Cleaning robot and cleaning system

Abstract

The utility model discloses a cleaning robot and a cleaning system. The cleaning robot comprises an equipment main body; the flight time laser radar is arranged on the equipment main body, the flight time laser radar comprises a transmitting unit and a receiving unit, the transmitting unit comprises a laser transmitter and a transmitting lens which are arranged in sequence, and the receiving unit comprises a receiver and a receiving lens which are arranged in sequence; the optical axis of the transmitting lens and the optical axis of the receiving lens are coaxially arranged.

Description

Technical Field

[0001] The utility model relates to the technical field of intelligent home furnishing, in particular to a cleaning robot and a cleaning system. Background Art

[0002] With the continuous development of science and technology and the continuous improvement of people's living standards, cleaning robots, such as intelligent sweeping robots, have been continuously entering our daily lives. As the integration and functions of sweeping robots become higher and higher, their parts will also increase. For the cleaning robot, its overall structure needs to meet the design requirements of compact structure and small size. Therefore, the requirements for the external dimensions of each component are relatively high.

[0003] Current cleaning robots are usually equipped with laser radar to detect the environment around them. Laser radar is an important sensor for cleaning robots and plays an important role in mapping, navigation, obstacle avoidance and other working conditions. At the same time, the size of the laser radar will also have a certain impact on the size of the cleaning robot. Utility Model Content

[0004] A series of simplified concepts are introduced in the utility model content section, which will be further described in detail in the detailed implementation section. This part of the utility model does not mean to attempt to define the key features and essential technical features of the technical solution claimed for protection, nor does it mean to attempt to determine the scope of protection of the technical solution claimed for protection.

[0005] An embodiment of the first aspect of the utility model provides a cleaning robot, comprising: an equipment body; a time-of-flight laser radar, which is arranged on the equipment body, and the time-of-flight laser radar comprises a transmitting unit and a receiving unit, the transmitting unit comprises a laser transmitter and a transmitting lens arranged in sequence, and the receiving unit comprises a receiver and a receiving lens arranged in sequence; wherein the optical axis of the transmitting lens and the optical axis of the receiving lens are coaxially arranged.

[0006] Furthermore, the time-of-flight laser radar also includes: a reflector, which is tilted above the transmitting lens and the receiving lens, and is configured to rotate with the optical axis of the transmitting lens and / or the optical axis of the receiving lens as the axis; wherein the light emitted by the laser transmitter passes through the transmitting lens and is changed in direction by the reflector and then emitted, and the returned receiving light is changed in direction by the reflector and then passed through the receiving lens and received by the receiver.

[0007] Further, the inclination angle of the reflector relative to the horizontal line is 45° to 47°.

[0008] Furthermore, the time-of-flight laser radar also includes: a fixed seat, which is connected to the device body and on which the transmitting unit and the receiving unit are mounted; a rotating seat, which is rotatably connected above the fixed seat and on which the reflector is mounted; a driving unit, which is mounted on the fixed seat and / or the device body and connected to the rotating seat, and the driving unit is configured to drive the rotating seat to rotate relative to the fixed seat.

[0009] Furthermore, the time-of-flight laser radar also includes: a main circuit, the main circuit is installed on a fixed base, the transmitting unit also includes a transmitting circuit electrically connected to the laser transmitter, the receiving unit also includes a receiving circuit electrically connected to the receiver, and the main circuit is electrically connected to the transmitting circuit and the receiving circuit.

[0010] Furthermore, the laser transmitter is arranged horizontally, and the receiver is arranged horizontally; the laser transmitter is arranged above the transmitting circuit, and the receiver is arranged above the receiving circuit, and the main circuit is located below the transmitting circuit and the receiving circuit.

[0011] Furthermore, the time-of-flight laser radar also includes: a rotating part, a rotating seat and a fixed seat together form an installation chamber, the fixed seat is provided with an annular installation groove located in the installation chamber, the transmitting unit and the receiving unit are installed inside the installation groove, the rotating part is sleeved on the outside of the installation groove and connected to the rotating seat; a locking part, the locking part is sleeved on the outside of the installation groove and is located above the rotating part, the transmitting unit also includes a mounting tube, the locking part is connected to the outer wall of the mounting groove to lock the rotating part on the mounting tube.

[0012] Furthermore, a first step is provided on the outer wall of the mounting groove, and a threaded structure is provided on the outer wall of the mounting groove toward the end of the rotating seat; the locking piece is a locking nut, the rotating piece is overlapped on the first step, the rotating piece includes an inner ring and an outer ring, the locking nut cooperates with the threaded structure to clamp the inner ring between the locking nut and the first step, and the outer ring is connected to the rotating seat.

[0013] Furthermore, the inner wall of the mounting groove connects the inside and outside of the mounting chamber, and the main circuit of the time-of-flight laser radar is installed at the bottom of the fixing seat and is located outside the mounting chamber. The main circuit is electrically connected to the transmitting circuit and the receiving circuit through the mounting groove.

[0014] Furthermore, the receiver is located below the laser transmitter, the receiving lens is located below the transmitting lens, and in a plane perpendicular to the optical axis of the transmitting lens and / or the optical axis of the receiving lens, the projection of the receiving lens is located on the peripheral side of the projection of the transmitting lens; wherein the receiver is a single-photon receiver.

[0015] Furthermore, the transmitting unit also includes a mounting tube, the laser transmitter and the transmitting lens are respectively mounted at two ends inside the mounting tube, the mounting tube is passed through the receiving lens and connected to the mounting tube, and the receiver is located below the mounting tube.

[0016] A second aspect of the present application provides a cleaning system, comprising: a cleaning base station, and the cleaning robot of any one of the first aspects.

[0017] The above description is only an overview of the technical solution of the present application. In order to more clearly understand the technical means of the present application, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Various other advantages and benefits will become apparent to those skilled in the art by reading the detailed description of the preferred embodiments below. The accompanying drawings are only used for the purpose of illustrating the preferred embodiments and are not to be considered as limiting the present invention. In addition, the same reference symbols are used throughout the accompanying drawings to represent the same components. Among them:

[0019] Figure 1 A schematic diagram of the structure of a laser radar provided in an embodiment of the present application is shown;

[0020] Figure 2 Shows Figure 1 A schematic structural diagram of the first viewing angle of the illustrated embodiment;

[0021] Figure 3 Shows Figure 1 A cross-sectional view of the embodiment shown in FIG. AA;

[0022] Figure 4 Shows Figure 3 A partial enlarged schematic diagram of A in the illustrated embodiment;

[0023] Figure 5 Shows Figure 3 A partial enlarged schematic diagram of a portion B of the illustrated embodiment;

[0024] Figure 6 A schematic diagram of the structure of a portion of a laser radar provided in an embodiment of the present application is shown;

[0025] Figure 7 A schematic diagram of the structure of a fixing base provided in an embodiment of the present application is shown;

[0026] Figure 8 A schematic diagram of the structure of a limit ring provided in an embodiment of the present application is shown;

[0027] Fig. 9 A schematic diagram showing the structure of another part of the laser radar provided in an embodiment of the present application is shown;

[0028] Fig.10 A schematic diagram showing the structure of another part of the laser radar provided in an embodiment of the present application is shown;

[0029] Fig.11 Shows Fig.10 A schematic structural diagram of a perspective of the illustrated embodiment;

[0030] Fig.12 Shows Fig.10 A schematic structural diagram of a second viewing angle of the illustrated embodiment;

[0031] Fig.13 A schematic diagram showing the structure of another part of the laser radar provided in an embodiment of the present application is shown;

[0032] Fig.14 Shows Fig.13 a cross-sectional view of one perspective of the illustrated embodiment;

[0033] Fig.15 A projection view of a receiving lens and a transmitting lens of an embodiment of the present application at one viewing angle is shown;

[0034] Fig.16 A schematic structural diagram of a cleaning robot according to an embodiment of the present application is shown.

