Laser radar and robot

Abstract

The utility model discloses a laser radar and a robot. The laser radar comprises a mounting seat, a first laser module, a reflective mirror and a second laser module. The first laser module is installed on the installation base, the reflective mirror is located above the first laser module and used for reflecting first laser, and the first laser reflected by the reflective mirror is obliquely and downwards emitted relative to the horizontal plane. The second laser module is installed on the installation base and horizontally emits and receives second laser. By arranging the reflective mirror above the first laser module, the laser emitted upwards by the first emitting part is reflected and then is obliquely emitted downwards relative to the horizontal plane, so that the emitting height of the first laser relative to the laser radar is increased, the emitting height of the first laser can be kept unchanged, and the technical effect of the same obstacle avoidance light is achieved; the height of the first laser module is reduced, so that the stability of the structure is improved; and the second laser module is used for realizing the ranging and map drawing functions of the laser radar.

Description

Technical Field

[0001] The utility model relates to the field of laser radar, in particular to a laser radar and a robot. Background Art

[0002] Multi-line laser radar refers to a radar that emits and receives multiple laser beams at the same time. It can identify the height information of objects and obtain a 3D scan of the surrounding environment. For example, in a multi-line laser radar, a part of the laser module emits light horizontally, and the information collected by this part of the laser module is mainly used for distance measurement and map drawing; another part of the laser module emits light in a tilted downward direction, and this part of the laser module is mainly used to detect obstacles ahead.

[0003] In the prior art, a multi-line radar that integrates a laser module for distance measurement and map drawing and a laser module for detecting obstacles ahead often has a relatively high height, which makes it difficult to meet the current demand for miniaturization of the laser module of the laser radar. Utility Model Content

[0004] The utility model aims to solve at least one of the technical problems existing in the prior art. To this end, the utility model proposes a laser radar, which transforms the light of the obstacle avoidance laser module from being emitted upward to being emitted diagonally downward by setting a reflector, thereby ensuring that the height of the obstacle avoidance laser module is small and raising the emission end of the light, so that the height of the obstacle avoidance laser module can be lowered while achieving the same technical effect of the obstacle avoidance light, and the height of the obstacle avoidance laser module becomes lower.

[0005] The laser radar according to the embodiment of the first aspect of the utility model includes: a mounting seat, a first laser module, a first reflector, and a second laser module. The first laser module is mounted on the mounting seat, and the first laser module includes a first transmitting part and a first receiving part arranged upward, the first transmitting part is used to transmit the first laser; the first receiving part is used to receive the first laser reflected by the outside world. The first reflector is located above the first transmitting part and the first receiving part, and the first reflector is used to reflect the first laser. The first laser emitted from the first transmitting part is reflected by the first reflector and then emitted downwardly at an angle relative to the horizontal plane; the first laser reflected from the outside is reflected by the first reflector and then received by the first receiving part. The second laser module is mounted on the mounting seat, and the second laser module includes a second transmitting part and a second receiving part arranged horizontally, the second transmitting part is used to transmit the second laser, and the second receiving part is used to receive the second laser reflected by the outside world.

[0006] The laser radar according to the first embodiment of the utility model has at least the following beneficial effects:

[0007] By arranging a first reflector above the first laser module, the laser emitted upward by the first emitting part is reflected and then emitted downward at an angle relative to the horizontal plane, thereby raising the emission height of the first laser relative to the laser radar. In this way, while ensuring that the emission height of the first laser remains unchanged and achieving the same technical effect of obstacle avoidance light, the height of the first laser module can be lowered, thereby improving the stability of the structure.

[0008] According to some embodiments of the present invention, the first emitting portion emits the first laser vertically upward toward the first reflecting mirror, and the angle between the first reflecting mirror and the horizontal plane is less than 45°.

[0009] According to some embodiments of the utility model, the laser radar also includes a third laser module and a second reflector, the third laser module is installed on the mounting seat, the third laser module includes a third emitting part and a third receiving part arranged upward, the third emitting part is used to emit a third laser; the third receiving part is used to receive the third laser reflected by the outside world; the second reflector, the second reflector is located above the third emitting part and the third receiving part, the second reflector is used to reflect the third laser, the third laser emitted from the third emitting part is reflected by the second reflector and then emitted upward at an angle relative to the horizontal plane; the third laser reflected from the outside is reflected by the second reflector and then received by the third receiving part.

