Laser radar lens, laser radar and cleaning robot

Abstract

The embodiment of the utility model discloses a laser radar lens, a laser radar and a cleaning robot, the laser radar lens comprises a lens body, the lens body comprises a closing end and a flaring end, the lens body forms a first light passing surface between the flaring end and the closing end, the flaring end forms a second light passing surface, and the first light passing surface is combined to be an aspheric surface. The second light-passing surface is a convex surface or a plane, light is transmitted through the first light-passing surface and the second light-passing surface, and the lens body can correct spherical aberration and coma at the same time, so that the laser radar lens has good light convergence capability, and the laser radar receiving echo focusing quality can be improved. Therefore, when the laser radar lens is applied to the laser radar, the detection precision can be improved.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of smart home appliance technology, and in particular to a laser radar lens, a laser radar, and a cleaning robot. Background Art

[0002] LiDAR is widely used in electrical appliances due to its stable and time-effective ranging performance. In traditional technology, laser is emitted by LiDAR and reflected by objects. The reflected laser is then transmitted to the receiver through a receiving mirror. The processor can measure the distance based on the emitted and received lasers. However, the LiDAR lenses in traditional technology have poor light focusing capabilities, which affects the inspection accuracy of LiDAR, especially when the lenses are used as receiving mirrors, which affects the focusing quality of the received waves. Utility Model Content

[0003] The utility model aims to solve at least one of the technical problems existing in the prior art or related technology.

[0004] To this end, the first aspect of the utility model provides a laser radar lens.

[0005] A second aspect of the utility model provides a laser radar.

[0006] A third aspect of the utility model provides a cleaning robot.

[0007] In view of this, according to a first aspect of an embodiment of the present application, a laser radar lens is proposed, comprising:

[0008] A lens body, wherein the lens body comprises an expanded end and a closed end;

[0009] Wherein, the lens body forms a first light-transmitting surface between the flared end and the closed end, and the flared end forms a second light-transmitting surface;

[0010] Wherein, the first light-transmitting surface is an aspherical surface, and the second light-transmitting surface is a convex surface or a plane surface.

[0011] In a feasible implementation manner, the aspheric expression of the first light-transmitting surface is:

[0012]

[0013] Among them, z is the distance from a point on the aspherical surface to the vertex of the aspherical surface; y is the vector height, which represents the distance from a point on the aspherical surface to the optical axis; R is the radius of curvature of the first light-transmitting surface, ranging from 4 to 10 mm; K is the cone coefficient, ranging from -3 to 0; A2 is the second-order coefficient, ranging from 0; A4 is the fourth-order coefficient, ranging from -1×10^-3 to 1×10^-3; A6 is the sixth-order coefficient, ranging from -1×10^-5 to 1×10^-5; A8 is the eighth-order coefficient, ranging from -1×10^-6 to 1×10^-; A10 is the tenth-order coefficient, ranging from -1×10^-8 to 1×10^-8; A12 is the twelfth-order coefficient, ranging from -1×10^-9 to 1×10^-9.

[0014] In a feasible implementation manner, when the second light-transmitting surface is a convex surface, the radius of curvature of the second light-transmitting surface is between -10 and -100.

[0015] In a feasible implementation, the value range of R is 4 to 6; the value range of K is -1.5 to -0.5; the value range of A4 is 1.5×10^-4 to 5×10^-4; the value range of A6 is 1×10^-7 to 3×10^-7; the value range of A8 is 3×10^-8 to 9×10^-8; the value range of A10 is -3×10^-10 to -1×10^-10.

[0016] In a feasible implementation manner, the curvature radius of the second light-transmitting surface is in the range of -60 to -30.

[0017] In a feasible implementation manner, the diameter of the outer contour on the second light-transmitting surface is 10 mm to 20 mm.

[0018] In a feasible implementation manner, a through portion is formed in the lens body.

[0019] In a feasible implementation manner, the diameter of the through portion is 5 mm to 10 mm.

[0020] In a feasible implementation manner, the focal length of the lens body ranges from 8 mm to 15 mm;

[0021] Wherein, the ratio of the diameter of the outer contour of the second light-transmitting surface to the focal length range is 0.8 to 2.2.

[0022] In a feasible implementation manner, the lens body is made of glass, polymethyl methacrylate or polycarbonate.

[0023] In a feasible implementation, it also includes:

[0024] The mounting portion is formed on the peripheral side of the flared end; wherein the water inlet and / or the gate of the laser radar lens is formed on the mounting portion.

[0025] In a feasible implementation manner, the thickness of the mounting portion is 0.5 mm to 3 mm.

[0026] In a feasible implementation manner, the ratio of the height of the lens body to the thickness of the mounting portion is 2 to 6.

[0027] According to a second aspect of an embodiment of the present application, a laser radar is provided, comprising:

[0028] The laser radar lens as described in any of the above technical solutions, wherein the laser radar lens serves as a receiving mirror.

[0029] In a feasible implementation manner, the laser radar further includes:

[0030] an emitter, the emitter being used to emit light;

[0031] A transmitting and receiving assembly, the transmitting and receiving assembly is used to receive the light returned via the receiving mirror and / or to excite the transmitter;

[0032] A line, one end of which is connected to the transmitter, and the other end of which is connected to the transmitting and receiving assembly.

[0033] In a feasible implementation manner, the hair extension assembly includes:

[0034] One end of the circuit of the excitation element is connected to the excitation element, and the other end is connected to the transmitter, and the excitation element is used to drive the transmitter;

[0035] A receiver is used to receive the returning light.

[0036] In a feasible implementation manner, the hair extension assembly further includes:

[0037] An encoder, one end of the line is connected to the encoder, and the other end is connected to the emitter, and the encoder is used to obtain the angle of the emitted light;

[0038] A main control board, the encoder is connected to the main control board, the excitation element is connected to the main control board, the receiver is arranged on the main control board, and the main control board is used for measuring distance based on emitted light and returned light.

[0039] In a feasible implementation manner, the laser radar further includes:

[0040] A transmitting mirror, the transmitting mirror being arranged on a side of the receiving mirror away from the transmitter;

[0041] A fixing member, a through portion is formed in the middle of the receiving mirror, the fixing member is arranged in the through portion, and the transmitting mirror is connected to the fixing member;

[0042] A pressure ring, a groove is formed on the side of the fixing member facing the emitting mirror, and the pressure ring is arranged in the groove to limit the emitting mirror.

