Laser radar and cleaning equipment

Abstract

The utility model provides a laser radar and cleaning equipment. The laser radar comprises a transmitting unit, a receiving unit and a substrate, the transmitting unit and the receiving unit are installed on the same side of the substrate, the transmitting unit comprises a laser transmitter and a light processing assembly which are sequentially arranged, the laser transmitter is connected with the substrate and provided with a transmitting circuit electrically connected with the substrate, and the light processing assembly is electrically connected with the transmitting circuit. The end, away from the laser transmitter, of the light processing assembly is provided with a light outlet, and the light processing assembly is configured to adjust the distance between the light outlet and the substrate so as to adapt to the receiving unit. Therefore, the position of the light outlet can be adjusted to an expected position through the light processing assembly, for example, the position of the light outlet and the position of an emergent window on a machine main body of the cleaning equipment can be reasonable, and the distance between the light outlet and the emergent window is reduced, so that the light energy loss is reduced, the light energy utilization rate is improved, and the detection precision of the laser radar is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of smart home, in particular to a lidar and a cleaning device. Background Art

[0002] With the continuous development of science and technology and the continuous improvement of people's living standards, cleaning devices, such as intelligent floor sweeping robots, have continuously entered our daily lives. At present, the cleaning devices are usually provided with lidars to detect the environment around the cleaning devices. The lidar is an important sensor for the cleaning devices and plays an important role in working conditions such as map building, navigation, and obstacle avoidance.

[0003] At present, for the lidar, in order to simplify the production process and reduce the production cost, there is a need to arrange the laser emitter and the laser receiver on a common substrate. However, this arrangement makes the position of the light outlet of the laser emitter close to the substrate and far from the position of the emission window on the cleaning device, resulting in a large loss of light energy. Summary of the Utility Model

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

[0005] An embodiment of the first aspect of the utility model provides a lidar, including: a transmitting unit, a receiving unit, and a substrate. The transmitting unit and the receiving unit are installed on the same side of the substrate. The transmitting unit includes a laser emitter and an optical processing component arranged in sequence. The laser emitter is connected to the substrate, and the laser emitter is provided with a transmitting circuit electrically connected to the substrate. The end of the optical processing component away from the laser emitter is set as a light outlet, and the optical processing component is configured to adjust the distance between the light outlet and the substrate to adapt to the receiving unit.

[0006] Further, the side of the substrate on which the transmitting unit and the receiving unit are installed is a plane.

[0007] Further, the end of the receiving unit away from the substrate is set as a light inlet, and the light outlet is arranged close to the light inlet.

[0008] Further, the absolute value of the difference between the distance between the light outlet and the substrate and the distance between the light inlet and the substrate is less than or equal to 5 mm.

[0009] Further, the center of the light outlet and the center of the light inlet are substantially in the same plane; preferably, the light outlet and the light inlet are substantially in the same plane.

[0010] Further, the optical processing component includes: at least one lens, and the light emitted by the laser emitter is diffused by the at least one lens and then emitted from the light outlet.

[0011] Further, the optical processing component includes: a first collimating lens and a diffusing mirror. The first collimating lens is located between the laser emitter and the diffusing mirror, and the light outlet is located at the end of the diffusing mirror away from the first collimating lens.

[0012] Further, the optical processing component includes: a second collimating lens and a free-form lens. The second collimating lens is located between the laser emitter and the free-form lens, and the light outlet is located at the end of the free-form lens away from the second collimating lens.

[0013] Further, the optical processing component includes: an incident lens. The light outlet is located at the end of the incident lens away from the laser emitter, and the end of the incident lens away from the laser emitter is provided with a light diffusion surface.

[0014] Further, the light diffusion surface is curved or wavy.

[0015] Further, the receiving unit includes a laser receiver and a receiving lens arranged in sequence. The laser receiver is connected to the substrate, the light inlet is located at the end of the receiving lens away from the laser receiver, and the receiving lens is a convex lens.

[0016] Further, the substrate is a circuit board, the transmitting unit is electrically connected to the circuit board by surface mounting or bonding, and the receiving unit is electrically connected to the circuit board by surface mounting or bonding.

[0017] An embodiment of the second aspect of the present utility model provides a cleaning device, including: a machine body and the lidar according to any one of the first aspect, and the lidar is installed on the machine body.

[0018] Further, the machine body is provided with an emission window, the lidar is installed inside the machine body, the light outlet and the emission window are opposite, wherein the distance between the light outlet and the emission window is less than the distance between the light outlet and the substrate.

[0019] Further, the machine body is provided with an incident window, the light inlet of the lidar and the incident window are opposite, and the distance between the light inlet and the incident window is less than the distance between the light inlet and the substrate.

