Laser radar and cleaning robot

Abstract

The utility model discloses a laser radar and a cleaning robot, and belongs to the technical field of sensors. The laser radar comprises a light emitting assembly and a light detection assembly, the light emitting assembly comprises a light source and a light diverging device, the light diverging device is located in the light emitting direction of the light source, the light diverging device diverges light beams emitted by the light source in a first plane where the light beams are located, and the laser radar can detect a certain height range. According to the method, the contour information of the obstacle within a certain height range can be obtained, so that a map with three-dimensional information can be obtained, and the robot can better avoid the obstacle when working in a relatively complex environment. While the map building function is realized, the obstacle avoidance and edge functions are also realized, the functions of the three modules are integrated, and the cost is reduced.

Description

Technical Field

[0001] The present disclosure relates to the field of sensor technology, and in particular to a laser radar and a cleaning robot. Background Art

[0002] Mobile robots are machines or devices that perform work automatically. They can accept human commands, run pre-programmed programs, or act according to instructions formulated using artificial intelligence technology. The task of mobile robots is to assist or replace humans in performing some tasks, such as cleaning, delivery, and handling.

[0003] In the related technology, most mobile robots use single-line laser radars. The general principle of single-line laser radars is to emit a point laser and rotate the point to scan a line to collect obstacle information within a plane.

[0004] The map established based on the single-line laser radar is a map that only contains two-dimensional information and cannot fully reflect the specific information of obstacles in the environment. As a result, existing mobile robots are prone to friction or collision with various obstacles when working in a more complex environment. For example, the height of an obstacle is higher than the height of the plane scanned by the single-line laser radar, but lower than the height of the highest point of the mobile robot device, which causes the mobile robot to collide with the obstacle and be damaged. Utility Model Content

[0005] The embodiments of the present disclosure provide a laser radar and a cleaning robot, which can solve the above technical problems existing in the related technologies. The technical solution is as follows:

[0006] In a first aspect, a laser radar is provided. The laser radar comprises a light emitting component, a light detecting component and a supporting member;

[0007] The light emitting assembly comprises a light source and a light diverging device, wherein the light source is connected to the supporting member, the light diverging device is located in the light emitting direction of the light source and is connected to the supporting member, and the light diverging device is used to diverge the light beam emitted by the light source within the first plane where the light beam is located;

[0008] The light detection component is connected to the support member.

[0009] Optionally, the light diverging device is a prism.

[0010] Optionally, the central axis of the prism is perpendicular to the light emitting direction of the light source.

[0011] Optionally, the light diverging device is a concave lens.

[0012] Optionally, the central axis of the concave lens is parallel to the light emitting direction of the light source.

[0013] Optionally, the light detection assembly includes a photosensitive element and a lens, wherein the lens is disposed on a light-sensitive side of the photosensitive element, and a central axis of the lens is parallel to a light-incident direction of the photosensitive element.

[0014] Optionally, the photosensitive element includes a plurality of first optical probes distributed in an array, and a second plane where the plurality of first optical probes are located is not parallel to the first plane.

[0015] Optionally, the photosensitive element includes a plurality of second optical probes distributed in a linear manner, and the straight line on which the plurality of second optical probes are located is parallel to the first plane.

[0016] Optionally, the laser radar also includes a rotating seat, the rotating end of the rotating seat is connected to the light-emitting component and the light detection component, the rotating axis of the rotating seat is perpendicular to the light emitting direction of the light source, and the rotating axis is parallel to the first plane.

[0017] Optionally, the rotating seat includes a base, a rotating table and a power component; the rotating table is rotatably connected to the base; and the power component is transmission-connected to the rotating table.

[0018] In a second aspect, a cleaning robot is provided, comprising the laser radar described in any one of the first aspects.

