Laser radar and cleaning equipment

Abstract

The invention provides a laser radar and cleaning equipment. The laser radar comprises a transmitting unit, a receiving unit and a substrate, the transmitting unit and the receiving unit are installed on the same side of the substrate, the transmitting unit comprises a laser transmitter and a light processing assembly which are sequentially arranged, the laser transmitter is connected with the substrate, and the end, away from the laser transmitter, of the light processing assembly is provided with a light outlet. The light processing assembly is configured to adjust the distance between the light outlet and the substrate to adapt to the receiving unit. Therefore, the position of the light outlet can be adjusted to an expected position through the light processing assembly, for example, the position of the light outlet and the position of an emergent window on a machine main body of the cleaning equipment can be reasonable, and the distance between the light outlet and the emergent window is reduced, so that the light energy loss is reduced, the light energy utilization rate is improved, and the detection precision of the laser radar is improved.

Description

Technical Field

[0001] The present invention relates to the field of smart home technology, and in particular to a laser radar and a cleaning device. Background Art

[0002] With the continuous development of science and technology and the continuous improvement of people's living standards, cleaning equipment, such as intelligent sweeping robots, have been continuously integrated into our daily lives. Current cleaning equipment usually has a laser radar to detect the environment around the cleaning equipment. Laser radar is an important sensor for cleaning equipment and plays an important role in mapping, navigation, obstacle avoidance and other working conditions.

[0003] In order to simplify the production process and reduce production costs, current laser radars have the need to place the laser transmitter and laser receiver on a common substrate. However, this arrangement makes the light outlet of the laser transmitter closer to the substrate, and the light outlet is far from the exit window on the cleaning equipment, resulting in a large loss of light energy. Summary of the invention

[0004] A series of simplified concepts are introduced in the Summary of the Invention, which will be further described in detail in the Detailed Description of the Invention. This part of the application does not mean to attempt to define the key features and essential technical features of the claimed technical solution, nor does it mean to attempt to determine the scope of protection of the claimed technical solution.

[0005] An embodiment of the first aspect of the present application provides a laser radar, including: a transmitting unit, a receiving unit and a substrate, the transmitting unit and the receiving unit are installed on the same side of the substrate, the transmitting unit includes a laser transmitter and a light processing component arranged in sequence, the laser transmitter is connected to the substrate, the end of the light processing component away from the laser transmitter is set as a light outlet, and the light processing component is configured to adjust the distance between the light outlet and the substrate to adapt the receiving unit.

[0006] Furthermore, one side of the substrate on which the transmitting unit and the receiving unit are mounted is a plane.

[0007] Further, an end of the receiving unit away from the substrate is arranged as a light inlet, and the light outlet is arranged close to the light inlet.

[0008] Furthermore, an absolute value of a difference between a distance between the light outlet and the substrate and a distance between the light entrance and the substrate is less than or equal to 5 mm.

[0009] Further, the center of the light outlet and the center of the light entrance are substantially on the same plane; preferably, the light outlet and the light entrance are substantially on the same plane.

[0010] Furthermore, the light processing component includes: at least one lens, and the light emitted by the laser emitter is diffused by the at least one lens and then emitted from the light outlet.

[0011] Furthermore, the light processing component includes: a first collimating lens and a diffuser, the first collimating lens is located between the laser emitter and the diffuser, and the light outlet is located at the end of the diffuser away from the first collimating lens.

[0012] Furthermore, the light processing component includes: a second collimating lens and a free-form surface lens, the second collimating lens is located between the laser emitter and the free-form surface lens, and the light outlet is located at the end of the free-form surface lens away from the second collimating lens.

[0013] Furthermore, the light processing component includes: an incident lens, a light outlet is located at an end of the incident lens away from the laser emitter, and the end of the incident lens away from the laser emitter is set as a light diffusion surface.

[0014] Furthermore, the light diffusion surface is curved or wavy.

[0015] Furthermore, the receiving unit includes a laser receiver and a receiving lens which are arranged in sequence, the laser receiver is connected to the substrate, the light inlet is located at the end of the receiving lens away from the laser receiver, and the receiving lens is a convex lens.

[0016] Furthermore, the substrate is a circuit board, the transmitting unit is electrically connected to the circuit board by surface mounting or bonding, and the receiving unit is electrically connected to the circuit board by surface mounting or bonding.

[0017] An embodiment of the second aspect of the present application provides a cleaning device, comprising: a machine body, and a laser radar according to any one of the first aspects, wherein the laser radar is installed on the machine body.

