Laser radar and cleaning device

Abstract

The invention discloses a laser radar and a cleaning device. The laser radar comprises a transmitting unit, a receiving unit and a deflection and reflection unit. The emission unit is used for generating emission light; the receiving unit is used for receiving reflected light; the deflection reflection unit is located on at least one of a transmitting path of the transmitting unit and a receiving path of the receiving unit, and the deflection reflection unit located on the transmitting path of the transmitting unit is used for guiding transmitted light to a target object; the deflection reflection unit located on a receiving path of the receiving unit is used for guiding reflected light reflected from a target object to the receiving unit; wherein the deflection reflection unit has a first state in which the emitted light is reflected in a first direction and a second state in which the emitted light is reflected in a second direction inclined to the first direction. According to the invention, the problems of complex internal structure and high manufacturing cost of the laser radar caused by an independently arranged light splitting element in the prior art can be solved.

Description

Technical Field

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

[0002] LiDAR is a radar system that emits laser beams to detect the position, speed and other characteristic quantities of a target. Its working principle is to emit a detection laser beam to the target, and then compare the received signal laser reflected from the target with the emitted laser. After appropriate processing, relevant information about the target can be obtained, such as target distance, direction, altitude, speed, attitude, and even shape parameters.

[0003] At present, in order to improve the ranging range of laser radar, multiple beams are usually set for scanning, and separate beam splitters are set to separate and deflect the beams. The deflected beams are then reflected to the target through the reflective element to detect the position of the target. However, the separate beam splitters make the internal structure of the laser radar complex and the production cost high. Summary of the invention

[0004] The main purpose of the present application is to provide a laser radar and a cleaning device to solve the problem in the prior art that the independently arranged spectroscopic elements lead to a complex internal structure of the laser radar and high production cost.

[0005] According to one aspect of the present application, a laser radar is provided, comprising:

[0006] An emission unit, the emission unit is used to generate emission light;

[0007] A receiving unit, the receiving unit is used to receive reflected light;

[0008] a deflection and reflection unit, the deflection and reflection unit being located on at least one of a transmission path of the transmission unit and a receiving path of the receiving unit, the deflection and reflection unit being located on the transmission path of the transmission unit and being used to direct the transmission light toward a target object, and the deflection and reflection unit being located on the receiving path of the receiving unit and being used to direct the reflected light reflected from the target object toward the receiving unit;

[0009] The deflection reflection unit has a first state of reflecting the emitted light along a first direction and a second state of reflecting the emitted light along a second direction inclined to the first direction.

[0010] Further, the deflection reflection unit includes at least one wedge-shaped mirror, and the at least one wedge-shaped mirror is rotatably disposed between the transmitting unit and the receiving unit to switch between the first state and the second state, and the wedge-shaped mirror extends along a third reverse direction;

[0011] The wedge-shaped mirror has a first reflecting mirror surface and a second reflecting mirror surface, and the first reflecting mirror surface and the second reflecting mirror surface are arranged at intervals along the same circumferential direction of the wedge-shaped mirror;

[0012] The first reflective mirror surface is arranged parallel to the third direction so that the emitted light is reflected to the target object along the first direction, and the second reflective mirror surface is arranged inclined to the third direction so that the emitted light is reflected to the target object along the second direction.

[0013] Further, the wedge-shaped mirror includes one, and the wedge-shaped mirror is located on the transmitting path of the transmitting unit and the receiving path of the receiving unit;

[0014] The emitted light is reflected toward the first direction to the target object by the first reflecting mirror surface of the wedge-shaped mirror, and the emitted light is reflected toward the second direction to the target object by the second reflecting mirror surface of the wedge-shaped mirror;

[0015] The reflected light reflected from the target object is reflected to the wedge mirror along the first direction, and is reflected to the receiving unit through the first reflecting mirror surface of the wedge mirror, and the reflected light reflected from the target object is reflected to the wedge mirror along the second direction, and is reflected to the receiving unit through the second reflecting mirror surface of the wedge mirror.