[0043] In a feasible implementation manner, the laser radar further includes:

[0044] A light-shielding ring, wherein the light-shielding ring is sleeved on the fixing member;

[0045] Wherein, the fixing piece is made of transparent material.

[0046] In a feasible implementation, the laser radar further includes: a light adjustment component, the light adjustment component is used to adjust the angle of the emitted and / or returned light, and the light adjustment component includes:

[0047] A support member, wherein the support member is rotatable relative to the receiving mirror;

[0048] A driving assembly, the driving assembly is used to drive the supporting member to rotate;

[0049] A reflector is arranged on the support member and is used to adjust the emission and input angles of light.

[0050] In a feasible implementation manner, the laser radar further includes:

[0051] A first shell, wherein a convex portion is formed on the first shell, the receiving mirror is arranged in the convex portion, and the hair receiving assembly is connected to the first shell;

[0052] A bearing, wherein the bearing is sleeved on the convex portion, and the support member is connected to the bearing;

[0053] The second shell is used to cover the support member, and a window is formed on the second shell, and light is emitted through the window.

[0054] In a feasible implementation manner, the driving assembly includes:

[0055] A driving member and a dust cover, wherein the driving member is disposed in the first housing, and the dust cover is connected to the first housing to cover the driving member;

[0056] A flexible transmission member, wherein the driving member is connected to the supporting member through the flexible transmission member.

[0057] According to a third aspect of an embodiment of the present application, a cleaning robot is provided, comprising:

[0058] Robot body;

[0059] The laser radar as described in any of the above technical solutions is connected to the robot body.

[0060] Compared with the prior art, the present invention has at least the following beneficial effects:

[0061] The laser radar lens provided in the embodiment of the present application includes a lens body, which includes a closed end and a flared end. The lens body forms a first light-transmitting surface between the flared end and the closed end, and the flared end forms a second light-transmitting surface. In addition, the first light-transmitting surface is an aspherical surface, and the second light-transmitting surface is a convex surface or a plane. Light is transmitted through the first light-transmitting surface and the second light-transmitting surface. The lens body can correct spherical aberration and coma at the same time, so that the laser radar lens has better light convergence ability, which can improve the focusing quality of the laser radar receiving echo, and thus can improve the detection accuracy when the laser radar lens is applied to the laser radar. BRIEF DESCRIPTION OF THE DRAWINGS

[0062] Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the detailed description of the preferred embodiments below. The accompanying drawings are only for the purpose of illustrating the preferred embodiments and are not to be considered as limiting the present application. Also, the same reference symbols are used throughout the accompanying drawings to represent the same components. In the accompanying drawings:

[0063] Figure 1 A schematic structural diagram of a laser radar lens at a first angle according to an embodiment of the present application;

[0064] Figure 2 A schematic structural diagram of a laser radar lens according to an embodiment of the present application from a second angle;

[0065] Figure 3 A schematic structural diagram of a laser radar lens according to an embodiment of the present application at a third angle;

[0066] Figure 4 A schematic structural diagram of a laser radar lens according to an embodiment of the present application at a fourth angle;

[0067] Figure 5 A schematic structural diagram of a laser radar according to an embodiment of the present application from a first angle;

[0068] Figure 6 A schematic structural diagram of a laser radar according to an embodiment of the present application from a second angle;

[0069] Figure 7 A schematic structural diagram of a laser radar according to an embodiment of the present application from a third angle;

[0070] Figure 8 A schematic structural diagram of a light adjustment component of a laser radar according to an embodiment of the present application;

[0071] Fig. 9 A schematic structural diagram of a light adjustment component of a laser radar according to an embodiment of the present application from another angle;

[0072] Fig.10 A schematic structural diagram of the arrangement position of the line of a laser radar according to an embodiment of the present application;

[0073] Fig.11 A schematic structural diagram of a cleaning robot according to an embodiment of the present application.

[0074] in, Figures 1 to 11 The corresponding relationship between the reference numerals and the component names is as follows:

[0075] 100 LiDAR lenses;

[0076] 110 lens body, 120 mounting portion;

[0077] 111 a first light-transmitting surface, 112 a second light-transmitting surface;

[0078] 200 laser radar, 210 receiving and transmitting assembly, 220 transmitter, 230 circuit, 240 transmitting mirror, 250 fixing part, 260 pressure ring, 270 light shielding ring, 280 light adjustment assembly, 290 first housing, 300 bearing, 310 second housing;

[0079] 211 encoder, 212 main control board, 213 excitation member, 214 receiver, 281 support member, 282 drive assembly, 283 reflector; 2821 drive member, 2822 dust cover, 2823 flexible transmission member;

[0080] 311 window;

[0081] 2000 robot body. DETAILED DESCRIPTION

[0082] In order to better understand the above-mentioned technical scheme, the technical scheme of the embodiments of the present application is described in detail below through the accompanying drawings and specific embodiments. It should be understood that the embodiments of the present application and the specific features in the embodiments are detailed descriptions of the technical scheme of the embodiments of the present application, rather than limitations on the technical scheme of the present application. In the absence of conflict, the embodiments of the present application and the technical features in the embodiments may be combined with each other.

[0083] like Figures 1 to 4As shown, according to the first aspect of an embodiment of the present application, a laser radar lens 100 is proposed, comprising: a lens body 110, the lens body 110 comprising a flared end and a closed end; wherein the lens body 110 forms a first light-transmitting surface 111 between the flared end and the closed end, and the flared end forms a second light-transmitting surface 112; wherein the first light-transmitting surface 111 is an aspherical surface, and the second light-transmitting surface 112 is a convex surface or a plane.

[0084] The laser radar lens 100 provided in the embodiment of the present application includes a lens body 110, and the lens body 110 includes a closed end and a flared end. The lens body 110 forms a first light-transmitting surface 111 between the flared end and the closed end, and the flared end forms a second light-transmitting surface 112. In addition, the first light-transmitting surface 111 is an aspherical surface, and the second light-transmitting surface 112 is a convex surface or a plane. Light is transmitted through the first light-transmitting surface 111 and the second light-transmitting surface 112. The lens body 110 can correct spherical aberration and coma at the same time, so that the laser radar lens 100 has better light focusing ability, which can improve the focusing quality of the echo received by the laser radar 200, and further improve the detection accuracy when the laser radar lens 100 is applied to the laser radar 200.