[0019] The beneficial effects brought by the technical solution provided by the embodiments of the present disclosure include at least:

[0020] In the disclosed embodiment, the light diverging device diverges the light beam emitted by the light source within a first plane where the light beam is located. The laser radar can detect a certain height range and obtain obstacle contour information within a certain height range. In this way, a map with three-dimensional information can be obtained, so that the robot can better avoid obstacles when working in a more complex environment. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0022] Figure 1 is a schematic diagram of the structure of a laser radar provided by an embodiment of the present disclosure;

[0023] Figure 2 is a schematic diagram of the structure of another laser radar provided by an embodiment of the present disclosure;

[0024] Figure 3is a cross-sectional schematic diagram of a light-emitting component provided by an embodiment of the present disclosure;

[0025] Figure 4 is a structural schematic diagram of a light-emitting component provided by an embodiment of the present disclosure;

[0026] Figure 5 is a structural schematic diagram of another light-emitting component provided by an embodiment of the present disclosure;

[0027] Figure 6 is a schematic diagram of the principle of a laser radar provided by an embodiment of the present disclosure;

[0028] Figure 7 is a schematic structural diagram of a photosensitive element provided by an embodiment of the present disclosure;

[0029] Figure 8 is a schematic structural diagram of another photosensitive member provided by an embodiment of the present disclosure;

[0030] Fig. 9 is a structural schematic diagram of a rotating seat provided in an embodiment of the present disclosure;

[0031] Fig.10 It is a schematic diagram of the structure of a cleaning robot provided in an embodiment of the present disclosure.

[0032] Reference numerals:

[0033] Laser radar (1), light emitting component (11), light source (111), light diverging device (112);

[0034] A light detection component (12), a light sensing element (121), a first light probe (121a), a second light probe (121b), and a lens (122);

[0035] A rotating seat (13), a base (131), a rotating platform (132), a power assembly (133), a supporting member (14), and a cleaning robot (100). DETAILED DESCRIPTION

[0036] In order to make the objectives, technical solutions and advantages of the present disclosure more clear, the embodiments of the present application will be further described in detail below with reference to the accompanying drawings.

[0037] Reference Figure 1 and Figure 2 As shown, an embodiment of the present disclosure provides a laser radar 1 , which may include a light emitting component 11 , a light detecting component 12 and a supporting member 14 .

[0038] The laser radar 1 can be connected to the cleaning robot 100 and construct a three-dimensional information map for the cleaning robot 100. The cleaning robot 100 can be a household sweeping robot with a sweeping function, or the cleaning robot 100 can be a sweeping and mopping robot with both sweeping and mopping functions.

[0039] The following are the introductions of the various components of the laser radar 1:

[0040] Light emitting component 11

[0041] In some embodiments, reference Figure 3 As shown, Figure 3 It is a cross-sectional schematic diagram of a light-emitting component 11 provided in an embodiment of the present disclosure. The light-emitting component 11 may include a light source 111 and a light diverging device 112. The light source 111 is connected to a support member 14. The light diverging device 112 is located in the light emitting direction of the light source 111 and is connected to the support member 14. The light diverging device 112 is used to diverge the light beam emitted by the light source 111 within a first plane where the light beam is located.

[0042] The light diverging device 112 is located in the light emitting direction of the light source 111. After the light beam emitted by the light source 111 is diverged by the light diverging device 112, a line laser plane parallel to the first plane can be formed. After the line laser plane is irradiated to the object to be measured in the external environment, it becomes a contour line of the object to be measured.

[0043] The present disclosure does not impose any specific restrictions on the wavelength of the light beam emitted by the light source 111 , and it can be matched and set according to factors such as the wavelength of light in the external environment of the laser radar 1 .

[0044] In some embodiments, reference Figure 4 As shown, Figure 4 1 is a schematic diagram of the structure of a light emitting assembly 11 provided in an embodiment of the present disclosure, wherein the light diverging device 112 is a concave lens. The lens of the concave lens is thin in the middle and thick at the edge, and is concave in shape. The concave lens has a diverging effect on light.

[0045] The present disclosure does not specifically limit the thickness and size of the concave lens, which can be matched and set according to factors such as the angle of the diverged light beam. The present disclosure does not specifically limit the material of the concave lens, which can be matched and set according to factors such as the refractive index and manufacturing cost, such as glass, resin, quartz, etc.