[0016] Further, the wedge-shaped mirrors include two, the two wedge-shaped mirrors rotate coaxially, one of the two wedge-shaped mirrors is rotatably disposed on the transmitting path of the transmitting unit, and the other of the two wedge-shaped mirrors is rotatably disposed on the receiving path of the receiving unit;

[0017] The emitted light is reflected toward the first direction to the target object by the first reflecting mirror surface of the wedge-shaped mirror located on the emission path of the emission unit, and the emitted light is reflected toward the second direction to the target object by the second reflecting mirror surface of the wedge-shaped mirror;

[0018] The reflected light reflected from the target object is reflected along the first direction to the wedge-shaped mirror located on the receiving path of the receiving unit, and is reflected to the receiving unit through the first reflecting mirror surface of the wedge-shaped mirror, and the reflected light reflected from the target object is reflected along the second direction to the wedge-shaped mirror located on the receiving path of the receiving unit, and is reflected to the receiving unit through the second reflecting mirror surface of the wedge-shaped mirror.

[0019] Further, the wedge-shaped mirror includes one, and the wedge-shaped mirror is rotatably arranged on the emission path of the emission unit, so that the emission light is reflected toward the first direction to the target object through the first reflection mirror surface of the wedge-shaped mirror, and the emission light is reflected toward the second direction to the target object through the second reflection mirror surface of the wedge-shaped mirror;

[0020] The reflected light reflected from the target object is reflected to the receiving unit.

[0021] Further, the wedge-shaped mirror includes one, and the wedge-shaped mirror is rotatably arranged on the emission path of the emission unit, so that the emission light is reflected toward the first direction to the target object through the first reflection mirror surface of the wedge-shaped mirror, and the emission light is reflected toward the second direction to the target object through the second reflection mirror surface of the wedge-shaped mirror;

[0022] The deflection reflection unit also includes a plane mirror, which is rotatably arranged on the receiving path of the receiving unit, and has a third reflecting mirror surface, which is arranged parallel to the third direction, and the reflected light reflected from the target object is reflected along the first direction to the third reflecting mirror surface, and is reflected to the receiving unit through the third reflecting mirror surface, and the reflected light reflected from the target object is reflected along the second direction to the third reflecting mirror surface, and is reflected to the receiving unit through the third reflecting mirror surface.

[0023] Furthermore, an inclination angle A between the second reflective mirror surface and the third direction satisfies the relationship: 5°≤A≤7°.

[0024] Furthermore, the laser radar also includes a driving motor and a transmission wheel, the transmission wheel is connected to the deflection and reflection unit, and the driving motor is drivingly connected to the transmission wheel to drive the transmission wheel to rotate and drive the deflection and reflection unit to switch between the first state and the second state.

[0025] Further, the emission unit includes a plurality of independently arranged light sources, and the light sources are used to generate the emission light;

[0026] The laser radar also includes a collimator, which is arranged between the transmitting unit and the deflection and reflection unit to collimate the emitted light generated by the light source.

[0027] On the other hand, the present application also provides a cleaning device, which includes the above-mentioned laser radar.

[0028] In the present application, the emission light generated by the emission unit will be emitted to the deflection reflection unit. When the deflection reflection unit is in the first state, the emission light is reflected to the target object along the first direction via the deflection reflection unit to scan the target object in the first direction. When the deflection reflection unit is in the second state, the emission light is reflected to the target object along the second direction via the deflection reflection unit to scan the target object in the second direction, thereby realizing the scanning of the laser radar within multiple angle ranges in the horizontal and oblique directions, greatly improving the scanning range of the laser radar. After the scanning is completed, the reflected light reflected from the target object is reflected to the receiving unit via the deflection reflection unit. In the scanning process of the above-mentioned laser radar, since the deflection reflection unit set in the present application has a first state and a second state, when it is necessary to detect the position of the target object, only one deflection reflection unit is needed to realize the splitting, deflection and reflection of the emission light beam, without the need for splitting through a more complex splitting element, and the structure is simple and the energy utilization efficiency is high. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0030] Figure 1 A schematic diagram of the optical path structure of the laser radar disclosed in the embodiment of the present application;

[0031] Figure 2 A schematic diagram of the optical path of a laser radar light beam reflected to a target object disclosed in an embodiment of the present application;

[0032] Figure 3 A schematic diagram of the structure of the transmitting unit disclosed in the embodiment of the present application;

[0033] Figure 4 A schematic diagram of a portion of the optical path of the first laser radar disclosed in an embodiment of the present application;

[0034] Figure 5 A schematic diagram of a portion of the optical path of the second laser radar disclosed in an embodiment of the present application;

[0035] Figure 6 A schematic diagram of a portion of the optical path of the third laser radar disclosed in the embodiment of the present application;

[0036] Figure 7 This is a schematic diagram of a portion of the optical path of the fourth laser radar disclosed in an embodiment of the present application.