[0085] It can be understood that if a monochromatic conical light beam emitted from an object point on the main axis to the optical system cannot intersect at the same position on the main axis after refraction by the optical system (for example, light propagating through the edge of a spherical lens will be more strongly focused than light propagating through the center of the spherical lens), a diffuse light spot is formed at the ideal image plane on the main axis, and the imaging error of this optical system is called spherical aberration. The combination of the first light-transmitting surface 111 being an aspherical surface and the second light-transmitting surface 112 being a convex surface or a plane can better correct spherical aberration.

[0086] It can be understood that after being refracted by the optical system, the light from an off-axis object point located outside the principal axis no longer intersects at one point, nor does it intersect with the principal ray in the vertical axis direction, i.e., it loses symmetry relative to the principal ray. It cannot form a clear point at the ideal image plane, but forms a comet-shaped asymmetric diffuse spot with a bright tail. The imaging error of this optical system is called coma. The first light-transmitting surface 111 is an aspherical surface combined with the second light-transmitting surface 112 being a convex surface or a plane to better correct coma.

[0087] like Figure 1 and Figure 4 As shown, in a feasible implementation manner, the second light-transmitting surface 112 is a convex surface.

[0088] In this technical solution, the second light-transmitting surface 112 can be a convex surface. Compared with the case where the second light-transmitting surface 112 is a plane, when the second light-transmitting surface 112 is a convex surface, the lens body 110 can better correct spherical aberration and coma at the same time, that is, the lens has better light convergence ability at this time, which can improve the focusing quality of the laser radar 200 receiving the echo.

[0089] In a feasible implementation manner, the aspheric expression of the first light-transmitting surface 111 is:

[0090]

[0091] Among them, z is the distance from a point on the aspherical surface to the vertex of the aspherical surface; y is the vector height, which represents the distance from a point on the aspherical surface to the optical axis; R is the radius of curvature of the first light-transmitting surface 111, and its value range is 4 to 10 mm; K is the cone coefficient, and its value range is -3 to 0; A2 is the second-order coefficient, and its value is 0; A4 is the fourth-order coefficient, and its value range is -1×10^-3 to 1×10^-3; A6 is the sixth-order coefficient, and its value range is -1×10^-5 to 1×10^-5; A8 is the eighth-order coefficient, and its value range is -1×10^-6 to 1×10^-; A10 is the tenth-order coefficient, and its value range is -1×10^-8 to 1×10^-8; A12 is the twelfth-order coefficient, and its value range is -1×10^-9 to 1×10^-9.

[0092] In this technical solution, an aspheric expression of the first light-transmitting surface 111 is further provided. Such a setting further clarifies the style of the first light-transmitting surface 111, so that the first light-transmitting surface 111 can better correct spherical aberration and coma at the same time, thereby better improving the focusing quality of the laser radar lens 100.

[0093] In this technical solution, through the selection of the aspheric expression, on the one hand, the aspheric expression is an even-order aspheric expression, and using this expression to represent the shape of the first light-transmitting surface 111 can improve the focal performance of the laser radar lens; on the other hand, it is beneficial to improve the design optimization speed of the shape of the first light-transmitting surface 111, and can converge faster to obtain the optimal parameter combination; on the other hand, the parameters taken can not only ensure the focusing performance of the laser radar lens, but also compress the focal length as much as possible and reduce the height of the laser radar.

[0094] In a feasible implementation manner, when the second light-transmitting surface 112 is a convex surface, the radius of curvature of the second light-transmitting surface 112 is in a range of -10 to -100.

[0095] In this technical solution, compared with the case where the second light-transmitting surface 112 is a plane, the focusing quality can be better improved when the second light-transmitting surface 112 is a convex surface. When the second light-transmitting surface 112 is a convex surface, the curvature radius of the second light-transmitting surface 112 is -10 to -100, which can further improve the focusing quality.

[0096] It is understandable that the second light-transmitting surface 112 being a plane can reduce the production cost of the laser radar lens 100 .

[0097] In a feasible implementation manner, the value range of R is 4 to 6; the value range of K is -1.5 to -0.5; the value range of A4 is 1.5×10^-4 to 5×10^-4; the value range of A6 is 1×10^-7 to 3×10^-7; the value range of A8 is 3×10^-8 to 9×10^-8; the value range of A10 is -3×10^-10 to -1×10^-10; the value of the radius of curvature of the second light-transmitting surface 112 is -60 to -30.

[0098] In this technical solution, the value range of the parameters of the first light-transmitting surface 111 is further provided to be different from the value range of the parameters of the second light-transmitting surface 112. Such a setting can better correct spherical aberration and coma at the same time, thereby better improving the focusing quality of the laser radar lens 100. At the same time, the parameters of the first light-transmitting surface 111 and the second light-transmitting surface 112 are clarified, and the shape of the laser radar lens 100 can be determined, which is convenient for the assembly of the laser radar lens 100.

[0099] In some examples, preferably, the value of R is 5.1; the value of K is -0.9; the value of A4 is 2.9×10^-4; the value of A6 is 1.8×10^-7; the value of A8 is 6×10^-8; the value of A10 is -1.4×10^-10; and the radius of curvature of the second light-transmitting surface 112 is -44. Such a setting can make the laser radar lens have better focusing quality and can better correct spherical aberration and coma.

[0100] In a feasible implementation, the diameter of the outer contour of the second light-transmitting surface 112 is 10 mm to 20 mm. This configuration further clarifies the size of the laser radar lens 100, that is, clarifies the maximum diameter range of the laser radar lens 100, and while ensuring the collection efficiency of the recovered waves, the lens body 110 can be made more compact, which is conducive to the miniaturization of the laser radar 200.

[0101] In a feasible implementation, a through portion is formed in the lens body 110 .

[0102] In a possible implementation, the diameter of the through portion is 5 mm to 10 mm.

[0103] In this technical solution, a style of a lens body 110 is further provided, in which a through portion is formed. In this way, a mounting portion 120 for fixing the transmitter 220 and the transmitting mirror 240 can be provided in the middle of the lens body 110, which is convenient for the assembly of the coaxial laser radar 200. The diameter of the through portion is 5 mm to 10 mm, which can provide sufficient assembly space for other components while ensuring the reception efficiency of the recovered waves.

[0104] In a feasible implementation manner, the focal length range of the lens body 110 is 8 mm to 15 mm; wherein the ratio of the diameter of the outer contour of the second light-transmitting surface 112 to the focal length range is 0.8 to 2.2.