[0010] According to some embodiments of the present invention, a first light spot where the first laser is emitted from the first emitting unit and falls on the first reflector does not overlap with a second light spot where the first laser that can be received by the first receiving unit and falls on the first reflector.

[0011] According to some embodiments of the utility model, the first transmitting part and the first receiving part are arranged side by side, the direction in which the first transmitting part points to the first receiving part is the first direction, the direction in which the first laser is emitted from the mounting seat is the second direction, and the first direction and the second direction are perpendicular to each other.

[0012] According to some embodiments of the present invention, the first transmitting part and the first receiving part are coaxially arranged, and the first receiving part is sleeved on the outside of the first transmitting part.

[0013] According to some embodiments of the utility model, the projections of the first reflector and the second laser module on the vertical plane at least partially overlap; and / or, the laser radar also includes an upper cover, which is fixedly connected to the mounting seat, and the upper cover and the mounting seat jointly define a mounting cavity, the first laser module, the second laser module and the first reflector are all located in the mounting cavity, and the distance between the upper cover and the second laser module in the vertical direction is L1, 1mm≤L1≤2mm.

[0014] According to some embodiments of the utility model, the first reflector is fixedly connected to the first laser module; or, the laser radar also includes an upper cover, which is fixedly connected to the mounting seat, and the upper cover and the mounting seat jointly define a mounting cavity, the first laser module, the second laser module and the first reflector are all located in the mounting cavity, and the first reflector is fixedly connected to the upper cover.

[0015] According to some embodiments of the utility model, the laser radar also includes an upper cover, which is fixedly connected to the mounting seat, and the upper cover and the mounting seat jointly define a mounting cavity, the first laser module, the second laser module and the first reflector are all located in the mounting cavity, the upper cover is provided with a first through hole for the first laser to pass through and a second through hole for the second laser to pass through, or, the upper cover is provided with a first light-transmitting portion and a second light-transmitting portion, the first light-transmitting portion is used for the first laser to pass through and is arranged corresponding to the first reflector, and the second light-transmitting portion is used for the second laser to pass through and is arranged corresponding to the second laser module, wherein the angle between the outer side surface of the first light-transmitting portion and the horizontal plane is less than 90°, and the angle between the outer side surface of the second light-transmitting portion and the horizontal plane is greater than or equal to 90°.

[0016] According to some embodiments of the utility model, the first laser module and the second laser module are arranged at intervals on the mounting seat, the projection of the first laser emitted from the mounting seat on the horizontal plane is the first projection, the projection of the second laser emitted from the mounting seat on the horizontal plane is the second projection, and the angle between the first projection and the second projection is between 90° and 180°.

[0017] According to some embodiments of the present utility model, the laser radar also includes a base and a driving mechanism, wherein the driving mechanism is installed on the base, and the driving mechanism is used to drive the mounting seat to rotate relative to the base around a vertical axis.

[0018] The robot according to the embodiment of the second aspect of the utility model includes the laser radar of the embodiment of the first aspect of the utility model, which is used for distance measurement, map drawing and obstacle avoidance.

[0019] The robot according to the second embodiment of the utility model has at least the following beneficial effects:

[0020] The first laser module is used for the obstacle avoidance function of the laser radar. By arranging a first reflector above the first laser module, the laser emitted upward by the first emitting part is reflected and then emitted downward at an angle relative to the horizontal plane, thereby raising the emission height of the first laser relative to the laser radar. In this way, the emission height of the first laser can be kept unchanged and the same technical effect of obstacle avoidance light can be achieved, while the height of the first laser module can be lowered, thereby meeting the robot's demand for a lower height laser module.

[0021] According to some embodiments of the utility model, the robot also includes a main body, the mounting seat is connected to the main body, the reflection point of the first reflector to the first laser is located above the top surface of the main body, and the front end of the main body is located outside the optical path of the first laser.

[0022] According to some embodiments of the present invention, the distance between the front end of the laser radar and the front end of the main body in the horizontal direction is L2, and L2 is not less than 29 mm.

[0023] According to some embodiments of the present invention, the height difference between the upper surface of the laser radar and the top surface of the main body is L3, and L3 is less than 18 mm.

