Line laser apparatus and cleaning apparatus

Abstract

The invention relates to line laser equipment and cleaning equipment. The line laser equipment comprises a shell, a rotating mirror and a mirror body. A transmitting cavity and a receiving cavity which are separated from each other and are arranged along the thickness direction of the shell are arranged in the shell, and a light outlet corresponding to the transmitting cavity and a light inlet corresponding to the receiving cavity are formed in the shell. The rotating mirror is located in the shell, one part of the rotating mirror is located in the transmitting cavity, and the other part of the rotating mirror is located in the receiving cavity. A part of the lens body is located at the light outlet, the other part of the lens body is located at the light inlet, and the part, located at the light outlet, of the lens body comprises an inclined part. The structure can effectively solve the problem that the detection precision is reduced due to the fact that the line laser equipment misjudges the position of an external reflector.

Description

Technical Field

[0001] This disclosure relates to the field of vehicle technology, and more particularly to a line laser device and a cleaning device. Background Technology

[0002] Linear laser equipment is widely used in cleaning equipment (such as sweeping robots, mopping robots, and automatic sweeping vehicles) and intelligent driving fields. Its core function is to achieve three-dimensional mapping of the environment, obstacle detection, and path planning by emitting lasers and receiving reflected signals.

[0003] Cleaning equipment needs to navigate autonomously in complex environments, such as home floors, carpets, stair edges, and under furniture. It must detect obstacles on the floor (e.g., wires, toys, carpet folds) and walls (e.g., furniture, door frames) in real time to avoid collisions and optimize its cleaning path.

[0004] In existing technology, horizontal light formed by the emitted light passing through a rotating mirror is emitted onto an external reflective object through the mirror surface. The reflected light, formed by the horizontal light under the influence of the mirror, is easily projected back onto the rotating mirror. The rotating mirror causes this reflected light to be emitted to other locations, forming false point clouds and leading to misjudgments of the position of external reflective objects, thus reducing the detection accuracy of the cleaning equipment. Summary of the Invention

[0005] In view of this, the present disclosure provides a line laser device and a cleaning device to solve the problem that the line laser device misjudges the position of external reflective objects, resulting in a decrease in detection accuracy.

[0006] According to some embodiments of this disclosure, a line laser device is provided, including a housing, a rotating mirror, and a mirror body. The housing has mutually isolated emitting cavities and receiving cavities arranged along the thickness direction of the housing. The housing is provided with an exit port corresponding to the emitting cavity and an entrance port corresponding to the receiving cavity.

[0007] The rotating mirror is located inside the housing, with a portion of the rotating mirror located inside the transmitting cavity and the other portion of the rotating mirror located inside the receiving cavity;

[0008] A portion of the mirror body is located at the light outlet, and another portion of the mirror body is located at the light inlet, with the portion of the mirror body located at the light outlet including an inclined portion.

[0009] In one possible implementation, the mirror body includes a transmitting mirror body and a receiving mirror body, wherein the transmitting mirror body is located at the light exit port and the receiving mirror body is located at the light inlet port;

[0010] The tilted portion is formed by tilting a portion of the transmitting mirror body.

[0011] In one possible implementation, the inclined portion is an inclined surface formed by tilting a portion of the mirror surface of the emitting mirror body toward the emitting cavity toward the outside of the housing.

[0012] In one possible implementation, the tilted portion is a tilted mirror body formed by tilting a portion of the emitting mirror body toward the outside of the housing.

[0013] In one possible implementation, the emitting mirror body includes a first region and a second region, which are arranged sequentially in the thickness direction of the housing, with the first region located above the second region.

[0014] The first region is for horizontal light within the emission cavity to pass through, and the second region is for oblique light within the emission cavity to pass through;

[0015] The first region is inclined outward toward the outer side of the housing to form the inclined portion.

[0016] In one possible implementation, the tilt angle between the first region and the vertical direction is β, and 10°≤β≤20°.

[0017] In one possible implementation, the height of the first region is h1 in the thickness direction of the housing, and the height of the emitting mirror is h, wherein h1 ≤ 1 / 4h.

[0018] In one possible implementation, it further includes: a partition plate disposed within the housing and located between the transmitting cavity and the receiving cavity, the partition plate being configured to block light from the transmitting cavity and the receiving cavity.

[0019] In one possible implementation, the partition plate is tilted toward the receiving cavity along the direction from the emission cavity to the light outlet of the housing, so that the partition plate is tilted.

[0020] In one possible implementation, the angle between the surface of the partition plate facing the emission cavity and the horizontal plane is θ, and 9°≤θ≤15°.

[0021] In one possible implementation, the partition plate is integral with the housing.

[0022] In one possible implementation, the emitting mirror body, the partition plate, and the inner wall of the emitting cavity form a trapezoidal cavity with a gradually increasing width, the small end of the trapezoidal cavity facing the rotating mirror, and the large end of the trapezoidal cavity facing the light outlet;

[0023] And / or, the receiving mirror, the partition plate, and the inner wall of the receiving cavity form a trapezoidal cavity with a gradually increasing width, the small end of the trapezoidal cavity facing the rotating mirror, and the large end of the trapezoidal cavity facing the light inlet.