[0035] Description of Reference Numerals

[0036] 001 laser radar, 100 fixed module, 110 transmitting unit, 111 laser transmitter, 112 transmitting lens, 1121 first incident surface, 1122 first exit surface, 1123 limiting groove, 113 transmitting circuit, 120 receiving unit, 121 receiver, 122 receiving lens, 1221 concave spherical contact surface, 130 fixing seat, 131 mounting groove, 132 first step, 133 threaded structure, 134 second step, 1341 avoidance gap, 135 second Support part, 140 mounting tube, 141 convex spherical contact surface, 142 first boss, 143 second boss, 150 uniform light element, 160 pressure ring, 161 positioning groove, 170 shading ring, 180 limiting ring, 181 clamping part, 182 first support part, 200 rotating module, 210 reflecting mirror, 220 rotating seat, 221 transmitting window, 222 receiving window, 223 seat body, 2231 first clamping slot, 2232 belt slot, 224 upper cover, 2241 second clamping slot, 230 window lens, 240 filter, 300 driving part, 310 synchronous wheel, 400 main circuit, 500 rotating part, 600 locking part, 700 transmission part, 002 cleaning robot, 021 equipment body. DETAILED DESCRIPTION

[0037] In the following description, a large number of specific details are given to provide a more thorough understanding of the technical solution provided by the utility model. However, it is obvious to those skilled in the art that the technical solution provided by the utility model can be implemented without one or more of these details.

[0038] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit exemplary embodiments according to the utility model. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should also be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of the features, wholes, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or combinations thereof.

[0039] Now, exemplary embodiments according to the present utility model will be described in more detail with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in a variety of different forms and should not be interpreted as being limited to the embodiments described herein. It should be understood that these embodiments are provided to make the disclosure of the present utility model thorough and complete, and to fully convey the concepts of these exemplary embodiments to those of ordinary skill in the art.

[0040] like Figures 1 to 16 As shown, an embodiment of the first aspect of the present application provides a cleaning robot 002, and an embodiment of the second aspect of the present application provides a cleaning system, wherein the cleaning robot 002 can be a sweeping robot, a sweeping and mopping machine, or other cleaning robots 002 that meet the requirements, and the cleaning system includes a base station and the cleaning robot 002, that is, the cleaning base station is used in conjunction with the cleaning robot 002.

[0041] Specifically, Fig.16 As shown, the cleaning robot 002 includes but is not limited to: a device body, a cleaning system, a drive system, a perception system, a control module, an energy system, and a human-computer interaction system, etc. The above-mentioned systems coordinate with each other so that the cleaning robot 002 can move autonomously to achieve the cleaning function. The functional elements constituting the above-mentioned systems in the cleaning robot 002 are integratedly arranged in the device body. Among them, when the cleaning robot 002 starts working, the cleaning robot 002 starts from the cleaning base station to perform the cleaning task. When the cleaning robot 002 completes the cleaning task or other situations where the cleaning task needs to be terminated, the cleaning robot 002 can return to the cleaning base station for charging, and / or water replenishment, and / or cleaning, and / or dust collection and other operations.

[0042] like Fig. 9 , Fig.10 , Fig.11 , Fig.12 and Fig.16As shown, the cleaning robot 002 provided in the embodiment of the present application includes: an equipment body 021 and a time-of-flight laser radar 001, the time-of-flight laser radar 001 is arranged on the equipment body 021, the time-of-flight laser radar 001 includes a transmitting unit 110 and a receiving unit 120, the transmitting unit 110 includes a laser transmitter 111 and a transmitting lens 112 arranged in sequence, and the receiving unit 120 includes a receiver 121 and a receiving lens 122 arranged in sequence; wherein, the optical axis of the transmitting lens 112 and the optical axis of the receiving lens 122 are coaxially arranged.

[0043] Among them, the time-of-flight laser radar 001 is arranged on the equipment body 021, so as to use the time-of-flight laser radar 001 to detect the distance between the cleaning robot 002 and the surrounding obstacles and the surrounding environment. It can be understood that the time-of-flight laser radar 001 is an important sensor for the cleaning robot 002, and plays an important role in mapping, navigation, obstacle avoidance and other working conditions. The principle of the time-of-flight laser radar 001 is to calculate the distance of the target object by using the propagation speed of the laser beam in space and the time of reflection. The time-of-flight laser radar 001 has the advantages of high precision, high speed, high resolution, etc., and can meet the functional requirements of the cleaning robot 002.

[0044] In this embodiment, the time-of-flight laser radar 001 includes a transmitting unit 110 and a receiving unit 120, wherein the light emitted by the laser transmitter 111 passes through the transmitting lens 112 and then is emitted to the obstacle and the surrounding environment, and the received light returned by the obstacle and the surrounding environment passes through the receiving lens 122 and is received by the receiver 121, thereby realizing the ranging function. Among them, the optical axis of the transmitting lens 112 and the optical axis of the receiving lens 122 are coaxially arranged, which can appropriately reduce the volume of the laser radar 001 compared with the optical axis of the transmitting lens and the optical axis of the receiving lens in the related art, thereby meeting the design requirements of the laser radar 001 with a small volume and compact structure, reducing the occupied space of the cleaning robot 002, expanding the use range of the cleaning robot 002, and facilitating storage, and at the same time, it is conducive to saving the manufacturing cost of the laser radar 001.

[0045] like Fig. 9 , Fig.10 , Fig.11 and Fig.12As shown, in some possible embodiments provided by the present application, the time-of-flight laser radar 001 also includes: a reflector 210, the reflector 210 is tilted above the transmitting lens 112 and the receiving lens 122, and the reflector 210 is configured to rotate with the optical axis of the transmitting lens 112 and / or the optical axis of the receiving lens 122 as the axis. Among them, the light emitted by the laser transmitter 111 passes through the transmitting lens 112 and is changed in direction by the reflector 210 and then emitted to the obstacle and the surrounding environment. The received light returned by the obstacle and the surrounding environment is changed in direction by the reflector 210 and then passed through the receiving lens 122 and received by the receiver 121. Thus, the detection function of the laser radar 001 can be realized. By rotating the reflector 210 in cooperation with the transmitting unit 110 and the receiving unit 120, the detection range of the laser transmitter 111 can be expanded, and then the detection of obstacles and the surrounding environment in multiple directions around the cleaning robot 002 can be realized. Specifically, Fig.10 The solid line in represents the outgoing light. Fig.10 The dotted line in represents the received light.

[0046] Specifically, if the reflector 210 is configured to rotate 360° with the optical axis of the receiving lens 122 as the rotation axis, the laser radar 001 can detect obstacles and the surrounding environment in a 360° direction around the cleaning robot 002, which is beneficial to improve the perception precision and accuracy of the cleaning robot 002 and improve the operating accuracy of the cleaning robot 002.

[0047] like Fig.11 As shown, in some possible embodiments provided by the present application, the inclination angle of the reflector 210 relative to the horizontal line is 45° to 47°, wherein the inclination angle of the reflector 210 relative to the horizontal line is α, that is, the range of α is 45° to 47°. Thus, it can be ensured that the reflector 210 can more comprehensively change the direction of the emission light emitted by the emission unit 110 and project it through the emission window 221, and can more comprehensively change the direction of the light returned through the receiving window 222 and project it to the receiving unit 120, so as to reduce the energy loss of the emission unit 110, improve the energy utilization rate of the emission unit 110, and improve the ranging accuracy of the laser radar 001.

[0048] Specifically, the inclination angle α of the reflector 210 relative to the horizontal line may be in the range of 45°, 45.5°, 46°, 47°, or other angles.

[0049] like Figure 3 , Fig. 9 , Fig.10 and Fig.11In the above embodiment, the reflector 210 includes a reflective surface and a substrate, and the reflective surface is located on the side of the substrate facing the emission window 221. Thus, it can be ensured that the emission light emitted by the emitting unit 110 is projected through the emission window 221 after being changed in direction by the reflective surface of the reflector 210, and the returned receiving light is received by the unit after being changed in direction by the reflective surface of the reflector 210 through the receiving window 222.

[0050] The reflective surface may be a dielectric high-reflective film or a metal reflective film, and the substrate may be glass or plastic.

