Lds module and automatic cleaning apparatus

Abstract

The embodiment of the application provides a kind of LDS module and automatic cleaning equipment, LDS module includes stator and rotor, the rotor is relative to the stator rotation, the stator includes: laser transceiver module, including laser receiving assembly and laser emission assembly;Circuit mainboard is set to laser transceiver module back surface preset distance position, at least configured as control the laser emission assembly emits laser, and processing the light signal received by the laser receiving assembly;Flexible circuit board, connect the circuit mainboard with the laser emission assembly, including, laser drive circuit, set to the flexible circuit board near the laser emission assembly one end, configured as receiving the control signal of the circuit mainboard after driving the laser emission assembly emits laser.The application can reduce parasitic inductance, enhance the optical properties of light emitting element, add light barrier to avoid stray light to the interference of received signal, further improve the accuracy of obstacle detection.

Description

Technical Field

[0001] This application relates to the field of cleaning robot technology, and more specifically, to an LDS module and an automatic cleaning device. Background Technology

[0002] Cleaning robots include sweeping robots, mopping robots, and sweeping and mopping robots. Cleaning robots need to detect the surrounding obstacles during their movement in order to plan their route and avoid obstacles.

[0003] In related technologies, sensors used for obstacle detection in cleaning robots include laser rangefinders (LDS), cameras, line laser sensors, and ultrasonic sensors, each with its own advantages and disadvantages. For laser rangefinders, due to their complex structure and large size, they occupy a significant amount of assembly space in the cleaning robot, hindering the installation of other components. Furthermore, the optical module signal is often unstable; due to poor optical characteristics of the emitted laser and poor coaxiality of optical devices, stray light frequently enters the optical receiving element, leading to inaccurate obstacle detection. Summary of the Invention

[0004] The purpose of this application is to provide an LDS module and an automatic cleaning device, which enables the LDS module to be more compact and its optical performance to be more stable. The specific solution is as follows:

[0005] According to a specific embodiment of this application, this application provides an LDS module, including a stator and a rotor, wherein the rotor rotates relative to the stator. The stator includes: a laser transceiver module, including a laser receiving component and at least one laser emitting component; a circuit board, disposed at a predetermined distance on the back of the laser transceiver module, configured to control the at least one laser emitting component to emit laser light and to process the optical signal received by the laser receiving component; and a flexible circuit board, connecting the circuit board and the laser emitting component, including a laser driving circuit, disposed at one end of the flexible circuit board near the laser emitting component, configured to drive the laser emitting component to emit laser light after receiving the control signal from the circuit board.

[0006] In some embodiments, the laser emitting assembly includes a lens barrel, a collimating lens disposed at one end of the lens barrel, and a light-emitting element located inside the lens barrel. The light-emitting element is electrically connected to the flexible circuit board and emits laser light under the drive of the laser driving circuit. There is a movement gap between the lens barrel and the rotor.

[0007] In some embodiments, the laser emitting assembly further includes a light-blocking ring, which is sleeved on the outer periphery of the lens barrel, wherein the width of the light-blocking ring is greater than the width of the movement gap, so as to block interference light signals reflected into the laser receiving assembly.

[0008] In some embodiments, the outer peripheral surface of the lens barrel includes a groove, and the light-blocking ring is embedded in the groove, wherein the width of the portion of the light-blocking ring protruding from the groove is greater than the width of the movement gap.

[0009] In some embodiments, the laser receiving assembly includes a light receiving lens, the light receiving lens includes a central hole, the lens barrel is fitted into the central hole, and the central axis of the lens barrel is coaxial with the central hole.

[0010] In some embodiments, the top of the central hole includes a notch, the notch including a first horizontal surface, the first horizontal surface being configured at least to apply adhesive at the junction of the first horizontal surface and the lens barrel to fix the lens barrel after the lens barrel is inserted into the central hole.

[0011] In some embodiments, the outer peripheral surface of the lens barrel includes a boss, the boss includes a second horizontal surface, the boss is fitted to the notch such that the second horizontal surface presses against the first horizontal surface, thereby ensuring that the central axis of the lens barrel is coaxial with the central hole.

[0012] In some embodiments, the bottom end of the central hole includes a protrusion, and the bottom end of the lens barrel includes a recess. The recess and the protrusion are pressed together to ensure that the central axis of the lens barrel is coaxial with the central hole.

[0013] In some embodiments, the rotor includes a rotor body and a light shield, the edge of which is sealed over the rotor body.

[0014] In some embodiments, the edge of the light shield includes a stepped structure that surrounds the outer edge of the rotor body.

[0015] In some embodiments, the light shield includes a light-transmitting portion integrally formed with the light shield, the light-transmitting portion selectively transmits laser light matching the wavelength of the emitted laser.

[0016] In some embodiments, the light-transmitting portion is disposed at a preset angle on one side of the light shield.

[0017] In some embodiments, the light-emitting element includes at least one of a laser diode and an optical fiber light source.

[0018] In some embodiments, one end of the flexible circuit board connected to the main circuit board includes gold fingers, which are inserted into the main circuit board to achieve electrical connection. According to specific embodiments of this application, this application also provides an automatic cleaning device, including the LDS module described in any of the embodiments above.

