielding ring, wherein the light-shielding ring is sleeved on the fixing member;

[0033] Wherein, the fixing piece is made of transparent material.

[0034] In a feasible implementation, the laser radar further includes: a light adjustment component, the light adjustment component is used to adjust the angle of the emitted and / or returned light, and the light adjustment component includes:

[0035] A support member, wherein the support member is rotatable relative to the receiving mirror;

[0036] A driving assembly, the driving assembly is used to drive the supporting member to rotate;

[0037] A reflector is arranged on the support member and is used to adjust the emission and return angles of light.

[0038] In a feasible implementation manner, the laser radar further includes:

[0039] A first shell, wherein a convex portion is formed on the first shell, the receiving mirror is arranged in the convex portion, and the hair receiving assembly is connected to the first shell;

[0040] A bearing, wherein the bearing is sleeved on the convex portion, and the support member is connected to the bearing;

[0041] The second shell is used to cover the support member, and a window is formed on the second shell, and light is emitted through the window.

[0042] In a feasible implementation manner, the driving assembly includes:

[0043] A driving member and a dust cover, wherein the driving member is disposed in the first housing, and the dust cover is connected to the first housing to cover the driving member;

[0044] A flexible transmission member, wherein the driving member is connected to the supporting member through the flexible transmission member.

[0045] According to a second aspect of an embodiment of the present application, a cleaning robot is provided, comprising:

[0046] Robot body;

[0047] The laser radar as described in any of the above technical solutions is connected to the robot body.

[0048] Compared with the prior art, the present invention has at least the following beneficial effects:

[0049] The laser radar provided in the embodiment of the present application includes a receiving mirror, a transceiver component, a transmitter and a circuit. During use, the transmitter emits a laser, and the laser is projected onto an object and will be reflected. The reflected laser passes through the receiving mirror and then is fed back to the transceiver component. Based on this, the laser radar can determine the distance of the object based on the emitted laser and the received laser. Compared with the solution in the related art that all transmitters and transmitter-related devices are arranged on a flexible board or FR4 board, the laser radar provided in the embodiment of the present application independently sets the transmitter, separates the transmitter from the transmitting and receiving assembly, and then one end of the line is connected to the transmitter, and the other end is connected to the transmitting and receiving assembly. Based on this, the width of the line can be greatly reduced, and only the line will block the optical path of the receiving mirror. On the one hand, the blocked optical receiving area is greatly reduced, and the impact can even be ignored, which effectively improves the measuring distance; on the other hand, when the laser radar used in the cleaning robot rotates to measure the distance, when it rotates to the transmitting circuit to block the receiving mirror part, it will not affect the ranging accuracy, thereby ensuring the control accuracy of the cleaning robot; on the other hand, since the blocking area is reduced, the size of the receiver can be reduced, and the size of the laser radar can be further reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the detailed description of the preferred embodiments below. The accompanying drawings are only for the purpose of illustrating the preferred embodiments and are not to be considered as limiting the present application. Also, the same reference symbols are used throughout the accompanying drawings to represent the same components. In the accompanying drawings:

[0051] Figure 1 A schematic structural diagram of a laser radar according to an embodiment of the present application from one angle;

[0052] Figure 2 A schematic structural diagram of a laser radar according to an embodiment of the present application from another angle;

[0053] Figure 3 A schematic structural diagram of a laser radar according to an embodiment of the present application from another angle;

[0054] Figure 4A schematic structural diagram showing an angle of the line layout position of a laser radar according to an embodiment of the present application

[0055] Figure 5 A schematic structural diagram showing the arrangement of a laser radar according to an embodiment of the present application from another angle;

[0056] Figure 6 A schematic structural diagram showing the line arrangement position of a laser radar according to an embodiment of the present application from another angle;

[0057] Figure 7 A schematic structural diagram of the arrangement positions of the circuits and the limiting components of a laser radar according to an embodiment of the present application;

[0058] Figure 8 A schematic structural diagram of a laser radar according to an embodiment of the present application, with the first housing and the second housing hidden, at an angle;

[0059] Fig. 9 A schematic structural diagram from another angle of a laser radar according to an embodiment of the present application, with the first housing and the second housing hidden;

[0060] Fig.10 A schematic structural diagram of a laser radar according to an embodiment of the present application, with the first shell and the second shell hidden, from another angle;

[0061] Fig.11 A schematic structural diagram of a cleaning robot according to an embodiment of the present application.

[0062] in, Figures 1 to 11 The corresponding relationship between the reference numerals and the component names is as follows:

[0063] 100 laser radar; 110 receiving mirror, 120 receiving and transmitting assembly, 130 transmitter, 140 circuit, 150 light averaging sheet, 160 connector, 170 stopper, 180 transmitting mirror, 190 fixing part, 200 pressing ring, 210 light shielding ring, 220 light adjustment assembly, 230 first housing, 240 bearing, 250 second housing;

[0064] 121 encoder, 122 main control board, 123 excitation member, 124 receiver, 125 shielding member; 141 first surface, 142 second surface; 171 support body, 172 limiter; 221 support member, 222 drive assembly, 223 reflector, 2221 drive member, 2222 flexible transmission member, 2223 dust cover; 231 convex portion; 251 window;

[0065] 2000 robot body. DETAILED DESCRIPTION

[0066] In order to better understand the above-mentioned technical scheme, the technical scheme of the embodiments of the present application is described in detail below through the accompanying drawings and specific embodiments. It should be understood that the embodiments of the present application and the specific features in the embodiments are detailed descriptions of the technical scheme of the embodiments of the present application, rather than limitations on the technical scheme of the present application. In the absence of conflict, the embodiments of the present application and the technical features in the embodiments may be combined with each other.