[0037] The above drawings include the following reference numerals:

[0038] 10. Transmitting unit; 11. Transmitted light; 12. Light source; 20. Receiving unit; 21. Reflected light; 30. Deflection reflection unit; 31. Wedge-shaped mirror; 311. First reflecting mirror surface; 312. Second reflecting mirror surface; 40. Driving motor; 50. Transmission wheel; 60. Collimating mirror; 70. Target object; 80. Plane mirror; 81. Third reflecting mirror surface; A. Inclination angle between the wedge-shaped mirror and the third direction. DETAILED DESCRIPTION

[0039] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0040] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the 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 be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0041] Unless otherwise specifically stated, the relative arrangement, numerical expressions and numerical values ​​of the parts and steps set forth in these embodiments do not limit the scope of the present application. At the same time, it should be understood that, for ease of description, the sizes of the various parts shown in the accompanying drawings are not drawn according to the actual proportional relationship. The technology, methods and equipment known to those of ordinary skill in the relevant art may not be discussed in detail, but in appropriate cases, the technology, methods and equipment should be considered as a part of the authorization specification. In all examples shown and discussed here, any specific value should be interpreted as being merely exemplary, rather than as a limitation. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters represent similar items in the following drawings, and therefore, once a certain item is defined in an accompanying drawing, it does not need to be further discussed in subsequent drawings.

[0042] As mentioned in the background technology, in order to improve the ranging range of the laser radar, the existing laser radar usually sets multiple light beams for scanning, and independently sets a spectroscopic element to realize the separation and deflection of the light beam, and the deflected light beam is then reflected to the target object through the reflection unit to realize the detection of the target position and other functions. However, since the spectroscopic element is independently set inside the laser radar, it is easy to cause the internal structure of the laser radar to be complicated, and the production cost of the laser radar is increased. For this reason, the inventor of the present application has designed a new type of laser radar, through which the problem of the independently set spectroscopic element in the prior art causing the internal structure of the laser radar to be complicated and the production cost to be high can be solved. The laser radar of the present application will be described in detail in conjunction with the accompanying drawings.

[0043] See also Figures 1 to 7 As shown, according to an embodiment of the present application, a laser radar is provided, which includes a transmitting unit 10, a receiving unit 20 and a deflection reflection unit 30.

[0044] Specifically, the transmitting unit 10 is used to generate the transmitted light 11; the receiving unit 20 is used to receive the reflected light 21; the deflection reflection unit 30 is located on at least one of the transmitting path of the transmitting unit 10 and the receiving path of the receiving unit 20, the deflection reflection unit 30 located on the transmitting path of the transmitting unit 10 is used to guide the transmitted light 11 toward the target object, and the deflection reflection unit 30 located on the receiving path of the receiving unit 20 is used to guide the reflected light 21 reflected from the target object toward the receiving unit 20; wherein the deflection reflection unit 30 has a first state of reflecting the transmitted light 11 along a first direction and a second state of reflecting the transmitted light 11 along a second direction inclined to the first direction.

[0045] In this embodiment, the emission light 11 generated by the emission unit 10 will be emitted to the deflection reflection unit 30. When the deflection reflection unit 30 is in the first state, the emission light 11 is reflected to the target object along the first direction via the deflection reflection unit 30 to scan the target object in the first direction. When the deflection reflection unit 30 is in the second state, the emission light 11 is reflected to the target object along the second direction via the deflection reflection unit 30 to scan the target object in the second direction, thereby realizing the scanning of the laser radar in multiple angle ranges in the horizontal and oblique directions, greatly improving the scanning range of the laser radar. After the scanning is completed, the reflected light 21 reflected from the target object is reflected to the receiving unit 20 via the deflection reflection unit 30. In the scanning process of the above laser radar, since the deflection reflection unit 30 set in this embodiment has the first state and the second state, when it is necessary to detect the position of the target, only one deflection reflection unit 30 is needed to realize the splitting, deflection and reflection of the emission light beam 11, without the need for splitting through a more complex splitting element, the structure is simple, and the energy utilization efficiency is high.

