CLEANING ROBOT & LIDAR

Abstract

A cleaning robot and a lidar, relating to the technical field of intelligent household appliances. The lidar (100) comprises a receiving lens (110), a receiving and excitation assembly (120), an emitter (130), and a circuit (140). During use, the emitter (130) emits a laser, the laser is projected onto an object and is reflected, and the reflected laser passes through the receiving lens (110) and is then fed back to the receiving and excitation assembly (120); thus, the lidar (100) can determine the distance of the object on the basis of the emitted laser and the received laser. In the lidar (100), the emitter (130) is independently disposed; the emitter (130) and the receiving and excitation assembly (120) are disposed separately, one end of the circuit (140) is connected to the emitter (130), and the other end is connected to the receiving and excitation assembly (120); on this basis, the width of the circuit (140) can be greatly reduced and only the circuit (140) obstructs the optical path of the receiving lens (110), thus reducing the obstructed area on the receiving lens (110), improving the precision of distance measurement, and reducing the size of the lidar (100).

Description

Cleaning robots and lidar

[0001] This application claims priority to the Chinese patent application filed with the China Patent Office on January 5, 2024, with application number 202420039006.9 and application name “Cleaning Robot and LiDAR,” the entire contents of which are incorporated by reference into this application. Technical Field

[0002] 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

[0003] The traditional laser radar transmitting circuit design scheme generally arranges the transmitting device on an FPC soft board or on an FR4 board. The transmitting device includes a laser, Mos Driver, driving MOSFET, peripheral resistor and capacitor circuit, etc., so the width of the FPC soft board and FR4 board is relatively large. The inventors realized that such a design has the following disadvantages: (1) The area of ​​the receiving mirror is optically blocked, resulting in a reduction in the received signal. (2) When the laser radar is applied to a sweeper, during the laser radar's rotating ranging process, 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, resulting in inaccurate ranging.

[0004] Application Contents

[0005] This application aims to solve at least one of the technical problems existing in the prior art or related art.

[0006] To this end, the first aspect of the present application provides a laser radar.

[0007] A second aspect of the present application provides a cleaning robot.

[0008] In view of this, according to a first aspect of an embodiment of the present application, a laser radar is proposed, comprising:

[0009] Receiving mirror;

[0010] an emitter for emitting light;

[0011] a transmitting and receiving assembly, the transmitting and receiving assembly being used to receive light returned via the receiving mirror and / or to excite the transmitter;

[0012] 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.

[0013] In a feasible implementation manner, the circuit includes a flexible printed circuit board.

[0014] In a feasible embodiment, 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;

[0015] 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.

[0016] In a feasible embodiment, the hair extension assembly includes:

[0017] An excitation element, one end of the circuit is connected to the excitation element, and the other end is connected to the emitter, and the excitation element is used to drive the emitter;

[0018] A receiver is used to receive the returned light.

[0019] In a feasible embodiment, the hair extension assembly further includes:

[0020] 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;

[0021] A main control board, the encoder is connected to the main control board, the excitation component is connected to the main control board, the receiver is arranged on the main control board, and the main control board is used to measure distance based on emitted light and returned light.

[0022] In a feasible embodiment, 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 the area of ​​the shielding member opposite to the receiver.

[0023] In a feasible embodiment, the laser radar further includes: a light-distributing plate and a connecting member, wherein the light-distributing plate is connected to the shielding member through the connecting member, and the light-distributing plate covers the light-transmitting through hole.

[0024] In a feasible embodiment, the laser radar further includes:

[0025] A limiting member is arranged between the transmitter and the transmitting and receiving assembly, and is used to support and limit the circuit.

[0026] In a feasible implementation manner, the limiting member includes:

[0027] A support body, wherein the support body is annular or arc-shaped;

[0028] A limiting body is connected to the supporting body and is used to limit the circuit.

[0029] In a feasible embodiment, the laser radar further includes:

[0030] A transmitting mirror is arranged on a side of the receiving mirror away from the transmitter.

[0031] In a feasible embodiment, 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;

[0032] A pressure ring is formed with a groove on one side of the fixing member facing the emitting mirror, and the pressure ring is arranged in the groove to limit the emitting mirror.