[0018] Furthermore, the machine body is provided with an exit window, the laser radar is installed inside the machine body, the light exit port and the exit window are opposite, wherein the distance between the light exit port and the exit window is smaller than the distance between the light exit port and the substrate.

[0019] Furthermore, an incident window is provided on the machine body, and the light entrance port of the laser radar is opposite to the incident window, and the distance between the light entrance port and the incident window is smaller than the distance between the light entrance port and the substrate.

[0020] Furthermore, the distance between the light exit port and the exit window is substantially the same as the distance between the light entrance port and the entrance window.

[0021] Further, the exit window and the entrance window are integrated into one window.

[0022] Furthermore, the transmitting unit and the receiving unit are coplanarly arranged on the substrate.

[0023] The laser radar and cleaning equipment provided by the embodiment of the present application include a transmitting unit, a receiving unit and a substrate, and the transmitting unit and the receiving unit are installed on the same side of the substrate to simplify the production process of the laser radar and reduce the production cost. The transmitting unit includes a laser transmitter and a light processing component arranged in sequence, the laser transmitter is connected to the substrate, and the light outlet is located at the end of the light processing component away from the laser transmitter, so that the transmitting unit can adjust the light outlet of the transmitting unit from the end of the laser transmitter away from the substrate to the end of the light processing component away from the laser transmitter by adding the light processing component, and the distance between the light outlet and the substrate is adjusted to adapt to the receiving unit, so that the position of the light outlet can be adjusted to the desired position through the light processing component, such as making the position of the light outlet reasonable with the position of the exit window on the machine body of the cleaning equipment, reducing the distance between the light outlet and the exit window, so that the position of the light outlet is close to the light inlet of the receiving unit, thereby reducing the light energy loss of the exit light, improving the light energy utilization rate, and improving the detection accuracy of the laser radar.

[0024] The above description is only an overview of the technical solution of the present application. In order to more clearly understand the technical means of the present application, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The following drawings of the present application are used as part of the embodiments of the present application for understanding the present application. The drawings show the embodiments of the present application and their descriptions, which are used to explain the principles of the present application.

[0026] In the attached figure:

[0027] Figure 1 A schematic diagram of the structure of a laser radar provided in an embodiment of the present application is shown;

[0028] Figure 2 A schematic diagram of the structure of a transmitting unit provided by an embodiment of the present application is shown;

[0029] Figure 3 A schematic diagram of the structure of a transmitting unit provided in another embodiment of the present application is shown;

[0030] Figure 4 A schematic structural diagram of a transmitting unit provided in yet another embodiment of the present application is shown;

[0031] Figure 5 A schematic diagram of the dimensions of the laser radar provided in an embodiment of the present application is shown.

[0032] Description of Reference Numerals

[0033] 100 laser radar, 110 transmitting unit, 111 light outlet, 112 laser transmitter, 113 light processing component, 114 first collimating lens, 115 diffuser, 116 second collimating lens, 117 free-form surface lens, 118 incident lens, 1181 light diffusion surface, 120 receiving unit, 121 light outlet, 122 laser receiver, 123 receiving lens, 130 substrate, 200 window. DETAILED DESCRIPTION

[0034] In the following description, a large number of specific details are given to provide a more thorough understanding of the technical solutions provided by the present application. However, it is obvious to those skilled in the art that the technical solutions provided by the present application can be implemented without one or more of these details.

[0035] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should also be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of the features, wholes, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or combinations thereof.

[0036] Now, exemplary embodiments according to the present application will be described in more detail with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in a variety of different forms and should not be interpreted as being limited to the embodiments set forth herein. It should be understood that these embodiments are provided to make the disclosure of the present application thorough and complete, and to fully convey the concepts of these exemplary embodiments to those of ordinary skill in the art.

[0037] like Figures 1 to 5 As shown, the embodiment of the first aspect of the present application provides a laser radar 100, and the embodiment of the second aspect of the present application provides a cleaning device. The cleaning device can be a sweeping robot, a mopping robot, a sweeping and mopping machine, or other cleaning devices that meet the requirements, and the laser radar 100 is applied to the cleaning device.