[0105] Among them, Figure 3 As shown, Figure 3 D is the diameter of the outer contour of the second light-transmitting surface 112. In this technical solution, parameters of the lens body 110 are further provided. The focal length range of the lens body 110 is 8 mm to 15 mm. This arrangement facilitates the projection of the recovered waves through the lens body 110 onto the receiver 214 of the laser radar 200, which can improve the detection accuracy and reduce the volume of the laser radar 200. The ratio of the diameter of the outer contour of the second light-transmitting surface 112 to the focal length range is 0.8 to 2.2. This arrangement allows the laser radar lens 100 to better receive the recovered waves, that is, the laser reflected back by the object.

[0106] In this technical solution, the ratio of the diameter of the outer contour of the second light-transmitting surface 112 to the focal length range is 0.8 to 2.2, which can not only ensure that the lens body 110 has good echo focusing quality, but also ensure that the focal length is short enough, which is beneficial to reducing the height of the laser radar and facilitating the installation of the cleaning robot.

[0107] In a feasible implementation, the lens body 110 is made of glass, polymethyl methacrylate or polycarbonate. Such a configuration can ensure that the lens body 110 has good light transmittance.

[0108] In a feasible implementation, the laser radar lens 100 further includes: a mounting portion 120, which is formed on the peripheral side of the flared end. Such a configuration facilitates the assembly of the laser radar lens 100 on the laser radar 200, enables the laser radar lens 100 to be more firmly fixed on the laser radar 200, and reduces the probability of the laser radar lens 100 loosening.

[0109] In a feasible implementation, the thickness of the mounting portion 120 is 0.5 mm to 3 mm. This configuration further clarifies the thickness of the mounting portion 120, and the selection of the transparent thickness of 0.5 mm to 3 mm ensures that the laser radar lens 100 can be stably installed while minimizing the thickness of the laser radar lens 100 and ensuring the focusing quality.

[0110] like Figures 1 to 4 As shown, in a feasible implementation, the water inlet and / or gate of the laser radar lens 100 is formed on the mounting portion 120. Such an arrangement can prevent the water inlet and gate from contacting the first light-transmitting surface 111 or the second light-transmitting surface 112, thereby ensuring the processing accuracy of the first light-transmitting surface 111 and the second light-transmitting surface 112.

[0111] In a feasible implementation manner, the ratio of the height of the lens body 110 to the thickness of the mounting portion 120 is 2 to 6.

[0112] Among them, Figure 4 As shown in the figure, h1 is the height of the lens body 110, and h2 is the thickness of the mounting portion 120. In this technical solution, the relationship between the height of the lens body 110 and the thickness of the mounting portion 120 is further provided. By controlling the ratio between 2 and 6, the difference between the center thickness and the edge thickness of the lens body 110 can be reduced while ensuring the focusing performance, thereby improving the manufacturability of the lens body 110 and the production yield of the lens body 110.

[0113] In some examples, the ratio of the height of the lens body 110 to the thickness of the mounting portion 120 is preferably 4.5 or about 4.5. Such a setting can better improve the manufacturability of the lens body 110 and improve the production yield of the lens body 110 while ensuring the focusing performance.

[0114] like Figures 5 to 9 As shown, according to the second aspect of the embodiment of the present application, a laser radar 200 is proposed, including: a laser radar lens 100 as any of the above technical solutions, and the laser radar lens 100 serves as a receiving mirror.

[0115] The laser radar 200 provided in the embodiment of the present application includes a laser radar lens 100 such as any of the above-mentioned technical solutions, so the laser radar 200 has all the beneficial effects of the laser radar lens 100 of the above-mentioned technical solutions.

[0116] The laser radar lens 100 of the laser radar 200 provided in the embodiment of the present application includes a lens body 110, and the lens body 110 includes a closed end and a flared end. The lens body 110 forms a first light-transmitting surface 111 between the flared end and the closed end, and the flared end forms a second light-transmitting surface 112. In addition, the first light-transmitting surface 111 is an aspherical surface, and the second light-transmitting surface 112 is a convex surface or a plane. Light is transmitted through the first light-transmitting surface 111 and the second light-transmitting surface 112. The lens body 110 can correct spherical aberration and coma at the same time, so that the laser radar lens 100 has better light focusing ability, which can improve the focusing quality of the echo received by the laser radar 200, and further improve the detection accuracy when the laser radar lens 100 is applied to the laser radar 200.

[0117] like Figure 7 and Fig. 9 As shown, in a feasible embodiment, the laser radar 200 also includes: a transceiver assembly 210, the transceiver assembly 210 is used to receive light returned via the receiving mirror and / or excite the transmitter 220; a transmitter 220, the transmitter 220 is used to emit light, and the transmitter 220 is located between the receiving mirror and the transceiver assembly 210; a line 230, one end of the line 230 is connected to the transmitter 220, and the other end is connected to the transceiver assembly 210.

[0118] In this technical solution, the laser radar 200 includes a receiving mirror, a transceiver assembly 210, a transmitter 220 and a circuit 230. During use, the transmitter 220 emits a laser, and the laser is refracted when projected onto an object. The refracted laser passes through the receiving mirror and then is fed back to the transceiver assembly 210. Based on this, the laser radar 200 can determine the distance of the object based on the emitted laser and the received laser. Compared with the solution in the traditional technology that all the transmitting and receiving components 214 are arranged on a flexible board or an FR4 board, the laser radar 200 provided in the embodiment of the present application has an independent arrangement for the transmitter 220, and the transmitter 220 is arranged separately from the transmitting and receiving component 210, and then one end of the line 230 is connected to the transmitter 220, and the other end is connected to the transmitting and receiving component 210. Based on this, the width of the line 230 can be greatly reduced, and only the line 230 will block the optical path of the receiving mirror. On the one hand, the optical receiving area is greatly reduced, and the impact can even be ignored, which effectively improves the measuring distance; on the other hand, when the laser radar 200 used in the cleaning robot rotates to measure the distance, when it rotates to the transmitting circuit to block the receiving mirror part, it will not affect the ranging accuracy, and the control accuracy of the cleaning robot can be guaranteed; on the other hand, since the blocking area is reduced, the size of the receiver can be reduced, and the size of the laser radar 200 can be further reduced.