[0033] In a feasible embodiment, the laser radar further includes:

[0034] a light-shielding ring, the light-shielding ring being sleeved on the fixing member;

[0035] Wherein, the fixing piece is made of transparent material.

[0036] In a feasible embodiment, 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:

[0037] a supporting member, wherein the supporting member is rotatable relative to the receiving mirror;

[0038] A driving assembly, the driving assembly is used to drive the support member to rotate;

[0039] A reflector is provided on the support member and is used to adjust the emission and return angles of light.

[0040] In a feasible embodiment, the laser radar further includes:

[0041] a first shell, wherein a convex portion is formed on the first shell, the receiving mirror is disposed in the convex portion, and the hair receiving assembly is connected to the first shell;

[0042] A bearing, wherein the bearing is sleeved on the convex portion, and the support member is connected to the bearing;

[0043] 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.

[0044] In a feasible embodiment, the driving assembly includes:

[0045] 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;

[0046] A flexible transmission member, wherein the driving member is connected to the supporting member through the flexible transmission member.

[0047] According to a second aspect of an embodiment of the present application, a cleaning robot is provided, comprising:

[0048] Robot body;

[0049] The laser radar as described in any of the above technical solutions is connected to the robot body.

[0050] Compared with the prior art, this application has at least the following beneficial effects:

[0051] The laser radar provided in the embodiment of the present application includes a receiving mirror, a transceiver assembly, a transmitter and a circuit. During use, the transmitter emits a laser, and the laser is reflected when projected onto an object. The reflected laser passes through the receiving mirror and then fed back to the transceiver assembly. 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 in which 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 connects one end of the line to the transmitter and the other end 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 distance, when it rotates to the transmitting circuit to block the receiving mirror part, it will not affect the ranging accuracy, and can 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 can be further reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] Various other advantages and benefits will become apparent to those skilled in the art upon reading the detailed description of the preferred embodiment below. The accompanying drawings are for illustration purposes only and are not to be considered as limiting the present application. The same reference symbols are used throughout the drawings to represent the same components. In the drawings:

[0053] FIG1 is a schematic structural diagram of a laser radar according to an embodiment of the present application from one angle;

[0054] FIG2 is a schematic structural diagram of a laser radar according to an embodiment of the present application from another angle;

[0055] FIG3 is a schematic structural diagram of a laser radar according to an embodiment of the present application from another angle;

[0056] FIG4 is a schematic structural diagram of a laser radar circuit arrangement position at one angle according to an embodiment of the present application.

[0057] FIG5 is a schematic structural diagram showing the arrangement of the laser radar circuits according to an embodiment of the present application from another angle;

[0058] FIG6 is a schematic structural diagram showing the line arrangement position of a laser radar according to an embodiment of the present application from another angle;

[0059] FIG7 is a schematic structural diagram of the arrangement positions of the circuit and the limiting member of a laser radar according to an embodiment of the present application;

[0060] FIG8 is 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 from view;

[0061] FIG9 is 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;

[0062] FIG10 is 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, from another angle;

[0063] FIG11 is a schematic structural diagram of a cleaning robot according to an embodiment of the present application.

[0064] 1 to 11 , the correspondence between the reference numerals and the component names is as follows: 100 laser radar; 110 receiving mirror, 120 transmitting and receiving assembly, 130 transmitter, 140 circuit, 150 light-distributing plate, 160 connector, 170 limiter, 180 transmitting mirror, 190 fixing member, 200 pressure ring, 210 light shielding ring, 220 light adjustment assembly, 230 first shell, 240 bearing, 250 second shell; 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; 2000 robot body. DETAILED DESCRIPTION

[0065] In order to better understand the above technical solution, the technical solution of the embodiment of the present application is described in detail below through the accompanying drawings and specific embodiments. It should be understood that the embodiment of the present application and the specific features in the embodiment are detailed descriptions of the technical solution of the embodiment of the present application, rather than limitations on the technical solution of the present application. In the absence of conflict, the embodiment of the present application and the technical features in the embodiment can be combined with each other.