[0019] Compared with the prior art, the embodiments of this application have the following technical effects:

[0020] The LDS module and automatic cleaning equipment provided in this application embodiment employ a flexible circuit board with two main circuit boards and a light-emitting element in the LDS module. The laser driving circuit is positioned on the flexible circuit board near the light-emitting element, reducing parasitic inductance and enhancing the optical characteristics of the light-emitting element. Furthermore, a light-blocking ring is added to prevent stray light from interfering with the received signal, further improving the accuracy of obstacle detection. Structural improvements have been made to the coaxiality of the lens barrel and the optical receiving lens, resulting in a more optimized optical module. Improvements have been made in the optical module's size and optical stability, thereby enhancing the overall performance of the LDS. Attached Figure Description

[0021] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application. It is obvious that the drawings described below are merely some embodiments of this application, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort. In the drawings:

[0022] Figure 1 This is a perspective view of an automatic cleaning device according to some embodiments of this application.

[0023] Figure 2 This is a schematic diagram of the bottom structure of an automatic cleaning device according to some embodiments of this application.

[0024] Figure 3 This is an overall structural diagram of the LDS module according to some embodiments of this application.

[0025] Figure 4 This is an exploded view of the LDS module of some embodiments of this application.

[0026] Figure 5a This is a cross-sectional view of an LDS module according to some embodiments of this application.

[0027] Figure 5b This is a schematic diagram of the bearing positioning structure of some embodiments of this application.

[0028] Figure 6 This is a perspective structural diagram of a bearing preload component according to some embodiments of this application.

[0029] Figure 7 This is a three-dimensional structural diagram of the stator body of some embodiments of this application.

[0030] Figure 8 This is a cross-sectional view of the stator body of some embodiments of this application.

[0031] Figure 9 This is a three-dimensional structural diagram of the rotor body for some embodiments of this application.

[0032] Figure 10 This is a schematic diagram of a circuit board structure for some embodiments of this application.

[0033] Figure 11 This is a cross-sectional view of the optical module assembly structure of some embodiments of this application.

[0034] Figure 12 This is a cross-sectional view of the optical lens barrel assembly structure of some embodiments of this application.

[0035] Figure 13 This is a cross-sectional view of the optical lens barrel assembly structure of some embodiments of this application.

[0036] Figure 14 This is a cross-sectional view of a light shield according to some embodiments of this application.

[0037] Explanation of reference numerals in the attached figures:

[0038] Mobile platform 100, rearward section 110, forward section 111, sensing system 120, position determination device 121, buffer 122, cliff sensor 123, control system 130, drive system 140, drive wheel assembly 141, steering assembly 142, cleaning module 150, dry cleaning module 151, side brush 152, wet cleaning module 400, LDS module 1000, stator 200, rotor 300, screw hole 2013, stator body 201, bearing 202, bearing preload component 203, motor 600, shaft 601, motor roller 602, bearing assembly notch 2011, bearing inner ring 2021, bearing outer ring 2022, bearing assembly clip 30 11. Fastener 3012, Code disk teeth 302, Code disk reader head 204, Marking teeth 3021, Conveyor groove 303, Conveyor belt 304, Light guide plate 306, Laser transceiver module 205, Receiving cavity 2012, Laser receiving component 2052, Circuit board 206, Flexible circuit board 207, Laser drive circuit 2071, Light-emitting element 20513, Lens barrel 20511, Collimating lens 20512, Movement gap 500, Light blocking ring 20514, Reflector 208, Light shield 305, Center hole 20521, Notch 205211, Boss 205111, Protrusion 205212, Recess 205112, Step structure 3051, Light-transmitting part 3052. Detailed Implementation

[0039] To make the objectives, technical solutions, and advantages of this application clearer, the application will be further described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0040] The terminology used in the embodiments of this application is for the purpose of describing particular embodiments only and is not intended to limit the application. The singular forms “a,” “said,” and “the” used in the embodiments of this application and the appended claims are also intended to include the plural forms, and “multiple” generally includes at least two unless the context clearly indicates otherwise.

[0041] It should be understood that the term "and / or" used in this article is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Additionally, the character " / " in this article generally indicates that the preceding and following related objects have an "or" relationship.

[0042] It should be understood that although the terms first, second, third, etc., may be used to describe embodiments of this application, these terms should not be used in isolation. These terms are only used to distinguish between different terms. For example, first may also be referred to as second without departing from the scope of embodiments of this application, and similarly, second may also be referred to as first.

[0043] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that an article or device that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such an article or device. Without further limitation, an element defined by the phrase "comprising one" does not exclude the presence of other identical elements in the article or device that includes said element.

[0044] The optional embodiments of this application are described in detail below with reference to the accompanying drawings.

[0045] The LDS module provided in this application embodiment is applied to an automatic cleaning device. As an example, such as... Figures 1-2 This is an exemplary schematic diagram of an automatic cleaning device, but the application device is not limited to this.

[0046] like Figures 1-2 As shown, the automatic cleaning equipment can be a vacuum cleaning robot, a mopping / brushing robot, a sweeping and mopping robot, or a window-climbing robot, etc. This automatic cleaning equipment can include a mobile platform 100, a sensing system 120, a control system 130, a drive system 140, a cleaning module 150, an energy system 160, and a human-machine interaction system 170. Among them:

[0047] The mobile platform 100 can be configured to automatically move along a target direction on an operating surface. The operating surface can be the surface to be cleaned by the automatic cleaning device. In some embodiments, the automatic cleaning device can be a floor-mopping robot, in which case the automatic cleaning device works on the ground, and the ground serves as the operating surface; the automatic cleaning device can also be a window-cleaning robot, in which case the automatic cleaning device works on the outer surface of a building's glass, and the glass serves as the operating surface; the automatic cleaning device can also be a pipe-cleaning robot, in which case the automatic cleaning device works on the inner surface of a pipe, and the inner surface of the pipe serves as the operating surface. For purely illustrative purposes, the following description in this application uses a floor-mopping robot as an example.