[0119] It is understandable that the transmitting and receiving assembly 210 is used to receive light emitted via the receiving mirror and / or excite the transmitter 220. Based on this, the transmitter 220 can be separated from other modules, which can help further reduce the width of the line 230.

[0120] like Figure 7 and Fig. 9 As shown, in a feasible embodiment, the receiving and sending component 210 includes: an excitation member 213, the excitation member 213 is connected to the main control board 212, one end of the line 230 is connected to the excitation member 213, and the other end is connected to the transmitter 230, the excitation member 213 is used to drive the transmitter 220; a receiver 214, and the receiver 214 is arranged on the main control board 212.

[0121] In a feasible implementation, the transceiver assembly 210 further includes: an encoder 211, one end of the line 230 is connected to the encoder 211, and the other end is connected to the transmitter 220; a main control board 212, and the encoder 211 is connected to the main control board 212;

[0122] In this technical solution, the structural composition of the receiving and transmitting component 210 is further provided. The receiving and transmitting component 210 may include an encoder 211, a main control board 212, an excitation member 213 and a receiver 214. Based on this, during use, the main control board 212 can control the on or off of the transmitter 220 through the excitation member 213, the rotation position of the laser radar 200 can be obtained through the encoder 211, the light emitted through the receiving mirror can be received through the receiver 214, and the distance of the object can be determined based on the emitted laser and the received laser through the main control board 212, thereby realizing ranging through the laser radar 200.

[0123] In this technical solution, through the setting of the main control board 212, the transmitter 220 and the encoder 211, the main control board 212, the excitation element 213 and the receiver 214 are arranged at intervals. The cable can only play the role of the transmitter 220 communicating with the main control board 212 and the encoder 211. There is no need to bond other components on the line 230, so the width of the line 230 can be reduced, thereby reducing the obstruction of the receiving mirror, which can improve the performance of the laser radar 200 and reduce the size of the laser radar 200.

[0124] It is understandable that MosDriver, driving MOSFET, peripheral resistor-capacitor circuits, etc. can also be set on the main control board 212, that is, the transmitter 220 is set as independently as possible, and other functional components are set on the main board to minimize the cable width and reduce the obstruction of the receiving mirror.

[0125] like Figures 7 to 10As shown, in a feasible implementation, the laser radar 200 further includes: a transmitting mirror 240 , which is disposed on a side of the receiving mirror facing away from the transmitter 220 .

[0126] In this technical solution, the laser radar 200 may also include a transmitting mirror 240. Through the setting of the transmitting mirror 240, the light emitted by the transmitter 220 can be adjusted so that the light projected by the transmitting mirror 240 is parallel light or approximately parallel light, which can better perform ranging.

[0127] like Figure 7 As shown, in a feasible embodiment, the laser radar 200 also includes: a fixing part 250, a through portion is formed in the middle of the receiving mirror, the fixing part 250 is arranged in the through portion, and the transmitting mirror 240 is connected to the fixing part 250; a pressure ring 260, a groove is formed on the side of the fixing part 250 facing the transmitting mirror 240, and the pressure ring 260 is arranged in the groove to limit the transmitting mirror 240.

[0128] In a feasible implementation manner, the light shielding ring 270 is sleeved on the fixing member 250 .

[0129] In this technical solution, the laser radar 200 may also include a fixing part 250, a pressure ring 260 and a light shielding ring 270, and a through-portion is formed through the middle of the receiving mirror, and then the fixing part 250 is arranged inside the through-portion, so that the laser radar 200 can be a coaxial laser radar 200, which can further reduce the volume of the laser radar 200.

[0130] In this technical solution, the transmitting mirror 240 is fixed by the pressure ring 260, which can make the fixation of the transmitting mirror 240 more reliable and reduce the probability of the transmitting mirror 240 loosening. At the same time, the fixing part 250, the pressure ring 260 and the transmitting mirror 240 can be modularly assembled to facilitate the assembly of the laser radar 200.

[0131] In some examples, the contact surface between the fixing member 250 and the receiving mirror may be a curved surface, which facilitates positioning of the fixing member 250 and adjustment of the angle between the fixing member 250 and the receiving mirror.

[0132] In this technical solution, the fixing member 250 is made of a transparent material, which facilitates the passage of light.

[0133] In this embodiment, the transmitter 220 and the transmitting mirror 240 are respectively mounted at opposite ends of the fixing member 250. It can be understood that an optical path is formed inside the fixing member 250, and the light emitted by the transmitter 220 is projected out by the transmitting mirror 240 through the fixing member 250, that is, the setting of the fixing member 250 makes the relative position of the transmitter 220 and the transmitting mirror 240 fixed, that is, the direction in which the light emitted by the transmitter 220 is projected out by the transmitting mirror 240 through the fixing member 250 is fixed, that is, the direction of the emitted light emitted by the transmitter 220 is fixed relative to the axis of the fixing member 250. The fixing member 250 is installed inside the laser radar lens 100 (receiving mirror), and the fitting surfaces of the laser radar lens 100 and the fixing member 250 are set to spherical contact, so that the fixing member 250 and the laser radar lens 100 form a ball joint, that is, the relative position of the fixing member 250 and the laser radar lens 100 is adjustable. Therefore, by adjusting the relative position of the axis of the fixing member 250 and the axis of the laser radar lens 100, the direction of the emitted light emitted by the transmitter 220 and the relative position of the axis of the laser radar lens 100 can be adjusted, and then the direction of the emitted light beam can be universally adjusted to meet the needs of different directions of the emitted light beam. At the same time, the processing accuracy requirements of the laser radar 200 can be reduced, and the relative position of the direction of the emitted light emitted by the transmitter 220 and the axis of the laser radar lens 100 can still be guaranteed, thereby reducing manufacturing costs, reducing the defective rate of products, and improving production capacity.

[0134] For example, the detection accuracy requirements of laser radar in current related technologies often exceed the manufacturing capabilities. For example, relying on processing accuracy to ensure the direction of the laser emission of the laser radar will result in higher costs and lower pass rates for the laser radar.

[0135] As for the laser radar 200 provided in this embodiment, since the fixing part 250 and the laser radar lens 100 are configured as a ball joint, in actual application scenarios, during the assembly process, the relative position of the fixing part 250 and the transmitting mirror 240 can be adjusted first, so that the laser emission direction of the transmitter 220 and the optical axis of the laser radar lens 100 meet the detection accuracy requirements, and then the fixing part 250 and the laser radar lens 100 are fixed with an adhesive, so that the assembly of the transmitter 220 and the laser radar lens 100 can be completed, and it can be ensured that the laser radar 200 meets the detection accuracy requirements. To this end, the processing accuracy requirements for each component can be reduced, thereby reducing the manufacturing cost. In addition, this method can improve the processing qualification rate of the product and is suitable for popularization and application.