[0067] like Figures 1 to 10 As shown, according to the first aspect of an embodiment of the present application, a laser radar 100 is proposed, including: a receiving mirror 110; a transmitter 130, the transmitter 130 is used to emit light; a transceiver assembly 120, the transceiver assembly 120 is used to receive light returned via the receiving mirror 110 and / or excite the transmitter 130; a line 140, one end of the line 140 is connected to the transmitter 130, and the other end is connected to the transceiver assembly 120.

[0068] The laser radar 100 provided in the embodiment of the present application includes a receiving mirror 110, a transceiver assembly 120, a transmitter 130 and a circuit 140. During use, the transmitter 130 emits a laser, and the laser is projected onto an object and will be reflected. The reflected laser passes through the receiving mirror 110 and then is fed back to the transceiver assembly 120. Based on this, the laser radar 100 can determine the distance of the object based on the emitted laser and the received laser.

[0069] Compared with the solution in the related art that all transmitters and sub-components related to the transmitter are arranged on a flexible board or an FR4 board, the laser radar 100 provided in the embodiment of the present application independently arranges the transmitter 130, separates the transmitter 130 from the transceiver assembly 120, separates the sub-components related to the transmitter 130 from the transmitter, and then one end of the line 140 is connected to the transmitter 130, and the other end is connected to the transceiver assembly 120, based on which the width of the line 140 can be greatly reduced.

[0070] On this basis, during the operation of the laser radar, the transmitter 130 emits a laser, which is then reflected by an object through the receiving mirror 110 and then returned to the transmitting and receiving assembly 120. The flexible board or FR4 board in the related art is large and arranged on the light output path of the receiving mirror, which will form a large obstruction. However, in the present application, the transmitter 130 and the transmitting and receiving assembly 120 are separated, and only the line 140 is arranged on the path between the receiving mirror 110 and the transmitting and receiving assembly 120. Therefore, only the line 140 will block the light path of the receiving mirror 110. On the one hand, the optical receiving area is greatly reduced, and the impact can even be ignored, which effectively improves the measurement distance; on the other hand, the laser radar 100 used in the cleaning robot will not affect the ranging accuracy when it rotates to the transmitting circuit to block the receiving mirror 110 during the rotating ranging process, so as to ensure the control accuracy of the cleaning robot; on the other hand, since the blocking area is reduced, the size of the receiver can be reduced, and the size of the laser radar 100 can be further reduced.

[0071] It is understandable that the transmitting and receiving assembly 120 is used to receive light emitted by the receiving mirror 110 and / or excite the transmitter 130. Based on this, the transmitter 130 can be separated from other modules, which can help further reduce the width of the line 140.

[0072] It is understandable that the transmitter 130 may be a laser transmitter.

[0073] like Figures 3 to 7 As shown, in one possible implementation, the circuit 140 includes a flexible circuit board.

[0074] In this technical solution, a style of line 140 is further provided. Line 140 may include a flexible circuit board. Through the setting of the flexible circuit board, line 140 can be bent to better avoid the receiving mirror 110, while further reducing the obstruction of the receiving mirror 110, thereby facilitating the wiring of line 140.

[0075] like Figure 5 As shown, in a feasible embodiment, the flexible circuit board includes a first circuit layer distributed on the first surface 141 of the flexible circuit board and a second circuit layer distributed on the second surface 142 of the flexible circuit board 140; wherein one end of the first circuit layer is connected to the transmitter 130, and the other end is connected to the receiving and transmitting component 120, and one end of the second circuit layer is connected to the transmitter 130, and the other end is connected to the receiving and transmitting component 120.

[0076] In this technical solution, a style of a flexible circuit board is further provided. The flexible circuit board may include a first circuit layer and a second circuit layer. The first circuit layer and the second circuit layer are distributed on two surfaces of the flexible circuit board. Such a setting can effectively reduce the inductance effect of the loop, so that the power and pulse width performance of the laser emission of the transmitter 130 are optimized. Compared with the traditional solution, the advantage of a smaller board area is achieved, and the obstruction of the receiving mirror 110 can be further reduced, thereby improving the performance of the laser radar 100 and reducing the size of the laser radar 100.

[0077] It can be understood that the first circuit layer and the second circuit layer can be the positive signal of the transmitter 130 and the negative signal of the transmitter 130 respectively, and can be used as two signals for driving the transmitter 130, and can be transmitted from the main control board to the transmitter 130 through the first circuit layer and the second circuit layer.