[0048] In some embodiments, the mobile platform 100 can be an autonomous mobile platform or a non-autonomous mobile platform. An autonomous mobile platform means that the mobile platform 100 itself can automatically and adaptively make operational decisions based on unexpected environmental inputs; a non-autonomous mobile platform itself cannot adaptively make operational decisions based on unexpected environmental inputs, but can execute predetermined programs or operate according to certain logic. Accordingly, when the mobile platform 100 is an autonomous mobile platform, the target direction can be determined autonomously by the automatic cleaning equipment; when the mobile platform 100 is a non-autonomous mobile platform, the target direction can be set by the system or manually. When the mobile platform 100 is an autonomous mobile platform, the mobile platform 100 includes a forward portion 111 and a backward portion 110.

[0049] The sensing system 120 includes a position determination device 121 located above the mobile platform 100, a buffer 122 located on the forward section 111 of the mobile platform 100, a cliff sensor 123 located at the bottom of the mobile platform, and sensing devices such as an ultrasonic sensor (not shown), an infrared sensor (not shown), a magnetometer (not shown), an accelerometer (not shown), a gyroscope (not shown), and an odometer (not shown), providing the control system 130 with various position and motion status information of the machine. The position determination device 121 includes, but is not limited to, a camera and a laser rangefinder (LDS).

[0050] To more clearly describe the behavior of the automatic cleaning equipment, the following directional definitions are made: The automatic cleaning equipment can travel on the ground through various combinations of movement relative to the following three mutually perpendicular axes defined by the moving platform 100: the lateral axis Y, the front-to-back axis X, and the central vertical axis Z. The forward drive direction along the front-to-back axis X is labeled "forward," and the backward drive direction along the front-to-back axis X is labeled "backward." The lateral axis Y essentially extends along an axis defined by the center point of the drive wheel assembly 141 between the right and left wheels of the automatic cleaning equipment. The automatic cleaning equipment can rotate about the Y-axis. When the forward portion of the automatic cleaning equipment tilts upward and the backward portion tilts downward, it is called "tilting up," and when the forward portion tilts downward and the backward portion tilts upward, it is called "tilting down." Additionally, the automatic cleaning equipment can rotate about the Z-axis. In the forward direction of the automatic cleaning equipment, when the automatic cleaning equipment tilts to the right of the X-axis, it is called "turning right," and when the automatic cleaning equipment tilts to the left of the X-axis, it is called "turning left."

[0051] like Figure 2As shown, cliff sensors 123 are provided on the bottom of the mobile platform 100 and in front of and behind the drive wheel assembly 141. These cliff sensors are used to prevent the automatic cleaning equipment from falling when it reverses, thereby avoiding damage to the automatic cleaning equipment. The aforementioned "front" refers to the side that is in the same direction as the automatic cleaning equipment's travel direction, and the aforementioned "rear" refers to the side that is in the opposite direction to the automatic cleaning equipment's travel direction.

[0052] The components in the sensing system 120 can operate independently or in combination to achieve the intended function more accurately. The cliff sensor 123 and the ultrasonic sensor identify the surface to be cleaned to determine its physical characteristics, including surface material, cleanliness, etc., and can be combined with cameras, laser rangefinders, etc. for more accurate judgment.

[0053] For example, an ultrasonic sensor can be used to determine whether the surface to be cleaned is a carpet. If the ultrasonic sensor determines that the surface to be cleaned is carpet material, the control system 130 controls the automatic cleaning equipment to perform carpet cleaning.

[0054] The forward portion 111 of the mobile platform 100 is provided with a buffer 122. During the cleaning process, when the drive wheel assembly 141 propels the automatic cleaning device to move on the ground, the buffer 122 detects one or more events (or objects) in the travel path of the automatic cleaning device via a sensor system, such as an infrared sensor. The automatic cleaning device can control the drive wheel assembly 141 to respond to the events (or objects) detected by the buffer 122, such as obstacles or walls, for example, by moving away from the obstacles.

[0055] The control system 130 is mounted on a circuit board within the mobile platform 100. It includes a computing processor, such as a central processing unit or application processor, that communicates with non-transitory memory (e.g., hard disk, flash memory, random access memory). The application processor is configured to receive environmental information sensed by the multiple sensors from the sensing system 120, and, based on obstacle information fed back by the laser rangefinder, utilize a positioning algorithm, such as SLAM, to create a real-time map of the environment in which the automatic cleaning equipment is located. Based on the environmental information and the environmental map, it autonomously determines a driving path and then controls the drive system 140 to perform forward, backward, and / or turning operations based on the autonomously determined driving path. Furthermore, the control system 130 can also determine whether to activate the cleaning module 150 to perform cleaning operations based on the environmental information and the environmental map.