[0024] In one possible implementation, the housing further includes a receiving cavity, in which a transmitting unit and a receiving unit are disposed, and the transmitting unit and the receiving unit are stacked in the thickness direction of the housing.

[0025] The transmitting unit is used to emit horizontal light and tilted light in a time-division manner, and emits them outside the housing under the action of the rotating mirror;

[0026] The receiving unit is used to receive horizontal light and oblique light reflected by external reflectors.

[0027] In one possible implementation, in the thickness direction of the housing, the emitting cavity is located above the receiving cavity, and a first opening is formed on the inner sidewall of the emitting cavity for the emitted light emitted by the emitting unit to pass through;

[0028] A first opening is formed on the inner wall of the receiving cavity, through which the received light rays received by the receiving unit can pass.

[0029] The technical solutions provided by the embodiments of this disclosure may include the following beneficial effects:

[0030] The horizontal light emitted from the cavity is projected towards the mirror body by the rotating mirror. Some of the horizontal light passes through the mirror body and is projected onto external reflective objects. Some of the horizontal light is reflected off the mirror body, forming reflected light. By setting an inclined section on the mirror body, the reflected light generated by the horizontal light can avoid the direction of the rotating mirror. In other words, the reflected light from the horizontal light is less likely to be projected back onto the rotating mirror. Therefore, the possibility of the reflected light being projected onto the rotating mirror again and then onto other locations via the mirror body, leading to misjudgments of the position of external reflective objects, reduced detection accuracy of the cleaning equipment, and a negative impact on the user experience, can be reduced.

[0031] In this embodiment, by providing an inclined portion, the reflected light formed on the inclined portion can avoid the rotating mirror. The reflected light can deviate away from the rotating mirror, making it less likely for horizontal light to be projected onto the rotating mirror again. This reduces the possibility of horizontal light being projected onto the rotating mirror a second time, causing the position of external reflective objects to be misjudged as the position of false point clouds, thus helping to ensure the detection accuracy of the cleaning equipment.

[0032] Furthermore, according to some embodiments of this disclosure, a cleaning device is provided, including the line laser device provided in any of the above embodiments.

[0033] The beneficial effects can be found in the relevant descriptions of the above embodiments, and will not be repeated here.

[0034] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this disclosure. Attached Figure Description

[0035] The accompanying drawings, which are incorporated in and form a part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure.

[0036] Figure 1a This is a schematic diagram illustrating a line laser device for identifying external reflective objects, as shown in some embodiments of related technologies;

[0037] Figure 1b This is a three-dimensional structural schematic diagram of a line laser device according to some embodiments of the present disclosure;

[0038] Figure 1c This is a schematic diagram illustrating a line laser device for identifying external reflective objects, based on some embodiments of the present disclosure;

[0039] Figure 2 This is a partially exploded structural diagram of a line laser device according to some embodiments of the present disclosure;

[0040] Figure 3 yes Figure 1b Schematic diagram of the cross-sectional structure along the AA direction;

[0041] Figure 4 yes Figure 1b Schematic diagram of the cross-sectional structure along the BB direction.

[0042] Explanation of reference numerals in the attached figures

[0043] 100 - Linear laser device; 110 - Housing; 110a - Emitting cavity; 1111 - First opening; 1112 - Light inlet; 110b - Receiving cavity; 1113 - Second opening; 1114 - Light outlet; 120 - Separator; 130 - Emitting unit; 140 - Receiving unit; 150 - Rotating mirror; 160 - Mirror body; 161 - Emitting mirror body; 161a - First region; 161b - Second region; 162 - Receiving mirror body; X - Thickness direction; 200 - Mirror surface. Detailed Implementation

[0044] Some embodiments of this disclosure will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. Various changes, modifications, and equivalents of the methods, apparatus, and / or systems described herein will become apparent upon understanding this disclosure. For example, the order of operations described herein is merely illustrative and is not limited to those orders set forth herein, but can be changed as will become apparent upon understanding this disclosure, except for operations that must be performed in a particular order. Furthermore, for clarity and brevity, descriptions of features known in the art may be omitted.

[0045] The embodiments described in the following examples of this disclosure are not representative of all embodiments consistent with this disclosure. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this disclosure as detailed in the appended claims.

[0046] This application provides a cleaning device. For example, the cleaning device can be a robotic vacuum cleaner, an automatic sweeping vehicle, etc. Taking a robotic vacuum cleaner as an example, the cleaning device can be used for automatic or assisted cleaning of the floor. The cleaning device can reduce the physical exertion of manual cleaning through mechanization and automation technologies, and can improve cleaning efficiency and convenience. The cleaning device of this application embodiment can be applied to home or industrial environments, and is not limited thereto.

[0047] The cleaning equipment may include a main body and a line laser device. The line laser device is mounted on the main body. For example, the line laser device may be located at at least one end of the main body in the direction of travel: the front end, the rear end, the left end, or the right end.