[0038] Specifically, the cleaning equipment includes but is not limited to: a machine body, a cleaning system, a driving system, a sensing system, etc. The above-mentioned systems coordinate with each other so that the cleaning equipment can move autonomously to achieve the cleaning function. The functional elements constituting the above-mentioned systems in the cleaning equipment are integrated in the machine body. It can be understood that the cleaning equipment can be a self-moving cleaning equipment, wherein the self-moving cleaning equipment 100 is a device that automatically performs cleaning operations in a certain area to be cleaned without user operation. Among them, the sensing system may include a laser radar 100, which is used to detect obstacles around the cleaning equipment and information about the surrounding environment. For example, the laser radar 100 can realize distance detection.

[0039] like Figure 1 As shown, the laser radar 100 provided in the embodiment of the present application includes: a transmitting unit 110, a receiving unit 120 and a substrate 130, the transmitting unit 110 and the receiving unit 120 are installed on the same side of the substrate 130, the transmitting unit 110 includes a laser emitter 112 and a light processing component 113 arranged in sequence, the laser emitter 112 is connected to the substrate 130, and the end of the light processing component 113 away from the laser emitter 112 is set as a light outlet 111, and the light processing component 113 is configured to adjust the distance between the light outlet 111 and the substrate 130 to adapt the receiving unit 120.

[0040] Among them, the laser radar 100 can be a time-of-flight laser radar. The working principle of the time-of-flight laser radar is: use the transmitting unit 110 to transmit a laser beam to the target object, and then use the receiving unit 120 to receive the laser beam returned from the target object, and use the propagation speed of the laser beam in space and the time of reflection to calculate the distance of the target object. The time-of-flight laser radar 100 has the advantages of high precision, high speed, and high resolution, and can meet the functional requirements of cleaning equipment. Specifically, the laser radar 100 provided in the embodiment of the present application is a solid-state laser radar. The solid-state laser radar can be understood as a radar without moving parts. That is to say, there are no moving parts in the transmitting unit 110, the receiving unit 120, and the substrate 130 of the laser radar 100 provided in the embodiment of the present application, and the transmitting unit 110, the receiving unit 120, and the substrate 130 are all solid-state components.

[0041] In the laser radar 100 provided in this embodiment, the transmitting unit 110 and the receiving unit 120 are installed on the same side of the substrate 130, that is, the transmitting unit 110 and the receiving unit 120 share the substrate 130. Therefore, compared with the related art in which the transmitting unit and the receiving unit are provided with separate substrates, the setting of one substrate 130 can be simplified, and then the production process of the laser radar 100 can be simplified, and the production cost can be reduced. Among them, the transmitting unit 110 includes a laser emitter 112 and an optical processing component 113 arranged in sequence, the laser emitter 112 is connected to the substrate 130, and the light outlet 111 is located at the end of the optical processing component 113 away from the laser emitter 112, that is, the light beam emitted by the laser emitter 112 is processed by the optical processing component 113 and then emitted to the target object by the light outlet 111 at the end of the optical processing component 113 away from the laser emitter 112. By adding a light processing component 113, the transmitting unit 110 can adjust the light outlet 111 of the transmitting unit 110 from the end of the laser transmitter 112 away from the substrate 130 to the end of the light processing component 113 away from the laser transmitter 112. Thus, the distance between the light outlet 111 and the substrate 130 is adjusted by the light processing component 113, so that the position of the light outlet 111 can be adjusted to a desired position by the light processing component 113, such as making the position of the light outlet 111 reasonable with the position of the exit window on the machine body of the cleaning device, making the light outlet 111 and the exit window closer, reducing the distance between the light outlet 111 and the exit window, making the position of the light outlet 111 close to the light inlet 121 of the receiving unit 120, so as to solve the problem in the related art that the light outlet 111 is far away from the exit window due to the laser transmitter and the laser receiver being arranged on a common substrate, thereby reducing the light energy loss of the exit light, improving the light energy utilization rate, and improving the detection accuracy of the laser radar 100. Among them, Figure 1 The direction of the arrow represents the propagation direction of the light beam.

[0042] Among them, installing the transmitting unit 110 and the receiving unit 120 on the same side of the substrate 130 can ensure that after the outgoing light beam emitted by the transmitting unit 110 irradiates the target object, the incident light beam reflected by the target object can be accurately and smoothly received by the receiving unit 120, thereby ensuring good ranging accuracy.

[0043] like Figure 1As shown, in some possible embodiments provided in the present application, an exit window is provided on the machine body of the cleaning equipment, and the laser radar 100 is installed inside the machine body, with the light outlet 111 facing the exit window, so that the light beam emitted by the laser emitter 112 is processed by the light processing component 113 and then emitted from the light outlet 111 and the exit window to the target object, so as to ensure that the laser radar 100 can achieve the ranging function. Among them, installing the laser radar 100 inside the machine body allows the machine body to provide good protection for the laser radar 100, avoiding the possibility of the laser radar 100 being hit or contaminated by foreign objects, which is beneficial to improving the service life and detection accuracy of the laser radar 100. Among them, Figure 1 The window 200 in FIG. 2 can be understood as an exit window.