[0046] It should be noted that the “first direction” in this application refers to the Figure 2 The direction indicated by the letter X is perpendicular to the third direction (i.e. Figure 2 The second direction is any direction within the spatial range of the direction indicated by the letter Z in the figure. Figure 2 The direction indicated by the letter Y in the figure is any direction within the spatial range that is inclined to the third direction and tilted downward. It can be understood that since the deflection reflection unit 30 in the present application is arranged to rotate, when the laser radar starts to work, the reflected light 21 after the emitted light 11 is reflected by the deflection reflection unit 30 will continue to switch between the first direction and the second direction as the deflection reflection unit 30 rotates.

[0047] Specifically, when the laser radar in the present application is installed on a cleaning device such as a sweeping robot, the emission light 11 generated by the emission unit 10 needs to be accurately pointed to the target object in the surrounding environment of the cleaning device to obtain environmental information, and the deflection reflection unit 30 plays a key guiding role in the emission path. When the deflection reflection unit 30 is in the first state, the emission light 11 emitted by the emission unit 10 will be reflected along the first direction via the deflection reflection unit 30, and the first direction is the main direction of the cleaning device. For example, when the cleaning device moves forward, the emission light 11 reflected along the first direction can quickly scan the front area to detect possible obstacles, so that the cleaning device avoids obstacles and performs cleaning work normally; when the deflection reflection unit 30 is in the second state, the emission light 11 emitted by the emission unit 10 will be reflected along the second direction via the deflection reflection unit 30, and the second direction is a direction inclined toward the surface to be cleaned, which enables the cleaning device to not only detect the object directly in front, but also scan whether there are other obstacles on the surface to be cleaned, such as steps, stairs, etc., thereby helping the cleaning device to achieve obstacle crossing function.

[0048] Further, see Figure 2 As shown, the deflection reflection unit 30 in this embodiment includes at least one wedge-shaped mirror 31, which is rotatably arranged between the transmitting unit 10 and the receiving unit 20 to switch between the first state and the second state, and the wedge-shaped mirror 31 extends along the third direction; the wedge-shaped mirror 31 has a first reflecting mirror surface 311 and a second reflecting mirror surface 312, and the first reflecting mirror surface 311 and the second reflecting mirror surface 312 are arranged at intervals along the same circumferential direction of the wedge-shaped mirror 31; wherein the first reflecting mirror surface 311 is arranged parallel to the third direction so that the emitted light 11 is reflected to the target object along the first direction, and the second reflecting mirror surface 312 is arranged obliquely to the third direction so that the emitted light 11 is reflected to the target object along the second direction.

[0049] It is understandable that the cross-sectional area of ​​the wedge-shaped mirror 31 in this embodiment (the area of ​​the cross section obtained by cutting the wedge-shaped mirror 31 perpendicular to the third direction) gradually decreases from top to bottom. In this way, when the emission light 11 generated by the emission unit 10 is emitted to the second reflection mirror surface 312 of the wedge-shaped mirror 31, the emission light 11 will be reflected downward to the surface to be cleaned. It should be noted that the "third direction" in this application is the attached Figure 2 The direction indicated by the letter Z.

[0050] Specifically, the wedge mirror 31 in this embodiment is a double-sided reflector, and the first reflector surface 311 can reflect the emitted light 11 horizontally, so that the emitted light 11 is reflected to the target object (such as a wall, steps and other obstacles) along the first direction, and the second reflector surface 312 can reflect the emitted light 11 obliquely downward, so that the emitted light 11 is reflected to the target object (such as a wall, steps and other obstacles) along the second direction, which greatly improves the scanning range of the laser radar. At the same time, since the wedge mirror 31 in this embodiment can be rotatably set on the transmitting path of the transmitting unit 10 and the receiving path of the receiving unit 20, when the laser radar starts working, the rotatably set wedge mirror 31 can switch between the first state and the second state, so that the reflection angle of the emitted light 11 can be flexibly switched, so that the emitted light 11 can scan different positions of the target object, and finally obtain information on more areas of the target object.

[0051] Further, see Figure 4 As shown, in the first embodiment of the present application, the wedge mirror 31 includes one, and the wedge mirror 31 is located on the transmitting path of the transmitting unit 10 and the receiving path of the receiving unit 20 .