[0024] Additional aspects and advantages of the present invention will be given in part in the following description, and in part will become apparent from the following description, or will be learned through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The present invention is further described below with reference to the accompanying drawings and embodiments, wherein:

[0026] Figure 1 A three-dimensional diagram of a laser radar according to an embodiment of the present utility model;

[0027] Figure 2 A side sectional view of a laser radar according to an embodiment of the first aspect of the utility model;

[0028] Figure 3 for Figure 2 A partial enlarged view of the middle B area;

[0029] Figure 4 A side sectional view of a sweeping machine according to a second embodiment of the utility model;

[0030] Figure 5 This is a top view of the laser radar according to an embodiment of the utility model.

[0031] Figure numerals: laser radar 100, mounting base 101, first laser module 102, first laser 103, first transmitting unit 11, first receiving unit 12, first reflector 104, second laser module 105, second transmitting unit 13, second receiving unit 14, second laser 106, driving mechanism 107, upper cover 201, base 202, mounting cavity 203, first through hole 204, second through hole 205, main body 401. DETAILED DESCRIPTION

[0032] The embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0033] In the description of the present invention, it should be understood that descriptions involving orientation, such as up, down, front, back, left, right, etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention 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, and therefore cannot be understood as a limitation on the present invention.

[0034] In the description of the present utility model, "several" means more than one, "many" means more than two, "greater than", "less than", "exceed" etc. are understood to exclude the number itself, and "above", "below", "within" etc. are understood to include the number itself. If there is a description of "first" or "second", it is only used to distinguish the technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0035] In the description of the present invention, unless otherwise clearly defined, terms such as setting, installing, connecting, etc. should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in the present invention based on the specific content of the technical solution.

[0036] In the description of the present invention, reference terms such as "one embodiment", "some embodiments", "illustrative embodiment", "example", "specific example", or "some examples" mean that the specific features, structures, materials or characteristics described in combination with the embodiment or example are included in at least one embodiment or example of the present invention.

[0037] The inventors of the present application have studied and analyzed the prior art and found that a separately arranged obstacle avoidance radar is generally arranged on the front side of the robot body, so its optical path does not have the risk of interfering with the robot body; while for an obstacle avoidance radar that is integrated with a mapping radar, since the obstacle avoidance part needs to be arranged above the robot body together with the mapping part, the main optical path of the obstacle avoidance part has the risk of being blocked or interfered with by the robot body, so the obstacle avoidance part needs to be raised, which makes the height of this radar and its laser module (such as the obstacle avoidance part) relatively large.

[0038] Specifically, in the obstacle avoidance part of the obstacle avoidance radar or integrated radar, the light used to detect obstacles needs to have a certain emission height in order to obtain a larger detection range and prevent the light from being blocked by other parts of the product (such as a robot) on which the radar is installed. Since the light used to detect obstacles needs to be tilted downward, the light emission end of the laser module used to detect obstacles will be set relatively high, and then the rear end of the laser module used to detect obstacles, which is opposite to the light emission end, needs to be set higher. This will cause the laser module used to detect obstacles to be set at a relatively high position, which will increase the height of the laser module on the one hand, and easily cause shaking or tilting on the other hand, and reduce the structural stability.

[0039] Based on the above research and analysis of the prior art problems, the embodiments of the present application provide a laser radar and a robot for solving the above technical problems.

[0040] refer to Figure 1 According to the first embodiment of the utility model, the laser radar 100 includes: a mounting seat 101, a first laser module 102, a first reflector 104 and a second laser module 105. The first laser module 102 is mounted on the mounting seat 101. The first laser module 102 includes a first transmitting part 11 and a first receiving part 12 arranged upward. The first transmitting part 11 is used to transmit the first laser 103; the first receiving part 12 is used to receive the first laser 103 reflected by the outside. The first reflector 104 is located above the first transmitting part 11 and the first receiving part 12. The first reflector 104 is used to reflect the first laser 103. The first laser 103 emitted from the first transmitting part 11 is reflected by the first reflector 104 and then emitted downwardly at an angle relative to the horizontal plane; the first laser 103 reflected from the outside is reflected by the first reflector 104 and then received by the first receiving part 12. The second laser module 105 is mounted on the mounting base 101. The second laser module 105 includes a second transmitting unit 13 and a second receiving unit 14 arranged horizontally. The second transmitting unit 13 is used to transmit the second laser 106, and the second receiving unit 14 is used to receive the second laser 106 reflected from the outside. The first laser module 102 is used for the obstacle avoidance function of the laser radar 100. By arranging the first reflector 104 above the first laser module 102, the laser emitted upward by the first transmitting unit is reflected and then emitted downward at an angle relative to the horizontal plane, thereby raising the emission height of the first laser 103 relative to the laser radar 100. In this way, the emission height of the first laser 103 can be kept unchanged, and the same technical effect of obstacle avoidance light can be achieved, while the height of the first laser module 102 can be reduced, thereby improving the stability of the structure; the second laser 106 emitted and received horizontally by the second laser module 105 can also realize the distance measurement and map drawing functions of the laser radar 100, realizing the integrated design of the mapping function and obstacle avoidance function of the laser radar 100.