[0044] In the above embodiment, if Figure 5 As shown, the distance between the light outlet 111 and the exit window is smaller than the distance between the light outlet 111 and the substrate 130, that is, the light outlet 111 is arranged close to the exit window of the machine body, thereby making the entire laser radar 100 close to the exit window of the machine body, making the laser radar 100 and the exit window compact, reducing the space occupied by the laser radar 100, and providing arrangement space for other components inside the machine body, which can meet the design requirements of compact structure and small size of the cleaning equipment.

[0045] Specifically, Figure 5 As shown, the distance between the light outlet 111 and the exit window may be a first distance, such as Figure 5 As shown in D1 in FIG. 1 , the distance between the light outlet 111 and the substrate 130 may be a second distance, such as Figure 5 As shown by D2 in , wherein D1 is smaller than D2, such as the first distance may be 0.9 times, 0.7 times, 0.5 times, 0.3 times, 0.1 times, 0.05 times, or other relationships of the second distance.

[0046] like Figure 1 As shown, in some possible embodiments provided in the present application, one side of the substrate 130 on which the transmitting unit 110 and the receiving unit 120 are mounted is a plane.

[0047] That is, the transmitting unit 110 and the receiving unit 120 are coplanarly arranged on the substrate 130. By setting the side of the substrate 130 on which the transmitting unit 110 and the receiving unit 120 are installed as a plane, it is possible to ensure that the light beam emitted by the transmitting unit 110 has a high degree of collimation and the light beam received by the receiving unit 120 has a high degree of collimation, which can reduce the light energy loss of the transmitting light beam and the receiving light beam, which is conducive to improving the light energy utilization rate and improving the detection accuracy of the laser radar 100.

[0048] like Figure 1As shown, in some possible embodiments provided in the present application, the end of the receiving unit 120 away from the substrate 130 is set as the light entrance port 121, and the light exit port 111 is arranged close to the light entrance port 121.

[0049] Among them, the light inlet 121 can be understood as the light beam reflected by the target object entering the receiving unit 120 through the light inlet 121. In this embodiment, since the transmitting unit 110 and the receiving unit 120 of the laser radar 100 are installed on the same side of the substrate 130, by arranging the light outlet 111 of the laser radar 100 close to the light inlet 121, that is, the light outlet 111 and the light inlet 121 are arranged close to each other, the heights of the transmitting unit 110 and the receiving unit 120 are made to be substantially the same, thereby making the light inlet 121 have less influence on the arrangement of the light outlet 111 close to the exit window, and in the case where the light outlet 111 and the exit window are arranged in close distance, the distance between the light inlet 121 and the entrance window on the machine body will also be very small, which is conducive to reducing the light energy loss of the incident light beam while ensuring that the light energy loss of the exit light beam is reduced, thereby greatly improving the detection accuracy of the laser radar 100.

[0050] like Figure 1 As shown, in some possible embodiments provided by the present application, an incident window is also provided on the machine body of the cleaning device, and the light inlet 121 is opposite to the incident window, so that the incident light beam reflected by the target object is received by the receiving unit 120 through the incident window and the light inlet 121 of the machine body, so as to ensure that the laser radar 100 can realize the ranging function. Figure 1 and Figure 5 The window 200 in FIG. 2 can be understood as an incident window.

[0051] Among them, Figure 5 As shown, the distance between the light entrance 121 and the incident window is smaller than the distance between the light entrance 121 and the substrate 130, that is, the light entrance 121 is arranged close to the incident window of the machine body, thereby making the entire laser radar 100 close to the incident window of the machine body, making the laser radar 100 and the incident window compactly arranged, reducing the space occupied by the laser radar 100, and providing arrangement space for other components inside the machine body, which can meet the design requirements of compact structure and small size of the cleaning equipment.

[0052] Specifically, Figure 5 As shown, the distance between the light entrance 121 and the incident window can be a third distance, such as Figure 5 As shown in D3 in FIG. 1 , the distance between the light entrance 121 and the substrate 130 may be a fourth distance, such as Figure 5 As shown in D4 in FIG. 1 , D3 is smaller than D4. The third distance may be 0.9 times, 0.7 times, 0.5 times, 0.3 times, 0.1 times, 0.05 times, or other relationships of the fourth distance.