[0046] In some embodiments, reference Figure 4 As shown, the central axis of the concave lens is parallel to the light emitting direction of the light source 111. The light rays in the light beam emitted by the light source 111 that are parallel to the central axis of the concave lens are diverged after being refracted by the concave lens, and the refracted light rays are extended in the reverse direction through the focus, and the propagation direction of the light rays in the light beam emitted by the light source 111 that pass through the optical center remains unchanged, and the first plane where the diverged light beam is located is parallel to the central axis of the concave lens.

[0047] In some embodiments, reference Figure 5 As shown, Figure 5 1 is a schematic diagram of the structure of another light-emitting assembly 11 provided in an embodiment of the present disclosure, wherein the light-dispersing device 112 is a prism. A prism is a transparent body with a triangular cross section in optics. It is an optical instrument with a triangular cross section made of transparent material. It is a type of dispersion prism that can disperse complex light when passing through the prism. The light beam emitted by the light source 111 can be dispersed into light beams of different wavelengths after passing through the prism.

[0048] In some embodiments, reference Figure 5 As shown, the central axis of the prism is perpendicular to the light emitting direction of the light source 111. Since light beams of different wavelengths have different refractive indices in the prism, the light beam emitted by the light source 111 is dispersed into light beams of different wavelengths after passing through the prism, and the first plane where the light beams of different wavelengths are located is perpendicular to the central axis of the prism.

[0049] Light detection component 12

[0050] In some embodiments, the light detection assembly 12 is connected to a support member 14. The support member 14 can provide support and fixation for the light detection assembly 12.

[0051] The present disclosure does not specifically limit the connection method between the support member 14 and the light detection component 12. The support member 14 and the light detection component 12 can be connected in a detachable manner such as screw connection, or in a non-detachable manner such as welding.

[0052] In some embodiments, reference Figure 6 As shown, Figure 6 It is a schematic diagram of the principle of a laser radar 1 provided in an embodiment of the present disclosure. The light detection component 12 may include a photosensitive element 121 and a lens 122. The lens 121 is arranged on the photosensitive side of the photosensitive element 122, and the central axis of the lens 122 is parallel to the light incident direction of the photosensitive element 121.

[0053] The lens 122 can converge the light beam emitted by the light emitting component 11 after being reflected by the object to be measured in the external environment, and the photosensitive element 121 can receive the light signal of the light beam emitted by the light emitting component 11 after being reflected by the object to be measured in the external environment.

[0054] In some embodiments, reference Figure 6 and Figure 7 As shown, Figure 7 It is a structural schematic diagram of a photosensitive element 121 provided in an embodiment of the present disclosure. The photosensitive element 121 may include a plurality of first optical probes 121a distributed in an array, and a second plane where the plurality of first optical probes 121a are located is not parallel to the first plane.

[0055] The light-emitting component 11 emits a vertical line laser plane. When encountering an object to be measured in the external environment, the plane intersects with the surface of the obstacle to form a light strip. The light strip is reflected and scattered on the surface of the object to be measured, and the reflected light is received by the light detection component 12 at another angle. The light-emitting component 11 is projected perpendicular to the surface of the object to be measured in the external environment, and the angle between the extension line of the center of the lens 122 and the normal line of the surface of the object to be measured is θ. Assuming that the object distance is l1, in the focused imaging state, the focal distance is l2, and the obstacle height, that is, the length of the light strip formed on the obstacle surface is y, the length on the photosensitive element 121 is x. The theoretical calculation relationship between the length y of the light strip and the length x of the line on the photosensitive element 121 is:

[0056]

[0057] Since the laser radar 1 on the cleaning robot 100 can rotate 360°, it can present multiple contour lines. The lines obtained after 360° rotation scanning can be fitted through an algorithm to obtain a 3D image within a certain height range, and its resolution depends on the rotation and sampling speed.

[0058] The present disclosure does not specifically limit the arrangement of the plurality of first optical probes 121a, and can be matched and set according to factors such as the imaging area of ​​the optical signal received by the optical detection component 12. The present disclosure does not specifically limit the type of the photosensitive element 121, and can be matched and limited according to the wavelength range of the light beam emitted by the light emitting component 11, for example, it can be one or more of a TOF sensor, a CMOS sensor, a CCD sensor, and a laser sensor.