[0051] like Figure 1 , Figure 2 and Figure 3 As shown, in some possible embodiments provided by the present application, the time-of-flight laser radar 001 further includes: a fixed seat 130, a rotating seat 220 and a driving unit 300, and the fixed seat 130 is connected to the device body 021, that is, the entire laser radar 001 is installed on the device body 021 through the fixed seat 130. Among them, the transmitting unit 110 and the receiving unit 120 are installed on the fixed seat 130; the rotating seat 220 is rotatably connected above the fixed seat 130, and is surrounded by the fixed seat 130 to form an installation chamber, and the reflector 210 is installed on the rotating seat 220. The reflector 210, the transmitting unit 110, and the receiving unit 120 are located in the installation chamber, thereby ensuring that the transmitting unit 110, the receiving unit 120, and the reflector 210 are located in a closed space, reducing stray light interference, so as to improve the detection accuracy of the laser radar 001.

[0052] The driving unit 300 is installed on the fixed seat 130 and / or the device body 021, and is connected to the rotating seat 220. The driving unit 300 is configured to drive the rotating seat 220 to rotate relative to the fixed seat 130. As a result, the reflector 210 on the rotating seat 220 can rotate with the optical axis of the receiving lens 122 as the axis to expand the detection range of the laser radar 001. For example, the driving unit 300 can drive the rotating seat 220 to rotate 360° relative to the fixed seat 130, so that the laser radar 001 can detect obstacles and surrounding environments in a 360° direction around the cleaning robot 002, which is conducive to improving the perception accuracy and perception accuracy of the cleaning robot 002 and improving the operation accuracy of the cleaning robot 002.

[0053] The driving unit 300 can be installed on the fixing seat 130, or the driving unit 300 can be installed on the device body 021, or the driving unit 300 can be installed on both the fixing seat 130 and the device body 021. Specifically, installing the driving unit 300 on the fixing seat 130 can realize the modular design of the time-of-flight laser radar 001, which is convenient for the disassembly and assembly of the time-of-flight laser radar 001 and the device body 021.

[0054] Furthermore, if Figure 3 and Figure 6 As shown, the time-of-flight laser radar 001 also includes a transmission part 700 , and the driving part 300 is connected to the rotating seat 220 through the transmission part 700 to drive the rotating seat 220 to rotate relative to the fixed seat 130 through the transmission part 700 .

[0055] The transmission part 700 is a transmission belt. It is understandable that the transmission part 700 may also be a gear or other transmission mechanism. Taking the transmission part 700 as a transmission belt as an example, the driving part 300 is connected to the rotating seat 220 through the transmission belt. If the driving part 300 is a motor, the output shaft of the motor is connected to the rotating seat 220 through the transmission belt to drive the rotating seat 220 to rotate relative to the fixed seat 130. Specifically, a synchronous wheel 310 is provided on the output shaft of the motor, and the synchronous belt is sleeved on the synchronous wheel 310 and the rotating seat 220, so that the output shaft rotates to drive the synchronous wheel 310 to rotate, and then drives the rotating seat 220 to rotate relative to the fixed seat 130 through the synchronous belt.

[0056] like Figure 3 As shown, in some possible embodiments provided in the present application, the time-of-flight laser radar 001 also includes: a main circuit 400, the main circuit 400 is installed on a fixing base 130, the transmitting unit 110 also includes a transmitting circuit 113 electrically connected to the laser transmitter 111, the receiving unit 120 also includes a receiving circuit electrically connected to the receiver 121, and the main circuit 400 is electrically connected to the transmitting circuit 113 and the receiving circuit.

[0057] Among them, the main circuit 400 can be the main circuit 400 of the time-of-flight laser radar 001, such as the circuit on the main control board of the time-of-flight laser radar 001, which is mainly responsible for providing power to the transmitting unit 110 and the receiving unit 120, controlling the transmitting unit 110 and / or the receiving unit 120, etc.

[0058] In this embodiment, since the transmitting unit 110 and the receiving unit are both mounted on the fixed seat 130, that is, the transmitting circuit 113 and the receiving circuit are also mounted on the fixed seat 130, by mounting the main circuit 400 on the fixed seat 130, the active devices of the time-of-flight laser radar 001 are all mounted on the fixed seat 130, that is, there are no active devices on the rotating seat 220. This arrangement, compared with the related art in which the optical axis of the transmitting lens and the optical axis of the receiving lens are separated and a wireless power supply part and an optical communication part are required, further simplifies the circuit scheme, which is beneficial to further reduce the manufacturing cost of the time-of-flight laser radar 001, can meet the low-cost design requirements of the cleaning robot 002, and expand the scope of use of the product.

[0059] In the above embodiment, the laser emitter 111 and the receiver 121 are arranged horizontally, that is, the light emitted by the laser emitter 111 is vertically upward, or propagates approximately in the vertically upward direction, and the light received by the laser receiver 121 is vertically downward, or approximately in the vertically downward direction. In order to measure the horizontal obstacles and the surrounding environment of the time-of-flight laser radar 001, a reflector 210 can be added above the laser emitter 111 and the laser receiver 121.

[0060] Furthermore, the laser transmitter 111 is arranged above the transmitting circuit 113, the receiver 121 is arranged above the receiving circuit, and the main circuit 400 is located below the transmitting circuit 113 and the receiving circuit. This arrangement ensures that the main circuit 400 will not block the light emitted by the laser transmitter 111 and the light received by the receiver 121, that is, the main circuit 400 will not interfere with the optical path, which is beneficial to improving the ranging accuracy.

[0061] like Figure 7 As shown, in some possible embodiments provided in the present application, the fixing seat 130 is provided with an annular mounting groove 131 located in the mounting chamber, and the transmitting unit 110 and the receiving unit 120 are installed inside the mounting groove 131. It can be understood that the laser transmitter 111, the transmitting lens 112, the transmitting circuit 113 of the transmitting unit 110, and the receiver 121, the receiving lens 122, and the receiving circuit of the receiving unit 120 are all located in the annular mounting groove 131, that is, the annular mounting groove 131 can be understood as a part of the optical path channel.

[0062] Among them, Figure 3 and Figure 5 As shown, the time-of-flight laser radar 001 also includes a rotating member 500 and a locking member 600. The rotating member 500 is sleeved on the outer side of the mounting groove 131 and is connected to the rotating seat 220. The locking member 600 is sleeved on the outer side of the mounting groove 131 and is located above the rotating member 500. The locking member 600 is connected to the outer wall of the mounting groove 131 to lock the rotating member 500 on the mounting groove 131. That is to say, in this embodiment, the rotating member 500 can be locked on the outer wall of the installation groove 131 by using a locking member 600 to realize the rotational connection between the rotating seat 220 and the fixed seat 130. The structure is simple and easy to disassemble and assemble. In the related art, the rotating member usually requires multiple parts to be locked. For example, in the related art, elastic hooks and screws are usually used to lock the rotating member. The number of parts is large and the assembly process is complicated. Therefore, in this embodiment, a locking member 600 can be used to lock the rotating member 500. The number of parts is small and the assembly process is simple, which can further reduce the manufacturing cost of the time-of-flight laser radar 001 to meet the low-cost design requirements of the cleaning robot 002.

[0063] like Figure 7 As shown, in the above embodiment, the outer wall of the mounting groove 131 is provided with a first step 132, and the rotating member 500 is overlapped on the first step 132. The rotating member 500 is pre-positioned by using the first step 132, which is beneficial to improve the assembly efficiency and assembly accuracy of the rotating member 500, thereby improving the processing efficiency of the time-of-flight radar.

[0064] Among them, Figure 5 and Figure 7 As shown, the outer wall of the end of the mounting groove 131 facing the rotating seat 220 is provided with a thread structure 133, the locking member 600 is a locking nut, and the rotating member 500 includes an inner ring and an outer ring. If the rotating member 500 is a bearing, the locking nut cooperates with the thread structure 133 to clamp the inner ring of the bearing between the locking nut and the first step 132, and the outer ring of the bearing is connected to the rotating seat 220. Therefore, by using a locking nut to cooperate with the thread structure 133 on the outer wall of the mounting groove 131, the rotating member 500 can be stably and firmly locked on the outside of the mounting groove 131, ensuring that the rotating seat 220 is rotatably connected to the fixed seat 130, the assembly operation is simple and easy to operate, and the thread structure 133 on the outer wall of the mounting groove 131 is convenient to process, and the locking nut cost is low, thereby effectively reducing the manufacturing cost of the time-of-flight radar.