[0053] Specifically, under normal circumstances, the exit window and the incident window are located on the same side wall of the machine body. If the distance between the light entrance of the laser radar and the substrate is much greater than the distance between the light exit and the substrate, that is, the light entrance is higher than the light exit, the light entrance will interfere with the machine body of the cleaning equipment, so that the light exit cannot be arranged close to the exit window, resulting in a large energy loss of the exit light beam, affecting the detection accuracy of the laser radar. If the distance between the light entrance of the laser radar and the substrate is much smaller than the distance between the light exit and the substrate, that is, the light exit is higher than the light exit, in this case, the light exit can be arranged close to the exit window, but because the distance between the light entrance of the laser radar and the substrate is much smaller than the distance between the light exit and the substrate, the distance between the light entrance and the incident window is large, resulting in a large energy loss of the incident light beam reflected by the target object, affecting the detection accuracy of the laser radar.

[0054] To this end, in the embodiment of the present application, the light exit port 111 of the laser radar 100 is arranged close to the light entrance port 121, so that the distances between the light exit port 111 and the light entrance port 121 and the substrate 130 are approximately the same. As a result, the light entrance port 121 has no effect or little effect on the arrangement of the light exit port 111 close to the exit window, and the light exit port 111 has no effect or little effect on the arrangement of the light entrance port 121 close to the incident window, so that the light exit port 111 is arranged close to the incident window. At the same time, the light exit port 111 can also be arranged close to the exit window to reduce the light energy loss of the exit light beam and the incident light beam, thereby improving the detection accuracy of the laser radar 100.

[0055] like Figure 5 As shown, in some possible embodiments provided in the present application, the absolute value of the difference between the distance between the light outlet 111 and the substrate 130 and the distance between the light entrance 121 and the substrate 130 is less than or equal to 5 mm, wherein the distance between the light outlet 111 and the substrate 130 is as follows: Figure 5 As shown in D2 in FIG. 1 , the distance between the light entrance 121 and the substrate 130 is as follows: Figure 5As shown in D4 in , that is, |D2-D4|≤5mm. Specifically, the absolute value of the difference between the distance between the light inlet and outlet 111 and the substrate 130 and the distance between the light inlet 121 and the substrate 130 can be 5mm, 4mm, 3mm, 2mm, 1mm, 0mm, or other sizes. As a result, the distances between the light outlet 111 and the light inlet 121 and the substrate 130 are roughly the same, so that the light inlet 121 has almost no effect on the arrangement of the light outlet 111 close to the exit window, and the light outlet 111 has almost no effect on the arrangement of the light inlet 121 close to the incident window, so that the light inlet 121 is arranged close to the incident window. At the same time, it can ensure that the light outlet 111 is arranged close to the exit window, which greatly reduces the light energy loss of the exit light beam and the incident light beam, and improves the detection accuracy of the laser radar 100.

[0056] In some possible implementations provided in the embodiments of the present application, the center of the light outlet 111 and the center of the light inlet 121 are substantially on the same plane, which can be understood as the distance between the center of the light outlet 111 and the substrate 130 is substantially equal to the distance between the center of the light inlet 121 and the substrate 130, which can also be understood as the plane parallel to the substrate 130 where the center of the light outlet 111 is located is coplanar or coincident with the plane parallel to the substrate 130 where the center of the light inlet 121 is located. As a result, the light inlet 121 has almost no effect on the arrangement of the light outlet 111 close to the exit window on the machine body, and the light outlet 111 has almost no effect on the arrangement of the light inlet 121 close to the entrance window on the machine body, so that the light inlet 121 and the entrance window can be arranged close to each other, and at the same time, the light outlet 111 and the exit window can be arranged close to each other, which greatly reduces the light energy loss of the exit light beam and the entrance light beam. At the same time, this setting enables the outgoing light beam emitted by the transmitting unit 110 through the light outlet 111 to be more completely received by the receiving unit 120 through the light entrance 121 after being reflected by an obstacle, thereby greatly reducing the light energy loss of the outgoing light beam and the incident light beam and improving the detection accuracy of the laser radar 100.