[0059] In some embodiments, reference Figure 8 As shown, Figure 8 It is a structural schematic diagram of another photosensitive member 121 provided in an embodiment of the present disclosure. The photosensitive member 121 may include a plurality of second optical probes 121b distributed in a linear manner, and the straight line where the plurality of second optical probes 121b are located is parallel to the first plane.

[0060] The coordinate system information X1, Y1, Z1 and X2, Y2, Z2 of the light emitting component 11 and the light detecting component 12 as well as the angle information between the light emitting component 11, the light detecting component 12 and each axis of the coordinate system are known. According to the light emitting time point and the light return time point, the propagation time of the light beam emitted by the light emitting component 11 from the emission to the reception is determined. The distance between the object point of the measured object and the second light probe 121b receiving the light is calculated by the propagation time and the propagation speed of the light beam. Then, the spatial position information X3, Y3, Z3 of the object point of the measured object can be determined by a certain algorithm fitting, that is, the spatial position of the object point is determined.

[0061] Since the light beam emitted by the light-emitting component 11 includes multiple light rays, the distances between multiple object points of the measured objects and the corresponding second light probes 121b that receive the light rays can be calculated, and then the spatial position information of each object point of the measured objects can be determined through a certain algorithm fitting, thereby constructing a map containing three-dimensional information.

[0062] Support 14

[0063] In some embodiments, the support member 14 is connected to the light source 111, the light diverging device 112, and the light detecting assembly 12. The support member 14 can provide support and fixation for the light source 111, the light diverging device 112, and the light detecting assembly 12.

[0064] The present disclosure does not specifically limit the connection method between the support member 14 and other components. The support member 14 and other components can be connected in a detachable manner such as screw connection, snap connection, etc., or can be connected in a non-detachable manner such as welding connection, etc.

[0065] Rotating seat 13

[0066] In some embodiments, reference Fig. 9 As shown, Fig. 9 It is a structural schematic diagram of a rotating seat 13 provided in an embodiment of the present disclosure. The laser radar 1 may also include a rotating seat 13. The rotating end of the rotating seat 13 is connected to the light-emitting component 11 and the light detection component 12. The rotating axis of the rotating seat 13 is perpendicular to the light emitting direction of the light source 111, and the rotating axis is parallel to the first plane.

[0067] The rotating seat 13 can drive the light-emitting component 11 and the light detection component 12 to rotate around the rotating axis of the rotating seat 13. The light-emitting component 11 emits a linear laser plane along the first plane and rotates. The light detection component 12 can collect a certain number of contour lines of objects in the external environment, and then through a certain algorithm fitting, a three-dimensional information map within a certain height range can be obtained, which reflects the specific information of obstacles in the environment in a more comprehensive and detailed manner.

[0068] In some embodiments, reference Fig. 9 As shown, the rotating seat 13 may include a base 131 , a rotating platform 132 and a power assembly 133 . The rotating platform 132 is rotatably connected to the base 131 , and the power assembly 133 is transmission-connected to the rotating platform 132 .

[0069] The present disclosure does not specifically limit the types and numbers of specific components included in the power component 133, such as: DC motors, asynchronous motors, servo motors, etc. The number of power components 133 can be one or more, and can be matched and set according to factors such as the power size of the selected power component 133 and the power required for the rotation of the turntable.

[0070] The present disclosure does not specifically limit the transmission method of the power assembly 133 and the rotating table 132 and the types and quantities of the required components, such as: a gear transmission mechanism, a slider transmission mechanism, a belt transmission mechanism, etc.

[0071] In some embodiments, the laser radar 1 may further include a housing, the housing being provided with a first accommodating cavity and a second accommodating cavity. The first accommodating cavity is used to place the light emitting component 11, and the second accommodating cavity 132 is used to place the light detecting component.

[0072] In some embodiments, the laser radar 1 may further include a control component, which is electrically connected to the light source 111 , the optical probe component 121 and the photosensitive element 122 .