[0078] like Figure 5 As shown, in a feasible embodiment, the receiving and transmitting assembly 120 includes: an excitation member 123, the excitation member 123 is connected to the main control board 122, the circuit 140 is connected to the excitation member 123, and the excitation member 123 is used to drive the transmitter 130; and a receiver 124, which is arranged on the main control board 122.

[0079] In a feasible implementation, the receiving and transmitting assembly 120 includes: an encoder 121, one end of the line 140 is connected to the encoder 121, the encoder is used to obtain the angle of the emitted light, and the other end is connected to the transmitter 130; a main control board 122, the encoder 121 is connected to the main control board 122.

[0080] In this technical solution, the structural composition of the receiving and transmitting component 120 is further provided. The receiving and transmitting component 120 may include an encoder 121, a main control board 122, an excitation member 123 and a receiver 124. Based on this, during use, the main control board 122 can control the on or off of the transmitter 130 through the excitation member 123, the rotation position of the laser radar 100 can be obtained through the encoder 121, the light emitted by the receiving mirror 110 can be received through the receiver 124, and the distance of the object can be determined based on the emitted laser and the received laser through the main control board 122, thereby realizing ranging through the laser radar 100.

[0081] In this technical solution, through the setting of the main control board 122, the transmitter 130 and the encoder 121, the main control board 122, the excitation element 123 and the receiver 124 are arranged at intervals, and the line 140 can only play the role of the transmitter 130 communicating with the main control board 122 and the encoder 121. There is no need to bond other components on the line 140, so the width of the line 140 can be reduced, thereby reducing the obstruction of the receiving mirror 110, which can improve the performance of the laser radar 100 and reduce the size of the laser radar 100.

[0082] It is understandable that the excitation element 123 may include a mosdriver and a mosfet device. The function of the mosdriver is to shape the control signal and output it to the subsequent mosfet device. The function of the mosfet device is to drive the transmitter. The mosfet can pass large current. The modriver and mosfet can also be integrated into one device.

[0083] like Figure 2 and 5 As shown, in a feasible implementation, the laser radar 100 further includes: a shielding member 125 , which is arranged between the main control board 122 and the transmitter 130 , and a light-transmitting through hole is formed in the area where the shielding member 125 is opposite to the receiver 124 .

[0084] In this technical solution, the laser radar 100 may also include a shielding member 125. This arrangement is based on the consideration that the laser radar 100 provided in the present application sets most functional components on the main control board 122. Electromagnetic shielding can be performed through the setting of the shielding member 125, thereby reducing the impact of electromagnetic radiation on the operation and transportation of the main control board 122, which is beneficial to improving the ranging accuracy of the laser radar 100. At the same time, a light-transmitting through hole is formed on the shielding member 125, and the light emitted by the receiving mirror 110 can be projected onto the receiver 124 through the light-transmitting through hole. Such an arrangement can realize the emission and reception of laser and form an optical path for ranging.

[0085] like Figure 2 and 5 As shown, in a feasible implementation, the laser radar 100 further includes: a light homogenizer 150 and a connector 160, the light homogenizer 150 is connected to the shielding member 125 through the connector 160, and the light homogenizer 150 covers the light-transmitting through hole.

[0086] In this technical solution, the laser radar 100 may also include a light homogenizer 150 and a connector 160. This configuration allows the light homogenizer 150 to be fixed using the shielding member 125. In some examples, the connector 160 may be an adhesive member, and the light homogenizer 150 may be connected to the shielding member 125 by bonding. Then, the light emitted by the receiving mirror 110 first passes through the light homogenizer 150 and then is projected onto the receiver 124, which can improve the detection accuracy.

[0087] like Figure 6 and Figure 7 As shown, in a feasible implementation manner, the laser radar 100 further includes: a limit member 170 , the limit member 170 is arranged between the transmitter 130 and the transmitting and receiving assembly 120 , and the limit member 170 is used to support and limit the circuit 140 .

[0088] In this technical solution, considering that one end of the line 140 is connected to the receiving and transmitting assembly 120 and the other end is connected to the transmitter 130, the line 140 may involve bending or vacating to achieve interconnection. Therefore, the laser radar 100 may also include a limiter 170, and the limiter 170 can support the line 140, so that the fixation of the line 140 is more reliable, thereby improving the reliability of the operation of the laser radar 100, while reducing the obstruction of the receiving mirror 110 by the line 140, and reducing the probability of the line 140 loosening or displacement.

[0089] like Figure 6 and Figure 7 As shown, in a feasible implementation manner, the limiting member 170 includes: a support body 171 , which is annular or arc-shaped; and a limiting body 172 , which is connected to the support body 171 and is used to limit the line 140 .

[0090] In this technical solution, the structural composition of the limit member 170 is further provided. The limit member 170 may include a support body 171 and a limit body 172. The arrangement of the support body 171 facilitates the assembly of the limit member 170. At the same time, the support body 171 is annular or arc-shaped. This arrangement allows the support member 221 to avoid the receiving mirror 110, thereby preventing the limit member 170 from blocking the receiving mirror 110. The arrangement of the limit body 172 can limit the circuit 140.