[0066] As shown in Figures 1 to 10, 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 receiving and transmitting assembly 120, the receiving and transmitting assembly 120 is used to receive light returned via the receiving mirror 110 and / or excite the transmitter 130; and a line 140, one end of the line 140 is connected to the transmitter 130, and the other end is connected to the receiving and transmitting assembly 120.

[0067] 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 reflected when projected onto an object. The reflected laser passes through the receiving mirror 110 and then 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.

[0068] Compared with the solution in the related art in which 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, and separates the sub-components related to the transmitter 130 from the transmitter. 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 this, the width of the line 140 can be greatly reduced.

[0069] 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 component 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, the present application separates the transmitter 130 from the transmitting and receiving component 120, and only the line 140 is set on the path between the receiving mirror 110 and the transmitting and receiving component 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 is in the process of rotating ranging. When it rotates to the transmitting circuit to block the receiving mirror 110, it will not affect the ranging accuracy, and can ensure the control accuracy of the cleaning robot; on the other hand, since the blocking area is reduced, the volume of the receiver can be reduced, and the volume of the laser radar 100 can be further reduced.

[0070] It is understandable that the receiving and transmitting 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 circuit 140.

[0071] It is understood that the transmitter 130 may be a laser transmitter.

[0072] As shown in FIG. 3 to FIG. 7 , in one possible implementation, the circuit 140 includes a flexible printed circuit board.

[0073] In this technical solution, a style of circuit 140 is further provided. Circuit 140 may include a flexible circuit board. Through the setting of the flexible circuit board, circuit 140 can be bent, which can better avoid the receiving mirror 110, while further reducing the obstruction of the receiving mirror 110, thereby facilitating the wiring of circuit 140.

[0074] As shown in Figure 5, 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 transceiver component 120, and one end of the second circuit layer is connected to the transmitter 130, and the other end is connected to the transceiver component 120.

[0075] 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 the 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, it achieves the advantage of a smaller board area, can further reduce the obstruction of the receiving mirror 110, improve the performance of the laser radar 100, and reduce the volume of the laser radar 100.

[0076] 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 the 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.

[0077] As shown in Figure 5, in a feasible embodiment, the receiving and sending component 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; a receiver 124, and the receiver 124 is set on the main control board 122.

[0078] In a feasible embodiment, the receiving and transmitting component 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.

[0079] 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 opening or closing 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 through 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.

[0080] 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 volume of the laser radar 100.

[0081] It can be understood that the excitation element 123 can 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 emitter. The mosfet can pass large current. The modriver and mosfet can also be integrated into one device.

[0082] As shown in Figures 2 and 5, in a feasible embodiment, the laser radar 100 also 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 opposite to the receiver 124 of the shielding member 125.

[0083] 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 this application sets most functional components on the main control board 122. The setting of the shielding member 125 can perform electromagnetic shielding, 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 through 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, forming an optical path for ranging.

[0084] As shown in Figures 2 and 5, in a feasible embodiment, the laser radar 100 also 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.

[0085] In this technical solution, the laser radar 100 can also include a light homogenizer 150 and a connector 160. This configuration can use the shielding member 125 to fix the light homogenizer 150. In some examples, the connector 160 can be an adhesive member, and the light homogenizer 150 can 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 is projected onto the receiver 124, which can improve the detection accuracy.

[0086] As shown in FIG6 and FIG7 , in a feasible embodiment, the laser radar 100 further includes: a limiter 170 , which is arranged between the transmitter 130 and the transmitting and receiving assembly 120 , and is used to support and limit the circuit 140 .

[0087] In this technical solution, considering that one end of the line 140 is connected to the receiving and transmitting component 120 and the other end is connected to the transmitter 130, the line 140 will involve bending or vacating to achieve interconnection. Therefore, the laser radar 100 can also include a limiter 170. 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.

[0088] As shown in FIG6 and FIG7 , in a feasible embodiment, 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 circuit 140 .

[0089] In this technical solution, the structural composition of the limiter 170 is further provided. The limiter 170 may include a support body 171 and a limiter 172. The arrangement of the support body 171 facilitates the assembly of the limiter 170. At the same time, the support body 171 is annular or arc-shaped. This arrangement allows the support 221 to avoid the receiving mirror 110, thereby preventing the limiter 170 from blocking the receiving mirror 110. The arrangement of the limiter 172 can limit the circuit 140.