[0057] In some possible implementations provided in the embodiments of the present application, the distance between the light outlet 111 and the exit window on the machine body is substantially consistent with the distance between the light inlet 121 and the incident window. As a result, the light inlet 121 has almost no effect on the arrangement of the light outlet 111 close to the exit window on the machine body, and the light outlet 111 has almost no effect on the arrangement of the light inlet 121 close to the incident window on the machine body. As a result, the light inlet 121 is arranged close to the incident window. At the same time, the light outlet 111 is arranged close to the exit window, and the distance between the light inlet 121 and the incident window is roughly equal to the distance between the light outlet 111 and the exit window, which greatly reduces the light energy loss of the exit light beam and the incident light beam, and improves the detection accuracy of the laser radar 100. At the same time, this arrangement enables the laser radar 100 to be arranged as close to the machine body as possible, so that the laser radar 100 and the machine body are compactly arranged, reducing the space occupied by the laser radar 100, and leaving space for the layout of other components in the machine body.

[0058] Specifically, the distance between the light exit port 111 and the exit window on the machine body is substantially consistent with the distance between the light entrance port 121 and the incident window. It can be understood that the absolute value of the distance difference between the light exit port 111 and the exit window on the machine body and the distance between the light entrance port 121 and the incident window is less than or equal to 1 mm. For example, the absolute value of the distance difference between the light exit port 111 and the exit window on the machine body and the distance between the light entrance port 121 and the incident window is 0 mm, 0.5 mm, 1 mm, or other values.

[0059] like Figure 1 As shown, further, the exit window and the incident window on the machine body can be integrated into one window 200, which is convenient for processing and is beneficial to increasing the opening size of the exit window and the incident window, avoiding the small opening size of the exit window and the incident window to block the exit light beam and the incident light beam, thereby reducing the loss of light energy and helping to improve the detection accuracy of the laser radar 100.

[0060] like Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, in some possible embodiments provided in the present application, the light processing component 113 includes: at least one lens, and the light emitted by the laser emitter 112 is diffused by at least one lens and then emitted from the light outlet 111.

[0061] The optical processing component 113 may include one lens, two lenses, three lenses, or other number of lenses to meet the requirements of different structures of the optical processing component 113. The multiple lenses may have the same structure or different structures.

[0062] In this embodiment, the light beam emitted by the laser emitter 112 is diffused by at least one lens so that the light beam emitted through the light outlet 111 has a larger radiation area, thereby improving the comprehensiveness of the target object being illuminated by the light beam, which is beneficial to improving the detection range and detection accuracy of the laser radar 100.

[0063] like Figure 2 As shown, in some possible embodiments provided by the present application, the light processing component 113 includes: a first collimating lens 114 and a diffuser 115, the first collimating lens 114 is located between the laser emitter 112 and the diffuser 115, and the light outlet 111 is located at the end of the diffuser 115 away from the first collimating lens 114. Figure 2 The direction of the arrow represents the propagation direction of the light beam.

[0064] In this embodiment, the light processing component 113 includes two lenses, a first collimating lens 114 and a diffuser 115. The laser emitter 112, the first collimating lens 114, and the diffuser 115 are sequentially arranged between the substrate 130 and the exit window of the machine body, so that the light beam emitted by the laser emitter 112 is processed by the first collimating lens 114 to become a collimated light beam parallel to each other and propagate in parallel, so that the light beam emitted by the laser emitter 112 can be more comprehensively directed to the diffuser 115 after being processed by the first collimating lens 114, thereby reducing the possibility that the light beam emitted by the laser emitter 112 is diffused to an unnecessary direction, reducing the light energy loss of the light beam emitted by the laser emitter 112, and improving the utilization rate of the light beam emitted by the laser emitter 112. The mutually parallel collimated light beams change the diameter and divergence angle of the light beam through the diffuser 115, thereby increasing the radiation area of ​​the light beam emitted through the light outlet 111, improving the comprehensiveness of the target object being irradiated by the light beam, and facilitating the improvement of the detection range and detection accuracy of the laser radar 100. At the same time, the setting of the diffuser 115 can increase the radiation area of ​​the light beam without significantly affecting the total energy of the light beam, and can further improve the energy utilization rate of the light beam emitted by the laser radar 100.

[0065] like Figure 3 As shown, in some possible embodiments provided by the present application, the light processing component 113 includes: a second collimating lens 116 and a free-form surface lens 117, the second collimating lens 116 is located between the laser emitter 112 and the free-form surface lens 117, and the light outlet 111 is located at the end of the free-form surface lens 117 away from the second collimating lens 116. Figure 3 The direction of the arrow represents the propagation direction of the light beam.