[0048] The line laser device includes a transmitting unit and a receiving unit. The transmitting unit can emit a light beam onto the surface of an external reflective object. The receiving unit can receive the light beam reflected from the surface of the external reflective object to scan the surrounding environment, thereby achieving 3D mapping and obstacle detection. The emitted light can include horizontal light and oblique light. Horizontal light can be used to achieve the mapping function of the cleaning equipment. Oblique light can be used to achieve the obstacle avoidance function of the cleaning equipment. The light can be reflected after passing through the surface of the external reflective object. In the embodiments of this application, the low-lying obstacle can be an external reflective object.

[0049] In related technologies, see Figure 1aAs shown, the emitted light from the emitting unit forms a horizontal light M under the action of the rotating mirror 150. The horizontal light M is emitted towards the external reflector through the mirror 200. The reflected light N formed by the horizontal light M under the action of the mirror 200 is easily projected back onto the rotating mirror 150. The rotating mirror 150 causes the reflected light N to be emitted to other positions, thus forming a false point cloud. Therefore, the position of the external reflector is misjudged. Figure 1a The location of false point clouds in the image can lead to misjudgments in the identification of the location of external reflective objects, thus reducing the detection accuracy of cleaning equipment.

[0050] To address the aforementioned problems, this application provides a line laser device 100, see [link to relevant documentation]. Figure 1b , Figure 1c as well as Figures 2 to 4 As shown, the line laser device 100 includes: a housing 110, a rotating mirror 150, and a mirror body 160.

[0051] The housing 110 may have mutually blocking emitting cavities 110a and receiving cavities 110b arranged along the thickness direction X of the housing 110. The housing 110 is provided with a light exit port 1114 corresponding to the emitting cavity 110a and a light inlet port 1112 corresponding to the receiving cavity 110b.

[0052] The rotating mirror 150 may be located within the housing 110. A portion of the rotating mirror 150 is located within the transmitting cavity 110a. Another portion of the rotating mirror 150 is located within the receiving cavity 110b.

[0053] A portion of the mirror body 160 may be located at the light exit port 1114. Another portion of the mirror body 160 may be located at the light inlet port 1112, and the portion of the mirror body 160 located at the light exit port 1114 includes a tilting portion. The tilting portion can at least be used to reflect a portion of the horizontal light projected onto the tilting portion into the housing 110 and avoid the rotating mirror 150.

[0054] It should be noted that the mirror body 160 can be transparent. The mirror body 160 can cover the light inlet 1112 and the light outlet 1114. The emitted light can pass through the mirror body 160 through the light outlet 1114 and be emitted towards the external reflector. The light reflected by the external reflector passes through. The light reflected by the external reflector can pass through the light inlet 1112 through the mirror body 160 and enter the receiving cavity 110b.

[0055] In the embodiments of this application, see Figure 1cAs shown, the horizontal light M from the emission cavity 110a can be projected towards the mirror body 160 under the action of the rotating mirror 150. Part of the horizontal light M can pass through the mirror body 160 and be projected onto external reflective objects. Part of the horizontal light M will be reflected on the mirror body 160 to form reflected light N. By providing an inclined portion on the mirror body 160, the reflected light N generated by the horizontal light M on the mirror body 160 can avoid the direction of the rotating mirror 150. In other words, the reflected light N generated by the horizontal light M is less likely to be projected back onto the rotating mirror 150. Therefore, the possibility of the reflected light from the horizontal light being projected a second time onto the rotating mirror 150 and then onto other positions via the mirror body 160 can be reduced. This could lead to misjudging the position of external reflective objects as the position of false point clouds, resulting in misjudgment of the position of external reflective objects, thereby reducing the detection accuracy of the cleaning equipment and affecting the user experience.

[0056] In this embodiment, by providing an inclined portion, the reflected light N formed on the inclined portion can avoid the rotating mirror 150. The reflected light N can be deflected away from the rotating mirror 150, making it less likely for the reflected light N to be projected onto the rotating mirror 150 again. This reduces the possibility of the reflected light N being projected onto the rotating mirror 150 a second time, leading to misjudgment of the position of external reflective objects, and helps to ensure the detection accuracy of the cleaning equipment.

[0057] See also some of the possible implementation methods. Figure 3 As shown, the mirror body 160 includes a transmitting mirror body 161 and a receiving mirror body 162. The transmitting mirror body 161 is located at the light exit port 1114. The receiving mirror body 162 is located at the light inlet port 1112. A portion of the transmitting mirror body 161 is tilted to form a tilted section.

[0058] In this embodiment, the emitting mirror 161 can be used to cover the light exit port 1114, allowing the emitted light to pass through the light exit port 1114 and outward toward the external reflector. The receiving mirror 162 can be used to cover the light inlet port 1112, allowing light reflected from the external reflector to pass through. The light reflected from the external reflector can pass through the light inlet port 1112 and through the receiving mirror 162 into the receiving cavity 110b.