[0056] Specifically, the control system 130 can combine distance and speed information fed back from the buffer 122, cliff sensor 123, and other sensing devices such as ultrasonic sensors, infrared sensors, magnetometers, accelerometers, gyroscopes, and odometers to comprehensively determine the current working state of the sweeper, such as crossing a threshold, stepping on a carpet, being on a cliff, being stuck above or below, having a full dustbin, or being picked up. It will also provide specific next action strategies for different situations, making the automatic cleaning equipment work more in line with the user's requirements and providing a better user experience. Furthermore, the control system can plan the most efficient and reasonable cleaning path and cleaning method based on real-time map information generated by SLAM, greatly improving the cleaning efficiency of the automatic cleaning equipment.

[0057] The drive system 140 can execute drive commands to manipulate the automatic cleaning equipment to travel across the ground based on specific distance and angle information, such as x, y, and θ components. For example... Figure 2 As shown, the drive system 140 includes a drive wheel assembly 141. The drive system 140 can control both the left and right wheels simultaneously. For more precise control of the machine's movement, the drive system 140 preferably includes a left drive wheel assembly and a right drive wheel assembly. The left and right drive wheel assemblies are symmetrically arranged along the transverse axis defined by the moving platform 100.

[0058] In order for the automatic cleaning equipment to move more stably or with greater mobility on the ground, the automatic cleaning equipment may include one or more steering components 142. The steering component 142 may be a driven wheel or a drive wheel, and its structure may include, but is not limited to, a swivel wheel. The steering component 142 may be located in front of the drive wheel assembly 141.

[0059] The energy system 160 includes rechargeable batteries, such as nickel-metal hydride (NiMH) and lithium-ion batteries. These rechargeable batteries can be connected to a charging control circuit, a battery pack charging temperature detection circuit, and a battery undervoltage monitoring circuit. These circuits are then connected to a microcontroller control circuit. The main unit connects to a charging station via charging electrodes located on the side or bottom of the device. If dust adheres to the exposed charging electrodes, the cumulative effect of charge during charging can cause the plastic casing around the electrodes to melt and deform, or even deform the electrodes themselves, preventing normal charging.

[0060] The human-machine interface system 170 includes buttons on the main control panel for users to select functions; it may also include a display screen and / or indicator lights and / or a speaker, which show the user the current machine status or function options; and it may also include a mobile client application. For path navigation cleaning equipment, the mobile client can display a map of the environment where the equipment is located, as well as the machine's position, providing users with richer and more user-friendly functions.

[0061] like Figure 2 As shown, the cleaning module 150 may include a dry cleaning module 151 and / or a wet cleaning module 400. The dry cleaning module 151 includes a roller brush, a dustbin, a fan, and an air outlet. The roller brush, which interferes with the ground, sweeps up debris from the ground and carries it to the suction port between the roller brush and the dustbin. The debris is then drawn into the dustbin by the suction generated by the fan and passing through the dustbin. The dry cleaning module may also include a side brush 152 with a rotating shaft at an angle relative to the ground to move debris to the roller brush area of ​​the cleaning module 150. The wet cleaning module 400 is configured to clean at least a portion of the operating surface using a wet cleaning method; wherein the wet cleaning module 400 includes a water tank, a cleaning head, a drive unit, etc., wherein water from the water tank flows along a water path to the cleaning head, and the cleaning head cleans at least a portion of the operating surface under the drive of the drive unit.

[0062] The LDS modules configured in existing automatic cleaning equipment are large in size, complex in structure, and unstable in operation. For example, during the rotation of the rotor relative to the stator, the bearing clearance causes unstable rotation, resulting in frictional loss, which is not conducive to the long-term use of the device.

[0063] Therefore, this application provides a miniaturized LDS module for use in automatic cleaning equipment. By rationally setting the structure and positional relationships of the encoder teeth, bearings, belts, etc., the overall structure of the rotor or stator is simplified, increasing the stability of the LDS and expanding its application scope. The same structure achieves the same technical effects, and some of these effects will not be elaborated upon here. Specifically, this application provides an LDS module 1000, such as... Figure 3 As shown, the LDS module 1000 includes a stator 200 and a rotor 300. The rotor 300 rotates freely relative to the stator 200. The stator 200 is fixed to the self-cleaning device through screw holes 2013 at the corners. The rotor 300 protrudes from the top surface of the self-cleaning device. The rotor 300 continuously scans within a 360-degree range to continuously detect obstacles in the movement of the self-cleaning device.

[0064] like Figure 4The diagram shows an exploded view of the LDS module 1000. The stator 200 includes a stator body 201, which houses various relatively fixed components, such as a circuit board 206, bearings 202, a laser transceiver module 205, a bearing preload 203, and a motor 600. The stator body 201 includes a horizontal base plate that divides it into upper and lower spaces. The lower space houses the circuit board 206, motor 600, and other electronic components. The upper space includes a rotor housing that roughly matches the profile of the rotor 300 and a motor housing that houses the motor roller 602. The rotor housing and the motor housing are connected so that the motor roller 602 drives the rotor via a conveyor belt 304. The motor shaft 601 extends from the lower part of the motor housing into the motor housing and is rigidly connected to the motor roller 602. The motor roller 602 rotates freely under the drive of the motor shaft 601. The rotor housing includes a housing cavity 2012 for accommodating the laser transceiver module 205, and the rotor body 301 rotates outside the housing cavity 2012.