[0052] Among them, the emitted light 11 is reflected toward the first direction to the target object through the first reflecting mirror surface 311 of the wedge-shaped mirror 31, and the emitted light 11 is reflected toward the second direction to the target object through the second reflecting mirror surface 312 of the wedge-shaped mirror 31; the reflected light 21 reflected from the target object is reflected to the wedge-shaped mirror 31 along the first direction, and is reflected to the receiving unit 20 through the first reflecting mirror surface 311 of the wedge-shaped mirror 31, and the reflected light 21 reflected from the target object is reflected to the wedge-shaped mirror 31 along the second direction, and is reflected to the receiving unit 20 through the second reflecting mirror surface 312 of the wedge-shaped mirror 31.

[0053] Specifically, in this embodiment, by providing a wedge-shaped mirror 31, two functions of directing the emitted light 11 to the target object and directing the reflected light 21 reflected from the target object to the receiving unit 20 can be achieved. Compared with using multiple optical elements to respectively achieve these two functions, the number of components of the internal optical system of the laser radar is greatly reduced, the structure is simple, and the energy utilization efficiency is high. At the same time, the wedge-shaped mirror 31 in this embodiment has two reflecting mirror surfaces, which can reflect the emitted light 11 to the target object in the first direction and the second direction respectively, thereby expanding the emission angle range of the light, thereby increasing the scanning range of the laser radar, so that the laser radar can detect targets in different directions at the same time, effectively ensuring the comprehensiveness and accuracy of the laser radar detection.

[0054] Further, see Figure 5 As shown, in the second embodiment of the present application, the wedge mirrors 31 include two, the two wedge mirrors 31 rotate coaxially, one of the two wedge mirrors 31 is rotatably disposed on the transmitting path of the transmitting unit 10, and the other of the two wedge mirrors 31 is rotatably disposed on the receiving path of the receiving unit 20.

[0055] Among them, the emission light 11 is reflected toward the first direction to the target object through the first reflection mirror surface 311 of the wedge-shaped mirror 31 located on the emission path of the emission unit 10, and the emission light 11 is reflected toward the second direction to the target object through the second reflection mirror surface 312 of the wedge-shaped mirror 31; the reflected light 21 reflected from the target object is reflected along the first direction to the wedge-shaped mirror 31 located on the receiving path of the receiving unit 20, and is reflected to the receiving unit 20 through the first reflection mirror surface 311 of the wedge-shaped mirror 31, and the reflected light 21 reflected from the target object is reflected along the second direction to the wedge-shaped mirror 31 located on the receiving path of the receiving unit 20, and is reflected to the receiving unit 20 through the second reflection mirror surface 312 of the wedge-shaped mirror 31.

[0056] Specifically, in this embodiment, the two coaxially rotating wedge-shaped mirrors 31 have high synchronization and stability, and can reduce jitter and deviation in the optical path, thereby ensuring stable transmission of the emitted light 11 and stable reception of the reflected light 21, and effectively improving the reliability and stability of the internal system of the laser radar. In other words, by rotating the wedge-shaped mirror 31 located on the emission path of the transmitting unit 10, the emission direction of the light beam can be accurately adjusted, so that the emitted light 11 is emitted to the target object along the first direction and the second direction, and the wedge-shaped mirror 31 located on the receiving path of the receiving unit 20 can accurately receive the reflected light 21 reflected from the target object and reflect the reflected light 21 to the receiving unit 20.

[0057] Further, see Figure 6As shown, in the third embodiment of the present application, the wedge mirror 31 includes one, and the wedge mirror 31 is rotatably arranged on the emission path of the emission unit 10, so that the emission light 11 is reflected toward the first direction to the target object through the first reflection mirror surface 311 of the wedge mirror 31, and the emission light 11 is reflected toward the second direction to the target object through the second reflection mirror surface 312 of the wedge mirror 31; the reflected light 21 reflected from the target object is reflected to the receiving unit 20.