[0041] It should be noted that the pitch angle between the emission angle of the second laser 106 and the horizontal plane is within 2 degrees, which meets the requirement of horizontal emission of the second laser module 105 .

[0042] refer to Figure 2 It should be noted that the laser radar 100 of the embodiment of the utility model is based on the same emission condition and the same size of the first laser module 102 and the second laser module 105. The configuration of the embodiment of the utility model can reduce the overall height of the laser radar 100, because, obviously, if conventional technology is used, it is necessary to achieve the following Figure 2 Given the emission angle of the first laser 103 shown, the height of the first laser module 102 must be set higher, so that the overall height of the laser radar 100 is increased.

[0043] refer to Figure 2 In some embodiments of the present invention, the first emitting unit 11 emits the first laser 103 vertically upward toward the first reflector 104, and the angle between the first reflector 104 and the horizontal plane is less than 45°. Such a configuration can ensure that the final emitted light is tilted downward relative to the horizontal plane, and emitting light vertically upward can also make the installation of the first emitting unit 11 simpler, and it only needs to be vertically installed on the mounting base 101. The final tilt angle of the first laser 103 only needs to adjust the angle between the first reflector 104 and the horizontal plane.

[0044] In some embodiments of the utility model, the laser radar 100 also includes a third laser module and a second reflector, the third laser module is installed on the mounting seat 101, the third laser module includes a third transmitting part and a third receiving part arranged upward, the third transmitting part is used to transmit the third laser; the third receiving part is used to receive the third laser reflected by the outside world; the second reflector, the second reflector is located above the third transmitting part and the third receiving part, the second reflector is used to reflect the third laser, the third laser emitted from the third transmitting part is reflected by the second reflector and then emitted upwardly at an angle relative to the horizontal plane; the third laser reflected from the outside is reflected by the second reflector and then received by the third receiving part. The third laser of the third laser module is emitted upwardly at an angle to detect obstacles near the top of the laser radar 100, further improving the functional integration of the laser radar 100. In addition, the arrangement of the third laser module and the second reflector is the same as that of the first laser module 102 and the first reflector 104. The arrangement of the third laser module can meet a variety of requirements for the laser radar 100 to emit light, and based on the same optical path, it also has the effect of reducing the height of the third laser module.

[0045] In some embodiments of the utility model, a third through hole or a third light-transmitting portion (not shown in the figure) is provided on the upper cover 201. Similar to the first through hole 204 or the first light-transmitting portion and other structures described above, the third through hole is used for the third laser to pass through and is arranged corresponding to the second reflector, and the third light-transmitting portion is used for the third laser to pass through and is arranged corresponding to the second reflector. Among them, for the third light-transmitting portion, the angle between its outer side surface and the horizontal plane is greater than 90°.

[0046] In some embodiments of the utility model, a first light spot of the first laser 103 falling on the first reflector 104 after being emitted from the first emitting unit 11 does not overlap with a second light spot of the first laser 103 falling on the first reflector 104 which can be received by the first receiving unit 12, thereby ensuring that the first laser 103 emitted by the first laser module 102 does not generate crosstalk in the laser radar 100.

[0047] Specifically, refer to Figure 5 In some embodiments of the utility model, the first transmitting unit 11 and the first receiving unit 12 are arranged side by side, the direction in which the first transmitting unit 11 points to the first receiving unit 12 is the first direction, the direction in which the first laser 103 is emitted from the mounting seat 101 is the second direction, and the first direction and the second direction are perpendicular to each other. Such a design can make the projections of the first transmitting unit 11 and the first receiving unit 12 in the emission direction of the first laser 103 not overlap, thereby providing conditions for achieving the non-overlap of the first light spot and the second light spot, ensuring that the first laser 103 emitted by the first laser module 102 does not generate crosstalk in the laser radar 100.