[0020] Further, the distance between the light outlet and the emission window is substantially the same as the distance between the light inlet and the incident window.

[0021] Further, the emission window and the incident window are integrated into one window.

[0022] Further, the transmitting unit and the receiving unit are coplanarly arranged on the substrate.

[0023] The lidar and cleaning device provided by the embodiments of the present utility model. The lidar includes a transmitting unit, a receiving unit, and a substrate. The transmitting unit and the receiving unit are installed on the same side of the substrate to simplify the production process of the lidar and reduce the production cost. The transmitting unit includes a laser emitter and an optical processing component arranged in sequence. The laser emitter is connected to the substrate, and the light outlet is located at the end of the optical processing component away from the laser emitter. By adding the optical processing component, the light outlet of the transmitting unit can be adjusted from the end of the laser emitter away from the substrate to the end of the optical processing component away from the laser emitter, realizing the adjustment of the distance between the light outlet and the substrate to adapt to the receiving unit. The position of the light outlet can be adjusted to the desired position through the optical processing component. For example, the position of the light outlet can be made reasonable with the position of the emission window on the main body of the cleaning device, reducing the distance between the light outlet and the emission window, and making the position of the light outlet close to the light inlet of the receiving unit. Therefore, the light energy loss of the emitted light is reduced, the light energy utilization rate is improved, and the detection accuracy of the lidar is improved.

[0024] The above description is only an overview of the technical solution of the present utility model. In order to be able to understand the technical means of the present utility model more clearly, it can be implemented according to the content of the specification. And in order to make the above and other purposes, features, and advantages of the present utility model more obvious and understandable, the specific embodiments of the present utility model are specifically exemplified below. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The following drawings of the present utility model are used as a part of the embodiments of the present utility model to understand the present utility model. The embodiments of the present utility model are shown in the drawings and described to explain the principle of the present utility model.

[0026] In the drawings:

[0027] Figure 1 Shows a schematic structural diagram of the lidar provided by the embodiments of the present utility model;

[0028] Figure 2 Shows a schematic structural diagram of the transmitting unit provided by an embodiment of the present utility model;

[0029] Figure 3 Shows a schematic structural diagram of the transmitting unit provided by another embodiment of the present utility model;

[0030] Figure 4 Shows a schematic structural diagram of the transmitting unit provided by yet another embodiment of the present utility model;

[0031] Figure 5 Shows a schematic size diagram of the lidar provided by the embodiments of the present utility model.

[0032] DESCRIPTION OF THE REFERENCE NUMERALS

[0033] 100 Lidar, 110 transmitting unit, 111 light outlet, 112 laser transmitter, 113 optical processing component, 114 first collimating lens, 115 diffuser, 116 second collimating lens, 117 free-form lens, 118 incident lens, 1181 light diffusion surface, 120 receiving unit, 121 light inlet, 122 laser receiver, 123 receiving lens, 130 substrate, 200 window. Detailed implementation manners

[0034] In the following description, a large number of specific details are given to provide a more thorough understanding of the technical solutions provided by the present utility model. However, it is obvious to those skilled in the art that the technical solutions provided by the present utility model can be implemented without one or more of these details.

[0035] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present utility model. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should also be understood that when the terms "comprise" and / or "include" are used in this specification, they indicate the presence of the described features, wholes, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components, and / or combinations thereof.

[0036] Now, exemplary embodiments according to the present utility model will be described in more detail with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in many different forms and should not be construed as being limited only to the embodiments set forth herein. It should be understood that these embodiments are provided so that the disclosure of the present utility model is thorough and complete, and the concepts of these exemplary embodiments are fully conveyed to those of ordinary skill in the art.

[0037] As Figures 1 to 5 shown, an embodiment of the first aspect of the present utility model provides a lidar 100, and an embodiment of the second aspect of the present utility model provides a cleaning device. Among them, the cleaning device can be a sweeping robot, a mopping robot, a sweeping and mopping integrated machine, or other cleaning devices that meet the requirements, and the lidar 100 is applied to the cleaning device.

[0038] Specifically, the cleaning device includes, but is not limited to: a machine body, a cleaning system, a drive system, a sensing system, etc. The above-mentioned systems cooperate with each other in a coordinated manner, enabling the cleaning device to move autonomously to achieve the cleaning function. The functional components and the like that constitute the above-mentioned systems in the cleaning device are integrally arranged in the machine body. It can be understood that the cleaning device can be a self-moving cleaning device. Among them, the self-moving cleaning device 100 is a device that automatically performs cleaning operations in a certain area to be cleaned without the operation of the user. Among them, the sensing system may include a lidar 100, and the lidar 100 is used to detect the information of obstacles and the surrounding environment around the cleaning device. For example, the lidar 100 can achieve distance detection.