[0136] The fixing member 250 is set to be a straight cylinder, and the emitter 220 and the emission mirror 240 are respectively installed at the opposite ends of the fixing member 250, so that a collimated light path can be formed. Specifically, the emission mirror 240 is located on the emission light path of the emitter 220, and the emission surface of the emission mirror 240 faces the outside of the fixing member 250. Therefore, the emission mirror 240 and the laser are installed in the same structural member, so that a collimated light path can be formed.

[0137] Among them, the laser radar lens 100 is mounted on the outside of the fixing part 250 on which the transmitting mirror 240 and the transmitter 220 are installed. Compared with the laser radar in the related technology in which the optical axis of the transmitting lens and the optical axis of the receiving lens are arranged in parallel, the volume of the laser radar can be greatly reduced, thereby reducing the space occupied by the laser radar 200, expanding the scope of use of the laser radar 200, and meeting the design requirements of the cleaning robot with compact structure and small size. At the same time, it is beneficial to reduce the manufacturing cost of the laser radar 200, thereby meeting the low-cost design requirements of the cleaning robot.

[0138] like Figure 8 and Fig. 9 As shown, in a feasible implementation, the laser radar 200 further includes: a light adjustment component 280, and the light adjustment component 280 is used to adjust the angle of the emitted and / or returned light. Such an arrangement enables the laser radar 200 to perform multi-angle ranging.

[0139] like Figure 8 and Fig. 9 As shown, in a feasible embodiment, the light adjustment component 280 includes: a support member 281, which can rotate relative to the receiving mirror; a driving component 282, which is used to drive the support member 281 to rotate; and a reflector 283, which is arranged on the support member 281 and is used to adjust the emission and input angles of the light.

[0140] In this technical solution, the structural composition of a light adjustment component 280 is further provided. The light adjustment component 280 may include a support 281, a drive component 282 and a reflector 283. Through the setting of the reflector 283, the reflector 283 can reflect the laser, thereby adjusting the emission and receiving angles of the laser. Through the setting of the drive component 282 and the support 281, the drive component 282 can drive the support 281 to rotate relative to the receiving mirror, thereby realizing 360° ranging of the laser radar 200, thereby improving the application range of the laser radar 200, especially facilitating the application of the laser radar 200 on a cleaning robot.

[0141] In some possible embodiments provided in the present application, the laser radar 200 further includes: a reflector 283, which is tilted above the transmitting mirror 240 and configured to rotate with the optical axis of the laser radar lens 100 as the axis; wherein the light emitted by the transmitter 220 passes through the transmitting mirror 240 and is then redirected by the reflector 283 and then directed toward the obstacle, and the received light returned by the obstacle is redirected by the reflector 283 and then passed through the laser radar lens 100 and received by the receiver 214. Thus, the ranging of the laser radar 200 can be achieved, and the detection range of the transmitter 220 can be expanded by the rotating reflector 283 in conjunction with the transmitting mirror 240 and the transmitter 220, thereby enabling the detection of obstacles in multiple directions around the cleaning robot. For example, the reflector 283 is configured to rotate 360° with the optical axis of the laser radar lens 100 as the rotation axis, so that the laser detector can detect obstacles in 360° directions around the cleaning robot, which is beneficial to improve the perception precision and accuracy of the cleaning robot and improve the operating accuracy of the cleaning robot.

[0142] The laser radar 200 may be a time-of-flight laser radar, the principle of which is to calculate the distance of the target object by using the propagation speed of the laser beam in space and the time it takes to reflect back. The time-of-flight laser radar 200 has the advantages of high precision, high speed, high resolution, etc., and can meet the functional requirements of the cleaning robot.

[0143] In some possible embodiments provided in the present application, the inclination angle of the reflector 283 relative to the horizontal line is 45° to 47°, wherein the inclination angle of the reflector 283 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 283 relatively comprehensively changes the direction of the emission light emitted by the transmitter 220 and projects it through the window 311, and relatively comprehensively changes the direction of the returned light and projects it to the receiver 214 to reduce the energy loss of the transmitter 220, improve the energy utilization rate of the transmitter 220, and improve the ranging accuracy of the laser radar 200.

[0144] Specifically, the inclination angle α of the reflector 283 relative to the horizontal line may be in the range of 45°, 45.5°, 46°, 47°, or other angles.

[0145] In the above embodiment, the reflector 283 includes a reflective surface and a substrate, and the reflective surface is located on the side of the substrate facing the window 311, thereby ensuring that the emission light emitted by the emitter 220 is projected through the window 311 after changing direction through the reflective surface of the reflector 283. The reflective surface may be a dielectric high-reflective film or a metal reflective film, and the substrate may be glass or plastic.

[0146] In some possible embodiments provided in the present application, the laser radar 200 further includes: a light shielding ring 270, which is sleeved on the outside of the fixing member 250 and located above the laser radar lens 100, and the light shielding ring 270 is configured to shield at least part of the light emitted by the transmitter 220 and directed toward the laser radar lens 100 after the light is changed by the reflector 283 through the transmitting mirror 240. That is, the setting of the light shielding ring 270 can effectively prevent the stray light generated by the emitted light beam after passing through the reflector 283 from returning to the laser radar lens 100 to cause light crosstalk and affect the ranging accuracy, thereby helping to improve the detection accuracy of the laser radar 200.

[0147] The light shielding ring 270 and the fixing member 250 can be connected by a snap-fit ​​structure and / or an adhesive, which is simple to operate and easy to install, and can ensure that the light shielding ring 270 is reliably connected to the fixing member 250. Specifically, the light shielding ring 270 can be connected to the fixing member 250 by a snap-fit ​​structure or an adhesive, or the light shielding ring 270 can be connected to the fixing member 250 by both a snap-fit ​​structure and an adhesive.

[0148] Among them, a gap is set between the shading ring 270 and the laser radar lens 100, so that the laser radar lens 100 and the fixing part 250 can move relatively, so that during the assembly process, the laser direction of the transmitter 220 can be universally adjusted relative to the optical axis of the laser radar lens 100, avoiding the problem that the fixing part 250 and the laser radar lens 100 are stuck and cannot be adjusted due to the seamless arrangement between the shading ring 270 and the laser radar lens 100.