[0091] In some examples, a groove may be formed on the limiting body, and the circuit 140 may pass through the groove, and at the same time, the circuit 140 abuts against the limiting body at the bend of the circuit 140, thereby ensuring the reliability of the positioning of the circuit 140.

[0092] like Figure 2As shown, in a feasible implementation, the laser radar 100 further includes: a transmitting mirror 180 , which is disposed on a side of the receiving mirror 110 facing away from the transmitter 130 .

[0093] In this technical solution, the laser radar 100 may also include a transmitting mirror 180. Through the setting of the transmitting mirror 180, the light emitted by the transmitter 130 can be adjusted so that the light projected by the transmitting mirror 180 is parallel light or approximately parallel light, which can better perform ranging.

[0094] like Figure 2 and Figure 6 As shown, in a feasible embodiment, the laser radar 100 also includes: a fixing part 190, a through portion is formed in the middle of the receiving mirror 110, the fixing part 190 is arranged in the through portion, and the transmitting mirror 180 is connected to the fixing part 190; a pressure ring 200, a groove is formed on the side of the fixing part 190 facing the transmitting mirror 180, and the pressure ring 200 is arranged in the groove to limit the transmitting mirror 180.

[0095] In a feasible implementation, the laser radar 100 further includes: a light shielding ring 210, which is sleeved on the fixing member 190; wherein the fixing member 190 is made of a transparent material.

[0096] In this technical solution, the laser radar 100 may also include a fixing part 190, a pressure ring 200 and a light shielding ring 210, and a through portion is formed through the middle of the receiving mirror 110, and then the fixing part 190 is arranged inside the through portion, so that the laser radar 100 can be a coaxial laser radar 100, which can further reduce the volume of the laser radar 100.

[0097] In this technical solution, the transmitting mirror 180 is fixed by the pressure ring 200, which can make the fixation of the transmitting mirror 180 more reliable and reduce the probability of the transmitting mirror 180 loosening. At the same time, the fixing part 190, the pressure ring 200 and the transmitting mirror 180 can be modularly assembled to facilitate the assembly of the laser radar 100.

[0098] In some examples, the contact surface between the fixing member 190 and the receiving mirror 110 may be a curved surface, which facilitates positioning of the fixing member 190 and adjustment of the angle between the fixing member 190 and the receiving mirror 110 .

[0099] In this technical solution, the fixing member 190 is made of a transparent material, which facilitates the passage of light.

[0100] In some examples, the emitter 130 and the transmitting mirror 180 are respectively mounted at opposite ends of the fixing member 190. It is understood that an optical path is formed inside the fixing member 190, and the light emitted by the emitter 130 is projected out by the transmitting mirror 180 through the inside of the fixing member 190, that is, the setting of the fixing member 190 makes the relative position of the emitter 130 and the transmitting mirror 180 fixed, that is, the direction in which the light emitted by the emitter 130 is projected out by the transmitting mirror 180 through the inside of the fixing member 190 is fixed, that is, the direction of the emitted light emitted by the transmitting unit 110 is fixed relative to the axis of the fixing member 190. The fixing member 190 is installed inside the receiving mirror 110, and the fitting surfaces of the receiving mirror 110 and the fixing member 190 are set to spherical contact, so that the fixing member 190 and the receiving mirror 110 form a ball joint, that is, the relative position of the fixing member 190 and the receiving mirror 110 is adjustable. Therefore, by adjusting the relative position of the axis of the fixing member 190 and the axis of the receiving mirror 110, the direction of the emission light emitted by the emitting unit 110 and the relative position of the axis of the receiving mirror 110 can be adjusted, and then the direction of the emission light beam can be universally adjusted to meet the needs of different directions of the emission light beam. At the same time, the processing accuracy requirements of the laser radar 100 can be reduced, and the relative position of the direction of the emission light emitted by the emitting unit 110 and the axis of the receiving mirror 110 can still be guaranteed, thereby reducing manufacturing costs, reducing the defective rate of products, and improving production capacity.

[0101] For example, the detection accuracy requirements of laser radar in current related technologies often exceed the manufacturing capabilities. For example, relying on processing accuracy to ensure the direction of the laser emission of the laser radar will result in higher costs and lower pass rates for the laser radar.

[0102] As for the laser radar 100 provided in this embodiment, since the fixing part 190 and the receiving mirror 110 are configured as ball joints, in actual application scenarios, during the assembly process, the relative positions of the fixing part 190 and the transmitting mirror 180 can be adjusted first, so that the laser emission direction of the transmitting unit 110 and the optical axis of the receiving mirror 110 meet the detection accuracy requirements, and then the fixing part 190 and the receiving mirror 110 are fixed by an adhesive. The assembly of the transmitting unit 110 and the receiving mirror 110 can be completed, and it can be ensured that the laser radar 100 meets the detection accuracy requirements. To this end, the processing accuracy requirements for each component can be reduced, thereby reducing the manufacturing cost. In addition, this method can improve the processing qualification rate of the product and is suitable for popularization and application.