[0039] As Figure 1 shown, the lidar 100 provided by the embodiment of the present invention includes: a transmitting unit 110, a receiving unit 120, and a substrate 130. The transmitting unit 110 and the receiving unit 120 are installed on the same side of the substrate 130. The transmitting unit 110 includes a laser emitter 112 and an optical processing component 113 arranged in sequence. The laser emitter 112 is connected to the substrate 130, and the laser emitter 112 is provided with a transmitting circuit electrically connected to the substrate 130. The end of the optical processing component 113 away from the laser emitter 112 is set as a light outlet 111, and the optical processing component 113 is configured to adjust the distance between the light outlet 111 and the substrate 130 to adapt to the receiving unit 120.

[0040] Among them, the lidar 100 can be a time-of-flight lidar. The working principle of the time-of-flight lidar is: using the transmitting unit 110 to emit a laser beam to the target object, and then using the receiving unit 120 to receive the laser beam returned from the target object, and calculating the distance of the target object by using the propagation speed of the laser beam in space and the time of reflection. The time-of-flight lidar 100 has the advantages of high precision, high speed, high resolution, etc., and can thus meet the functional requirements of the cleaning device. Specifically, the lidar 100 provided by the embodiment of the present invention is a solid-state lidar. The solid-state lidar can be understood as a lidar without moving parts. That is to say, there are no moving parts in the transmitting unit 110, the receiving unit 120, and the substrate 130 of the lidar 100 provided by the embodiment of the present invention, and the transmitting unit 110, the receiving unit 120, and the substrate 130 are all solid-state components.

[0041] The lidar 100 provided in this embodiment has the transmitting unit 110 and the receiving unit 120 installed on the same side of the substrate 130. That is to say, the transmitting unit 110 and the receiving unit 120 share the substrate 130. Thus, compared with the related art where the transmitting unit and the receiving unit are separately provided with substrates, the setting of one substrate 130 can be simplified, and further the production process of the lidar 100 can be simplified, and the production cost can be reduced. Among them, the transmitting unit 110 includes a laser emitter 112 and an optical processing component 113 arranged in sequence. The laser emitter 112 is connected to the substrate 130, and the light outlet 111 is located at the end of the optical processing component 113 away from the laser emitter 112. That is to say, the light beam emitted by the laser emitter 112 is processed by the optical processing component 113 and then emitted from the light outlet 111 at the end of the optical processing component 113 away from the laser emitter 112 towards the target object. By adding the optical processing component 113, the transmitting unit 110 can adjust the light outlet 111 from the end of the laser emitter 112 away from the substrate 130 to the end of the optical processing component 113 away from the laser emitter 112. Thus, the adjustment of the distance between the light outlet 111 and the substrate 130 is realized through the optical processing component 113, so that the position of the light outlet 111 can be adjusted to the desired position through the optical processing component 113. For example, the position of the light outlet 111 can be made reasonable with the position of the light emitting window on the main body of the cleaning device, making the light outlet 111 and the light emitting window relatively close, reducing the distance between the light outlet 111 and the light emitting window, and making the position of the light outlet 111 close to the light inlet 121 of the receiving unit 120, so as to solve the problem in the related art that the distance between the light outlet 111 and the light emitting window is relatively far due to the laser emitter and the laser receiver being arranged on the common substrate. Thus, the light energy loss of the emitted light is reduced, the light energy utilization rate is improved, and the detection accuracy of the lidar 100 is improved. Among them, Figure 1 The arrow direction in it represents the propagation direction of the light beam.

[0042] Among them, installing the transmitting unit 110 and the receiving unit 120 on the same side of the substrate 130 can ensure that after the emitted light beam emitted by the transmitting unit 110 irradiates the target object, the incident light beam reflected by the target object can be accurately and smoothly received by the receiving unit 120 to ensure good ranging accuracy.

[0043] Among them, the laser emitter 112 is provided with a transmitting circuit electrically connected to the substrate 130. The substrate 130 can be a printed circuit board (PCB), and the transmitting circuit is electrically connected to the circuit board to realize signal and data transmission.