[0065] Furthermore, if Figure 3 As shown, the inner wall of the installation groove 131 communicates with the inside and outside of the installation chamber, that is, the installation groove 131 is a through groove, and the installation groove 131 penetrates the fixing seat 130. The main circuit 400 is installed at the bottom of the fixing seat 130 and is located outside the installation chamber. The main circuit 400 is electrically connected to the transmitting circuit 113 and the receiving circuit through the installation groove 131. Since the main circuit 400 is located outside the installation chamber, it is convenient for the main circuit 400 to be connected to the power supply unit, and it is convenient to repair and replace the main circuit 400. At the same time, the main circuit 400 located outside the installation chamber has good ventilation and heat dissipation effects, avoiding the problem of poor ventilation and heat dissipation effects and easy failures caused by the main circuit being arranged inside the installation chamber, which is conducive to improving the service life of the main circuit 400 and improving the reliability of the time-of-flight laser radar 001.

[0066] like Fig.11 and Fig.15 As shown, in some possible embodiments provided in the present application, the receiver 121 is located below the laser transmitter 111, the receiving lens 122 is located below the transmitting lens 112, and in a plane perpendicular to the optical axis of the transmitting lens 112 and / or the optical axis of the receiving lens 122, the projection of the receiving lens 122 is located on the peripheral side of the projection of the transmitting lens 112, wherein the receiver 121 is a single-photon receiver 121.

[0067] This arrangement ensures that the receiver 121 does not block the light emitted by the laser emitter 111, thereby reducing the light energy loss of the laser emitter 111 and improving the light energy utilization rate of the laser emitter 111. It is understandable that the received light returned by the obstacle and the surrounding environment can be contacted by the receiver 121 after changing the direction through the receiving lens 122.

[0068] like Fig.15 As shown, in the present embodiment, since the projection of the receiving lens 122 is located on the outer peripheral side of the projection of the transmitting lens 112 in a plane perpendicular to the optical axis of the transmitting lens 112 and / or the optical axis of the receiving lens 122, the effective area of ​​the receiving lens 122 is small. For this reason, the receiver 121 is set as a single-photon receiver 121. For example, if the receiver 121 is a single-photon receiver 121 using a SPAD (singlephoton avalanche diode), its integration, optical gain, accuracy, etc. are greater than those of traditional PIN (positive-intrinsic-negative, photodiode), APD (Avalanche Photon Diode) and other optical receivers 121, thereby ensuring the detection accuracy of the time-of-flight laser radar 001.

[0069] like Figure 3 In some possible embodiments provided in the present application, the transmitting unit 110 also includes a mounting tube 140, the laser transmitter 111 and the transmitting lens 112 are respectively installed at the two ends inside the mounting tube 140, the mounting tube 140 is passed through the receiving lens 122 and is connected to the mounting tube 140, and the receiver 121 is located below the mounting tube 140.

[0070] The emitting lens 112 is located on the outgoing light path of the laser emitter 111, and the outgoing surface of the emitting lens 112 faces the outside of the mounting tube 140. Thus, the emitting lens 112 and the laser are mounted in the same structural component to form a collimated light path.

[0071] Furthermore, the middle of the receiving lens 122 is set as a hollow structure, the mounting tube 140 is passed through the hollow structure and connected to the receiving lens 122, and the receiver 121 is arranged below the receiving lens 122 and opposite to the laser transmitter 111, thereby, the optical axis of the receiving lens 122 can be coaxially arranged with the optical axis of the transmitting lens 112, and the receiver 121 can be ensured to reliably receive the light projected by the receiving lens 122, and the structure is simple. Specifically, the mounting tube 140 can be straight, conical, bowl-shaped or other shapes.

[0072] In the above embodiment, the fitting surfaces of the mounting tube 140 and the receiving lens 122 are in spherical contact, and the mounting tube 140 and the receiving lens 122 are configured to be fixedly connected.

[0073] That is, the lens barrel and the receiving lens 122 are configured as a ball joint. In this way, in actual application scenarios, during the assembly process, the relative position of the mounting barrel 140 and the transmitting lens 112 can be adjusted first, so that the laser emission direction of the transmitting unit 110 and the optical axis of the receiving lens 122 meet the detection accuracy requirements, such as adjusting the position of the mounting barrel 140 relative to the transmitting lens 112 so that the optical axis of the transmitting lens 112 coincides with the optical axis of the receiving lens 122, or making the optical axis of the transmitting lens 112 perpendicular to the horizontal line to ensure that the transmitting optical axis of the transmitting unit 110 is vertically upward, and then the mounting barrel 140 is fixedly connected to the receiving lens 122 to complete the assembly of the transmitting unit 110 and the receiving lens 122, and it can be ensured that the laser radar 001 meets the detection accuracy requirements. To this end, the processing accuracy requirements for each component can be reduced, thereby reducing the manufacturing cost, and this method can improve the processing qualification rate of the product and is suitable for popularization and application.

[0074] Furthermore, the mounting tube 140 and the receiving lens 122 can be fixedly connected by an adhesive, a threaded structure, a mortise and tenon structure, etc. Among them, the mounting tube 140 and the receiving lens 122 are fixedly connected by an adhesive, which is simple to operate and convenient to assemble, and can ensure that the relative position of the mounting tube 140 and the receiving lens 122 after the fixed connection is reliable and stable, so as to improve the detection accuracy of the laser radar 001.

[0075] like Fig.13 and Fig.14 As shown, in some possible embodiments provided in the present application, a first mounting opening for accommodating an emitting lens 112 is provided at one end of the mounting tube 140 away from the laser emitter 111, and the laser radar 001 also includes a pressure ring 160, which is located on a side of the emitting lens 112 away from the laser emitter 111, and the pressure ring 160 is connected to a side wall of the first mounting opening to fix the emitting lens 112 at the first mounting opening.

[0076] During the assembly process, the emitting lens 112 can be first installed at the first mounting port, and then the emitting lens 112 can be clamped at the first mounting port using the pressure ring 160, and the pressure ring 160 can be connected to the side wall of the first mounting port, so that the emitting lens 112 can be reliably and stably fixed on the mounting tube 140.

[0077] Since the transmitting lens 112 of the laser radar 001 provided in the embodiment of the present invention is relatively small in size and light in weight, if the transmitting lens is directly fixed to the mounting tube using an adhesive as in the related art, there will be a problem that the transmitting lens floats due to the injection of the adhesive, causing the focal length of the transmitting lens to deviate from the design value, resulting in poor measurement accuracy. At the same time, if the transmitting lens is fixed to the mounting tube by dispensing glue around the smaller transmitting lens, the adhesive can easily remain on the surface of the lens, resulting in light spot energy obstruction. To this end, the present application uses a pressure ring 160 to clamp the transmitting lens 112 at the first mounting port of the mounting tube 140, and connects the pressure ring 160 to the side wall of the first mounting port, which can ensure that the design value of the focal length of the transmitting lens 112 is accurate, thereby ensuring good measurement accuracy. At the same time, it can reduce the difficulty of dispensing glue on the transmitting lens 112, facilitate assembly, and reduce or avoid the problem of adhesive blocking light spot energy.

[0078] Specifically, the pressure ring 160 can be fixedly connected to the side wall of the first installation opening of the installation tube 140 by means of an adhesive, a threaded structure, a mortise and tenon structure or other structures. Specifically, the pressure ring 160 can be connected to the side wall of the first installation opening by dispensing glue around the pressure ring 160, which is simple to operate and convenient to assemble, and can ensure the reliability of the connection between the pressure ring 160 and the side wall of the first installation opening, so as to improve the reliability of the clamping of the emitting lens 112.