[0090] In some examples, a groove may be formed on the limiting body, and the circuit 140 may pass through the groove and abut against the limiting body at the bend of the circuit 140 to ensure the reliability of the positioning of the circuit 140.

[0091] As shown in FIG. 2 , 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 .

[0092] In this technical solution, the laser radar 100 can 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 through the transmitting mirror 180 is parallel light or approximately parallel light, which can better perform ranging.

[0093] As shown in Figures 2 and 6, 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.

[0094] 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.

[0095] In this technical solution, the laser radar 100 can 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.

[0096] 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, which facilitates the assembly of the laser radar 100.

[0097] In some examples, the contact surface between the fixing member 190 and the receiving mirror 110 may be a curved surface. This configuration facilitates positioning of the fixing member 190 and adjustment of the angle between the fixing member 190 and the receiving mirror 110 .

[0098] In this technical solution, the fixing member 190 is made of a transparent material, which facilitates the passage of light.

[0099] In some examples, the emitter 130 and the transmitting mirror 180 are respectively mounted at opposite ends of the fixing member 190. It is understandable 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 positions of the emitter 130 and the transmitting mirror 180 fixed, that is, the direction of the light emitted by the emitter 130 and 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. Thus, 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 transmitted light emitted by the transmitting unit 110 and the relative position of the axis of the receiving mirror 110 can be adjusted, thereby enabling universal adjustment of the direction of the transmitted light beam to meet the needs of different directions of the transmitted light beam. At the same time, the processing accuracy requirements of the laser radar 100 can be reduced, while still ensuring the relative position of the direction of the transmitted light emitted by the transmitting unit 110 and the axis of the receiving mirror 110, thereby reducing manufacturing costs, reducing the defective rate of products, and improving production capacity.

[0100] For example, the detection accuracy requirements of laser radar in current related technologies often exceed 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.

[0101] As for the laser radar 100 provided in this embodiment, since the fixing part 190 and the receiving mirror 110 are configured as a ball joint, 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 with an adhesive, so that the assembly of the transmitting unit 110 and the receiving mirror 110 is 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 promotion and application.

[0102] The fixing member 190 is configured as a straight cylinder, and the emitter 130 and the emitting mirror 180 are mounted on opposite ends of the fixing member 190, respectively, to form a collimated optical path. Specifically, the emitting mirror 180 is located on the outgoing optical path of the emitter 130, with the emitting surface of the emitting mirror 180 facing the outside of the fixing member 190. Thus, the emitting mirror 180 and the laser are mounted in the same structural member to form a collimated optical path.

[0103] 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 a compact structure and small size. At the same time, it is conducive to reducing the manufacturing cost of the laser radar 100, thereby meeting the low-cost design requirements of the cleaning robot.

[0104] As shown in Figures 8 to 10 , in one feasible embodiment, the laser radar 100 further includes a light adjustment component 220 for adjusting the angle of emitted and / or returned light. This configuration enables the laser radar 100 to perform multi-angle ranging.

[0105] As shown in Figures 8 to 10, 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 light.

[0106] 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 scope of application of the laser radar 100, especially facilitating the application of the laser radar 100 on a cleaning robot.

[0107] In some possible embodiments provided herein, the laser radar 100 further includes a reflector 223, which is tilted and arranged above the transmitting mirror 180 and configured to rotate about the optical axis of the receiving mirror 110. The light emitted by the transmitter 130 passes through the transmitting mirror 180, is redirected by the reflector 223, and then directed toward the obstacle. The light returned by the obstacle is redirected by the reflector 223, passes through the receiving mirror 110, and is received by the transmitter-receiver assembly 120. This allows the laser radar 100 to measure distance. The rotating reflector 223, in conjunction with the transmitter 130 and the transmitter-receiver assembly 120, can expand the detection range of the transmitter 130, 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 improving the perception precision and accuracy of the cleaning robot and improving the operation accuracy of the cleaning robot.

[0108] The laser radar 100 may be a time-of-flight laser radar 100, which uses the speed of a laser beam in space and the time it takes to reflect back to calculate the distance to a target object. Time-of-flight laser radar 100 offers advantages such as high precision, high speed, and high resolution, thus meeting the functional requirements of a cleaning robot.