[0044] Such as Figure 1As shown, in some possible embodiments provided by the present utility model, an emission window is formed on the machine body of the cleaning device. The lidar 100 is installed inside the machine body, and the light-emitting port 111 faces the emission window, so that the light beam emitted by the laser emitter 112 is emitted from the light-emitting port 111 and the emission window after being processed by the light processing component 113 to be directed at the target object, ensuring that the lidar 100 can achieve the ranging function. Among them, installing the lidar 100 inside the machine body enables the machine body to provide good protection for the lidar 100, avoiding the possibility of the lidar 100 being collided by external objects and contaminated by external objects, which is beneficial to improving the service life and detection accuracy of the lidar 100. Among them, Figure 1 the window 200 in

[0045] In the above embodiment, as Figure 5 shown, the distance between the light-emitting port 111 and the emission window is less than the distance between the light-emitting port 111 and the substrate 130. That is to say, the light-emitting port 111 is arranged close to the emission window of the machine body. Thus, the entire lidar 100 is arranged close to the emission window of the machine body, making the layout of the lidar 100 and the emission window compact, reducing the space occupied by the lidar 100, providing layout space for other components inside the machine body, and meeting the design requirements of the cleaning device for a compact structure and a small volume.

[0046] Specifically, as Figure 5 shown, the distance between the light-emitting port 111 and the emission window can be a first distance, as Figure 5 shown by D1 in Figure 5 ; the distance between the light-emitting port 111 and the substrate 130 can be a second distance, as

[0047] shown by D2 in Figure 1 . Among them, D1 is less than D2, for example, the first distance can be 0.9 times, 0.7 times, 0.5 times, 0.3 times, 0.1 times, 0.05 times of the second distance, or other relationships.

[0048] As

[0049] shown, in some possible embodiments provided by the present utility model, the side of the substrate 130 where the transmitting unit 110 and the receiving unit 120 are installed is a plane. Figure 1As shown, in some possible embodiments provided by the present invention, the end of the receiving unit 120 away from the substrate 130 is set as the light entrance 121, and the light exit 111 is arranged close to the light entrance 121.

[0050] Among them, the light inlet 121 can be understood as the light beam reflected by the target object entering the receiving unit 120 through the light inlet 121. In this embodiment, since the transmitting unit 110 and the receiving unit 120 of the laser radar 100 are installed on the same side of the substrate 130, by arranging the light outlet 111 of the laser radar 100 close to the light inlet 121, that is, the light outlet 111 and the light inlet 121 are arranged close to each other, the heights of the transmitting unit 110 and the receiving unit 120 are made to be substantially the same, thereby making the light inlet 121 have less influence on the arrangement of the light outlet 111 close to the exit window, and in the case where the light outlet 111 and the exit window are arranged in close distance, the distance between the light inlet 121 and the entrance window on the machine body will also be very small, which is conducive to reducing the light energy loss of the incident light beam while ensuring that the light energy loss of the exit light beam is reduced, thereby greatly improving the detection accuracy of the laser radar 100.

[0051] like Figure 1 As shown, in some possible embodiments provided by the present invention, an incident window is also provided on the machine body of the cleaning device, and the light inlet 121 is opposite to the incident window, so that the incident light beam reflected by the target object is received by the receiving unit 120 through the incident window and the light inlet 121 of the machine body, so as to ensure that the laser radar 100 can realize the ranging function. Figure 1 and Figure 5 The window 200 in FIG. 2 can be understood as an incident window.

[0052] Among them, Figure 5 As shown, the distance between the light entrance 121 and the incident window is smaller than the distance between the light entrance 121 and the substrate 130, that is, the light entrance 121 is arranged close to the incident window of the machine body, thereby making the entire laser radar 100 close to the incident window of the machine body, making the laser radar 100 and the incident window compactly arranged, reducing the space occupied by the laser radar 100, and providing arrangement space for other components inside the machine body, which can meet the design requirements of compact structure and small size of the cleaning equipment.

[0053] Specifically, Figure 5 As shown, the distance between the light entrance 121 and the incident window can be a third distance, such as Figure 5 As shown in D3 in FIG. 1 , the distance between the light entrance 121 and the substrate 130 may be a fourth distance, such as Figure 5 As shown in D4 in FIG. 1 , D3 is smaller than D4. The third distance may be 0.9 times, 0.7 times, 0.5 times, 0.3 times, 0.1 times, 0.05 times, or other relationships of the fourth distance.

[0054] Specifically, under normal circumstances, the exit window and the entrance window are located on the same side wall of the machine body. Assuming that the distance between the light entrance of the lidar and the substrate is much greater than the distance between the light exit and the substrate, that is, the light entrance is higher than the light exit, since the light entrance will interfere with the machine body of the cleaning device, the light exit cannot be arranged close to the exit window, resulting in a large energy loss of the exit beam and affecting the detection accuracy of the lidar. Assuming that the distance between the light entrance of the lidar and the substrate is much smaller than the distance between the light exit and the substrate, that is, the light exit is higher than the light entrance. In this case, the light exit can be arranged close to the exit window. However, since the distance between the light entrance of the lidar and the substrate is much smaller than the distance between the light exit and the substrate, the distance between the light entrance and the entrance window is large, resulting in a large energy loss of the incident beam reflected by the target object and affecting the detection accuracy of the lidar.