[0066] In this embodiment, the light processing component 113 includes two lenses, a second collimating lens 116 and a free-form surface lens 117. The laser emitter 112, the second collimating lens 116, and the free-form surface lens 117 are sequentially arranged between the substrate 130 and the exit window of the machine body, so that the light beam emitted by the laser emitter 112 is processed by the second collimating lens 116 to become a collimated light beam parallel to each other and propagate in parallel, so that the light beam emitted by the laser emitter 112 can be more comprehensively directed to the free-form surface lens 117 after being processed by the second collimating lens 116, thereby reducing the possibility that the light beam emitted by the laser emitter 112 diffuses to an unnecessary direction, reducing the light energy loss of the light beam emitted by the laser emitter 112, and improving the utilization rate of the light beam emitted by the laser emitter 112. The collimated light beams parallel to each other are effectively diffused by the free-form surface lens 117, which can increase the radiation area of ​​the light beam emitted through the light outlet 111, improve the comprehensiveness of the target object being irradiated by the light beam, and help improve the detection range and detection accuracy of the laser radar 100.

[0067] It can be understood that the free-form surface lens 117 can achieve effective diffusion of the light beam through its unique curved surface design.

[0068] like Figure 4 As shown, in some possible embodiments provided by the present application, the light processing component 113 includes: an incident lens 118, a light outlet 111 located at the end of the incident lens 118 away from the laser emitter 112, and the end of the incident lens 118 away from the laser emitter 112 is set as a light diffusion surface 1181. Figure 4 The direction of the arrow represents the propagation direction of the light beam.

[0069] In this embodiment, the light processing component 113 includes an incident lens 118. The laser emitter 112 and the incident lens 118 are sequentially arranged between the substrate 130 and the exit window of the machine body, so that the light beam emitted by the laser emitter 112 is processed by the incident lens 118 and then emitted through the light outlet 111. Since the end of the incident lens 118 away from the laser emitter 112 is set as a light diffusion surface 1181, the light diffusion surface 1181 can effectively diffuse the light beam, thereby increasing the radiation area of ​​the light beam emitted through the light outlet 111, improving the comprehensiveness of the target object being irradiated by the light beam, and helping to improve the detection range and detection accuracy of the laser radar 100.

[0070] The light diffusion surface 1181 can achieve full dispersion of the incident light through chemical or physical means, utilizing the physical phenomena of refraction, reflection and scattering that occurs when light encounters two media with different refractive index densities during its path, thereby producing an optical diffusion effect.

[0071] In some possible embodiments provided in the present application, the light diffusion surface 1181 is curved or wavy, thereby meeting the requirements of different structures of the light diffusion surface 1181. It is understandable that the light diffusion surface 1181 may also be other shapes besides curved or wavy.

[0072] like Figure 1 As shown, in some possible embodiments provided in the present application, the receiving unit 120 includes a laser receiver 122 and a receiving lens 123 arranged in sequence, the laser receiver 122 is connected to the substrate 130, the light inlet 121 is located at the end of the receiving lens 123 away from the laser receiver 122, and the receiving lens 123 is a convex lens.

[0073] In this embodiment, the laser receiver 122 and the receiving lens 123 are arranged in sequence between the substrate 130 and the incident window of the machine body, so that the light beam reflected by the target object enters the receiving lens 123 through the light entrance 121, is processed by the receiving lens 123, and is emitted and received by the laser receiver 122 to realize the ranging function.

[0074] Among them, the receiving lens 123 is set as a convex lens, which has the function of converging light. Therefore, the convex lens can be used to converge the light beam entering the receiving lens 123 through the incident port, so that the light beam emitted to the laser receiver 122 through the receiving lens 123 is more concentrated, so as to reduce the possibility that the light beam cannot be received by the laser receiver 122, reduce the energy loss of the incident light beam, and improve the utilization rate of the incident light beam, so as to improve the detection accuracy of the laser radar 100.

[0075] Furthermore, since the receiving unit 120 in this embodiment includes the laser receiver 122 and the receiving lens 123, and the transmitting unit 110 includes the laser transmitter 112 and the optical processing component 113, the laser receiver 122 and the laser transmitter 112 are arranged relative to each other, and the receiving lens 123 and the optical processing component 113 are arranged relative to each other, the distance between the substrate 130 and the light inlet 121 can be adjusted by the receiving lens 123, and the distance between the substrate 130 and the light outlet 111 can be adjusted by the optical processing component 113, thereby, the light inlet 121 and the light outlet 111 can be arranged as close as possible, The height difference between the light inlet 121 and the light outlet 111 in the direction perpendicular to the substrate 130 is made smaller, or the light inlet 121 and the light outlet 111 are arranged flush in the direction perpendicular to the substrate 130. Thus, after the laser radar 100 is installed on the machine body, the distance between the light inlet 121 and the incident window is smaller, and the distance between the light outlet 111 and the exit window is smaller, so as to improve the detection accuracy of the laser radar 100. At the same time, the laser radar 100 and the machine body are arranged compactly, reducing the space occupied by the laser radar 100 and leaving space for the layout of other components in the machine body.