[0058] Specifically, in this embodiment, a wedge-shaped mirror 31 is provided to realize the function of directing the emitted light 11 toward the target object in the first direction and the second direction, thereby increasing the scanning range of the laser radar, so that the laser radar can detect targets in different directions at the same time, effectively ensuring the comprehensiveness and accuracy of the laser radar detection. At the same time, since the reflected light 21 in this embodiment is directly received by the receiving unit 20 without passing through the reflector, such a setting reduces the energy loss in the reflection process of the reflector, so that the laser radar can more accurately obtain the original information of the reflected light 21 of the target object, and reduces the number of optical components inside the laser radar, reduces the complexity of the internal structure of the laser radar, and thus reduces the manufacturing cost.

[0059] Further, see Figure 7 As shown, in the fourth embodiment of the present application, the wedge mirror 31 includes one, and the wedge mirror 31 is rotatably arranged on the emission path of the emission unit 10, so that the emission light 11 is reflected toward the first direction to the target object through the first reflection mirror surface 311 of the wedge mirror 31, and the emission light 11 is reflected toward the second direction to the target object through the second reflection mirror surface 312 of the wedge mirror 31; the deflection reflection unit 30 also includes a plane mirror 80, the plane mirror 80 is rotatably arranged on the receiving path of the receiving unit 20, the plane mirror 80 has a third reflection mirror surface 81, and the third reflection mirror surface 81 is arranged parallel to the third direction, the reflected light 21 reflected from the target object is reflected along the first direction to the third reflection mirror surface 81, and is reflected to the receiving unit 20 through the third reflection mirror surface 81, and the reflected light 21 reflected from the target object is reflected along the second direction to the third reflection mirror surface 81, and is reflected to the receiving unit 20 through the third reflection mirror surface 81.

[0060] Specifically, in this embodiment, the wedge mirror 31 is rotatably disposed on the transmission path of the transmitting unit 10, so that the direction of the transmitted light 11 is changed so that the transmitted light 11 is reflected to the target object along the first direction and the second direction, thereby increasing the scanning range of the laser radar and effectively improving the detection efficiency of the laser radar. At the same time, the plane mirror 80 in this embodiment is rotatably disposed on the receiving path of the receiving unit 20. When the light beam emitted to the target object is reflected back, the rotatably disposed plane mirror 80 can effectively guide the reflected light 21 to the receiving unit 20, effectively improving the flexibility of adjusting the laser radar optical path.

[0061] Further, in this embodiment, the inclination angle A between the second reflective mirror surface 312 and the third direction satisfies the relationship: 5°≤A≤7°, for example, 5°, 5.2°, 5.4°, 5.6°, 5.8°, 6°, 6.2°, 6.4°, 6.6°, 6.8°, 7°, etc. When A is less than 5°, the deflection angle of the light beam is too small. When the emission light 11 is emitted to the second reflective mirror surface 312 of the wedge-shaped mirror 31, the angle change of the reflected light 21 corresponding to the emission light 11 is small. In the scene where a large range needs to be detected, the small angle change is difficult to effectively cover a sufficiently large area; when A is greater than 7°, the deflection angle of the light beam is increased. When the emission light 11 is emitted to the second reflective mirror surface 312 of the wedge-shaped mirror 31, the angle change of the reflected light 21 corresponding to the emission light 11 is large, which makes the reflected light 21 unable to return to the receiving unit 20 at the expected angle, resulting in a weakened signal strength or signal loss received by the receiving unit 20. That is to say, in this embodiment, by making the inclination angle A between the wedge mirror 31 and the third direction satisfy the relationship: 5°≤A≤7°, the scanning range of the laser radar can be effectively guaranteed, thereby ensuring the reliability and stability of the laser radar during operation.

[0062] Further, see Figure 1 As shown, the laser radar in this embodiment also includes a driving motor 40 and a transmission wheel 50. The transmission wheel 50 is connected to the deflection reflection unit 30. The driving motor 40 is drivingly connected to the transmission wheel 50 to drive the transmission wheel 50 to rotate and drive the deflection reflection unit 30 to switch between the first state and the second state.

[0063] Specifically, in this embodiment, the deflection reflection unit 30 is switched between the first state and the second state by driving the motor 40 and the transmission wheel 50 without manual operation, thereby improving the reliability and accuracy of the rotation of the deflection reflection unit 30 and enabling the deflection reflection unit 30 to switch quickly between the first state and the second state, thereby improving the cleaning device's perception speed of the environment and preventing the cleaning device from being damaged due to collision with obstacles in the environment.