[0149] like Figure 5 and Figure 6 As shown, in a feasible embodiment, the laser radar 200 also includes: a first shell 290, a convex portion is formed on the first shell 290, the receiving mirror is arranged in the convex portion, and the receiving and transmitting assembly 210 is connected to the first shell 290; a bearing 300, the bearing 300 is sleeved on the convex portion, and the support member 281 is connected to the bearing 300; a second shell 310, the second shell 310 is used to cover the support member 281, and a window 311 is formed on the second shell 310, and the emitted light is emitted through the window 311.

[0150] In this technical solution, the laser radar 200 can also include a first shell 290, and the first shell 290 has an upper convex portion, which can accommodate the receiving mirror. At the same time, the first shell 290 can also provide an installation position for the receiving and transmitting assembly 210. By arranging a bearing 300 on the outer side of the convex portion, and the support member 281 is connected to the bearing 300, the first shell 290 can provide an installation position for the support member 281, which is convenient for the assembly of the support member 281, and at the same time, it is convenient for the driving assembly 282 to drive the support member 281 to rotate relative to the first shell 290.

[0151] In this technical solution, the support member 281 is covered by the second shell 310 , and a window 311 is formed on the second shell 310 to facilitate the projection and collection of lasers. At the same time, the laser radar 200 can be packaged by the first shell 290 and the second shell 310 .

[0152] like Figure 5 and Figure 6 As shown, in a feasible embodiment, the driving assembly 282 includes: a driving member 2821 and a dust cover 2822, the driving member 2821 is arranged in the first shell 290, and the dust cover 2822 is connected to the first shell 290 to cover the driving member 2821; a flexible transmission member 2823, and the driving member 2821 is connected to the support member 281 through the flexible transmission member 2823.

[0153] In this technical solution, the structural composition of the driving component 282 is further provided. The driving component 282 may include a driving member 2821 and a dust cover 2822, which is connected to the first shell 290 via the dust cover 2822. The dust cover 2822 and the first shell 290 can seal the driving member 2821, reduce the probability of dust intruding into the driving member 2821, and ensure the reliability of the driving member 2821.

[0154] In this technical solution, the driving member 2821 is connected to the flexible transmission member 2823, and the flexible transmission member 2823 can be mounted on the output shafts of the support member 281 and the driving member 2821. Based on this, turning on the driving member 2821 can drive the support member 281 to rotate.

[0155] In some examples, the driving assembly 282 includes a driving member 2821 and a flexible transmission member 2823, wherein the driving member 2821 is connected to the first housing 290, and the driving member 2821 is connected to the support member 281 through the flexible transmission member 2823 to drive the support member 281 to rotate relative to the first housing 290. Thus, the reflector 283 on the support member 281 can rotate with the optical axis of the laser radar lens 100 as the axis to expand the detection range of the laser radar 200. For example, the driving member 2821 can drive the support member 281 to rotate 360° relative to the first housing 290, so that the laser radar 200 can detect obstacles in the 360° direction around the cleaning robot, which is conducive to improving the perception accuracy and perception accuracy of the cleaning robot and improving the operation accuracy of the cleaning robot.

[0156] like Fig.11 As shown, according to the third aspect of the embodiment of the present application, a cleaning robot is proposed, including: a robot body 2000; a laser radar 200 such as any of the above technical solutions, and the laser radar 200 is connected to the robot body 2000.

[0157] Since the cleaning robot provided in the embodiment of the present application includes the laser radar 200 of any of the above-mentioned technical solutions, the cleaning robot has all the beneficial effects of the laser radar 200 of the above-mentioned technical solutions.

[0158] The laser radar lens 100 of the laser radar 200 provided in the embodiment of the present application includes a lens body 110, and the lens body 110 includes a closed end and a flared end. The lens body 110 forms a first light-transmitting surface 111 between the flared end and the closed end, and the flared end forms a second light-transmitting surface 112. In addition, the first light-transmitting surface 111 is an aspherical surface, and the second light-transmitting surface 112 is a convex surface or a plane. Light is transmitted through the first light-transmitting surface 111 and the second light-transmitting surface 112. The lens body 110 can correct spherical aberration and coma at the same time, so that the laser radar lens 100 has better light focusing ability, which can improve the focusing quality of the echo received by the laser radar 200, and further improve the detection accuracy when the laser radar lens 100 is applied to the laser radar 200.

[0159] The cleaning robot provided in the embodiment of the present application, the laser radar 200 includes a receiving mirror, a receiving and transmitting component 210, a transmitter 220 and a line 230. During use, the transmitter 220 emits a laser, and the laser is refracted when projected onto an object. The refracted laser passes through the receiving mirror and then fed back to the receiving and transmitting component 210. Based on this, the laser radar 200 can determine the distance of the object based on the emitted laser and the received laser. Compared with the conventional technology in which all the transmitting and receiving components 214 are arranged on a flexible board or an FR4 board, the laser radar 200 provided in the embodiment of the present application has an independent arrangement for the transmitter 220, and the transmitter 220 is arranged separately from the transmitting and receiving assembly 210, and then one end of the line 230 is connected to the transmitter 220, and the other end is connected to the transmitting and receiving assembly 210. Based on this, the width of the line 230 can be greatly reduced, and only the line 230 will block the optical path of the receiving mirror. On the one hand, the optical receiving area is greatly reduced, and the impact can even be ignored, which effectively improves the measuring distance; on the other hand, during the ranging process, when the cleaning robot rotates to the transmitting circuit to block the receiving mirror part, it will not affect the ranging accuracy, thereby ensuring the control accuracy of the cleaning robot; on the other hand, since the blocking area is reduced, the size of the receiver can be reduced, and the size of the laser radar 200 can be further reduced.

[0160] In the present invention, the terms "first", "second", and "third" are used for descriptive purposes only and should not be understood as indicating or implying relative importance; the term "plurality" refers to two or more, unless otherwise clearly defined. The terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; "connected" can be a direct connection or an indirect connection through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to the specific circumstances.

[0161] In the description of the present invention, it is necessary to understand that the directions or positional relationships indicated by terms such as "up", "down", "left", "right", "front" and "back" are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or unit referred to must have a specific direction, be constructed and operated in a specific orientation, and therefore, cannot be understood as a limitation on the present invention.