[0059] In some examples, a portion of the emitting mirror 161 can be tilted to form a tilted section, while another portion of the emitting mirror 161 can be vertical to form a vertical section. The tilted section allows horizontal light M to pass through, while the vertical section allows tilted light to pass through.

[0060] See also some of the possible implementation methods. Figure 3 As shown, the inclined portion is an inclined surface formed by the partial mirror surface of the emitting mirror body 161 facing the emitting cavity 110a and tilting outwards from the housing 110.

[0061] In this embodiment of the application, reference is made to Figure 3 As shown, when horizontal light M is projected onto the inclined section, the inclined section can reflect the horizontal light M upwards. The reflected light N can move away from the rotating mirror 150, so that the reflected light N of the horizontal light M can avoid the rotating mirror 150. The reflected light N formed on the emitting mirror 161 is less likely to be projected onto the rotating mirror 150 again, thereby reducing the possibility of the reflected light N being projected onto the rotating mirror 150 a second time, causing the horizontal light M projected towards the external reflective object to be projected to other positions, resulting in misjudgment of the position of the external reflective object, which is beneficial to ensuring the detection accuracy of the cleaning equipment.

[0062] In some examples, the surface of the inclined portion facing away from the emitting cavity 110a and the surface of the receiving mirror 162 facing away from the emitting cavity 110a can be on the same surface. In other words, the surface of the mirror 160 facing away from the emitting cavity 110a can be a flush surface. On the one hand, this can improve the flatness of the appearance of the line laser device 100 and enhance the user experience. On the other hand, it can make the mirror 160 less likely to occupy a large amount of external space.

[0063] In some examples, the transmitting mirror 161 and the receiving mirror 162 can form an integral mirror 160.

[0064] In some examples, the mirror body 160 and the housing 110 can be sealed together.

[0065] See also some of the possible implementation methods. Figure 3 As shown, in this embodiment of the application, the tilted portion is a portion of the emitting mirror body 161 tilted outward toward the housing 110 to form a tilted mirror body.

[0066] In this embodiment, the tilted portion can be formed into a tilted mirror body with uniform thickness. This configuration can help reduce stress concentration caused by uneven thickness of the tilted mirror body and improve the structural strength of the mirror body 160.

[0067] Furthermore, since the surface of the inclined portion facing the emission cavity 110a is an inclined surface, by setting the inclined portion as an inclined mirror body, the overall thickness of the inclined mirror body can be prevented from being too large. In other words, the maximum thickness of the inclined mirror body will not be too large, which on the one hand reduces material waste. On the other hand, it helps to reduce the possibility that a large thickness of the inclined mirror body would lead to an increase in its own weight, thereby affecting the portability of the line laser device 100.

[0068] In some examples, the thickness of the tilted mirror can remain the same at any location.

[0069] In some examples, the thickness of the tilting mirror can be the same as the thickness of the receiving mirror 162.

[0070] See also some of the possible implementation methods. Figure 3As shown, the transmitting mirror body 161 includes a first region 161a and a second region 161b. In the thickness direction X of the housing 110, the first region 161a and the second region 161b are arranged sequentially, and the first region 161a is located above the second region 161b.

[0071] The first region 161a can be used for horizontal light to pass through the emission cavity 110a, and the second region 161b can be used for oblique light to pass through the emission cavity 110a. The first region 161a is obliquely inclined outward toward the housing 110 to form an oblique portion.

[0072] In this embodiment, the oblique light emitting the light can be projected downwards relative to the horizontal light. By setting the first region 161a above the second region 161b, the first region 161a can be used for horizontal light to pass through, and the second region 161b can be used for oblique light to pass through.

[0073] In some examples, the surface of the first region 161a facing the emission cavity 110a and the surface of the second region 161b facing the emission cavity 110a may be in the same plane. Alternatively, the surface of the first region 161a facing the emission cavity 110a and the surface of the second region 161b facing the emission cavity 110a may not be in the same plane, which is not limited in this embodiment.

[0074] In some examples, the surface of the first region 161a facing away from the emission cavity 110a and the surface of the second region 161b facing away from the emission cavity 110a may be in the same plane. Alternatively, the surface of the first region 161a facing away from the emission cavity 110a and the surface of the second region 161b facing away from the emission cavity 110a may not be in the same plane, which is not limited in this embodiment.

[0075] See also some of the possible implementation methods. Figure 3 As shown, the tilt angle between the first region 161a and the vertical direction is β, and 10°≤β≤20°.

[0076] In this embodiment, when the tilt angle β is less than 10°, for example, when β is 9°, when horizontal light is projected onto the first region 161a, some horizontal light still gets projected onto the rotating mirror 150 a second time, resulting in false point clouds. When the tilt angle β is greater than 20°, for example, when β is 21°, the outward protrusion of the emitting mirror 161 onto the first region 161a is large, which can easily increase the overall size of the line laser device 100, thus affecting the overall size of the cleaning device. Furthermore, when the tilt angle β is greater than 20°, it also causes a significant loss of energy in the emitted light, affecting the detection accuracy. Therefore, by setting 10°≤β≤20°, the above-mentioned technical problems can be effectively solved.