[0064] Further, see Figures 3 to 7 As shown, the transmitting unit 10 in this embodiment includes a plurality of independently arranged light sources 12, and the light sources 12 are used to generate emission light 11; the laser radar further includes a collimator 60, which is arranged between the transmitting unit 10 and the deflection reflection unit 30, and is used to collimate the emission light 11 generated by the light source 12. Exemplarily, the light source 12 in this embodiment can be set to two, or three or more. Figure 3 FIG. 2 shows a case where the number of light sources 12 is seven.

[0065] Specifically, in this embodiment, multiple independently arranged light sources 12 are simultaneously reflected to the target object by the deflection reflection unit 30, which can perform a more comprehensive scan of the surrounding environment, reduce the omission or inaccuracy of information caused by scanning with a single light source, so that the laser radar can perceive the space more accurately and effectively improve the ranging accuracy of the laser radar. At the same time, under different lighting environments, multiple light sources 12 can work together to provide a stronger power of the emitted light 11, ensure that the emitted light 11 can be reflected to the target object and returned from the target object, and effectively ensure the normal operation of the laser radar. In addition, since the light beam emitted by the light source 12 is usually divergent, the collimator 60 is arranged between the emission unit 10 and the deflection reflection unit 30 in this embodiment, which can change the propagation direction of the light beam, so that the light beam is emitted to the deflection reflection unit 30 as parallel as possible, reducing the energy loss of the emitted light 11, and effectively improving the energy utilization rate of the laser radar.

[0066] On the other hand, the embodiment of the present application also provides a cleaning device, such as a sweeping robot, a mopping robot, etc., which includes the above-mentioned laser radar, and therefore, the cleaning device includes all the technical effects of the above-mentioned laser radar. Since the technical effects of the laser radar have been described in detail above, they will not be repeated here.

[0067] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used here to describe the spatial positional relationship between a device or feature and other devices or features as shown in the figure. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figure. For example, if the device in the accompanying drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0068] In addition, it should be noted that the use of terms such as "first" and "second" to limit components is only for the convenience of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore cannot be understood as limiting the scope of protection of this application.

[0069] The above are only preferred embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A laser radar, characterized in that: include: An emitting unit (10), the emitting unit (10) being used to generate emitted light (11); A receiving unit (20), the receiving unit (20) being used to receive reflected light (21); a deflection reflection unit (30), the deflection reflection unit (30) being located on at least one of a transmission path of the transmission unit (10) and a receiving path of the receiving unit (20); the deflection reflection unit (30) being located on the transmission path of the transmission unit (10) being used to guide the transmission light (11) toward a target object (70); and the deflection reflection unit (30) being located on the receiving path of the receiving unit (20) being used to guide the reflected light (21) reflected from the target object (70) toward the receiving unit (20); The deflection reflection unit (30) has a first state for reflecting the emitted light (11) along a first direction and a second state for reflecting the emitted light (11) along a second direction inclined to the first direction.

2. The laser radar according to claim 1, characterized in that: The deflection reflection unit (30) comprises at least one wedge-shaped mirror (31), and the at least one wedge-shaped mirror (31) is rotatably arranged between the transmitting unit (10) and the receiving unit (20) so as to switch between the first state and the second state, and the wedge-shaped mirror (31) extends along a third direction; The wedge-shaped mirror (31) comprises a first reflecting mirror surface (311) and a second reflecting mirror surface (312), wherein the first reflecting mirror surface (311) and the second reflecting mirror surface (312) are arranged at intervals along the same circumferential direction of the wedge-shaped mirror (31); The first reflecting mirror surface (311) is arranged parallel to the third direction so that the emitted light (11) is reflected along the first direction to the target object (70), and the second reflecting mirror surface (312) is arranged inclined to the third direction so that the emitted light (11) is reflected along the second direction to the target object (70).

3. The laser radar according to claim 2, characterized in that: The wedge-shaped mirror (31) comprises one, and the wedge-shaped mirror (31) is located on the transmitting path of the transmitting unit (10) and the receiving path of the receiving unit (20); The emitted light (11) is reflected toward the first direction to the target object (70) by the first reflecting mirror surface (311) of the wedge-shaped mirror (31), and the emitted light (11) is reflected toward the second direction to the target object (70) by the second reflecting mirror surface (312) of the wedge-shaped mirror (31); The reflected light (21) reflected from the target object (70) is reflected along the first direction to the wedge-shaped mirror (31), and is reflected to the receiving unit (20) through the first reflecting mirror surface (311) of the wedge-shaped mirror (31); and the reflected light (21) reflected from the target object (70) is reflected along the second direction to the wedge-shaped mirror (31), and is reflected to the receiving unit (20) through the second reflecting mirror surface (312) of the wedge-shaped mirror (31).