[0079] like Fig.14 As shown, in the above embodiment, the side wall of the first mounting port is provided with a first boss 142, the emitting lens 112 includes a first incident surface 1121 and a first exit surface 1122, the first incident surface 1121 overlaps the first boss 142, and the pressure ring 160 contacts the first exit surface 1122 and is connected to the side wall of the first mounting port.

[0080] The first incident surface 1121 of the emitting lens 112 is overlapped on the first boss 142 to limit the position of the emitting lens 112, which can ensure that the position of the emitting lens 112 is reasonable so that its focal length meets the design requirements. Then, the pressure ring 160 is used to press the emitting lens 112 from one side of the first emitting surface 1122 of the emitting lens 112 and connect it to the side wall of the first mounting opening, so that the emitting lens 112 can be reliably and stably clamped and fixed on the mounting tube 140, which is simple to operate and easy to install.

[0081] like Fig.14As shown, in the above embodiment, the side wall of the first installation opening is further provided with a second boss 143, the inner diameter of the first boss 142 is smaller than the inner diameter of the second boss 143 and is located on the side of the second boss 143 close to the laser emitter 111, that is, the second boss 143 is close to the outside of the first installation opening. Among them, the first incident surface 1121 is a plane, the first exit surface 1122 is a curved surface, and the first exit surface 1122 is provided with a limiting groove 1123, specifically, the limiting groove 1123 is an annular groove.

[0082] In the actual assembly process, the transmitting lens 112 can be installed into the mounting tube 140 from the outside of the first mounting port from top to bottom, so that the first incident surface 1121 of the transmitting lens 112 overlaps the first boss 142, to ensure that the position of the transmitting lens 112 is reasonable so that its focal length meets the design requirements. Then, the mounting end of the pressure ring 160 is inserted into the first mounting port, and the positioning groove 161 on the inner wall of the mounting end is docked with the limiting groove 1123 on the first exit surface 1122 of the transmitting lens 112, so that the pressure ring 160 cannot continue to move in the direction close to the laser emitter 111, and then the receiving lens 122 is clamped and fixed between the pressure ring 160 and the first boss 142, and then the outer wall of the mounting end and the side wall of the first mounting port are fixedly connected, and the pressure ring 160 is fixed, so that the receiving lens 122 can be firmly pressed and fixed at the first mounting port.

[0083] Specifically, the outer wall of the mounting end and the side wall of the first mounting opening can be connected by an adhesive to fix the pressure ring 160 to the mounting tube 140. Since the outer wall of the mounting end and the side wall of the first mounting opening are connected by an adhesive, and the positioning groove 161 on the inner wall of the mounting end is connected to the limiting groove 1123 on the first exit surface 1122 of the emitting lens 112, the possibility of the adhesive contaminating the emitting lens 112 can be reduced, and the problem of the adhesive contaminating the emitting lens 112 and blocking the light spot energy can be avoided.

[0084] like Figure 3 and Fig.14 As shown, in some possible embodiments provided in the present application, the laser radar 001 also includes: a light shielding ring 170, which is mounted on the outside of the mounting tube 140 and is located above the receiving lens 122. The light shielding ring 170 is configured to block at least part of the light directed to the receiving lens 122, thereby helping to improve the detection accuracy of the laser radar 001.

[0085] Furthermore, part of the light emitted by the laser transmitter 111 and emitted through the emitting lens 112 is redirected by the reflector 210 and emitted toward the receiving lens 122. Therefore, the setting of the light shielding ring 170 can effectively prevent the stray light generated by the emitted light beam after passing through the reflector 210 from returning to the receiving lens 122 and causing optical crosstalk, thereby affecting the ranging accuracy, thereby helping to improve the detection accuracy of the laser radar 001.

[0086] The light shielding ring 170 and the mounting tube 140 can be connected by a snap-fit ​​structure and / or an adhesive, which is simple to operate and convenient to install, and can ensure that the light shielding ring 170 is reliably connected to the mounting tube 140. Specifically, the light shielding ring 170 can be connected to the mounting tube 140 by a snap-fit ​​structure or an adhesive, or the light shielding ring 170 can be connected to the mounting tube 140 by both a snap-fit ​​structure and an adhesive.

[0087] Among them, a gap is set between the shading ring 170 and the receiving lens 122, so that the receiving lens 122 and the mounting tube 140 can move relatively, so that during the assembly process, the laser direction of the transmitting unit 110 can be universally adjusted relative to the optical axis of the receiving lens 122, avoiding the problem that the shading ring 170 and the receiving lens 122 are seamlessly arranged, causing the mounting tube 140 and the receiving lens 122 to be stuck and unable to be adjusted.

[0088] Among them, Fig.14 As shown, a convex spherical contact surface 141 is provided on the outer circumference of the mounting tube 140, and a concave spherical contact surface 1221 is provided on the inner circumference of the receiving lens 122. The convex spherical contact surface 141 and the concave spherical contact surface 1221 are arranged opposite to each other and at least partially fit each other, thereby making the mounting tube 140 and the receiving lens 122 form a ball joint, so as to achieve the adjustable position of the mounting tube 140 and the receiving lens 122, and then achieve the universal adjustment of the direction of the emission light beam of the emission unit 110. Among them, the convex spherical contact surface 141 and the concave spherical contact surface 1221 are easy to realize, convenient to process, and have low manufacturing cost. It can be understood that the middle part of the receiving lens 122 is set as a hollow structure, the mounting tube 140 is penetrated in the hollow structure and connected to the receiving lens 122, and the space enclosed by the inner circumference of the receiving lens 122 is the shape of the hollow structure.

[0089] Specifically, the size of the gap between the light shielding ring 170 and the receiving lens 122 can be reasonably designed according to the specific structures of the convex spherical contact surface 141 and the concave spherical contact surface 1221 .

[0090] In some possible embodiments provided in the present application, the mounting tube 140 and the receiving lens 122 are installed inside the fixing seat 130, that is, in the actual assembly process, the position of the fixing seat 130 is fixed. Since the receiving lens 122 is mounted on the outside of the mounting tube 140, when the receiving lens 122 is installed inside the fixing seat 130, the mounting tube 140 is also indirectly installed on the fixing seat 130.

[0091] like Figure 3 As shown, the transmitting unit 110 also includes a transmitting circuit 113 configured as a flexible part, part of the transmitting circuit 113 is installed inside the mounting tube 140, and part of the transmitting circuit 113 is located outside the mounting tube 140. Since the transmitting circuit 113 is a flexible part, the part of the transmitting circuit 113 located outside the mounting tube 140 will change position under the action of external force. For example, when the cleaning robot 002 turns or overcomes obstacles, it is subjected to external force, which will drive the part of the transmitting circuit 113 located outside the mounting tube 140 to change position.

[0092] Therefore, in this embodiment, the laser radar 001 also includes a limit ring 180, which is configured to contact the part of the transmitting circuit 113 located outside the installation tube 140 to limit the movement of at least part of the transmitting circuit 113. The limit ring 180 is used to limit the part of the transmitting circuit 113 located outside the installation tube 140, thereby ensuring the positioning and orientation of the part of the transmitting circuit 113, so as to reduce the possibility of the entire transmitting circuit 113 moving during the turning or obstacle crossing process of the cleaning robot 002, and reduce the energy distribution of the receiving optical path affected by the movement of the transmitting circuit 113, so as to ensure good detection accuracy. At the same time, compared with the use of adhesives to fix part of the transmitting circuit in the related art, the cost of the adhesive is higher when the transmitting circuit 113 is limited by the limit ring 180, which is conducive to reducing the overall manufacturing cost of the laser radar 001.

[0093] Specifically, the transmitting circuit of the flexible member may be a FPC (Flexible Printed Circuit) or other structures.

