Laser radar and cleaning device

Abstract

The utility model discloses a laser radar and a cleaning device. The laser radar comprises a transmitting component, a light splitting component, a reflecting component and a receiving component. The transmitting component is used for transmitting optical signals. The light splitting component is arranged on an emission path of the emission component. The light splitting component receives the light signal and at least splits the light signal into a first light beam and a second light beam, the first light beam is emitted in the first direction, and the second light beam is emitted in the direction inclined to the first direction. The reflection component is arranged on the light emitting side of the light splitting component to reflect the first light beam and the second light beam to a predetermined object. The receiving part comprises at least two receivers, at least one receiver is used for receiving a light beam reflected by the first light beam from the predetermined object, and at least the other receiver is used for receiving a light beam reflected by the second light beam from the predetermined object. The problem that the detection range of the receiver of the laser radar is small is solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of optical detection, in particular to a laser radar and a cleaning device. BACKGROUND

[0002] The laser radar is an optical detection system, which usually includes a transmitter, a receiver and a processor. The working principle of the laser radar is that the transmitter emits a light signal to a target object, the light signal forms a return signal after being reflected by the target object and is incident to the receiver, after the receiver receives the return signal, the processor combines the light signal with the return signal and performs some appropriate signal processing, thereby obtaining the characteristic information of the target object, such as distance, direction, height, speed, attitude and shape, etc.

[0003] In the prior art, the receiver uses a CMOS detector (Complementary Metal Oxide Semiconductor) to receive the return signal, but the spatial resolution and detection range of the CMOS detector depend on the size of the pixel array, and in a low light or weak signal scene, the CMOS detector may not be able to effectively detect the return signal that is far away or has weak signal strength, resulting in a relatively small detection range of the CMOS detector. UTILITY MODEL CONTENT

[0004] The main purpose of the present application is to provide a laser radar and a cleaning device to solve the problem of small detection range of the receiver of the laser radar mentioned in the background.

[0005] According to one aspect of the present application, a laser radar is provided, comprising:

[0006] a transmitting component for transmitting a light signal;

[0007] a light splitting component disposed on the transmission path of the transmitting component, the light splitting component receiving the light signal and splitting the light signal into at least a first light beam and a second light beam, the first light beam being emitted in a first direction, and the second light beam being emitted in a direction oblique to the first direction;

[0008] a reflecting component disposed on the light emitting side of the light splitting component to reflect the first light beam and the second light beam to a predetermined object;

[0009] a receiving component including at least two receivers, at least one of the receivers being used to receive a light beam reflected by the first light beam from the predetermined object, and at least another of the receivers being used to receive a light beam reflected by the second light beam from the predetermined object.

[0010] Further, the receiver comprises:

[0011] a first receiver arranged at one side of the emitting part along a second direction, the first receiver being configured to receive the light beam reflected back from the predetermined object by the first light beam;

[0012] a second receiver arranged at at least one side of the first receiver along the second direction and spaced apart from the first receiver, the second receiver being configured to receive the light beam reflected back from the predetermined object by the second light beam.

[0013] Further, the emitting end of the emitting part, the receiving end of the first receiver and the receiving end of the second receiver are located in the same plane parallel to the second direction.

[0014] Further, the receiving part further comprises:

[0015] a condenser lens arranged at the light receiving side of the receiver, the condenser lens converging and reflecting the light beam reflected back from the predetermined object by the first light beam to the first receiver, and converging and reflecting the light beam reflected back from the predetermined object by the second light beam to the second receiver.

[0016] Further, the condenser lens has a focal length F, the included angle between the second light beam and the first light beam is A, and along the second direction, the maximum distance L between the first receiver and the second receiver satisfies the relationship: L=F×

[0017] tanA.

[0018] Further, along the first direction, the condenser lens comprises a plano-convex lens, the curved surface of the plano-convex lens facing the predetermined object, the plane of the plano-convex lens facing the receiver, and the distance between the plane of the plano-convex lens and the receiver along the first direction is equal to the back focal length of the condenser lens.

[0019] Further, the included angle A between the second light beam and the first light beam satisfies the relationship: 5°≤A≤7°.

[0020] Further, the reflecting part comprises:

[0021] a first reflecting part extending along the second direction and rotatable about its own axis, the first reflecting part comprising a first reflecting surface and a first light-absorbing surface opposite to the first reflecting surface;

[0022] a second reflection part extending along the second direction, the second reflection part being disposed on at least one side of the first reflection part and coaxial with the first reflection part along the second direction, the second reflection part rotating coaxially with the first reflection part, the second reflection part comprising a second reflection surface and a second light-absorbing surface opposite to the second reflection surface;

[0023] wherein the first reflection surface and the second light-absorbing surface are located in the same plane parallel to the second direction, and the second reflection surface and the first light-absorbing surface are located in the same plane perpendicular to the first direction.