4. The laser radar according to claim 2, characterized in that: The wedge-shaped mirrors (31) include two, the two wedge-shaped mirrors (31) rotate coaxially, one of the two wedge-shaped mirrors (31) is rotatably arranged on the transmission path of the transmission unit (10), and the other of the two wedge-shaped mirrors (31) is rotatably arranged on the receiving path of the receiving unit (20); The emission light (11) is reflected toward the first direction to the target object (70) by the first reflection mirror surface (311) of the wedge-shaped mirror (31) located on the emission path of the emission unit (10), and the emission light (11) is reflected toward the second direction to the target object (70) by the second reflection mirror surface (312) of the wedge-shaped mirror (31); The reflected light (21) reflected from the target object (70) is reflected along the first direction to the wedge mirror (31) located on the receiving path of the receiving unit (20), and is reflected to the receiving unit (20) through the first reflecting mirror surface (311) of the wedge mirror (31); and the reflected light (21) reflected from the target object (70) is reflected along the second direction to the wedge mirror (31) located on the receiving path of the receiving unit (20), and is reflected to the receiving unit (20) through the second reflecting mirror surface (312) of the wedge mirror (31).

5. The laser radar according to claim 2, characterized in that: The wedge-shaped mirror (31) comprises one wedge-shaped mirror (31) which is rotatably arranged on the emission path of the emission unit (10) so that the emission light (11) is reflected toward the first direction to the target object (70) through the first reflection mirror surface (311) of the wedge-shaped mirror (31), and the emission light (11) is reflected toward the second direction to the target object (70) through the second reflection mirror surface (312) of the wedge-shaped mirror (31); The reflected light (21) reflected from the target object (70) is reflected to the receiving unit (20).

6. The laser radar according to claim 2, characterized in that: The wedge-shaped mirror (31) comprises one wedge-shaped mirror (31) which is rotatably arranged on the emission path of the emission unit (10) so that the emission light (11) is reflected toward the first direction to the target object (70) through the first reflection mirror surface (311) of the wedge-shaped mirror (31), and the emission light (11) is reflected toward the second direction to the target object (70) through the second reflection mirror surface (312) of the wedge-shaped mirror (31); The deflection reflection unit (30) further comprises a plane mirror (80), wherein the plane mirror (80) is rotatably arranged on a receiving path of the receiving unit (20), and the plane mirror (80) has a third reflection mirror surface (81), wherein the third reflection mirror surface (81) is arranged parallel to the third direction, wherein the reflected light (21) reflected from the target object (70) is reflected along the first direction to the third reflection mirror surface (81), and is reflected to the receiving unit (20) through the third reflection mirror surface (81), and wherein the reflected light (21) reflected from the target object (70) is reflected along the second direction to the third reflection mirror surface (81), and is reflected to the receiving unit (20) through the third reflection mirror surface (81).

7. The laser radar according to claim 2, characterized in that: An inclination angle A between the second reflecting mirror surface (312) and the third direction satisfies the relationship: 5°≤A≤7°.

8. The laser radar according to any one of claims 1 to 7, characterized in that: The laser radar further comprises a driving motor (40) and a transmission wheel (50), wherein the transmission wheel (50) is connected to the deflection reflection unit (30), and the driving motor (40) is drivingly connected to the transmission wheel (50) so as to drive the transmission wheel (50) to rotate and drive the deflection reflection unit (30) to switch between the first state and the second state.

9. The laser radar according to any one of claims 1 to 7, characterized in that: The emission unit (10) comprises a plurality of independently arranged light sources (12), wherein the light sources (12) are used to generate the emission light (11); The laser radar further comprises a collimator (60), wherein the collimator (60) is arranged between the emitting unit (10) and the deflection reflection unit (30) and is used for collimating the emission light (11) generated by the light source (12).

10. A cleaning device, characterized in that: The cleaning device comprises the laser radar according to any one of claims 1 to 9.

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