[0073] In the present disclosure, refer to Figure 1 and Figure 2 As shown, the laser radar 1 may include a light emitting component 11, a light detecting component 12 and a support 14. The light emitting component 11 may include a light source 111 and a light diverging device 112, the light source 111 is connected to the support 14, the light diverging device 112 is located in the light emitting direction of the light source 111 and is connected to the support 14, and the light diverging device 112 is used to diverge the light beam emitted by the light source 111 in the first plane where the light beam is located.

[0074] The light detection component 12 may include a photosensitive element 121 and a lens 122. The lens 121 is disposed on the photosensitive side of the photosensitive element 122, and the central axis of the lens 122 is parallel to the light incident direction of the photosensitive element 121. The lens 122 can converge the light beam emitted by the light emitting component 11 after being reflected by the object to be measured in the external environment, and the photosensitive element 121 can receive the light signal of the light beam emitted by the light emitting component 11 after being reflected by the object to be measured in the external environment.

[0075] The laser radar 1 may further include a rotating base 13, the rotating end of the rotating base 13 is connected to the light emitting component 11 and the light detecting component 12, the rotating axis of the rotating base 13 is perpendicular to the light emitting direction of the light source 111, and the rotating axis is parallel to the first plane.

[0076] The rotating seat 13 can drive the light-emitting component 11 and the light detection component 12 to rotate around the rotating axis of the rotating seat 13. The light-emitting component 11 emits a linear laser plane along the first plane and rotates. The light detection component 12 can collect a certain number of contour lines of objects in the external environment, and then through a certain algorithm fitting, a three-dimensional information map within a certain height range can be obtained, which reflects the specific information of obstacles in the environment in a more comprehensive and detailed manner.

[0077] Based on the same concept, the embodiment of the present disclosure also provides a cleaning robot 100, which may include a laser radar (1) as described in any one of the above embodiments. Fig.10 As shown, Fig.10 It is a structural schematic diagram of a cleaning robot 100 provided in an embodiment of the present disclosure. The shell of the cleaning robot 100 is connected to the support member 14 of the laser radar 1, and the cleaning robot 100 can drive the laser radar 1 to move on the moving plane of the cleaning robot 100.

[0078] The present disclosure does not specifically limit the connection method and connection position between the laser radar 1 and the cleaning robot 100. The laser radar 1 and the cleaning robot 100 can be connected in a detachable manner such as screw connection and snap connection, or can be connected in a non-detachable manner such as welding connection; the laser radar 1 can be located on the top of the cleaning robot 100, and the laser radar 1 can also be located on the side wall of the cleaning robot 100.

[0079] Exemplarily, the cleaning robot 100 may be a household sweeping robot with a sweeping function, or the cleaning robot 100 may be a sweeping and mopping all-in-one robot with both sweeping and mopping functions.

[0080] Correspondingly, the advantages of the laser radar 1 described in the above embodiment are also the same as those of the cleaning robot 100 including such a laser radar 1, which will not be described in detail here.

[0081] It is understandable that the laser radar 1 and the cleaning robot 100 provided in the embodiments of the present disclosure include hardware structures and / or software modules corresponding to the execution of each function in order to realize the above functions. In combination with the units and algorithm steps of each example disclosed in the embodiments of the present disclosure, the embodiments of the present disclosure can be implemented in the form of hardware or a combination of hardware and computer software. Whether a function is executed in the form of hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Those skilled in the art may use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the technical solution of the embodiments of the present disclosure.

[0082] In the description of this specification, the reference terms "certain embodiments", "one embodiment", "some embodiments", "illustrative embodiments", "example", "specific example", or "some examples" mean that the specific features, structures, materials or characteristics described in conjunction with the embodiments or examples are included in at least one embodiment or example of the present invention.

[0083] It is to be understood that in the present disclosure, "plurality" refers to two or more than two, and other quantifiers are similar. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. The character " / " generally indicates that the associated objects before and after are in an "or" relationship. The singular forms "a", "the" and "the" are also intended to include plural forms, unless the context clearly indicates other meanings.