[0103] The fixing member 190 is set to be a straight cylinder, and the emitter 130 and the emission mirror 180 are respectively installed at the opposite ends of the fixing member 190 to form a collimated light path. Specifically, the emission mirror 180 is located on the emission light path of the emitter 130, and the emission surface of the emission mirror 180 faces the outside of the fixing member 190. Therefore, the emission mirror 180 and the laser are installed in the same structural member to form a collimated light path.

[0104] Among them, the receiving mirror 110 is mounted on the outside of the fixing part 190 on which the transmitting mirror 180 and the transmitter 130 are installed. Compared with the laser radar in the related technology in which the optical axis of the transmitting lens and the optical axis of the receiving lens are arranged in parallel, the volume of the laser radar can be greatly reduced, thereby reducing the space occupied by the laser radar 100, expanding the scope of use of the laser radar 100, and meeting the design requirements of the cleaning robot with compact structure and small size. At the same time, it is beneficial to reduce the manufacturing cost of the laser radar 100, thereby meeting the low-cost design requirements of the cleaning robot.

[0105] like Figures 8 to 10 As shown, in a feasible implementation, the laser radar 100 further includes: a light adjustment component 220, and the light adjustment component 220 is used to adjust the angle of the emitted and / or returned light. Such an arrangement enables the laser radar 100 to perform multi-angle ranging.

[0106] like Figures 8 to 10 As shown, in a feasible embodiment, the light adjustment component 220 includes: a support member 221, which can rotate relative to the receiving mirror 110; a driving component 222, which is used to drive the support member 221 to rotate; and a reflector 223, which is arranged on the support member 221 and is used to adjust the emission and input angles of the light.

[0107] In this technical solution, the structural composition of a light adjustment component 220 is further provided. The light adjustment component 220 may include a support 221, a drive component 222 and a reflector 223. Through the setting of the reflector 223, the reflector 223 can reflect the laser, thereby adjusting the emission and receiving angles of the laser. Through the setting of the drive component 222 and the support 221, the drive component 222 can drive the support 221 to rotate relative to the receiving mirror 110, thereby realizing 360° ranging of the laser radar 100, thereby improving the application range of the laser radar 100, especially facilitating the application of the laser radar 100 on a cleaning robot.

[0108] In some possible embodiments provided in the present application, the laser radar 100 further includes: a reflector 223, which is tilted above the transmitting mirror 180 and configured to rotate with the optical axis of the receiving mirror 110 as the axis; wherein the light emitted by the transmitter 130 passes through the transmitting mirror 180 and is then redirected by the reflector 223 and then directed toward the obstacle, and the received light returned by the obstacle is redirected by the reflector 223 and then passed through the receiving mirror 110 and received by the transmitting and receiving assembly 120. Thus, the ranging of the laser radar 100 can be achieved, and the detection range of the transmitter 130 can be expanded by the rotating reflector 223 in conjunction with the transmitter 130 and the transmitting and receiving assembly 120, thereby enabling the detection of obstacles in multiple directions around the cleaning robot. For example, the reflector 223 is configured to rotate 360° with the optical axis of the receiving mirror 110 as the rotation axis, so that the laser detector can detect obstacles in 360° directions around the cleaning robot, which is beneficial to improve the perception precision and accuracy of the cleaning robot and improve the operation accuracy of the cleaning robot.

[0109] The laser radar 100 may be a time-of-flight laser radar 100, the principle of which is to calculate the distance of the target object by using the propagation speed of the laser beam in space and the time it takes to reflect back. The time-of-flight laser radar 100 has the advantages of high precision, high speed, high resolution, etc., and can meet the functional requirements of the cleaning robot.

[0110] In some possible embodiments provided in the present application, the inclination angle of the reflector 223 relative to the horizontal line is 45° to 47°, wherein the inclination angle of the reflector 223 relative to the horizontal line is α, that is, the range of α is 45° to 47°. Thus, it can be ensured that the reflector 223 relatively comprehensively changes the direction of the emission light emitted by the emission unit 110 and projects it through the window 251, and relatively comprehensively changes the direction of the returned light and projects it to the receiving and transmitting assembly 120, so as to reduce the energy loss of the transmitter 130, improve the energy utilization rate of the transmitter 130, and improve the ranging accuracy of the laser radar 100.

[0111] Specifically, the inclination angle α of the reflector 223 relative to the horizontal line may be in the range of 45°, 45.5°, 46°, 47°, or other angles.

[0112] In the above embodiment, the reflector 223 includes a reflective surface and a substrate, and the reflective surface is located on the side of the substrate facing the window 251. Thus, it can ensure that the emission light emitted by the emitting unit 110 is projected through the window 251 after changing direction through the reflective surface of the reflector 223. The reflective surface can be a dielectric high-reflective film or a metal reflective film, and the substrate can be glass or plastic.

[0113] In some possible embodiments provided in the present application, the laser radar 100 further includes: a light shielding ring 210, which is sleeved on the outside of the fixing member 190 and located above the receiving mirror 110, and the light shielding ring 210 is configured to shield at least part of the light emitted by the transmitter 130 and directed toward the receiving mirror 110 after the light is changed by the reflector 223 through the transmitting mirror 180. That is, the setting of the light shielding ring 210 can effectively prevent the stray light generated by the transmitting light beam after passing through the reflector 223 from returning to the receiving mirror 110 to cause light crosstalk and affect the ranging accuracy, thereby helping to improve the detection accuracy of the laser radar 100.