[0109] In some possible embodiments provided herein, the reflector 223 has an inclination angle of 45° to 47° relative to the horizontal, wherein the inclination angle of the reflector 223 relative to the horizontal is α, i.e., α is in the range of 45° to 47°. This ensures that the reflector 223 more comprehensively redirects the transmitted light emitted by the transmitting unit 110 and projects it through the window 251, and more comprehensively redirects the returned light and projects it to the transmitting and receiving assembly 120, thereby reducing energy loss in the transmitter 130, improving energy utilization of the transmitter 130, and enhancing the ranging accuracy of the laser radar 100.

[0110] 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.

[0111] In the above embodiment, the reflector 223 includes a reflective surface and a substrate. 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.

[0112] In some possible embodiments provided herein, the laser radar 100 further includes a light shielding ring 210, which is sleeved on the exterior of the fixing member 190 and located above the receiving mirror 110. The light shielding ring 210 is configured to shield at least a portion of the light emitted by the transmitter 130, which is redirected by the reflector 223 after passing through the transmitting mirror 180 and then directed toward the receiving mirror 110. In other words, the provision of the light shielding ring 210 can effectively prevent stray light generated by the transmitted light beam after passing through the reflector 223 from returning to the receiving mirror 110, causing optical crosstalk and affecting ranging accuracy, thereby improving the detection accuracy of the laser radar 100.

[0113] 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.

[0114] Among them, a gap is set between the shading ring 210 and the receiving mirror 110 to allow the receiving mirror 110 and the fixing part 190 to move relative to each other, so that 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, avoiding the problem that the shading 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.

[0115] 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 mating 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 with an adhesive to achieve 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 related art in which the optical axis of the transmitting lens and the optical axis of the receiving lens are arranged separately, thereby meeting the design requirements of the laser radar 100 for a small volume and compact structure, reducing the space occupied by the cleaning robot, expanding the scope of use of the cleaning robot, and facilitating storage. At the same time, it is beneficial to save the manufacturing cost of the laser radar 100.

[0116] In some possible embodiments provided herein, 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 each other and at least partially fit together. As a result, the fixing member 190 and the receiving mirror 110 form a ball joint, thereby achieving 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. The convex spherical contact surface and the concave spherical contact surface are easy to realize, convenient to process, and have low manufacturing costs.

[0117] Specifically, the middle portion of the receiving mirror 110 is set 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.

[0118] In some possible embodiments provided in the present application, the laser radar 100 also includes: a pressure ring 200, a first mounting port for accommodating the transmitting mirror 180 is opened at the end of the fixing member 190 away from the transmitter 130, and 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 port to fix the transmitting mirror 180 at the first mounting port.

[0119] During the assembly process, the emitting mirror 180 can be first installed at the first mounting port, and then the emitting 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 emitting mirror 180 can be reliably and stably fixed on the fixing part 190.

[0120] 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 using an adhesive as in the related art, there will be a problem that the adhesive is injected and causes the transmitting mirror 180 to float up, causing the focal length of the transmitting mirror 180 to deviate from the design value, resulting in poor measurement accuracy. At the same time, if glue is dispensed around the smaller transmitting mirror 180 to fix the transmitting mirror 180 on the mounting tube, the adhesive can easily remain on the surface of the lens, resulting in obstruction of the light spot energy. 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 blocking the light spot energy.

[0121] As shown in Figures 2 and 8 to 10, 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 emitted light is emitted through the window 251.

[0122] In this technical solution, the laser radar 100 can also include a first shell 230, and an upper convex portion 231 on the first shell 230. The convex portion 231 can accommodate the receiving mirror 110. At the same time, the first shell 230 can also provide an installation position for the receiving and transmitting assembly 120. By arranging a bearing 240 on the outside 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.

[0123] 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.

[0124] As shown in Figures 2 and 8 to 10, in a feasible embodiment, the driving assembly 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 seal 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.

[0125] 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 through the dust cover 2223. The dust cover 2223 and the first shell 230 can seal the driving member 2221, reduce the probability of dust invading the driving member 2221, and ensure the reliability of the driving member 2221.