[0077] In some examples, the tilt angle β can also be any angle between 10° and 20°. For example, the tilt angle β can be, but is not limited to, 10°, 10.5°, 11°, 11.5°, 12°, 13°, 14°, 15°, 18°, 20°, etc.

[0078] When β is 10°, the reflected horizontal light is unlikely to be projected onto the rotating mirror 150 a second time, or a very small amount of the reflected horizontal light will be projected onto the rotating mirror 150 a second time. Because the amount of reflected light projected onto the rotating mirror 150 is small, it is less likely to generate false point clouds, thus preventing misjudgments. When β is 20°, the outward protrusion of the emitting mirror 161 on the first region 161a has a relatively small impact on the overall size of the line laser device 100.

[0079] When β is 15°, the reflected light from the horizontal beam can avoid the rotating mirror 150, resulting in a smaller outward protrusion of the emitting mirror 161 in the first region 161a. The outward protrusion of the emitting mirror 161 in the first region 161a does not significantly affect the size and aesthetics of the line laser device 100, and has a minimal impact on the overall size of the cleaning equipment.

[0080] See also some of the possible implementation methods. Figure 3 As shown, in the thickness direction X of the housing 110, the height of the first region 161a is h1, the height of the emitting mirror body 161 is h, and h1≤1 / 4h.

[0081] In this embodiment, when h1 is greater than 1 / 4h, some of the tilted light will be projected onto the first region 161a of the tilted portion. The tilted light is easily converted into perpendicular light on the tilted surface of the tilted portion, resulting in energy loss and affecting detection accuracy. Furthermore, it can easily lead to an increase in the dimension of the line laser device 100 along the depth direction of the housing 110, causing the line laser device 100 to occupy a larger space in the cleaning equipment, affecting the miniaturization design of the cleaning equipment. It should be noted that the depth direction of the housing 110 can refer to the thickness direction of the emitting mirror 161 at the second region 161b.

[0082] See also some of the possible implementation methods. Figure 2 and Figure 4 As shown, the line laser device 100 may further include a partition plate 120. The partition plate 120 is disposed within the housing 110 and located between the emitting cavity 110a and the receiving cavity 110b. The partition plate 120 is configured to block the light from the emitting cavity 110a and the receiving cavity 110b.

[0083] In this embodiment, the separator 120 can be used to ensure that the emitted light is located within the emitting cavity 110a and does not easily enter the receiving cavity 110b. Furthermore, the separator 120 can be used to ensure that light reflected by external reflectors is located within the receiving cavity 110b and does not easily enter the emitting cavity 110a. The separator 120 can prevent the emitted light and the light reflected by external reflectors from interfering with each other.

[0084] See also some of the possible implementation methods. Figure 4 As shown, along the direction from the inside of the emitting cavity 110a to the light outlet 1114 of the housing 110, the partition plate 120 is inclined toward the receiving cavity 110b so that the partition plate 120 is inclined.

[0085] It should be noted that the inclined shape of the partition plate 120 can mean that the surface of the partition plate 120 facing the emission cavity 110a has an angle with the horizontal plane. The inclination direction of the inclined partition plate 120 can be consistent with the projection direction of the inclined light.

[0086] In this embodiment, the inclined shape of the partition plate 120 allows more emitted light to be projected onto external reflective objects. The inclined light is less likely to be blocked by the partition plate 120, enabling more inclined light to be projected onto low obstacles, thus improving the detection accuracy of the surrounding environment.

[0087] Specifically, when the tilted light is a beam tilted downwards relative to the horizontal plane, it can be projected outwards along the tilted partition 120 onto low obstacles in the surrounding environment and reflected back to the receiving cavity 110b by the low obstacles. By setting the partition 120 to tilt in the direction from the transmitting cavity 110a to the receiving cavity 110b, the tilted light is less likely to be blocked by the surface of the partition 120 facing the transmitting cavity 110a, allowing more tilted light to be projected onto the low obstacles. Therefore, the projection rate of the tilted light onto low obstacles can be increased, which is beneficial to improving the detection accuracy of low obstacles, thereby reducing detection blind spots, reducing the possibility of cleaning equipment malfunction due to undetected low obstacles, and ultimately improving the user experience.

[0088] Furthermore, when the cleaning equipment is close to low obstacles, the oblique light is blocked by the horizontal partition, preventing it from projecting downwards onto the obstacles. This limits the projection angle, making it impossible to identify low obstacles and creating a large blind spot. In this embodiment, the oblique portion of the partition 120 widens the projection angle of the oblique light outwards from the housing 110, expanding the field of view of the oblique light. This allows the cleaning equipment to identify low obstacles at closer distances, improving its detection range.