[0048] In some embodiments of the present invention, the first transmitting unit 11 and the first receiving unit 12 are coaxially arranged, and the first receiving unit 12 is sleeved outside the first transmitting unit 11. Such a design can make the structure of the laser radar 100 compact and reduce the blind area of ​​close-range detection.

[0049] It should be noted that in some embodiments of the present invention, the second emitting unit 13 and the second receiving unit 14 of the second laser module 105 are arranged adjacent to each other, and the third emitting unit and the third receiving unit of the third laser module are arranged adjacent to each other, which has the advantages of simple structure and low assembly precision requirements. In other embodiments of the present invention, the second receiving unit 14 of the second laser module 105 can also be sleeved on the outside of the second emitting unit 13 and coaxially arranged; the third receiving unit of the third laser module can also be sleeved on the outside of the third emitting unit and coaxially arranged, which can also achieve the beneficial effect of making the structure of the laser radar 100 compact and reducing the blind spot of close-range detection.

[0050] refer to Figure 2 and Figure 3In some embodiments of the utility model, the projections of the first reflector 104 and the second laser module 105 on the vertical plane at least partially overlap; and / or, the laser radar 100 further includes an upper cover 201, the upper cover 201 is fixedly connected to the mounting seat 101, the upper cover 201 and the mounting seat 101 jointly define a mounting cavity 203, the first laser module 102, the second laser module 105 and the first reflector 104 are all located in the mounting cavity 203, and the distance between the upper cover 201 and the second laser module 105 in the vertical direction is L1, 1mm≤L1≤2mm. The vertical plane refers to the plane with Figure 2 The sectional plane AA shown is a plane that is perpendicular to the horizontal plane. The projections of the first reflector 104 and the second laser module 105 on the vertical plane at least partially overlap, so that the overall height of the laser radar 100 will not be too high in design. The spacing limit of L1 can ensure that the second laser module 105 does not interfere with the upper cover 201 during rotation. If L1 is less than 1 mm, there is a risk of interference with the upper cover 201. If it is greater than 2 mm, the overall height of the laser radar 100 will be too high. Moreover, in some embodiments of the utility model, the height of the first laser module 102 is less than the height of the second module. In this way, the first laser module 102 will not interfere with the upper cover 201, and the overall height of the laser radar 100 can be further reduced to meet the needs of more scenarios.

[0051] refer to Figure 1 and Figure 2 In some embodiments of the present invention, the first reflector 104 is fixedly connected to the first laser module 102; or, the laser radar 100 further includes an upper cover 201, the upper cover 201 is fixedly connected to the mounting seat 101, the upper cover 201 and the mounting seat 101 jointly define a mounting cavity 203, the first laser module 102, the second laser module 105 and the first reflector 104 are all located in the mounting cavity 203, and the first reflector 104 is fixedly connected to the upper cover 201. In this way, different installation methods can be used for the first reflector 104 according to actual conditions, such as the size of the laser radar 100, the size requirements of the upper cover 201, or the layout in the mounting cavity 203, so as to ensure that the first laser module 102 and the first reflector 104 remain relatively still.

[0052] refer to Figure 1 and Figure 2In some embodiments of the present invention, the laser radar 100 further includes a base 202 and a driving mechanism 107, the driving mechanism 107 is mounted on the base 202, and the driving mechanism 107 is used to drive the mounting seat 101 to rotate around a vertical axis relative to the base 202. In this way, the mounting seat 101 can drive the components mounted on the mounting seat 101, including but not limited to the first laser module 102, the second laser module 105 and the first reflector 104 to rotate, thereby achieving a larger field of view of the laser radar 100 and improving the performance of the laser radar 100.

[0053] It should be noted that in some embodiments of the present invention, the driving mechanism 107 uses a combination of a motor and a belt drive structure, the belt drive structure is connected to the power end of the motor and the mounting seat 101, and then the mounting seat 101 is connected to the bearing of the base 202, and the motor drives the belt drive structure to rotate so that the mounting seat 101 rotates around the vertical axis relative to the base 202.