[0114] The light shielding ring 210 and the fixing member 190 can be connected by a snap-fit ​​structure and / or an adhesive, which is simple to operate and easy to install, and can ensure that the light shielding ring 210 is reliably connected to the fixing member 190. Specifically, the light shielding ring 210 can be connected to the fixing member 190 by a snap-fit ​​structure or an adhesive, or the light shielding ring 210 can be connected to the fixing member 190 by both a snap-fit ​​structure and an adhesive.

[0115] A gap is provided between the light-shielding ring 210 and the receiving mirror 110 so that the receiving mirror 110 and the fixing part 190 can move relative to each other. In this way, during the assembly process, the laser direction of the transmitting unit 110 can be universally adjusted relative to the optical axis of the receiving mirror 110, thereby avoiding the problem that the light-shielding ring 210 and the receiving mirror 110 are seamlessly arranged, causing the fixing part 190 and the receiving mirror 110 to be stuck and unable to be adjusted.

[0116] In some possible embodiments, during the assembly process, the relative positions of the receiving mirror 110 and the fixing member 190 are adjusted by configuring the fitting surfaces of the receiving mirror 110 and the fixing member 190 to be spherical contact, so that the optical axis of the transmitting mirror 180 coincides with the optical axis of the receiving mirror 110, or the optical axis of the transmitting mirror 180 is perpendicular to the horizontal line to ensure that the transmitting optical axis of the transmitting unit 110 is vertically upward, and then the positions of the receiving mirror 110 and the fixing member 190 are fixed by an adhesive to realize the assembly of the structural radar. It can be understood that the laser radar 100 in which the optical axis of the transmitting mirror 180 and the optical axis of the receiving mirror 110 are coaxially arranged can appropriately reduce the volume of the laser radar 100 compared with the optical axis of the transmitting lens and the optical axis of the receiving lens in the related art, thereby meeting the design requirements of the laser radar 100 with a small volume and a compact structure, reducing the occupied space of the cleaning robot, expanding the use range of the cleaning robot, and facilitating storage, and at the same time, it is conducive to saving the manufacturing cost of the laser radar 100.

[0117] In some possible embodiments provided in the present application, a convex spherical contact surface is provided on the outer circumference of the fixing member 190, and a concave spherical contact surface is provided on the inner circumference of the receiving mirror 110. The convex spherical contact surface and the concave spherical contact surface are arranged opposite to each other and at least partially fit each other, so that the fixing member 190 and the receiving mirror 110 form a ball joint to achieve adjustable positions of the fixing member 190 and the receiving mirror 110, thereby achieving universal adjustment of the direction of the emission light beam of the emitting unit 110. Among them, the convex spherical contact surface and the concave spherical contact surface are easy to realize, convenient to process, and have low manufacturing costs.

[0118] Specifically, the middle portion of the receiving mirror 110 is configured as a hollow structure, the fixing member 190 is passed through the hollow structure and connected to the receiving mirror 110 , and the space enclosed by the inner circumference of the receiving mirror 110 is the shape of the hollow structure.

[0119] In some possible embodiments provided in the present application, the laser radar 100 also includes: a pressure ring 200, a first mounting opening for accommodating the transmitting mirror 180 is opened at the end of the fixing member 190 away from the transmitter 130, the pressure ring 200 is located on the side of the transmitting mirror 180 away from the transmitter 130, and the pressure ring 200 is bonded to the side wall of the first mounting opening to fix the transmitting mirror 180 at the first mounting opening.

[0120] During the assembly process, the transmitting mirror 180 can be first installed at the first mounting port, and then the transmitting mirror 180 can be clamped at the first mounting port using the pressure ring 200, and the pressure ring 200 can be bonded to the side wall of the first mounting port, so that the transmitting mirror 180 can be reliably and stably fixed on the fixing part 190.

[0121] Since the transmitting mirror 180 of the laser radar 100 provided in the embodiment of the present application is relatively small in size and light in weight, if the transmitting lens is directly fixed to the fixing member 140 by using an adhesive as in the related art, there will be a problem that the injecting adhesive causes the transmitting mirror 180 to float up and the focal length of the transmitting mirror 180 deviates from the design value, resulting in poor measurement accuracy. At the same time, if the transmitting mirror 180 is fixed to the mounting tube by dispensing glue around the smaller transmitting mirror 180, the adhesive can easily remain on the surface of the lens, resulting in light spot energy shielding. For this reason, the present application uses a pressure ring 200 to clamp the transmitting mirror 180 at the first mounting port of the fixing member 190, and dispenses glue around the pressure ring 200 to bond the pressure ring 200 to the side wall of the first mounting port, which can ensure that the design value of the focal length of the transmitting mirror 180 is accurate, thereby ensuring good measurement accuracy. At the same time, it can reduce the difficulty of dispensing glue on the transmitting mirror 180, facilitate assembly, and reduce or avoid the problem of adhesive shielding light spot energy.