[0065] like Figure 5a As shown, a bearing assembly notch 2011 is formed outwardly at the top of the sidewall of the receiving cavity 2012. The bearing assembly notch 2011 forms a stepped surface, which is combined with... Figures 6-8 To understand the bearing 202, it includes an inner ring 2021 and an outer ring 2022. The inner ring 2021 is fitted into the bearing mounting notch 2011. Since the inner ring 2021 is tightly fitted against the stepped surface of the bearing mounting notch 2011, the outer ring 2022 protrudes from the bearing mounting notch 2011. The bearing preload member 203 presses the top surface of the inner ring 2021 and is fixed to the side wall of the receiving cavity 2012 with screws. After the bearing preload member 203 presses the inner ring 2021 against the stepped surface of the bearing mounting notch 2011, the outer ring 2022 can rotate freely. Because the inner ring 2021 is tightly fitted against the stepped surface of the bearing mounting notch 2011 without any clearance, and due to the tight pressing of the bearing preload member 203, the bearing 202 is firmly fixed to the side wall of the receiving cavity 2012, providing stable support for subsequent continuous rotation. Optionally, the bearing preload 203 is fixed to the side wall of the receiving cavity 2012 by a plurality of screws.

[0066] In some embodiments, such as Figure 5bAs shown, the rotor 300 includes a rotor body 301. The rotor body 301 has an inner side including a bearing mounting buckle 3011, configured to fix the outer ring 2022 of the bearing. After the outer ring 2022 is fixed to the bearing mounting buckle 3011, the rotor 300 rotates relative to the stator 200. The bearing mounting buckle 3011 includes a vertically upward-extending buckle body and an inwardly protruding buckle end. The bearing mounting buckle 3011 is formed of a rigid material with a certain elasticity. By pressing the bearing, the outer ring 2022 can be clamped onto the buckle end, thereby fixing the outer ring 2022. In some embodiments, the rotor body includes fasteners, which may be bolts, screws, bolts, positioning pins, locking elements, etc. After the bearing outer ring 2022 is snapped into the end of the buckle, the fasteners are further disposed on the side of the bearing assembly buckle opposite to the bearing outer ring, that is, fixed to the back of the buckle body, so that after the bearing outer ring is fixed to the bearing assembly buckle, it further abuts against the back of the buckle body to fix the bearing outer ring 2022.

[0067] Bearing assembly clips are used in some embodiments, such as... Figure 9 As shown, the rotor 300 also includes code disk teeth 302, disposed at the end of the rotor body 301. The code disk teeth 302 rotate with the rotor body 301, and record the rotation angle of the rotor body 301 under the reading of the code disk reader 204. The code disk teeth 302 have teeth and gaps of equal width. The dimensions of the teeth and gaps are known and not limited here. The code disk reader 204 records the number of teeth that have rotated, and the angle rotated by the rotor 300 can be calculated. In some embodiments, such as Figure 5a As shown, the code disk reader 204 is positioned close to the code disk teeth 302 below, which facilitates reading the rotation angle of the code disk teeth 302. Compared with the transverse structure of the code disk reader, it can reduce the overall radial dimension of the LDS.

[0068] In some embodiments, such as Figure 9 As shown, the code disk teeth also include marker teeth 3021, used to mark the starting position of the code disk teeth 302. The marker teeth 3021 have a different width than the other teeth; this width can be large or small. When reading, the code disk reader 204 can identify the marker teeth 3021 based on their width. Each time the reader passes through a marker tooth 3021, it is recorded as a 360-degree rotation. Depending on the implementation, multiple marker teeth can be set, for example, one marker tooth every 90 degrees or 180 degrees, to record the rotation angle. This embodiment does not limit this; increasing the number of marker teeth can increase the accuracy of recording the rotor rotation angle.

[0069] In some embodiments, such as Figure 5aAs shown, the encoder teeth 302 are positioned axially lower than the bearing 202. This staggered arrangement of the encoder teeth 302 and bearing 202 reduces the rotor's radial dimension, improves space utilization, and decreases the overall size of the LDS, facilitating its application in miniaturized equipment.

[0070] In some embodiments, such as Figure 9 As shown, the encoder teeth 302 extend downward along the end of the rotor body 301 into a comb-like structure. The encoder teeth 302 are integrally formed with the end of the rotor body 301, that is, the end of the rotor body 301 is set as an encoder tooth with a comb-like structure. This further utilizes the end position of the rotor body, eliminating the need for additional encoder teeth, simplifying the rotor structure, and especially reducing the number of components in the rotor radial direction, saving space and further reducing the radial dimension of the LDS.

[0071] In some embodiments, the encoder teeth 302 are disposed inside the rotor body 301 (not shown) and extend downwards as a comb structure. This embodiment requires additional encoder teeth to be added inside the rotor body 301, increasing the number of components, but reducing component maintenance costs. The encoder teeth can be repaired or replaced individually. In addition, encoder teeth with different tooth gap widths can be replaced according to counting needs, making the application flexible.

[0072] In some embodiments, such as Figure 9 As shown, the rotor 300 also includes a conveyor groove 303 and a conveyor belt 304. The conveyor groove 303 is disposed on the outer peripheral surface of the rotor body 301 and is located immediately above the encoder teeth 302, thus minimizing the axial height of the LDS. The conveyor groove 303 provides the conveying friction force for the rotor body 301 to rotate. The conveyor belt 304 is sleeved within the conveyor groove 303, driving the rotor body 301 to rotate. The conveyor belt 304 can be a belt, metal belt, organic material belt, etc. The axial height of the conveyor groove 303 is approximately equal to the height of the bearing 202. Figure 5a To understand this, the friction position of the conveyor groove is at the same height as the bearing 202. This way, when the conveyor belt starts moving, the shrinkage force of the conveyor belt has the least radial impact on the bearing, resulting in higher bearing operation stability and reliability.