[0054] refer to Figure 2 In some embodiments of the utility model, the laser radar 100 also includes an upper cover 201, which is fixedly connected to the mounting base 101. The upper cover 201 and the mounting base 101 jointly define a mounting cavity 203. The first laser module 102, the second laser module 105 and the first reflector 104 are all located in the mounting cavity 203. The upper cover 201 is provided with a first through hole 204 for the first laser 103 to pass through and a second through hole 205 for the second laser 106 to pass through. If the rotatable first laser module 102 and / or the second laser module 105 are laser modules based on the principle of triangulation, the upper cover 201 needs to be configured to rotate together with the two laser modules, and the upper cover 201 needs to be provided with a through-hole structure that does not affect the direction of the optical path to avoid the first laser 103 and the second laser 106; if the rotatable first laser module 102 and / or the second laser module 105 are laser modules based on the TOF principle, although a general TOF laser radar adopts a fixed light-transmitting upper cover to ensure sealing, due to the first laser module 102 and the second laser module 105 of the utility model, The emission angles of group 105 are different. If a fixed light-transmitting upper cover is used instead of one that rotates together with the two laser modules, the angle of its side wall cannot simultaneously meet the emission angle requirements of the two rotatable laser modules. Therefore, the upper cover 201 is arranged to be fixedly connected to the mounting base 101 so as to rotate together with the first laser module 102 and the second laser module 105, and a first through hole 204 and a second through hole 205 are arranged on the upper cover 201 to allow the laser to pass through, thereby protecting and dustproofing the components in the laser radar 100 without affecting the functions of the first laser 103 and the second laser 106.

[0055] In some other embodiments of the utility model, the upper cover 201 is provided with a first light-transmitting portion and a second light-transmitting portion (not shown in the figure), the first light-transmitting portion is used for the first laser 103 to pass through and is arranged corresponding to the first reflector 104, and the second light-transmitting portion is used for the second laser 106 to pass through and is arranged corresponding to the second laser module 105, wherein the angle between the outer side surface of the first light-transmitting portion and the horizontal plane is less than 90°, and the angle between the outer side surface of the second light-transmitting portion and the horizontal plane is greater than or equal to 90°. By providing the first light-transmitting portion and the second light-transmitting portion instead of the first through hole 204 and the second through hole 205, the effect of the upper cover 201 on protecting and preventing dust from the components in the laser radar 100 is optimized. It should be noted that the closer the angle between the outer side surface of the first light-transmitting portion and the first laser 103 and the angle between the outer side surface of the second light-transmitting portion and the second laser 106 are to 90°, the more conducive it is to ensure the accuracy of distance detection. Since the second laser 106 is emitted horizontally, the angle between the outer side surface of the second light-transmitting portion and the horizontal plane is preferably 90°. However, in order to consider the requirements of mold drafting during the manufacturing process, even if the second laser 106 is set to be a second laser module 105 that emits completely horizontally, the outer side surface of the corresponding second light-transmitting portion also needs to be set at a slight tilt angle, that is, the angle between the outer side surface of the second light-transmitting portion and the horizontal plane is greater than or equal to 90°. In some embodiments of the utility model, the upper cover 201 can also be set to be fully transparent, which can be selected according to actual product requirements.

[0056] according to Figure 5 In some embodiments of the utility model, the first laser module 102 and the second laser module 105 are spaced apart on the mounting base 101, the projection of the first laser 103 emitted from the mounting base 101 on the horizontal plane is the first projection, the projection of the second laser 106 emitted from the mounting base 101 on the horizontal plane is the second projection, and the angle between the first projection and the second projection is between 90° and 180° (the angle range includes 90° and 180°). Such a setting can solve the problem of signal crosstalk between the first laser module 102 and the second laser module 105, and the spacing between the first laser module 102 and the second laser module 105 is conducive to contact with the flowing air during rotation, thereby increasing the heat dissipation effect; secondly, the spacing setting facilitates the structural design of the laser radar 100, reduces the difficulty of calibrating the laser radar 100 during the production process, and also reduces the difficulty of installation.

[0057] It should be noted that in some embodiments of the present invention, the angle between the first projection and the second projection is preferably 180°, which can solve the problem of signal crosstalk between the first laser module 102 and the second laser module 105 to the greatest extent, and can greatly increase the distance between the first laser module 102 and the second laser module 105, reduce heat accumulation, and increase the heat dissipation effect.