[0076] like Figure 1 As shown, in some possible embodiments provided by the present application, the substrate 130 is a printed circuit board (PCB), and the transmitting unit 110 is electrically connected to the printed circuit board by surface mounting or bonding, thereby realizing the electrical connection between the transmitting unit 110 and the substrate 130 to realize signal and data transmission. Specifically, the laser transmitter 112 of the transmitting unit 110 is provided with a transmitting circuit, and the transmitting circuit is electrically connected to the printed circuit board by surface mounting or bonding.

[0077] The receiving unit 120 is electrically connected to the circuit board by surface mounting or bonding, thereby realizing electrical connection between the receiving unit 120 and the substrate 130 to realize signal and data transmission. Specifically, the laser receiver 122 of the receiving unit 120 is provided with a receiving circuit, and the receiving circuit is electrically connected to the circuit board by surface mounting or bonding.

[0078] In the description of the present invention, the term "plurality" refers to two or more than two. Unless otherwise clearly defined, the orientation or positional relationship indicated by the terms "upper" and "lower" is based on the orientation or positional relationship described in the accompanying drawings. It is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it cannot be understood as a limitation on the present invention. The terms "connection", "installation", "fixation", etc. should be understood in a broad sense. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected or indirectly connected through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0079] For those skilled in the art, the present invention may have various changes and variations. Any modification, equivalent substitution, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A laser radar (100), characterized in that: include: A transmitting unit (110), a receiving unit (120) and a substrate (130), wherein the transmitting unit (110) and the receiving unit (120) are mounted on the same side of the substrate (130), the transmitting unit (110) comprises a laser transmitter (112) and a light processing component (113) arranged in sequence, the laser transmitter (112) is connected to the substrate (130), an end of the light processing component (113) away from the laser transmitter (112) is arranged as a light outlet (111), and the light processing component (113) is configured to adjust the distance between the light outlet (111) and the substrate (130) to adapt to the receiving unit (120).

2. The laser radar (100) according to claim 1, characterized in that: The side of the substrate (130) on which the transmitting unit (110) and the receiving unit (120) are mounted is a plane.

3. The laser radar (100) according to claim 1, characterized in that: The end of the receiving unit (120) away from the substrate (130) is arranged as a light inlet (121), and the light outlet (111) is arranged close to the light inlet (121).

4. The laser radar (100) according to claim 3, characterized in that: The absolute value of the difference between the distance between the light outlet (111) and the substrate (130) and the distance between the light entrance (121) and the substrate (130) is less than or equal to 5 mm.

5. The laser radar (100) according to claim 4, characterized in that: The center of the light outlet (111) and the center of the light entrance (121) are substantially on the same plane.

6. The laser radar (100) according to claim 1, characterized in that: The light processing component (113) comprises: At least one lens, the light emitted by the laser emitter (112) is diffused by the at least one lens and then emitted from the light outlet (111).

7. The laser radar (100) according to claim 6, characterized in that: The light processing component (113) comprises: A first collimating lens (114) and a diffuser (115), wherein the first collimating lens (114) is located between the laser emitter (112) and the diffuser (115), and the light outlet (111) is located at an end of the diffuser (115) away from the first collimating lens (114).

8. The laser radar (100) according to claim 6, characterized in that: The light processing component (113) comprises: A second collimating lens (116) and a free-form surface lens (117), wherein the second collimating lens (116) is located between the laser emitter (112) and the free-form surface lens (117), and the light outlet (111) is located at an end of the free-form surface lens (117) away from the second collimating lens (116).

9. The laser radar (100) according to claim 6, characterized in that: The light processing component (113) comprises: An incident lens (118), the light outlet (111) is located at an end of the incident lens (118) away from the laser emitter (112), and the end of the incident lens (118) away from the laser emitter (112) is configured as a light diffusion surface (1181).

10. A cleaning device, characterized in that: include: A machine body, and a laser radar (100) as claimed in any one of claims 1 to 9, wherein the laser radar (100) is installed on the machine body.

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