[0055] Therefore, in the embodiments of the present invention, the light exit 111 of the lidar 100 is arranged close to the light entrance 121, so that the distances between the light exit 111 and the light entrance 121 and the substrate 130 are approximately the same. Thus, the light entrance 121 has no or little influence on the arrangement of the light exit 111 close to the exit window, and the light exit 111 has no or little influence on the arrangement of the light entrance 121 close to the entrance window, enabling the light exit 111 to be arranged close to the entrance window. At the same time, the light exit 111 can also be arranged close to the exit window to reduce the light energy loss of the exit beam and the incident beam and improve the detection accuracy of the lidar 100.

[0056] As Figure 5 shown, in some possible embodiments provided by the present invention, the absolute value of the difference between the distance between the light exit 111 and the substrate 130 and the distance between the light entrance 121 and the substrate 130 is less than or equal to 5 mm. Among them, the distance between the light exit 111 and the substrate 130 is as Figure 5 shown by D2 in Figure 5As shown by D4 in [reference], that is, |D2 - D4| ≤ 5 mm. Specifically, the absolute value of the difference between the distance between the light output port 111 and the substrate 130 and the distance between the light input port 121 and the substrate 130 can be 5 mm, 4 mm, 3 mm, 2 mm, 1 mm, 0 mm, or other dimensions. Thus, the distances of the light output port 111 and the light input port 121 from the substrate 130 are substantially the same. Therefore, the light input port 121 has little influence on the arrangement of the light output port 111 close to the output window, and the light output port 111 has little influence on the arrangement of the light input port 121 close to the input window, enabling the light input port 121 to be arranged close to the input window. At the same time, it can ensure that the light output port 111 is arranged close to the output window, greatly reducing the light energy loss of the output beam and the input beam, and improving the detection accuracy of the lidar 100.

[0057] In some possible embodiments provided by the embodiments of the present utility model, the center of the light output port 111 and the center of the light input port 121 are substantially in the same plane. It can be understood that the distance between the center of the light output port 111 and the substrate 130 is substantially equal to the distance between the center of the light input port 121 and the substrate 130. It can also be understood that the plane parallel to the substrate 130 where the center of the light output port 111 is located and the plane parallel to the substrate 130 where the center of the light input port 121 is located are coplanar or coincident. Thus, the light input port 121 has little influence on the arrangement of the light output port 111 close to the output window on the machine body, and the light output port 111 has little influence on the arrangement of the light input port 121 close to the input window on the machine body. Therefore, the light input port 121 can be arranged close to the input window, and at the same time, the light output port 111 can be arranged close to the output window, greatly reducing the light energy loss of the output beam and the input beam. At the same time, with this setting, after the output beam emitted by the emission unit 110 through the light output port 111 is reflected by an obstacle, it can be more comprehensively received by the receiving unit 120 through the light input port 121, greatly reducing the light energy loss of the output beam and the input beam, and improving the detection accuracy of the lidar 100.

[0058] In some possible embodiments provided by the embodiments of the present utility model, the distance between the light exit 111 and the exit window on the machine body is substantially the same as the distance between the light entrance 121 and the entrance window. Thus, the arrangement of the light entrance 121 near the exit window on the machine body has little effect on the light exit 111, and the arrangement of the light exit 111 near the entrance window on the machine body has little effect on the light entrance 121. Thus, the light entrance 121 is arranged close to the entrance window, and at the same time, the light exit 111 is arranged close to the exit window, and the distance between the light entrance 121 and the entrance window is approximately equal to the distance between the light exit 111 and the exit window, greatly reducing the light energy loss of the exit beam and the entrance beam, and improving the detection accuracy of the lidar 100. At the same time, this kind of setting enables the lidar 100 to be arranged as close as possible to the machine body, making the lidar 100 and the machine body have a compact layout, reducing the space occupied by the lidar 100, and leaving space for the layout of other components in the machine body.

[0059] Specifically, the distance between the light exit 111 and the exit window on the machine body is substantially the same as the distance between the light entrance 121 and the entrance window. It can be understood that the absolute value of the distance difference between the distance between the light exit 111 and the exit window on the machine body and the distance between the light entrance 121 and the entrance window is less than or equal to 1 mm. For example, the absolute value of the distance difference between the distance between the light exit 111 and the exit window on the machine body and the distance between the light entrance 121 and the entrance window is 0 mm, 0.5 mm, 1 mm, or other values.