[0094] In the above embodiment, the laser transmitter 111 is arranged on the transmitting circuit 113, and the transmitting circuit 113 is installed at the bottom end of the mounting tube 140, that is, part of the transmitting circuit 113 extends to the outside of the mounting tube 140 through the bottom end of the mounting tube 140. It can be understood that since the mounting tube 140 and the receiving lens 212 are installed inside the fixing seat 130, the part of the transmitting circuit located outside the mounting tube 140 will be located inside the fixing seat 130. Therefore, the limiting ring 180 is installed inside the fixing seat 130 and below the mounting tube 140, so that the part of the transmitting circuit 113 located outside the mounting tube 140 will overlap on the limiting ring 180, and then the limiting ring 140 is used to contact with the part of the transmitting circuit 113 and limit the part of the transmitting circuit 113, thereby ensuring the positioning and orientation of the part of the transmitting circuit 113, so as to reduce the energy distribution of the transmitting circuit 113 affecting the receiving optical path as the cleaning robot 002 moves, so as to ensure good detection accuracy.

[0095] like Figure 7 As shown, in some possible embodiments provided in the present application, a second step 134 is provided inside the mounting groove 131 of the fixing seat 130, and the receiving lens 122 is fixed on the second step 134. Specifically, the receiving lens 122 can be fixed on the second step 134 by an adhesive, a clamping structure, or other structures.

[0096] Among them, Figure 8 As shown, the interior of the fixing seat 130 is also provided with a positioning portion located below the second step 134, and the limiting ring 180 is provided with a clamping portion 181, and the positioning portion and the clamping portion 181 are adapted to limit the movement of the limiting ring 180 relative to the fixing seat 130, thereby, the limiting ring 180 can be quickly and conveniently fixed on the fixing seat 130 by using the positioning portion and the clamping portion 181, and the installation cost is low. Among them, the clamping portion 181 includes a slot and / or a notch and / or a protrusion, and when the clamping portion 181 is a slot and / or a notch, the material used for the limiting ring 180 can be further reduced, and the manufacturing cost of the limiting ring 180 can be further reduced, thereby reducing the manufacturing cost of the laser radar 001.

[0097] Among them, the second step 134 is provided with an avoidance gap 1341 for avoiding the transmitting circuit 113, and the end of the limiting ring 180 facing the mounting tube 140 is provided with a protruding first support portion 182, and the first support portion 182 is opposite to the avoidance gap 1341 to support the transmitting circuit 113 located in the avoidance gap 1341, thereby, the transmitting circuit 113 located in the avoidance gap 1341 will not fall out of the avoidance gap 1341 under the support of the first support portion 182, that is, the first support portion 182 will block the transmitting circuit 113 located in the avoidance gap 1341 in the avoidance gap 1341, thereby, it is possible to ensure that part of the transmitting circuit 113 is positioned and oriented, so as to reduce the possibility of the entire transmitting circuit 113 turning or overcoming obstacles when the cleaning robot 002 is turned, and reduce the energy distribution of the receiving optical path affected by the activity of the transmitting circuit 113, so as to ensure good detection accuracy.

[0098] In some possible embodiments provided in the present application, the transmission part 700 may also be a gear, a transmission belt, or other transmission mechanisms. Taking the transmission part 700 as a transmission belt as an example, the driving part 300 is connected to the rotating seat 220 through the transmission belt. For example, if the driving part 300 is a motor, the output shaft of the motor is connected to the rotating seat 220 through the transmission belt to drive the rotating seat 220 to rotate relative to the fixed seat 130.

[0099] like Figure 3 , Figure 4 and Figure 6 As shown, in some possible embodiments provided by the present application, the transmission part 700 is a transmission belt, and a second support part 135 is provided in the fixed seat 130, and the second support part 135 is located below the transmission belt and is provided adjacent to the transmission belt. Therefore, when the transmission belt just falls off downward and has a tendency to continue to fall off downward, the second support part 135 can effectively support the transmission belt, avoiding the problem that the transmission belt continues to fall off downward and affects the transmission accuracy, so as to ensure the reliability of the rotation of the rotating seat 220 relative to the fixed seat 130.

[0100] like Figure 3 , Figure 4 and Figure 6 As shown, in some possible embodiments provided in the present application, a belt groove 2232 is provided on the rotating seat 220, the driving unit 300 includes an output shaft, and a synchronous wheel 310 installed on the output shaft, and a transmission belt is wound around the belt groove 2232 and the output shaft of the driving unit 300. Thus, the output shaft of the driving unit 300 rotates, driving the synchronous wheel 310 to transmit, and the rotating seat 220 can be driven to rotate relative to the fixed seat 130 through the transmission belt.

[0101] The second support portion 135 on the fixed seat 130 is located below the belt groove 2232 and is disposed adjacent to the opening of the belt groove 2232. Thus, the second support portion 135 can effectively support the transmission belt in the belt groove 2232 to prevent the transmission belt from being separated from the belt groove 2232. It is understandable that, under normal circumstances, the belt groove 2232 has a certain limiting effect on the transmission belt, so that the transmission belt can be stably clamped in the belt groove 2232 to drive the rotating seat 220 and the synchronous wheel 310 to rotate synchronously. If the transmission belt has a tendency to detach from the belt groove 2232, the transmission belt will move to abut against the second support portion 135. Since the second support portion 135 is located below the belt groove 2232 and is arranged adjacent to the opening of the belt groove 2232, the transmission belt is still located in the belt groove 2232 under the support of the second support portion 135, and will not fall off from the belt groove 2232. Therefore, the belt groove 2232 and the second support portion 135 cooperate with each other, which can effectively prevent the laser radar 001 from falling off the belt groove 2232 due to external force during the production or use process, thereby preventing the rotating seat 220 from failing to rotate relative to the fixed seat 130, thereby improving the reliability of the laser radar 001.

[0102] like Figure 4 As shown, in the above embodiment, the top of the second support portion 135 is not higher than the inner bottom of the belt groove 2232. Such a configuration can prevent the top of the second support portion 135 from being higher than the inner bottom of the belt groove 2232 and interfering with the transmission belt exposed outside the belt groove 2232, causing the rotating seat 220 to be unable to rotate smoothly. This can reduce the friction between the transmission belt and the top of the second support portion 135 during the rotation of the rotating seat 220, which is beneficial to increasing the service life of the transmission belt.

[0103] Specifically, the height difference between the top of the second support portion 135 and the inner bottom of the belt groove 2232 can be 1 mm to 5 mm. By reasonably setting the height difference between the top of the second support portion 135 and the inner bottom of the belt groove 2232, it is possible to minimize the friction between the transmission belt and the top of the second support portion 135 during the rotation of the rotating seat 220, and ensure that the second support portion 135 has a good supporting effect on the transmission belt that has a tendency to fall off from the belt groove 2232, so that the transmission belt can be reliably confined in the belt groove 2232 and will not fall off from the belt groove 2232. Specifically, the height difference between the top of the second support portion 135 and the inner bottom of the belt groove 2232 can be 1 mm, 2 mm, 3 mm, 5 mm, or other sizes.

[0104] Furthermore, if Figure 6As shown, since the transmission belt is sleeved on the synchronous wheel 310, the synchronous wheel 310 has a certain supporting force on the transmission belt, and the second supporting part 135 and the synchronous wheel 310 are distributed on both sides of the mounting tube 140. The transmission belt is supported from both sides by the second supporting part 135 and the synchronous wheel 310, which is beneficial to improve the smoothness of the movement of the transmission belt, thereby improving the stability of the rotation of the rotating seat 220 relative to the fixed seat 130 and improving the detection accuracy.

[0105] Among them, Figure 6 As shown, the number of the second support parts 135 is one or more, and the plurality of second support parts 135 are distributed at intervals. The number of the second support parts 135 can be reasonably set according to the specific structure of the second support parts 135 to provide reliable and stable support for the transmission belt. Specifically, the number of the second support parts 135 can be one, two, three or other numbers. Specifically, the second support part 135 can be a protruding structure provided on the fixing seat 130.

[0106] In some possible embodiments provided by the present application, the fixed seat 130, the transmitting unit 110, the receiving unit 120, the main circuit 400, etc. installed on the fixed seat 130 form a fixed module 100, and the rotating seat 220 and the reflector 210 installed on the rotating seat 220 form a rotating module 200. Among them, the rotating seat 220 is provided with a transmitting window 221 and a receiving window 222, and the receiving windows 222 are distributed in pairs on both sides of the transmitting window 221.