[0073] In some embodiments, such as Figure 9 As shown, the rotor 300 also includes a plurality of light guides 306, and a laser entry and exit channel is formed between the plurality of light guides 306. The direction of extension of the light guides 306 is consistent with the setting direction of the light-transmitting part 3052, so that the laser can enter and exit from the light-transmitting part 3052 without interference.

[0074] According to specific embodiments of this application, this application also provides an automatic cleaning device, including an LDS module as described in any of the embodiments above. The specific structure of the automatic cleaning device can be referred to the content described in the above embodiments, and will not be repeated. However, it is not limited to the automatic cleaning device described in the above embodiments. Any device that can be combined with the LDS module of this embodiment is included within the scope of application of this application.

[0075] The LDS module and automatic cleaning equipment provided in this application embodiment, in the LDS module, by setting a bearing preload component, compresses and fixes the bearing preload component to the top surface of the bearing inner ring, reducing the bearing movement clearance. When the bearing preload component presses the bearing inner ring against the stepped surface of the bearing assembly notch, the bearing outer ring can rotate stably and freely. Simultaneously, the encoder teeth are directly integrated into the rotor end, reducing the size of the LDS module. Furthermore, setting the belt height to be approximately equal to the bearing height further ensures the stability of rotor rotation.

[0076] In addition, the LDS modules configured in existing automatic cleaning equipment are not only large in size and complex in structure, but also often have unstable optical signals. Due to poor optical characteristics of the emitted laser and poor coaxiality of optical devices, stray light often enters the optical receiving element, resulting in inaccurate obstacle detection.

[0077] Therefore, this application also provides a miniaturized LDS module for use in automatic cleaning equipment. By rationally setting the optical elements and driving circuits in the optical module, the detection stability of the optical signal is improved. The same structure has the same technical effect, and some of the technical effects will not be elaborated here. Specifically, this application provides an LDS module 1000, including a stator 200 and a rotor 300, wherein the rotor 300 rotates relative to the stator 200, such as... Figure 4 As shown, the stator 200 includes a laser transceiver module 205, which is entirely located within the receiving cavity 2012. The laser transceiver module 205 includes a laser receiving component 2052 and at least one laser emitting component 2051. There can be one or more laser emitting components 2051, for example, 1-5. The stator 200 also includes a circuit board 206, disposed in the receiving space below the stator body 201, i.e., within a predetermined distance range on the back of the laser transceiver module 205. This makes the layout structure more compact, shortens the wiring distance, and facilitates maintenance of the circuit board. The circuit board 206 is configured to at least control the laser emitting component 2051 to emit laser light, and to process the optical signals received by the laser receiving component 2052, converting the optical signals into electrical signals and sending them to the control system 130 for data processing and position identification. Figure 10As shown, the stator 200 also includes a flexible circuit board 207, which connects the main circuit board 206 and the laser emitting component 2051. The flexible circuit board 207 includes a laser driving circuit 2071, which is disposed at one end of the flexible circuit board 207 near the laser emitting component 2051. It is configured to drive the laser emitting component 2051 to emit laser after receiving the control signal from the main circuit board 206. As an optional embodiment, the end of the flexible circuit board 207 connected to the main circuit board 206 includes gold fingers. The gold fingers are inserted into the main circuit board to achieve electrical connection. This plug-in method is flexible and convenient for maintenance and replacement of electronic components. The laser driving circuit 2071 is positioned near the light-emitting element 20513 via a flexible circuit board 207, allowing the driving signal to be directly output to the light-emitting element 20513. Compared to the traditional method of placing the driving circuit on the main circuit board, emitting the driving signal via the main circuit board, and then transmitting the driving signal to the light-emitting element through a communication line, this embodiment, by using a flexible circuit, generates less parasitic inductance, reducing the pulse width of the laser emitted by the light-emitting element 20513. This achieves a nanosecond-level pulse width, which is beneficial for eye safety and low heat generation. Laser pulse width refers to the duration of a single laser emission, typically less than 10 nanoseconds. A smaller laser pulse width results in less heat generation from the laser device, greater eye safety, and higher ranging accuracy. By adding a flexible circuit board (FPC), which is wider than the bottom of the laser device, the FPC provides a wider structure for signal transmission compared to traditional drive signal communication lines. This allows the laser drive circuit to be placed directly near the laser device, reducing the trace distance for the drive signal. Since shorter distances and wider widths result in less parasitic inductance, this embodiment significantly reduces parasitic inductance by decreasing the drive signal trace distance and increasing the trace width, resulting in a much smaller pulse width for the emitted laser, which is beneficial for obstacle detection. Furthermore, using a flexible circuit board (FPC) to separate the laser drive circuit 2071 from the main circuit board simplifies the main circuit board layout, reduces the number of connectors, and decreases the size of the drive circuit board, thereby reducing the overall size of the LDS.