[0060] Such as Figure 1 shown, further, the exit window and the entrance window on the machine body can be integrated into one window 200, which is convenient for processing, and is beneficial to increasing the opening sizes of the exit window and the entrance window, avoiding the opening sizes of the exit window and the entrance window being too small to block the exit beam and the entrance beam, and further being able to reduce the light energy loss and is beneficial to improving the detection accuracy of the lidar 100.

[0061] Such as Figure 1 、 Figure 2 、 Figure 3 and Figure 4 shown, in some possible embodiments provided by the present utility model, the light processing component 113 includes: at least one lens, and the light emitted by the laser emitter 112 is diffused by the at least one lens and then emitted from the light exit 111.

[0062] Among them, the light processing component 113 can include one lens, two lenses, three lenses, or other numbers of lenses to meet the requirements of different structures of the light processing component 113. Among them, the multiple lenses can have the same structure or different structures.

[0063] In this embodiment, the beam emitted by the laser emitter 112 is diffused by at least one lens, so that the beam emitted from the light exit 111 has a larger radiation area, thereby improving the comprehensiveness of the target object irradiated by the beam, which is beneficial to improving the detection range and detection accuracy of the lidar 100.

[0064] As Figure 2 shown, in some possible embodiments provided by the present utility model, the optical processing component 113 includes: a first collimating lens 114 and a diffusing mirror 115. The first collimating lens 114 is located between the laser emitter 112 and the diffusing mirror 115, and the light exit 111 is located at the end of the diffusing mirror 115 away from the first collimating lens 114. Among them, Figure 2 the arrow direction in represents the propagation direction of the beam.

[0065] In this embodiment, the optical processing component 113 includes two lenses, namely the first collimating lens 114 and the diffusing mirror 115. The laser emitter 112, the first collimating lens 114, and the diffusing mirror 115 are arranged in sequence between the substrate 130 and the exit window of the machine body. Thus, the beam emitted by the laser emitter 112 becomes a collimated beam that is parallel to each other after being processed by the first collimating lens 114 and propagates in parallel, so that the beam emitted by the laser emitter 112 can be more comprehensively directed to the diffusing mirror 115 after being processed by the first collimating lens 114, reducing the possibility that the beam emitted by the laser emitter 112 diffuses in an unnecessary direction, reducing the light energy loss of the beam emitted by the laser emitter 112, and improving the utilization rate of the beam emitted by the laser emitter 112. The mutually parallel collimated beams change the diameter and divergence angle of the beam through the diffusing mirror 115. Thus, the radiation area of the beam emitted from the light exit 111 can be increased, the comprehensiveness of the target object irradiated by the beam can be improved, which is beneficial to improving the detection range and detection accuracy of the lidar 100. At the same time, the setting of the diffusing mirror 115 can increase the radiation area of the beam without significantly affecting the total energy of the beam, and can further improve the energy utilization rate of the beam emitted by the lidar 100.

[0066] As Figure 3 shown, in some possible embodiments provided by the present utility model, the optical processing component 113 includes: a second collimating lens 116 and a free-form surface lens 117. The second collimating lens 116 is located between the laser emitter 112 and the free-form surface lens 117, and the light exit 111 is located at the end of the free-form surface lens 117 away from the second collimating lens 116. Among them, Figure 3 the arrow direction in represents the propagation direction of the beam.

[0067] In this embodiment, the optical processing component 113 includes two lenses, namely a second collimating lens 116 and a free-form lens 117. The laser emitter 112, the second collimating lens 116, and the free-form lens 117 are arranged in sequence between the substrate 130 and the exit window of the machine body. Thus, the light beam emitted by the laser emitter 112 becomes a collimated light beam that is parallel to each other after being processed by the second collimating lens 116 and propagates in parallel, so that the light beam emitted by the laser emitter 112 can irradiate the free-form lens 117 more comprehensively after being processed by the second collimating lens 116, reducing the possibility that the light beam emitted by the laser emitter 112 diffuses to unnecessary directions, reducing the light energy loss of the light beam emitted by the laser emitter 112, and improving the utilization rate of the light beam emitted by the laser emitter 112. The mutually parallel collimated light beams are effectively diffused by the free-form lens 117, which can increase the radiation area of the light beam emitted through the light exit 111, improve the comprehensiveness of the target object being irradiated by the light beam, and is conducive to improving the detection range and detection accuracy of the lidar 100.

[0068] It can be understood that the free-form lens 117 can effectively diffuse the light beam through its unique curved surface design.