[0107] In this embodiment, the cleaning robot 002 cleaning robot 002 cleaning robot 002 cleaning robot 002 cleaning robot 002 cleaning robot 002 cleaning robot 002 receiving windows 222 of the laser radar 001 are arranged in pairs on both sides of the transmitting window 221, that is, with the transmitting window 221 as the center, the same number of receiving windows 222 are arranged on both sides of the transmitting window 221, thereby improving the consistency of the laser radar 001's detection structure at various angles, such as improving the consistency of the laser radar 001's ranging at various angles.

[0108] Furthermore, along the circumference of the rotating seat 220, the receiving windows 222 are arranged in pairs on both sides of the transmitting window 221, that is, along the circumference of the rotating seat 220, the projections of the receiving windows 222 in the horizontal plane are located on both sides of the projections of the transmitting window 221 in the horizontal plane. As a result, the height of the laser radar 001 can be lowered, so that the laser radar 001 can be conveniently and accurately installed on the equipment body 021 of the cleaning robot 002, which is convenient for the installation of the cleaning robot 002. At the same time, the overall height of the cleaning robot 002 can be lowered to meet the design requirements of the cleaning robot 002 with a compact structure and a small size, reduce the space occupied by the cleaning robot 002, expand the scope of use of the cleaning robot 002, and facilitate storage.

[0109] It is understandable that the shape of the transmitting window 221 and the shape of the receiving window 222 may be the same or different. Figure 1 As shown, the shape of the transmitting window 221 is circular, and the shape of the receiving window 222 is rectangular.

[0110] It can be understood that, in the horizontal direction, the geometric center of the transmitting window 221 and the geometric center of the receiving window 222 can be arranged flush with each other or staggered.

[0111] Specifically, the number of receiving windows 222 can be one pair, two pairs, three pairs, or other number of pairs, that is, one receiving window 222, two receiving windows 222, three receiving windows 222, or other number of receiving windows 222 can be arranged on both sides of the moisture direction of the transmitting window 221. It can be understood that the number of pairs of receiving windows 222 can be reasonably selected according to the size of the laser radar 001, such as Figure 1 As shown, the number of pairs of receiving windows 222 is a pair.

[0112] like Fig.12 As shown, in some possible embodiments provided in the present application, the size of the reflector 210 includes a first size Dv and a second size Dh which are perpendicular to each other, and the direction of the first size Dv is parallel to the horizontal line, such as the first size Dv can be understood as the width of the reflector 210, and the second size Dh can be understood as the length of the reflector 210. It can be understood that the reflector 210 can also include a third size, and the third size can be understood as the thickness of the reflector 210. The size of the transmitting aperture of the transmitting unit 110 is D1, and the size of the receiving aperture of the receiving unit 120 is D2, wherein Dv satisfies: D1<Dv / 1.414<D2, and Dh satisfies: D2<Dh.

[0113] This arrangement can effectively lower the height of the laser radar 001 while ensuring that the laser radar 001 has a sufficient receiving area, so that the laser radar 001 can be conveniently and accurately installed on the equipment body 021 of the cleaning robot 002, thereby facilitating the installation of the cleaning robot 002. At the same time, it can lower the overall height of the cleaning robot 002, reduce the space occupied by the cleaning robot 002, expand the use range of the cleaning robot 002, and facilitate storage.

[0114] like Figure 1 , Fig.10 and Fig.12As shown, in some possible embodiments provided by the present application, the opening area of ​​the emission window 221 is larger than the exit area of ​​the emission aperture, wherein the emission aperture can be understood as the emission lens 112 of the emission unit 110, that is, the opening area of ​​the emission window 221 needs to be larger than the area of ​​the exit surface of the emission lens 112. This arrangement can ensure that the area of ​​the emission window 221 is large enough, so that the light emitted by the emission unit 110 can be more comprehensively projected through the emission window 221 after the angle is changed by the reflective lens, thereby reducing the energy loss of the emission unit 110 and improving the energy utilization rate of the emission unit 110.

[0115] Specifically, the emission window 221 can be circular, rectangular or other shapes. When the emission window 221 is a circular window, the size of the emission window 221 can be understood as the diameter of the emission window 221. At this time, the diameter of the emission window 221 is larger than the diameter of the emission lens 112. When the emission window 221 is a rectangular window, the length and width of the emission window 221 are both larger than the diameter of the emission lens 112.

[0116] like Figure 3 , Fig.10 , Fig.11 and Fig.12 As shown, in some possible embodiments provided in the present application, the laser radar 001 also includes a first window lens 230, which is mounted on the rotating seat 220 and corresponds to the emission window 221, and the first window lens 230 is used to shield the emission window 221; wherein the first window lens 230 is tilted relative to the light emitting axis of the reflector 210, so that the first window lens 230 and the light emitting axis of the reflector 210 are not completely perpendicular, thereby avoiding optical return light crosstalk, thereby improving the ranging accuracy of the laser radar 001.

[0117] Furthermore, if Fig.11 As shown, the inclination angle β of the first window lens 230 relative to the light-emitting axis of the reflector 210 is β, and the range of β is: 2° to 45°. Specifically, the inclination angle of the first window lens 230 relative to the light-emitting axis of the reflector 210 can be reasonably set according to the setting position and size of the reflector 210 to effectively avoid optical return light crosstalk. Specifically, the inclination angle β of the first window lens 230 relative to the light-emitting axis of the reflector 210 can be 2°, 15°, 30°, 45°, or other angles.

[0118] like Figure 3As shown, in some possible embodiments provided in the present application, the rotating seat 220 includes a detachably connected seat body 223 and an upper cover 224, the reflector 210 is installed on the seat body 223, and the seat body 223 is rotatably connected to the fixed seat 130 to drive the reflector 210 to rotate relative to the fixed seat 130. A first card slot 2231 is provided on the base 223, and a second card slot 2241 is provided on the upper cover 224. The upper cover 224 is connected to the base 223 so that the two ends of the first window lens 230 are respectively clamped in the first card slot 2231 and the second card slot 2241, that is, the first window lens 230 is clamped and clamped between the upper cover 224 and the base 223 by using the upper cover 224 and the base 223, thereby realizing the connection between the first window lens 230 and the rotating base 220. Compared with the related art of installing the first window lens on the rotating base by using an adhesive, the installation method of the first window lens 230 saves the cost of the adhesive, which is beneficial to reducing the manufacturing cost of the laser radar 001, thereby meeting the low-cost design requirement of the laser radar 001.

[0119] Specifically, the upper cover 224 and the base body 223 may be connected by a snap-fit ​​structure, a threaded structure 133 , an adhesive, or the like.

[0120] like Fig.10 and Fig.11 As shown, in some possible embodiments provided in the present application, the fixed module 100 further includes a light homogenizing element 150 , and the light homogenizing element 150 is located between the receiver 121 and the receiving lens 122 .

[0121] The setting of the light homogenizing element 150 can improve the echo uniformity at the photosensitive surface of the receiver 121, thereby reducing the ranging deviation of the laser radar 001 during operation and improving the radar ranging performance; at the same time, it can reduce the calibration deviation in the production process of the laser radar 001 and improve the qualified rate of product production.

[0122] The light homogenizing element 150 mainly includes optical elements with light homogenizing function such as frosted sheets, light homogenizing sheets, and DOE (diffractive optical element).

[0123] like Fig.10 and Fig.11 As shown, in some possible embodiments provided in the present application, the rotating module 200 also includes a filter 240 installed on the rotating seat 220, and the filter 240 corresponds to the receiving window 222 and is located between the receiving window 222 and the reflector 210. That is, each receiving window 222 corresponds to a filter 240, and the filter 240 can filter out the background light of the received light reflected by obstacles and the surrounding environment to reduce stray light interference and improve the detection accuracy of the laser radar 001.