[0162] In the description of this specification, the description of the terms "one embodiment", "some embodiments", "specific embodiments", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example 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.

[0163] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may be subject to various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A laser radar lens, characterized in that: include: A lens body, wherein the lens body comprises an expanded end and a closed end; Wherein, the lens body forms a first light-transmitting surface between the flared end and the closed end, and the flared end forms a second light-transmitting surface; Wherein, the first light-transmitting surface is an aspherical surface, and the second light-transmitting surface is a convex surface or a plane surface.

2. The laser radar lens according to claim 1, characterized in that: The aspheric expression of the first light-transmitting surface is: Among them, z is the distance from a point on the aspherical surface to the vertex of the aspherical surface; y is the vector height, which represents the distance from a point on the aspherical surface to the optical axis; R is the radius of curvature of the first light-transmitting surface, ranging from 4 to 10 mm; K is the cone coefficient, ranging from -3 to 0; A2 is the second-order coefficient, ranging from 0; A4 is the fourth-order coefficient, ranging from -1×10^-3 to 1×10^-3; A6 is the sixth-order coefficient, ranging from -1×10^-5 to 1×10^-5; A8 is the eighth-order coefficient, ranging from -1×10^-6 to 1×10^-; A10 is the tenth-order coefficient, ranging from -1×10^-8 to 1×10^-8; A12 is the twelfth-order coefficient, ranging from -1×10^-9 to 1×10^-9.

3. The laser radar lens according to claim 2, characterized in that: When the second light-transmitting surface is a convex surface, the radius of curvature of the second light-transmitting surface ranges from -10 to -100.

4. The laser radar lens according to claim 2, characterized in that: The value range of R is 4 to 6; the value range of K is -1.5 to -0.5; the value range of A4 is 1.5×10^-4 to 5×10^-4; the value range of A6 is 1×10^-7 to 3×10^-7; the value range of A8 is 3×10^-8 to 9×10^-8; the value range of A10 is -3×10^-10 to -1×10^-10.

5. The laser radar lens according to claim 4, characterized in that: The curvature radius of the second light-transmitting surface is in the range of -60 to -30.

6. The laser radar lens according to any one of claims 1 to 5, characterized in that: The diameter of the outer contour of the second light-transmitting surface is 10 mm to 20 mm.

7. The laser radar lens according to any one of claims 1 to 5, characterized in that: A through portion is formed in the lens body.

8. The laser radar lens according to claim 7, characterized in that: The diameter of the through portion is 5 mm to 10 mm.

9. The laser radar lens according to any one of claims 1 to 5, characterized in that: The focal length of the lens body ranges from 8 mm to 15 mm; Wherein, the ratio of the diameter of the outer contour of the second light-transmitting surface to the focal length range is 0.8 to 2.

2.

10. The laser radar lens according to any one of claims 1 to 5, characterized in that: The lens body is made of glass, polymethyl methacrylate or polycarbonate.

11. The laser radar lens according to any one of claims 1 to 5, characterized in that: Also includes: a mounting portion formed on a peripheral side of the flared end; Wherein, the sprue and / or gate of the laser radar lens is formed on the mounting portion.

12. The laser radar lens according to claim 11, characterized in that: The thickness of the mounting portion is 0.5 mm to 3 mm.

13. The laser radar lens according to claim 11, characterized in that: The ratio of the height of the lens body to the thickness of the mounting portion is 2 to 6.

14. A laser radar, characterized in that: include: The laser radar lens as described in any one of claims 1 to 13, wherein the laser radar lens serves as a receiving mirror.

15. The laser radar according to claim 14, characterized in that: Also includes: an emitter, the emitter being used to emit light; A transmitting and receiving assembly, the transmitting and receiving assembly is used to receive the light returned via the receiving mirror and / or to excite the transmitter; A line, one end of which is connected to the transmitter, and the other end of which is connected to the transmitting and receiving assembly.

16. The laser radar according to claim 15, characterized in that: The hair extension assembly comprises: An excitation member, one end of the circuit is connected to the excitation member, and the other end is connected to the transmitter, and the excitation member is used to drive the transmitter; A receiver is used to receive the returning light.

17. The laser radar according to claim 16, characterized in that: The hair extension assembly also includes: An encoder, one end of the line is connected to the encoder, and the other end is connected to the emitter, and the encoder is used to obtain the angle of the emitted light; A main control board, the encoder is connected to the main control board, the excitation element is connected to the main control board, the receiver is arranged on the main control board, and the main control board is used for measuring distance based on emitted light and returned light.

18. The laser radar according to claim 15, characterized in that: Also includes: A transmitting mirror, the transmitting mirror being arranged on a side of the receiving mirror away from the transmitter; A fixing member, a through portion is formed in the middle of the receiving mirror, the fixing member is arranged in the through portion, and the transmitting mirror is connected to the fixing member; A pressure ring, a groove is formed on the side of the fixing member facing the emitting mirror, and the pressure ring is arranged in the groove to limit the emitting mirror.

19. The laser radar according to claim 18, characterized in that: Also includes: A light-shielding ring is sleeved on the fixing member.

20. The laser radar according to claim 15, characterized in that: Also includes: A light adjustment component, the light adjustment component is used to adjust the angle of emitted and / or returned light, the light adjustment component comprises: A support member, wherein the support member is rotatable relative to the receiving mirror; A driving assembly, the driving assembly is used to drive the supporting member to rotate; A reflector is arranged on the support member and is used to adjust the emission and return angles of light.

21. The laser radar according to claim 20, characterized in that: Also includes: A first shell, wherein a convex portion is formed on the first shell, the receiving mirror is arranged in the convex portion, and the hair receiving assembly is connected to the first shell; A bearing, wherein the bearing is sleeved on the convex portion, and the support member is connected to the bearing; The second shell is used to cover the support member, and a window is formed on the second shell, and light is emitted through the window.

22. The laser radar according to claim 21, characterized in that: The drive assembly comprises: A driving member and a dust cover, wherein the driving member is disposed in the first housing, and the dust cover is connected to the first housing to cover the driving member; A flexible transmission member, wherein the driving member is connected to the supporting member through the flexible transmission member.

23. A cleaning robot, characterized in that: include: Robot body; The laser radar as described in any one of claims 14 to 22, wherein the laser radar is connected to the robot body.

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