[0089] In this embodiment, the emitting cavity 110a and receiving cavity 110b within the housing 110 of the line laser device 100 can be stacked to achieve a partitioned layout of the emitting unit 130 and the receiving unit 140. A partition plate 120 is located between the emitting cavity 110a and the receiving cavity 110b. The partition plate 120 can be tilted towards the receiving cavity 110b along the propagation direction of the emitted light. When the emitted light is emitted towards an obstacle, it can be emitted towards the obstacle along the tilt direction of the partition plate 120. Specifically, taking the emitting cavity 110a above the receiving cavity 110b as an example, the partition plate 120 can be tilted downwards. The tilted light in the emitted light can be emitted downwards along the partition plate 120. Therefore, more emitted light can be emitted into a lower space and projected onto lower obstacles, thus enabling the detection of even lower obstacles, reducing blind spots, and improving the detection accuracy of low obstacles. Furthermore, the emitted light is less likely to be blocked by the partition plate 120, which helps to reduce the loss of emitted light and improve the projection rate of emitted light, thereby improving the detection accuracy of low obstacles.

[0090] See also some of the possible implementation methods. Figure 4 As shown, the angle between the surface of the partition plate 120 facing the emission cavity 110a and the horizontal plane is θ, and 9°≤θ≤15°.

[0091] In this embodiment, when θ is less than 9°, for example, when θ is 8.5°, the surface of the partition plate 120 facing the emission cavity 110a will still block part of the tilted light projected into the obstacle within the emission cavity 110a. The projection angle of the tilted light is not significantly increased, resulting in some tilted light not being able to be projected onto low obstacles. Therefore, the improvement effect on reducing the detection blind zone of low obstacles is not significant. When θ is greater than 15°, for example, when θ is 16°, the partition plate 120 easily occupies a large space inside the receiving cavity 110b, thereby affecting the light reflected by external reflectors from entering the receiving cavity 110b, reducing the reception rate of reflected light, and thus affecting the detection accuracy. Setting 9°≤θ≤15° can effectively solve the above technical problems.

[0092] By setting 9°≤θ≤15°, the detection blind zone for low obstacles can be reduced to less than 50mm, which greatly improves the detection accuracy of cleaning equipment and thus enhances the user experience.

[0093] Furthermore, when the cleaning equipment is close to an obstacle, by setting the angle of the tilted light to 9°≤θ≤15° to increase the projection angle, the blind spot for detecting nearby obstacles can be reduced.

[0094] In some examples, θ can also be any angle between 9° and 15°. For example, θ can be, but is not limited to, 9°, 9.7°, 10°, 10.5°, 11°, 12°, 13°, 14°, 15°, etc.

[0095] When θ is 9°, common low obstacles (such as thresholds, furniture and appliance bases) can all fall within the projection range of the tilted light, which can meet the usage requirements of cleaning equipment in various application environments. When θ is 15°, the surface of the partition plate 120 facing the receiving cavity 110b can block a small portion of the light reflected by external reflectors, thereby meeting the light reception rate requirements.

[0096] When θ is 10°, the projection range of the tilted light can be expanded to identify common low obstacles, thereby meeting the needs of cleaning equipment in various application environments. At the same time, the surface of the partition plate 120 facing the receiving cavity 110b can block the light reflected by external reflectors as little as possible, thereby maximizing the light reception rate.

[0097] In some possible implementations, the partition plate 120 and the housing 110 in this application embodiment are integrally structured.

[0098] In this embodiment, by making the partition plate 120 and the housing 110 an integral structure, the connection stability between the partition plate 120 and the housing 110 can be improved. Specifically, since the housing 110 has two cavities, a transmitting cavity 110a and a receiving cavity 110b, the partition plate 120 can provide support for the housing 110. Furthermore, by making the partition plate 120 and the housing 110 an integral structure, processing steps can be saved, which helps to reduce processing and assembly costs.

[0099] In some examples, the partition plate 120 and the housing 110 can be formed by die processing to improve the processing accuracy of the partition plate 120 and the housing 110.

[0100] In some feasible embodiments, the inner walls of the emitting mirror 161, the partition plate 120, and the emitting cavity 110a form a trapezoidal cavity with a gradually increasing width. The smaller end of the trapezoidal cavity faces the rotating mirror 150. The larger end of the trapezoidal cavity faces the light exit port 1114.

[0101] In some feasible embodiments, the receiving mirror 162, the partition plate 120, and the inner wall of the receiving cavity 110b form a trapezoidal cavity with a gradually increasing width. The small end of the trapezoidal cavity faces the rotating mirror 150. The large end of the trapezoidal cavity faces the light inlet 1112.

[0102] In this embodiment, by forming a trapezoidal cavity with gradually increasing width using the inner walls of the transmitting mirror 161, the partition plate 120, and the transmitting cavity 110a, the projection path of the emitted light can be extended, thereby improving the projection efficiency of the emitted light. Similarly, by forming a trapezoidal cavity with gradually increasing width using the inner walls of the receiving mirror 162, the partition plate 120, and the receiving cavity 110b, the light reflected back to the receiving cavity 110b from external reflective objects can be converged, thereby improving the receiving efficiency of the receiving unit 140. In summary, this can help improve the efficiency of 3D mapping, obstacle detection, and path planning.