[0069] As Figure 4 shown, in some possible embodiments provided by the present utility model, the optical processing component 113 includes: an incident lens 118, the light exit 111 is located at the end of the incident lens 118 away from the laser emitter 112, and the end of the incident lens 118 away from the laser emitter 112 is provided with a light diffusion surface 1181. Among them, Figure 4 the arrow direction in [Figure] represents the propagation direction of the light beam.

[0070] In this embodiment, the optical processing component 113 includes one incident lens 118. The laser emitter 112 and the incident lens 118 are arranged in sequence between the substrate 130 and the exit window of the machine body. Thus, the light beam emitted by the laser emitter 112 is emitted through the light exit 111 after being processed by the incident lens 118. Since the end of the incident lens 118 away from the laser emitter 112 is provided with a light diffusion surface 1181, the light diffusion surface 1181 can effectively diffuse the light beam. Thus, the radiation area of the light beam emitted through the light exit 111 can be increased, the comprehensiveness of the target object being irradiated by the light beam can be improved, and it is conducive to improving the detection range and detection accuracy of the lidar 100.

[0071] Among them, the light diffusion surface 1181 can use chemical or physical means to utilize the physical phenomena of refraction, reflection, and scattering that occur when light encounters two media with different refractive index densities during its travel to achieve sufficient dispersion of the incident light, thereby producing an optical diffusion effect.

[0072] In some possible embodiments provided by the present utility model, the light diffusing surface 1181 is curved or wavy. Thus, the requirements for different structures of the light diffusing surface 1181 can be met. It can be understood that the light diffusing surface 1181 can also be other shapes than curved or wavy.

[0073] As Figure 1 shown, in some possible embodiments provided by the present utility model, the receiving unit 120 includes a laser receiver 122 and a receiving lens 123 arranged in sequence. The laser receiver 122 is connected to the substrate 130. The light incident port 121 is located at the end of the receiving lens 123 away from the laser receiver 122, and the receiving lens 123 is a convex lens.

[0074] In this embodiment, the laser receiver 122 and the receiving lens 123 are arranged in sequence between the substrate 130 and the incident window of the machine body. Thus, the light beam reflected by the target object is incident into the receiving lens 123 through the light incident port 121, and after being processed by the receiving lens 123, it is emitted and received by the laser receiver 122 to achieve the ranging function.

[0075] Among them, the receiving lens 123 is set as a convex lens, and the convex lens has the function of converging light. Therefore, the convex lens can be used to converge the light beam incident into the receiving lens 123 through the incident port, so that the light beam emitted from the receiving lens 123 to the laser receiver 122 is relatively concentrated, reducing the possibility that the light beam cannot be received by the laser receiver 122, reducing the energy loss of the incident light beam, improving the utilization rate of the incident light beam, and improving the detection accuracy of the lidar 100.

[0076] Furthermore, since the receiving unit 120 in this embodiment includes a laser receiver 122 and a receiving lens 123, and the transmitting unit 110 includes a laser transmitter 112 and an optical processing component 113, the laser receiver 122 and the laser transmitter 112 are arranged oppositely, and the receiving lens 123 and the optical processing component 113 are arranged oppositely. The distance between the substrate 130 and the light incident port 121 can be adjusted through the receiving lens 123, and the distance between the substrate 130 and the light emitting port 111 can be adjusted through the optical processing component 113. Thus, the light incident port 121 and the light emitting port 111 can be arranged as close as possible, so that the height difference between the light incident port 121 and the light emitting port 111 in the direction perpendicular to the substrate 130 is small, or the light incident port 121 and the light emitting port 111 are flush with each other in the direction perpendicular to the substrate 130. Thus, after the lidar 100 is installed on the machine body, the distance between the light incident port 121 and the incident window is small, and the distance between the light emitting port 111 and the emitting window is small, so as to improve the detection accuracy of the lidar 100. At the same time, the lidar 100 and the machine body are compactly arranged, reducing the space occupied by the lidar 100 and leaving space for the layout of other components in the machine body.

[0077] As Figure 1 shown, in some possible embodiments provided by the present utility model, the substrate 130 is a printed circuit board (PCB), and the transmitting unit 110 is electrically connected to the circuit board by surface mounting or bonding. Thus, the electrical connection between the transmitting unit 110 and the substrate 130 is achieved to realize signal and data transmission. Specifically, the laser emitter 112 of the transmitting unit 110 is provided with a transmitting circuit, and the transmitting circuit is electrically connected to the circuit board by surface mounting or bonding.

[0078] The receiving unit 120 is electrically connected to the circuit board by surface mounting or bonding. Thus, the electrical connection between the receiving unit 120 and the substrate 130 is achieved to realize signal and data transmission. Specifically, the laser receiver 122 of the receiving unit 120 is provided with a receiving circuit, and the receiving circuit is electrically connected to the circuit board by surface mounting or bonding.