[0058] The robot according to the embodiment of the second aspect of the utility model includes the laser radar 100 of the embodiment of the first aspect of the utility model, which is used for distance measurement, mapping and obstacle avoidance. The first laser module 102 is used for the obstacle avoidance function of the laser radar 100. By arranging the first reflector 104 above the first laser module 102, the laser emitted upward by the first emitting part is reflected and then emitted downward at an angle relative to the horizontal plane, thereby raising the emission height of the first laser 103 relative to the laser radar 100. In this way, while ensuring that the emission height of the first laser 103 remains unchanged and the same technical effect of obstacle avoidance light is achieved, the height of the first laser module 102 can be reduced, thereby improving the stability of the structure; the second laser 106 horizontally emitted and received by the second laser module 105 can also realize the distance measurement and mapping functions of the laser radar 100, thereby realizing better structural stability and distance measurement, mapping and obstacle avoidance functions of the robot of the embodiment of the second aspect of the utility model.

[0059] It should be noted that the robot in the embodiment of the second aspect of the utility model may be a cleaning robot, a lawn mowing robot, a logistics robot, etc.

[0060] refer to Figure 4 In some embodiments of the present invention, the robot further comprises a main body 401, the mounting seat 101 is connected to the main body 401, the reflection point of the first reflector 104 to the first laser 103 is located above the top surface of the main body 401, and the front end of the main body 401 is located outside the optical path of the first laser 103. Such an arrangement enables the robot to achieve an obstacle avoidance function while the first laser 103 does not interfere with the main body 401.

[0061] refer to Figure 4 In some embodiments of the present invention, the distance between the front end of the laser radar 100 and the front end of the main body 401 in the horizontal direction is L2, and L2 is not less than 29 mm. This can prevent the laser radar 100 from being set too far forward and touching external obstacles during use and causing damage. At the same time, Figure 4 As shown, if so configured, there will be a certain distance between the front end face of the laser radar 100 disposed inside the main body 401 and the front end face of the inner surface of the main body 401 (the distance is L2 minus the thickness of the front end of the main body 401). In this way, some space can be reserved so that other components such as visual sensors can be installed at the front end inside the main body 401, thereby increasing the functional diversity of the robot.

[0062] It should be noted that in some embodiments of the present invention, the distance between the front end of the laser radar 100 and the front end of the main body 401 in the horizontal direction is set to be no less than 29 mm. For household robots of conventional size (such as sweeping robots), the field of view angle of the first laser 103 is still above 140°, which can meet the needs of wide-angle obstacle avoidance detection.

[0063] refer to Figure 4 In some embodiments of the present invention, the height difference between the upper surface of the laser radar 100 and the top surface of the main body 401 is L3, and L3 is less than 18 mm. Such a setting can ensure that the overall height of the robot is small, promote the flattening of the robot, and improve the use scenarios of the robot.

[0064] It should be noted that in some embodiments of the present invention, the height difference between the upper surface of the laser radar 100 and the top surface of the main body 401 is less than 18 mm. For household robots of conventional size (such as sweeping robots), the field of view angle of the first laser 103 is still above 140°, which can meet the needs of wide-angle obstacle avoidance detection.

[0065] The embodiments of the utility model are described in detail above in conjunction with the accompanying drawings, but the utility model is not limited to the above embodiments. Various changes can be made within the knowledge of ordinary technicians in the relevant technical field without departing from the purpose of the utility model. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

Claims

1. Laser radar, characterized in that The laser radar comprises: Mounting seat; A first laser module, the first laser module is mounted on the mounting seat, the first laser module comprises a first emitting part and a first receiving part arranged upward, the first emitting part is used to emit a first laser; the first receiving part is used to receive the first laser reflected by the outside; a first reflector, the first reflector being located above the first emitting unit and the first receiving unit, the first reflector being used to reflect the first laser, the first laser emitted from the first emitting unit being reflected by the first reflector and then being emitted downwardly at an angle relative to a horizontal plane; the first laser reflected from the outside being reflected by the first reflector and then being received by the first receiving unit; A second laser module, the second laser module is mounted on the mounting seat, the second laser module comprises a second emitting part and a second receiving part which are arranged horizontally, the second emitting part is used for emitting a second laser, and the second receiving part is used for receiving the second laser reflected from the outside.