[0103] See also some of the possible implementation methods. Figures 2 to 4 As shown, the housing 110 of this embodiment may also have a receiving cavity. A transmitting unit 130 and a receiving unit 140 may be disposed within the receiving cavity. The transmitting unit 130 and the receiving unit 140 are stacked in the thickness direction X of the housing 110. The transmitting unit 130 can be used to emit horizontal light and oblique light. The receiving unit 140 can be used to receive reflected horizontal light and oblique light.

[0104] In this embodiment, the emitted light from the emitting unit 130 first passes through the emitting cavity 110a and then is projected onto the surface of an external reflective object. The reflected light formed by the emitted light from the surface of the external reflective object can reach the receiving unit 140 through the receiving cavity 110b. Therefore, by stacking the emitting unit 130 and the receiving unit 140 in the thickness direction X of the housing 110, the light in the emitting cavity 110a and the receiving cavity 110b is less likely to interfere with each other. Furthermore, the receiving unit 140 can receive the effective signal reflected from the surface of the external reflective object, improving the accuracy of the measurement.

[0105] In some examples, the transmitting unit 130 may correspond to the transmitting cavity 110a. In other words, the emitted light from the transmitting unit 130 can first pass through the transmitting cavity 110a and then be projected onto the surface of an external reflector. The receiving unit 140 may correspond to the receiving cavity 110b. In other words, the reflected light formed by the emitted light from the surface of the external reflector can reach the receiving unit 140 through the receiving cavity 110b.

[0106] It is easy to understand that the receiving cavity and the transmitting cavity 110a can be connected. The receiving cavity and the receiving cavity 110b can be connected.

[0107] See also some of the possible implementation methods. Figure 2 and Figure 3As shown, in the thickness direction X of the housing 110, the transmitting cavity 110a can be located above the receiving cavity 110b. A first opening 1111 is formed on the inner wall of the transmitting cavity 110a, through which the emitted light emitted by the transmitting unit 130 can pass. A first opening 1111 is formed on the inner wall of the receiving cavity 110b, through which the received light received by the receiving unit 140 can pass.

[0108] In this embodiment, the first opening 1111 allows emitted light to pass through, and the second opening 1113 allows received light to pass through. Specifically, the emitted light emitted by the emitting unit 130 can pass through the first opening 1111 into the emitting cavity 110a, so that the emitted light can be projected onto the surrounding environment of the cleaning device through the emitting cavity 110a. The emitted light can be reflected when projected onto the surface of an external reflective object to form received light, which can enter the receiving cavity 110b and enter the receiving unit 140 through the second opening 1113, so that the receiving unit 140 can receive the received light.

[0109] In some examples, the transmitting cavity 110a and the receiving cavity for accommodating the transmitting unit 130 can be connected through a first opening 1111. The receiving cavity 110b and the receiving cavity for accommodating the receiving unit 140 can be connected through a second opening 1113.

[0110] This application also provides a cleaning device. The cleaning device may include the laser device in any of the above embodiments. The beneficial effects can be found in the relevant descriptions of the above embodiments, and will not be repeated here.

[0111] In the above detailed description, reference has been made to the accompanying drawings, which illustrate specific aspects of this disclosure by way of illustration. In this regard, terms indicating direction or positional relationship, such as “center,” “longitudinal,” “lateral,” “length,” “width,” “thickness,” “upper,” “lower,” “front,” “rear,” “left,” “right,” “vertical,” “horizontal,” “top,” “bottom,” “inner,” “outer,” “clockwise,” “counterclockwise,” “axial,” “radial,” and “circumferential,” are used with reference to the orientation of the described figures. Since components of the described device can be positioned in multiple different orientations, directional terms are used for illustrative purposes and not for limitation. It should be understood that other aspects can be utilized and structural or logical changes can be made without departing from the concept of this disclosure. Therefore, the following detailed description should not be considered limiting.

[0112] It should be understood that, unless otherwise expressly specified and limited, the terms "joining," "attaching," "installing," "connecting," "linking," "fixing," etc., used in the embodiments of this disclosure should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms herein based on the specific circumstances.

[0113] Furthermore, the term "above" as used herein with respect to components, elements, or material layers formed or located "above" a surface may be used to indicate that the component, element, or material layer is "indirectly" positioned (e.g., placed, formed, deposited, etc.) on the surface such that one or more additional components, elements, or layers are arranged between the surface and the component, element, or material layer. However, the term "above" as used with respect to components, elements, or material layers formed or located "above" a surface may also optionally have a specific meaning: that the component, element, or material layer is "directly" positioned (e.g., placed, formed, deposited, etc.) on the surface, for example, in direct contact with the surface.

[0114] Although terms such as “first,” “second,” and “third” may be used herein to describe various components, parts, regions, layers, or sections, these components, parts, regions, layers, or sections are not limited to these terms. Rather, these terms are used only to distinguish one component, part, region, layer, or section from another. Therefore, without departing from the teachings of the examples described herein, the first component, part, region, layer, or section mentioned in the examples may also be referred to as the second component, part, region, layer, or section. Furthermore, the terms “first” and “second” are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as “first” or “second” may explicitly or implicitly include at least one of that feature. In the description herein, “a plurality” means at least two, such as two, three, etc., unless otherwise explicitly specified.