[0079] In the description of the present utility model, the term "a plurality of" refers to two or more, unless otherwise clearly defined. The terms "upper", "lower", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, so it cannot be understood as a limitation to the present utility model; the terms "connection", "installation", "fixation", etc. should all be understood in a broad sense. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected or indirectly connected through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific circumstances.

[0080] For those skilled in the art, various changes and modifications can be made to the present utility model. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present utility model shall be included in the protection scope of the present utility model.

Claims

1. A lidar (100), characterized in that, Comprising: A transmitting unit (110), a receiving unit (120) and a substrate (130), the transmitting unit (110) and the receiving unit (120) are mounted on the same side of the substrate (130), the transmitting unit (110) includes a laser emitter (112) and an optical processing component (113) arranged in sequence, the laser emitter (112) is connected to the substrate (130), the laser emitter (112) is provided with a transmitting circuit electrically connected to the substrate (130), an end of the optical processing component (113) away from the laser emitter (112) is set as a light outlet (111), and the optical processing component (113) is configured to adjust the distance between the light outlet (111) and the substrate (130) to adapt to the receiving unit (120).

2. The lidar (100) according to claim 1, wherein The side of the substrate (130) where the transmitting unit (110) and the receiving unit (120) are mounted is a plane.

3. The lidar (100) according to claim 1, wherein An end of the receiving unit (120) away from the substrate (130) is set as a light inlet (121), and the light outlet (111) is arranged close to the light inlet (121).

4. The lidar (100) according to claim 3, wherein The absolute value of the difference between the distance between the light outlet (111) and the substrate (130) and the distance between the light inlet (121) and the substrate (130) is less than or equal to 5 mm.

5. The lidar (100) according to claim 4, characterized in that, The center of the light outlet (111) and the center of the light inlet (121) are substantially in the same plane.

6. The lidar (100) according to claim 1, characterized in that, The optical processing component (113) includes: At least one lens, and the light emitted by the laser emitter (112) is diffused by the at least one lens and then emitted from the light outlet (111).

7. The lidar (100) according to claim 6, characterized in that, The optical processing component (113) includes: A first collimating lens (114) and a diffusing mirror (115), the first collimating lens (114) is located between the laser emitter (112) and the diffusing mirror (115), and the light outlet (111) is located at an end of the diffusing mirror (115) away from the first collimating lens (114).

8. The lidar (100) according to claim 6, characterized in that, The optical processing component (113) includes: A second collimating lens (116) and a free-form surface lens (117), the second collimating lens (116) is located between the laser emitter (112) and the free-form surface lens (117), and the light outlet (111) is located at an end of the free-form surface lens (117) away from the second collimating lens (116).

9. The lidar (100) according to claim 6, wherein, The optical processing component (113) includes: An incident lens (118), the light outlet (111) is located at an end of the incident lens (118) away from the laser emitter (112), and an end of the incident lens (118) away from the laser emitter (112) is set as a light diffusion surface (1181).

10. The lidar (100) according to claim 9, wherein the light diffusion surface (1181) is curved or wavy.

11. The lidar (100) according to claim 3, wherein the receiving unit (120) includes a laser receiver (122) and a receiving lens (123) arranged in sequence. The laser receiver (122) is connected to the substrate (130). The light incident port (121) is located at an end of the receiving lens (123) away from the laser receiver (122), and the receiving lens (123) is a convex lens.

12. The lidar (100) according to claim 1, wherein the substrate (130) is a circuit board. The transmitting unit (110) is electrically connected to the circuit board by surface mounting or bonding. The receiving unit (120) is electrically connected to the circuit board by surface mounting or bonding.

13. A cleaning device, characterized in that, comprising: a machine body, and the lidar (100) according to any one of claims 1 to 12, wherein the lidar (100) is mounted on the machine body.

14. The cleaning device according to claim 13, wherein the machine body is provided with an emission window. The lidar (100) is installed inside the machine body. The light emission port (111) faces the emission window. Wherein, the distance between the light emission port (111) and the emission window is less than the distance between the light emission port (111) and the substrate (130).

15. The cleaning device according to claim 14, wherein the machine body is provided with an incident window. The light incident port (121) of the lidar (100) faces the incident window. The distance between the light incident port (121) and the incident window is less than the distance between the light incident port (121) and the substrate (130).

16. The cleaning device according to claim 15, characterized in that, The distance between the light emission port (111) and the emission window is substantially the same as the distance between the light incident port (121) and the incident window.

17. The cleaning device according to claim 16, wherein the emission window and the incident window are integrated into one window (200).

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