[0126] 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 shaft of the support member 221 and the driving member 2221. Based on this, turning on the driving member 2221 can drive the support member 221 to rotate.

[0127] In some examples, the driving assembly 222 of the laser radar 100 further includes a driving member 2221 and a flexible transmission member 2222. The driving member 2221 is connected to the first shell 230. 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, thereby improving the perception accuracy and perception precision of the cleaning robot and improving the operation accuracy of the cleaning robot.

[0128] 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.

[0129] As shown in FIG11 , according to the second aspect of an embodiment of the present application, a cleaning robot is proposed, comprising: a robot body 2000 ; and a laser radar 100 such as any of the above technical solutions, the laser radar 100 being connected to the robot body 2000 .

[0130] The cleaning robot provided in the embodiment of the present application includes the laser radar 100 of any of the above technical solutions, so the cleaning robot has all the beneficial effects of the laser radar 100 of the above technical solutions.

[0131] The cleaning robot provided in the embodiment of the present application has a laser radar 100 including a receiving mirror 110, a receiving and transmitting 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 is reflected. The reflected laser passes through the receiving mirror 110 and is then fed back to the receiving and transmitting 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. Compared with the conventional technology in which all transmitters and receivers 124 are arranged on a flexible board or FR4 board, the laser radar 100 provided in the embodiment of the present application independently arranges the transmitter 130, and separates the transmitter 130 from the transmitter-receiver assembly 120. Then, one end of the line 140 is connected to the transmitter 130, and the other end is connected to the transmitter-receiver 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 blocked optical receiving area is greatly reduced, and the impact can even be ignored, thereby effectively improving the measurement distance. On the other hand, during the ranging process, when the cleaning robot rotates to the point where the transmitting circuit blocks 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 volume of the receiver can be reduced, and the volume of the laser radar 100 can be further reduced.

[0132] In this application, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. The term "plurality" refers to two or more, unless expressly limited otherwise. Terms such as "installed," "connected," "connected," and "fixed" should be understood in a broad sense. For example, "connected" can mean a fixed connection, a detachable connection, or an integral connection; "connected" can mean a direct connection or an indirect connection through an intermediary. Those skilled in the art can understand the specific meanings of the above terms in this application based on the specific circumstances.

[0133] In the description of this application, it should be understood that the terms "up", "down", "left", "right", "front", "back", etc., indicating directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing this application 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 direction. Therefore, they should not be understood as limitations on this application.

[0134] Throughout this specification, terms such as "one embodiment," "some embodiments," and "specific embodiments" mean that the specific features, structures, materials, or characteristics described in conjunction with that embodiment or example are included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0135] The above are merely preferred embodiments of the present application and are not intended to limit the present application. Persons skilled in the art will readily appreciate that various modifications and variations are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present application shall be included within the scope of protection of the present application.

Claims

1. A lidar, wherein, 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, wherein: The circuit includes a flexible circuit board.

3. The laser radar according to claim 2, wherein: 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 lidar according to claim 1, wherein, 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 lidar according to claim 4, wherein, 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 lidar according to claim 5, wherein, 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 lidar according to claim 6, wherein 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 lidar according to any one of claims 1 to 7, wherein, 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 lidar according to claim 8, wherein, 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 lidar according to any one of claims 1 to 7, wherein, Also includes: A transmitting mirror is arranged on a side of the receiving mirror away from the transmitter.

11. The lidar according to claim 10, wherein, 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 lidar according to claim 11, wherein, Also includes: A light-shielding ring is sleeved on the fixing member.

13. The lidar according to any one of claims 1 to 7, wherein, It also 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: 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 lidar according to claim 13, wherein, 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, the bearing is sleeved on the convex portion, and the support member is connected to the bearing; A second housing, the second housing is used to cover the support member, and a window is formed on the second housing, and the emitted light is emitted through the window.

15. The lidar according to claim 14, wherein, The drive assembly includes: A drive member and a dust cover, the drive member is disposed in the first housing, and the dust cover is connected to the first housing to cover the drive member; A flexible transmission member, the drive member is connected to the support member through the flexible transmission member.

16. A cleaning robot, wherein, Including: A robot body; The lidar according to any one of claims 1 to 15, the lidar is connected to the robot body.