Claims

1. A line laser device (100), characterized in that, include: The housing (110) has a transmitting cavity (110a) and a receiving cavity (110b) that are mutually isolated and arranged along the thickness direction (X) of the housing (110). The housing (110) is provided with a light outlet (1114) corresponding to the transmitting cavity (110a) and a light inlet (1112) corresponding to the receiving cavity (110b). A rotating mirror (150) is located inside the housing (110), with a portion of the rotating mirror (150) located inside the transmitting cavity (110a) and another portion of the rotating mirror (150) located inside the receiving cavity (110b). The mirror body (160) has a portion located at the light outlet (1114) and another portion located at the light inlet (1112). The portion of the mirror body (160) located at the light outlet (1114) includes an inclined portion.

2. The line laser device (100) according to claim 1, characterized in that, The mirror body (160) includes a transmitting mirror body (161) and a receiving mirror body (162), the transmitting mirror body (161) being located at the light output port (1114) and the receiving mirror body (162) being located at the light input port (1112). The inclined portion is formed by tilting a portion of the emitting mirror body (161).

3. The line laser device (100) according to claim 2, characterized in that, The inclined portion is an inclined surface formed by the partial mirror surface of the transmitting mirror body (161) facing the transmitting cavity (110a) tilting outwards towards the housing (110).

4. The line laser device (100) according to claim 2, characterized in that, The inclined portion is a portion of the emitting mirror body (161) tilted outward toward the housing (110) to form an inclined mirror body.

5. The line laser device (100) according to any one of claims 2 to 4, characterized in that, The transmitting mirror body (161) includes a first region (161a) and a second region (161b). In the thickness direction (X) of the housing (110), the first region (161a) and the second region (161b) are arranged sequentially, and the first region (161a) is located above the second region (161b). The first region (161a) is for horizontal light to pass through the emission cavity (110a), and the second region (161b) is for oblique light to pass through the emission cavity (110a). The first region (161a) is inclined outward toward the housing (110) to form the inclined portion.

6. The line laser device (100) according to claim 5, characterized in that, The tilt angle between the first region (161a) and the vertical direction is β, and 10°≤β≤20°.

7. The line laser device (100) according to claim 5, characterized in that, In the thickness direction (X) of the housing (110), the height of the first region (161a) is h1, the height of the emitting mirror (161) is h, and h1 ≤ 1 / 4h.

8. The line laser device (100) according to any one of claims 2 to 4, characterized in that, Also includes: A partition plate (120) is disposed within the housing (110) and located between the transmitting cavity (110a) and the receiving cavity (110b). The partition plate (120) is configured to block the light from the transmitting cavity (110a) and the receiving cavity (110b).

9. The line laser device (100) according to claim 8, characterized in that, Along the direction from the emission cavity (110a) to the light outlet (1114) of the housing (110), the partition plate (120) is inclined toward the receiving cavity (110b) so that the partition plate (120) is inclined.

10. The line laser device (100) according to claim 9, characterized in that, The angle between the surface of the partition plate (120) facing the emission cavity (110a) and the horizontal plane is θ, and 9°≤θ≤15°.

11. The line laser device (100) according to claim 8, characterized in that, The inner walls of the emitting mirror (161), the partition plate (120), and the emitting cavity (110a) form a trapezoidal cavity with a gradually increasing width. The small end of the trapezoidal cavity faces the rotating mirror (150), and the large end of the trapezoidal cavity faces the light outlet (1114). And / or, the inner walls of the receiving mirror (162), the partition plate (120) and the receiving cavity (110b) form a trapezoidal cavity with a gradually increasing width, the small end of the trapezoidal cavity facing the rotating mirror (150) and the large end of the trapezoidal cavity facing the light inlet (1112).

12. The line laser device (100) according to any one of claims 1 to 4, characterized in that, The housing (110) also has a receiving cavity, in which a transmitting unit (130) and a receiving unit (140) are provided. The transmitting unit (130) and the receiving unit (140) are stacked in the thickness direction (X) of the housing (110). The transmitting unit (130) is used to transmit horizontal light and tilted light in a time-division manner, and under the action of the rotating mirror (150), the light is emitted to the outside of the housing (110); The receiving unit (140) is used to receive horizontal light and oblique light reflected by external reflectors.

13. The line laser device (100) according to claim 12, characterized in that, In the thickness direction (X) of the housing (110), the emitting cavity (110a) is located above the receiving cavity (110b), and a first opening (1111) is formed on the inner sidewall of the emitting cavity (110a) for the emitted light emitted by the emitting unit (130) to pass through. The receiving cavity (110b) has a first opening (1111) on its inner wall, through which the receiving light received by the receiving unit (140) can pass.

14. A cleaning device, characterized in that... This includes the line laser device (100) as described in any one of claims 1 to 13 above.

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