[0084] It is further understood that the terms "first", "second", etc. are used to describe various information, but such information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other, and do not indicate a specific order or degree of importance. In fact, the expressions "first", "second", etc. can be used interchangeably. For example, without departing from the scope of the present disclosure, the first information can also be referred to as the second information, and similarly, the second information can also be referred to as the first information.

[0085] It will be further understood that the terms “center”, “longitudinal”, “lateral”, “front”, “back”, “up”, “down”, “left”, “right”, “vertical”, “horizontal”, “top”, “bottom”, “inside”, “outside”, etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing the present embodiment and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation.

[0086] It can be further understood that, unless otherwise specified, “connected” or “connected” includes a direct connection without any other components between the two, and also includes an indirect connection with other elements between the two.

[0087] It is further understood that, although the operations are described in a specific order in the drawings in the embodiments of the present disclosure, it should not be understood as requiring the operations to be performed in the specific order shown or in a serial order, or requiring the execution of all the operations shown to obtain the desired results. In certain environments, multitasking and parallel processing may be advantageous.

[0088] Those skilled in the art will readily appreciate other embodiments of the present disclosure after considering the specification and practicing the scheme disclosed herein. The present disclosure is intended to cover any variation, use or adaptation of the present disclosure, which follows the general principles of the present disclosure and includes common knowledge or customary technical means in the art that are not disclosed in the present disclosure. The specification and examples are considered to be exemplary only, and the true scope and spirit of the present disclosure are indicated by the following scope of rights.

[0089] It should be understood that the present disclosure is not limited to the precise structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the scope of the appended claims.

Claims

1. A laser radar (1), characterized in that: The laser radar (1) comprises a light emitting component (11), a light detecting component (12) and a supporting member (14); The light emitting assembly (11) comprises a light source (111) and a light diverging device (112), wherein the light source (111) is connected to the support member (14), the light diverging device (112) is located in the light emitting direction of the light source (111) and is connected to the support member (14), and the light diverging device (112) is used to diverge the light beam emitted by the light source (111) within a first plane where the light beam is located; The optical detection component (12) is connected to the support member (14).

2. The laser radar (1) according to claim 1, characterized in that: The light diverging device (112) is a prism.

3. The laser radar (1) according to claim 2, characterized in that: The central axis of the prism is perpendicular to the light emitting direction of the light source (111).

4. The laser radar (1) according to claim 1, characterized in that: The light diverging device (112) is a concave lens.

5. The laser radar (1) according to claim 4, characterized in that: The central axis of the concave lens is parallel to the light emitting direction of the light source (111).

6. The laser radar (1) according to claim 1, characterized in that: The light detection component (12) comprises a photosensitive element (121) and a lens (122); the lens (122) is arranged on the photosensitive side of the photosensitive element (121); and the central axis of the lens (122) is parallel to the light incident direction of the photosensitive element (121).

7. The laser radar (1) according to claim 6, characterized in that: The photosensitive element (121) comprises a plurality of first optical probes (121a) distributed in an array, and a second plane where the plurality of first optical probes (121a) are located is not parallel to the first plane.

8. The laser radar (1) according to claim 6, characterized in that: The photosensitive member (121) comprises a plurality of second optical probes (121b) distributed in a linear manner, and the straight line where the plurality of second optical probes (121b) are located is parallel to the first plane.

9. The laser radar (1) according to any one of claims 1 to 8, characterized in that: The laser radar (1) further comprises a rotating seat (13), wherein a rotating end of the rotating seat (13) is connected to the light-emitting component (11) and the light-detecting component (12), a rotating axis of the rotating seat (13) is perpendicular to a light-emitting direction of the light source (111), and the rotating axis is parallel to the first plane.

10. The laser radar (1) according to claim 9, characterized in that: The rotating seat (13) comprises a base (131), a rotating platform (132) and a power assembly (133); The rotating platform (132) is rotatably connected to the base (131); The power assembly (133) is transmission-connected to the rotating platform (132).

11. A cleaning robot (100), characterized in that: include: A laser radar (1) as claimed in any one of claims 1 to 10.

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