[0078] In some embodiments, such as Figure 11As shown, the laser emitting assembly 2051 includes a lens barrel 20511, a collimating lens 20512 disposed at the light emitting end of the lens barrel 20511, and a light-emitting element 20513 located inside the lens barrel. The collimating lens 20512 can be a fixed-focus or zoom lens. The zoom lens can be controlled by a control system to adjust the optical detection distance. The light-emitting element 20513 is electrically connected to the flexible circuit board 207 and emits laser light under the drive of the laser driving circuit 2071. A movement gap 500 is provided between the lens barrel 20511 and the rotor 300 to facilitate the rotation of the rotor 300 relative to the laser emitting assembly 2051. The light-emitting element 20513 includes at least one of a laser diode and an optical fiber light source, and can emit visible light or infrared light.

[0079] In some embodiments, the laser emitting assembly 2051 further includes a light-blocking ring 20514, which is sleeved on the outer periphery of the lens barrel 20511. The width of the light-blocking ring 20514 is greater than the width of the movement gap 500, to block interfering light signals reflected into the laser receiving assembly 2052. For example... Figure 11 As shown, the light emitted by the light-emitting element 20513 through the lens 20512 is reflected by the 45-degree reflector 208 and then emitted from the light shield 305. However, a small amount of light is reflected back to the emitting component and enters the laser receiving component 2052 through the movement gap 500, causing interference noise to the optical detection. Therefore, by adding a light-blocking ring 20514, stray light entering through the movement gap 500 is effectively blocked, reducing signal interference and improving the accuracy of optical detection. The light-blocking ring can be integrated with the emitting module or used as a separate component.

[0080] In some embodiments, the outer peripheral surface of the lens barrel 20511 includes a groove, and the light-blocking ring 20514 is embedded in the groove, wherein the width of the portion of the light-blocking ring 20514 protruding from the groove is greater than the width of the movement gap 500. The light-blocking ring is typically made of opaque rubber or organic material, and during assembly, it is elastically fitted into the groove for fixation. Of course, the specific material of the light-blocking ring is not limited, and it can also be made of metal and screwed onto the outer peripheral surface of the lens barrel 20511.

[0081] In some embodiments, such as Figure 12As shown, the laser receiving assembly 2052 includes a light receiving lens, which is a convex mirror used to focus the received light. The light receiving lens includes a central hole 20521, and a lens barrel 20511 is fitted into the central hole 20521, with the central axis of the lens barrel 20511 coaxial with the central hole 20521. To ensure that the central axis of the lens barrel 20511 is coaxial with the central hole 20521, so that the light can be accurately emitted and accurately received, precision must be maintained during assembly. In some embodiments, the top of the central hole 20521 includes a circumferential notch 205211, which forms a stepped surface including a first horizontal surface. The first horizontal surface is configured such that, after the lens barrel 20511 is inserted into the central hole 20521, adhesive is applied at the junction of the first horizontal surface and the lens barrel 20511 to fix the lens barrel 20511. The outer peripheral surface of the lens barrel 20511 includes a circumferential boss 205111. The boss 205111 includes a second horizontal surface. When the lens barrel is assembled into the central hole, the boss 205111 is fitted into the notch 205211, causing the second horizontal surface to press against the first horizontal surface, thereby ensuring that the central axis of the lens barrel is coaxial with the central hole. After pressing, adhesive is applied to the joint within the notch 205211 to fix the lens barrel 20511. In this embodiment, by adding a lens barrel 20511, the coaxiality of the laser emitting component 2051 and the laser receiving component 2052 is ensured, as well as the directivity of the laser emitting component 2051. Furthermore, by providing a boss 205111 on the outer periphery of the lens barrel, and by pressing the notch 205211 with the second horizontal surface of the boss 205111, the directivity of the emitted laser is ensured. At the same time, increasing the length of the lens barrel in the emission direction also makes the emitted laser have good directivity. In addition, the lens barrel material is a metal such as copper, which further increases the thermal conductivity of the laser emitting component and ensures the directivity of the laser.

[0082] In some embodiments, such as Figure 13 As shown, the bottom end of the central hole 20521 includes a protrusion 205212, and the bottom end of the lens barrel includes a recess 205112. The recess 205112 and the protrusion 205212 form a stepped surface. When the lens barrel 20511 is inserted into the central hole 20521, the recess 205112 and the protrusion 205212 are pressed together to ensure that the central axis of the lens barrel is coaxial with the central hole. After pressing, adhesive is applied to the joint within the notch 205211 to fix the lens barrel 20511.

[0083] In some embodiments, to address the dustproofing and ambient light interference issues of the LDS without affecting light transmission and reception, a light shield is installed on the rotor body. The light shield is made of infrared-transparent injection-molded material, enabling it to be waterproof, dustproof, and filter out ambient background light. Specifically, such as...Figure 14 As shown, the rotor 300 includes a rotor body 301 and a light shield 305. The light shield 305 is disposed above the rotor body 301, and the edge of the light shield 305 is sealed over the rotor body 301, as shown. Figure 3 As shown, the light shield 305 is fixed to the rotor body 301 by screws. The edge of the light shield 305 includes a stepped structure 3051. The specific structure of the stepped structure 3051 is not limited; it can be a planar stepped portion or a sloped stepped portion. The stepped structure 3051 of the light shield 305 surrounds the outer edge of the rotor body 301 to achieve a seal. The outer edge of the rotor body 301 has a structure adapted to the stepped structure 3051. A sealant can be applied to the joint between the outer edge of the rotor body 301 and the stepped structure 3051 for sealing and bonding. The light shield 305 includes a light-transmitting portion 3052, which is integrally formed with the light shield 305. The light-transmitting portion 3052 corresponds to the 45-degree reflector 208. The light-transmitting portion 3052 is made of a material that can transmit the emitted laser wavelength, allowing the light-transmitting portion 3052 to selectively transmit laser light that matches the emitted laser wavelength. The light-transmitting part 3052 is inclined at a preset angle on one side of the light shield 305, such as 65-85 degrees, to further remove the interference of ambient light. The light-transmitting part is made into an upwardly inclined planar shape so as not to change the direction and shape of the light spot.