[0122] like Figure 2 , Figures 8 to 10As shown, in a feasible embodiment, the laser radar 100 also includes: a first shell 230, a convex portion 231 is formed on the first shell 230, the receiving mirror 110 is arranged in the convex portion 231, and the receiving and transmitting assembly 120 is connected to the first shell 230; a bearing 240, the bearing 240 is sleeved on the convex portion 231, and the support member 221 is connected to the bearing 240; a second shell 250, the second shell 250 is used to cover the support member 221, and a window 251 is formed on the second shell 250, and the light is emitted through the window 251.

[0123] In this technical solution, the laser radar 100 can also include a first shell 230, and the first shell 230 has an upper convex portion 231, the convex portion 231 can store the receiving mirror 110, and the first shell 230 can also provide an installation position for the receiving and transmitting assembly 120. By arranging a bearing 240 on the outer side of the convex portion 231, and the support member 221 is connected to the bearing 240, the first shell 230 can provide an installation position for the support member 221, which is convenient for the assembly of the support member 221, and at the same time, it is convenient for the driving assembly 222 to drive the support member 221 to rotate relative to the first shell 230.

[0124] In this technical solution, the support member 221 is covered by the second shell 250 , and a window 251 is formed on the second shell 250 to facilitate the projection and collection of lasers. At the same time, the laser radar 100 can be packaged by the first shell 230 and the second shell 250 .

[0125] like Figure 2 , Figures 8 to 10 As shown, in a feasible embodiment, the driving component 222 includes: a driving member 2221 and a dust cover 2223, the driving member 2221 is arranged in the first shell 230, and the dust cover 2223 is connected to the first shell 230 to cover the driving member 2221; a flexible transmission member 2222, and the driving member 2221 is connected to the support member 221 through the flexible transmission member 2222.

[0126] In this technical solution, the structural composition of the driving component 222 is further provided. The driving component 222 may include a driving member 2221 and a dust cover 2223, which is connected to the first shell 230 via the dust cover 2223. The dust cover 2223 and the first shell 230 can seal the driving member 2221, reduce the probability of dust intruding into the driving member 2221, and ensure the reliability of the driving member 2221.

[0127] In this technical solution, the driving member 2221 is connected to the flexible transmission member 2222, and the flexible transmission member 2222 can be mounted on the output shafts of the support member 221 and the driving member 2221, based on which the driving member 2221 can be turned on to drive the support member 221 to rotate.

[0128] In some examples, the driving assembly 222 of the laser radar 100 also includes a driving member 2221 and a flexible transmission member 2222. The driving member 2221 is connected to the first shell 230, and the driving member 2221 is connected to the support member 221 through the flexible transmission member 2222 to drive the support member 221 to rotate relative to the first shell 230. As a result, the reflector 223 on the support member 221 can rotate around the optical axis of the receiving mirror 110 to expand the detection range of the laser radar 100. For example, the driving member 2221 can drive the support member 221 to rotate 360° relative to the first shell 230, so that the laser radar 100 can detect obstacles in a 360° direction around the cleaning robot, which is beneficial to improve the perception accuracy and perception accuracy of the cleaning robot and improve the operation accuracy of the cleaning robot.

[0129] Among them, the flexible transmission member 2222 is a transmission belt, and the driving member 2221 is connected to the support member 221 through the transmission belt. If the driving member 2221 is a motor, the output shaft of the motor is connected to the support member 221 through the transmission belt to drive the support member 221 to rotate relative to the first shell 230.

[0130] like Fig.11 As shown, according to the second aspect of the embodiment of the present application, a cleaning robot is proposed, including: a robot body 2000; a laser radar 100 such as any of the above technical solutions, and the laser radar 100 is connected to the robot body 2000.

[0131] Since the cleaning robot provided in the embodiment of the present application includes the laser radar 100 of any of the above-mentioned technical solutions, the cleaning robot has all the beneficial effects of the laser radar 100 of the above-mentioned technical solutions.

[0132] The cleaning robot provided in the embodiment of the present application, the laser radar 100 includes a receiving mirror 110, a receiving and transmitting component 120, a transmitter 130 and a circuit 140. During use, the transmitter 130 emits a laser, and the laser is projected onto an object and will be reflected. The reflected laser passes through the receiving mirror 110 and then is fed back to the receiving and transmitting component 120. Based on this, the laser radar 100 can determine the distance of the object based on the emitted laser and the received laser. Compared with the conventional technology in which all the transmitters and receivers 124 are arranged on a flexible board or an FR4 board, the laser radar 100 provided in the embodiment of the present application has an independent arrangement for the transmitter 130, and the transmitter 130 is arranged separately from the transmitting and receiving assembly 120, and then one end of the line 140 is connected to the transmitter 130, and the other end is connected to the transmitting and receiving assembly 120. Based on this, the width of the line 140 can be greatly reduced, and only the line 140 will block the optical path of the receiving mirror 110. On the one hand, the optical receiving area is greatly reduced, and the impact can even be ignored, thereby effectively improving the measuring distance; on the other hand, during the ranging process, when the cleaning robot rotates to the transmitting circuit to block the receiving mirror 110, it will not affect the ranging accuracy, thereby ensuring the control accuracy of the cleaning robot; on the other hand, since the blocking area is reduced, the size of the receiver can be reduced, and the size of the laser radar 100 can be further reduced.