2. The laser radar according to claim 1, characterized in that: The first emitting portion emits the first laser vertically upward toward the first reflecting mirror, and an angle between the first reflecting mirror and a horizontal plane is less than 45°.

3. The laser radar according to claim 1, characterized in that: The laser radar further comprises: A third laser module, the third laser module is mounted on the mounting seat, the third laser module comprises a third emitting part and a third receiving part arranged upward, the third emitting part is used to emit a third laser; the third receiving part is used to receive the third laser reflected by the outside; A second reflector, the second reflector is located above the third emitting unit and the third receiving unit, the second reflector is used to reflect the third laser, the third laser emitted from the third emitting unit is reflected by the second reflector and then emitted upward at an angle relative to the horizontal plane; the third laser reflected from the outside is reflected by the second reflector and then received by the third receiving unit.

4. The laser radar according to claim 1, characterized in that: A first light spot where the first laser beam is emitted from the first emitting unit and lands on the first reflecting mirror does not overlap with a second light spot where the first laser beam that can be received by the first receiving unit and lands on the first reflecting mirror.

5. The laser radar according to claim 4, characterized in that: The first transmitting part and the first receiving part are arranged side by side, the direction in which the first transmitting part points to the first receiving part is a first direction, the direction in which the first laser is emitted from the mounting seat is a second direction, and the first direction and the second direction are perpendicular to each other.

6. The laser radar according to claim 1, characterized in that: The first transmitting part and the first receiving part are coaxially arranged, and the first receiving part is sleeved on the outer side of the first transmitting part.

7. The laser radar according to claim 1, characterized in that: The projections of the first reflector and the second laser module on the vertical plane at least partially overlap; and / or, the laser radar also includes an upper cover, which is fixedly connected to the mounting seat, and the upper cover and the mounting seat jointly define a mounting cavity, the first laser module, the second laser module and the first reflector are all located in the mounting cavity, and the distance between the upper cover and the second laser module in the vertical direction is L1, 1mm≤L1≤2mm.

8. The laser radar according to claim 1, characterized in that: The first reflector is fixedly connected to the first laser module; or, the laser radar also includes an upper cover, which is fixedly connected to the mounting seat, and the upper cover and the mounting seat jointly define a mounting cavity, the first laser module, the second laser module and the first reflector are all located in the mounting cavity, and the first reflector is fixedly connected to the upper cover.

9. The laser radar according to claim 1, characterized in that: The laser radar further includes a base, a driving mechanism and an upper cover, wherein the upper cover is fixedly connected to the mounting seat, and the upper cover and the mounting seat jointly define a mounting cavity, wherein the first laser module, the second laser module and the first reflector are all located in the mounting cavity, and the driving mechanism is installed on the base, and the driving mechanism is used to drive the mounting seat to rotate relative to the base around a vertical axis; The upper cover is provided with a first through hole for the first laser to pass through and a second through hole for the second laser to pass through; or, the upper cover is provided with a first light-transmitting portion and a second light-transmitting portion, the first light-transmitting portion is used for the first laser to pass through and is arranged corresponding to the first reflector, the second light-transmitting portion is used for the second laser to pass through and is arranged corresponding to the second laser module, wherein the angle between the outer side surface of the first light-transmitting portion and the horizontal plane is less than 90°, and the angle between the outer side surface of the second light-transmitting portion and the horizontal plane is greater than or equal to 90°.

10. The laser radar according to claim 1, characterized in that: The first laser module and the second laser module are arranged at intervals on the mounting seat, the projection of the first laser emitted from the mounting seat on the horizontal plane is the first projection, the projection of the second laser emitted from the mounting seat on the horizontal plane is the second projection, and the angle between the first projection and the second projection is between 90° and 180°.

11. A robot, characterized in that The robot comprises a laser radar as described in any one of claims 1-10.

12. The robot according to claim 11, characterized in that: The robot also includes a main body, the mounting seat is connected to the main body, the reflection point of the first reflector to the first laser is located above the top surface of the main body, and the front end of the main body is located outside the optical path of the first laser.

13. The robot according to claim 12, characterized in that: The horizontal distance between the front end of the laser radar and the front end of the main body is L2, and L2 is not less than 29 mm; and / or the height difference between the upper surface of the laser radar and the top surface of the main body is L3, and L3 is less than 18 mm.

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