[0124] Among them, the filter 240 is a narrowband filter 240, and the bandwidth index of the filter 240 is less than or equal to 50nm to ensure a good filtering effect. Specifically, the bandwidth index of the filter 240 can be 10nm, 30nm, 40nm, 50nm or other values.

[0125] In some possible embodiments provided in the present application, the diameter of the receiving lens 122 ranges from 10 mm to 20 mm. Specifically, the diameter of the receiving lens 122 can be 10 mm, 14 mm, 16 mm, 20 mm, or other sizes.

[0126] The diameter of the hollow structure of the receiving lens 122 ranges from 5 mm to 10 mm. Specifically, the diameter of the hollow structure of the receiving lens 122 can be 5 mm, 6 mm, 8 mm, 10 mm, or other sizes.

[0127] The focal length of the receiving lens 122 ranges from 8 mm to 20 mm. Specifically, the focal length of the receiving lens 122 can be 8 mm, 14 mm, 16 mm, 20 mm, or other sizes.

[0128] The ratio of the diameter of the receiving lens 122 to the focal length ranges from 0.8 to 2.2. Specifically, the ratio of the diameter of the receiving lens 122 to the focal length can be 0.8, 1, 1.5, 2, 2.2, or other values.

[0129] The diameter of the emitting lens 112 ranges from 3 mm to 8 mm. Specifically, the diameter of the emitting lens 112 can be 3 mm, 5 mm, 6 mm, 8 mm, or other sizes.

[0130] The focal length of the emission lens 112 ranges from 3 mm to 10 mm. Specifically, the focal length of the emission lens 112 can be 3 mm, 6 mm, 8 mm, 10 mm, or other sizes.

[0131] The receiving lens 122 may be made of glass, PMMA (Polymethyl Methacrylate) or PC (Polycarbonate).

[0132] The material of the emitting lens 112 may be glass, PMMA (Polymethyl Methacrylate) or PC (Polycarbonate).

[0133] The laser emitter 111 may be a LD (Laser Diode), a VCSEL (Vertical Cavity Surface Emitting Laser), or the like.

[0134] Among them, the receiver 121 mainly includes PIN (positive-intrinsic-negative, photodiode), APD (Avalanche Photon Diode, avalanche diode), SPAD (single photon avalanche diode, single photon detector), SIPM (Silicon Photomultiplier, silicon photomultiplier tube), etc. (SPAD used by Qiuniu).

[0135] The present application has been described through the above-mentioned embodiments, but it should be understood that the above-mentioned embodiments are only for the purpose of example and illustration, and are not intended to limit the present application to the scope of the described embodiments. In addition, it can be understood by those skilled in the art that the present application is not limited to the above-mentioned embodiments, and more variations and modifications can be made according to the teachings of the present application, and these variations and modifications all fall within the scope of protection claimed by the present application. The scope of protection of the present application is defined by the attached claims and their equivalents.

Claims

1. A cleaning robot (002), characterized in that: include: Device body (021); A time-of-flight laser radar (001), the time-of-flight laser radar (001) being arranged on the device body (021), the time-of-flight laser radar (001) comprising a transmitting unit (110) and a receiving unit (120), the transmitting unit (110) comprising a laser transmitter (111) and a transmitting lens (112) arranged in sequence, and the receiving unit (120) comprising a receiver (121) and a receiving lens (122) arranged in sequence; Wherein, the optical axis of the transmitting lens (112) and the optical axis of the receiving lens (122) are coaxially arranged.

2. The cleaning robot (002) according to claim 1, characterized in that: The time-of-flight laser radar (001) further comprises: a reflector (210), the reflector (210) being arranged obliquely above the emitting lens (112) and the receiving lens (122), the reflector (210) being configured to rotate with the optical axis of the emitting lens (112) and / or the optical axis of the receiving lens (122) as a rotation axis; The light emitted by the laser emitter (111) passes through the emitting lens (112) and is then redirected by the reflector (210) before being emitted, and the returned receiving light is redirected by the reflector (210) and is then received by the receiver (121) through the receiving lens (122).

3. The cleaning robot (002) according to claim 2, characterized in that: The reflector (210) has an inclination angle relative to the horizontal line of 45° to 47°.

4. The cleaning robot (002) according to claim 2, characterized in that: The time-of-flight laser radar (001) further comprises: A fixing base (130), the fixing base (130) being connected to the device body (021), and the transmitting unit (110) and the receiving unit (120) being mounted on the fixing base (130); A rotating seat (220), the rotating seat (220) being rotatably connected above the fixed seat (130), and the reflecting mirror (210) being mounted on the rotating seat (220); A driving unit (300) is mounted on the fixed seat (130) and / or the device body (021) and connected to the rotating seat (220). The driving unit (300) is configured to drive the rotating seat (220) to rotate relative to the fixed seat (130).

5. The cleaning robot (002) according to claim 4, characterized in that: The time-of-flight laser radar (001) further comprises: A main circuit (400), wherein the main circuit (400) is mounted on the fixing seat (130), the transmitting unit (110) further comprises a transmitting circuit (113) electrically connected to the laser transmitter (111), the receiving unit (120) further comprises a receiving circuit electrically connected to the receiver (121), and the main circuit (400) is electrically connected to the transmitting circuit (113) and the receiving circuit.

6. The cleaning robot (002) according to claim 5, characterized in that: The laser transmitter (111) is arranged horizontally, and the receiver (121) is arranged horizontally; The laser transmitter (111) is arranged above the transmitting circuit (113), the receiver (121) is arranged above the receiving circuit, and the main circuit (400) is located below the transmitting circuit (113) and the receiving circuit.

7. The cleaning robot (002) according to claim 5, characterized in that: The time-of-flight laser radar (001) further comprises: A rotating member (500), the rotating seat (220) and the fixed seat (130) together enclose an installation chamber, the fixed seat (130) is provided with an annular installation groove (131) located in the installation chamber, the transmitting unit (110) and the receiving unit (120) are installed inside the installation groove (131), and the rotating member (500) is sleeved on the outside of the installation groove (131) and connected to the rotating seat (220); A locking member (600), the locking member (600) being sleeved on the outside of the mounting groove (131) and located above the rotating member (500), the launching unit (110) further comprising a mounting tube (140), the locking member (600) being connected to the outer wall of the mounting groove (131) so as to lock the rotating member (500) on the mounting tube (140).

8. The cleaning robot (002) according to claim 7, characterized in that: The outer wall of the installation groove (131) is provided with a first step (132), and the outer wall of the end of the installation groove (131) facing the rotating seat (220) is provided with a thread structure (133); The locking member (600) is a locking nut, the rotating member (500) is overlapped on the first step (132), the rotating member (500) comprises an inner ring and an outer ring, the locking nut cooperates with the threaded structure (133) to clamp the inner ring between the locking nut and the first step (132), and the outer ring is connected to the rotating seat (220).

9. The cleaning robot (002) according to claim 7, characterized in that: The inner wall of the installation groove (131) is connected to the inside and outside of the installation chamber. The main circuit (400) of the time-of-flight laser radar (001) is installed at the bottom of the fixing seat (130) and is located outside the installation chamber. The main circuit (400) is electrically connected to the transmitting circuit (113) and the receiving circuit through the installation groove (131).

10. The cleaning robot (002) according to claim 1, characterized in that: The receiver (121) is located below the laser transmitter (111), the receiving lens (122) is located below the transmitting lens (112), and in a plane perpendicular to the optical axis of the transmitting lens (112) and / or the optical axis of the receiving lens (122), the projection of the receiving lens (122) is located on the outer peripheral side of the projection of the transmitting lens (112); Wherein, the receiver (121) is a single-photon receiver (121).

11. The cleaning robot (002) according to claim 1, characterized in that: The transmitting unit (110) further comprises a mounting tube (140), the laser transmitter (111) and the transmitting lens (112) being respectively mounted at two ends inside the mounting tube (140), the mounting tube (140) being passed through the receiving lens (122) and connected to the mounting tube (140), and the receiver (121) being located below the mounting tube (140).

12. A cleaning system, characterized in that: It comprises: a cleaning base station, and a cleaning robot (002) as claimed in any one of claims 1 to 11.

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