[0133] In the present invention, the terms "first", "second", and "third" are used for descriptive purposes only and should not be understood as indicating or implying relative importance; the term "plurality" refers to two or more, unless otherwise clearly defined. The terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; "connected" can be a direct connection or an indirect connection through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to the specific circumstances.

[0134] In the description of the present invention, it is necessary to understand that the directions or positional relationships indicated by terms such as "up", "down", "left", "right", "front" and "back" are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or unit referred to must have a specific direction, be constructed and operated in a specific orientation, and therefore, cannot be understood as a limitation on the present invention.

[0135] In the description of this specification, the description of the terms "one embodiment", "some embodiments", "specific embodiments", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the utility model. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0136] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may be subject to various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A laser radar, characterized in that: include: Receiving mirror; an emitter, the emitter being used to emit light; A transmitting and receiving assembly, the transmitting and receiving assembly is used to receive the light returned via the receiving mirror and / or to excite the transmitter; A line, one end of which is connected to the transmitter, and the other end of which is connected to the transmitting and receiving assembly.

2. The laser radar according to claim 1, characterized in that: The circuit includes a flexible circuit board.

3. The laser radar according to claim 2, characterized in that: The flexible circuit board includes a first circuit layer distributed on a first surface of the flexible circuit board and a second circuit layer distributed on a second surface of the flexible circuit board; Among them, one end of the first circuit layer is connected to the transmitter, and the other end is connected to the transceiver component; one end of the second circuit layer is connected to the transmitter, and the other end is connected to the transceiver component.

4. The laser radar according to claim 1, characterized in that: The hair extension assembly comprises: An excitation member, one end of the circuit is connected to the excitation member, and the other end is connected to the transmitter, and the excitation member is used to drive the transmitter; A receiver is used to receive the returning light.

5. The laser radar according to claim 4, characterized in that: The hair extension assembly also includes: An encoder, one end of the line is connected to the encoder, and the other end is connected to the emitter, and the encoder is used to obtain the angle of the emitted light; A main control board, the encoder is connected to the main control board, the excitation element is connected to the main control board, the receiver is arranged on the main control board, and the main control board is used for measuring distance based on emitted light and returned light.

6. The laser radar according to claim 5, characterized in that: Also includes: A shielding member is arranged between the main control board and the transmitter, and a light-transmitting through hole is formed in a region of the shielding member opposite to the receiver.

7. The laser radar according to claim 6, characterized in that: Also includes: A light-distributing sheet and a connecting member, wherein the light-distributing sheet is connected to the shielding member through the connecting member, and the light-distributing sheet covers the light-transmitting through hole.

8. The laser radar according to any one of claims 1 to 7, characterized in that: Also includes: A limiting member is arranged between the transmitter and the transmitting and receiving assembly, and is used to support and limit the circuit.

9. The laser radar according to claim 8, characterized in that: The limiting member comprises: A support body, wherein the support body is annular or arc-shaped; A limiting body, the limiting body is connected to the supporting body, and the limiting body is used to limit the line.

10. The laser radar according to any one of claims 1 to 7, characterized in that: Also includes: A transmitting mirror is arranged on a side of the receiving mirror away from the transmitter.

11. The laser radar according to claim 10, characterized in that: Also includes: A fixing member, a through portion is formed in the middle of the receiving mirror, the fixing member is arranged in the through portion, and the transmitting mirror is connected to the fixing member; A pressure ring, a groove is formed on the side of the fixing member facing the emitting mirror, and the pressure ring is arranged in the groove to limit the emitting mirror.

12. The laser radar according to claim 11, characterized in that: Also includes: A light-shielding ring is sleeved on the fixing member.

13. The laser radar according to any one of claims 1 to 7, characterized in that: Also includes: A light adjustment component, the light adjustment component is used to adjust the angle of emitted and / or returned light, the light adjustment component comprises: A support member, wherein the support member is rotatable relative to the receiving mirror; A driving assembly, the driving assembly is used to drive the supporting member to rotate; A reflector is arranged on the support member and is used to adjust the emission and return angles of light.

14. The laser radar according to claim 13, characterized in that: Also includes: A first shell, wherein a convex portion is formed on the first shell, the receiving mirror is arranged in the convex portion, and the hair receiving assembly is connected to the first shell; A bearing, wherein the bearing is sleeved on the convex portion, and the support member is connected to the bearing; The second shell is used to cover the support member, and a window is formed on the second shell, and light is emitted through the window.

15. The laser radar according to claim 14, characterized in that: The drive assembly comprises: A driving member and a dust cover, wherein the driving member is disposed in the first housing, and the dust cover is connected to the first housing to cover the driving member; A flexible transmission member, wherein the driving member is connected to the supporting member through the flexible transmission member.

16. A cleaning robot, characterized in that: include: Robot body; The laser radar as described in any one of claims 1 to 15, wherein the laser radar is connected to the robot body.

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