[0084] According to specific embodiments of this application, this application also provides an automatic cleaning device, including an LDS module as described in any of the embodiments above. The specific structure of the automatic cleaning device can be referred to the content described in the above embodiments, and will not be repeated. However, it is not limited to the automatic cleaning device described in the above embodiments. Any device that can be combined with the LDS module of this embodiment is included within the scope of application of this application.

[0085] The LDS module and automatic cleaning equipment provided in this application embodiment employ a flexible circuit board with two main circuit boards and a light-emitting element in the LDS module. The laser driving circuit is positioned on the flexible circuit board near the light-emitting element, reducing parasitic inductance and enhancing the optical characteristics of the light-emitting element. Furthermore, a light-blocking ring is added to prevent stray light from interfering with the received signal, further improving the accuracy of obstacle detection. Structural improvements have been made to the coaxiality of the lens barrel and the optical receiving lens, resulting in a more optimized optical module. Improvements have been made in the optical module's size and optical stability, thereby enhancing the overall performance of the LDS.

[0086] Finally, it should be noted that the various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0087] The above embodiments are only used to illustrate the technical solutions of this disclosure, and are not intended to limit it. Although this disclosure has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this disclosure.

Claims

1. An LDS module comprising a stator and a rotor, the rotor rotating relative to the stator. Movement, characterized by, The stator includes: A laser transceiver module, comprising a laser receiving component and a laser emitting component; The circuit board is located at a predetermined distance on the back of the laser transceiver module and is configured to at least control the laser emitting component to emit laser light and process the optical signals received by the laser receiving component. A flexible circuit board, connecting the circuit motherboard and the laser emitting component, includes a laser driving circuit disposed at one end of the flexible circuit board near the laser emitting component, configured to drive the laser emitting component to emit laser light after receiving a control signal from the circuit motherboard; The stator includes a stator body, and a receiving cavity is formed within the stator body. The entire laser transceiver module is located within the receiving cavity. The laser emitting assembly includes a lens barrel, the laser receiving assembly includes a light receiving lens, the light receiving lens includes a central hole, the lens barrel is assembled into the central hole, and the central axis of the lens barrel is coaxial with the central hole.

2. The LDS module according to claim 1, characterized in that, The laser emitting assembly further includes a collimating lens disposed at one end of the lens barrel and a light-emitting element located inside the lens barrel. The light-emitting element is electrically connected to the flexible circuit board and emits laser light under the drive of the laser driving circuit. There is a movement gap between the lens barrel and the rotor.

3. The LDS module according to claim 2, characterized in that, The laser emitting component also includes a light-blocking ring, which is sleeved on the outer periphery of the lens barrel. The width of the light-blocking ring is greater than the width of the movement gap, so as to block interference light signals reflected into the laser receiving component.

4. The LDS module according to claim 3, characterized in that, The outer peripheral surface of the lens barrel includes a groove, and the light-blocking ring is embedded in the groove, wherein the width of the portion of the light-blocking ring protruding from the groove is greater than the width of the movement gap.

5. The LDS module according to claim 1, characterized in that, The top of the central hole includes a notch, the notch includes a first horizontal surface, the first horizontal surface is configured such that when the lens barrel is inserted into the central hole, adhesive is applied at the junction of the first horizontal surface and the lens barrel to fix the lens barrel.

6. The LDS module according to claim 5, characterized in that, The outer peripheral surface of the lens barrel includes a boss, the boss includes a second horizontal surface, the boss is assembled to the notch, such that the second horizontal surface is pressed against the first horizontal surface, thereby ensuring that the central axis of the lens barrel is coaxial with the central hole.

7. The LDS module according to claim 5, characterized in that, The bottom end of the central hole includes a protrusion, and the bottom end of the lens barrel includes a recess. The recess and the protrusion are pressed together to ensure that the central axis of the lens barrel is coaxial with the central hole.

8. The LDS module according to claim 1, characterized in that, The rotor includes a rotor body and a light shield, with the edge of the light shield sealingly covering the rotor body.

9. The LDS module according to claim 8, characterized in that, The edge of the light shield includes a stepped structure that surrounds the outer edge of the rotor body.

10. The LDS module according to claim 8, characterized in that, The light shield includes a light-transmitting part, which is integrally formed with the light shield. The light-transmitting part selectively transmits laser light that matches the wavelength of the emitted laser.

11. The LDS module according to claim 10, characterized in that, The light-transmitting part is disposed at a preset angle on one side of the light shield.

12. The LDS module according to claim 2, characterized in that, The light-emitting element includes at least one of a laser diode and a fiber optic light source.

13. The LDS module according to claim 1, characterized in that, The flexible circuit board includes gold fingers at one end connected to the main circuit board, and the gold fingers are inserted into the main circuit board to achieve electrical connection.

14. An automatic cleaning device, characterized in that, Includes the LDS module according to any one of claims 1-13.

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