[0024] Further, the reflection part further comprises a driving motor and a belt pulley, the driving motor being in transmission connection with the belt pulley, the driving motor driving the belt pulley to rotate so as to drive the first reflection part and the second reflection part to rotate synchronously along the axis of the first reflection part.

[0025] In another aspect, the application further provides a cleaning device comprising the laser radar.

[0026] In the application, the number of receivers is increased by disposing at least two receivers, so as to increase the receiving range of the receivers. The receivers can receive more light beams, and can also receive light beams reflected from multiple directions, and the receiving range of the receivers is wider. At the same time, the receivers can also receive more light beams reflected from predetermined objects at a farther distance and light beams with weaker signals, and the light beam capturing ability of the receivers is stronger, further expanding the receiving range of the receiving part. The receivers can capture more information about the predetermined objects, so that the receiving part can obtain more definite and detailed information about the position, image, height, etc. of the predetermined objects. In addition, the at least two receivers are respectively used to receive light beams reflected from the predetermined objects by the first light beam and the second light beam, and the at least two receivers can receive light beams from different directions respectively, the receivers can independently process light beam information from a certain direction, reducing the interference caused by light beam information from other directions, and being beneficial to improve the light beam processing efficiency of the receiving part. BRIEF DESCRIPTION OF DRAWINGS

[0027] The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiments of the application and serve to explain the principles of the application. In the drawings:

[0028] Figure 1 a schematic view of the laser radar disclosed in the application;

[0029] Figure 2 a schematic view of the first reflection part and the second reflection part at different angles disclosed in the application.

[0030] wherein the above figures include the following reference signs:

[0031] 10, transmitting part; 20, light splitting part; 30, reflecting part; 31, first reflecting part; 311, first reflecting surface; 312, first light absorbing surface; 32, second reflecting part; 321, second reflecting surface; 322, second light absorbing surface; 40, receiving part; 41, receiver; 411, first receiver; 412, second receiver; 42, condenser lens; 51, first light beam; 52, second light beam; 60, collimator. DETAILED DESCRIPTION

[0032] It should be noted that the embodiments and features of the embodiments in the present application can be combined with each other without conflict. The present application will be described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.

[0033] It should be noted that the terms used herein are only intended to describe specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, the singular form is intended to include the plural form, unless the context clearly indicates otherwise, and it should be understood that, when the term "comprising" and / or "including" is used in the specification, it means that the features, steps, operations, devices, components and / or combinations thereof are present.

[0034] The relative arrangement of the components and steps, numerical expressions, and numerical values set forth in these embodiments do not limit the scope of the present application unless otherwise specifically stated. At the same time, it should be understood that the sizes of the various parts shown in the drawings are not drawn in proportion to the actual proportions. Techniques, methods, and devices known to those of ordinary skill in the relevant art can not be discussed in detail, but should be considered as part of the authorized specification, if appropriate. In all examples shown and discussed herein, any specific value should be interpreted as merely exemplary, and not as a limitation. Therefore, other examples of exemplary embodiments can have different values. It should be noted that similar reference numbers and letters represent similar items in the following drawings, and therefore, once an item is defined in one drawing, it need not be further discussed in subsequent drawings.

[0035] As Figures 1-2 shown, the present application provides a laser radar. The laser radar includes a transmitting part 10, a light splitting part 20, a reflecting part 30, and a receiving part 40. The transmitting part 10 is configured to transmit a light signal. The light splitting part 20 is disposed on the transmission path of the transmitting part 10. The light splitting part 20 receives the light signal and splits the light signal into at least a first light beam 51 and a second light beam 52, the first light beam 51 being along a first direction (e.g. horizontal direction) and the second light beam 52 being along a second direction (e.g. vertical direction). Figure 1The first beam 51 is emitted in the direction indicated by the middle arrow X, and the second beam 52 is emitted in a direction inclined to the first direction. A reflecting component 30 is disposed on the light-emitting side of the beam-splitting component 20 to reflect the first beam 51 and the second beam 52 to a predetermined object. The receiving component 40 includes at least two receivers 41. At least one receiver 41 is used to receive the beam of the first beam 51 reflected back from the predetermined object, and at least another receiver 41 is used to receive the beam of the second beam 52 reflected back from the predetermined object.

[0036] In this embodiment, the number of receivers 41 is increased by setting at least two receivers 41, thereby expanding the receiving range of the receivers 41. Receivers 41 can receive more light beams, including those reflected from multiple directions, resulting in a wider receiving range. Simultaneously, receivers 41 can also receive more light beams reflected from distant objects and weaker light beams, enhancing their beam-capturing capability and further expanding the receiving range of the receiving component 40. Receivers 41 can capture richer information about the predetermined object, thus the receiving component 40 can obtain more specific and detailed information about the object's position, image, height, etc. Furthermore, at least two receivers 41 are used to receive the light beams reflected from the predetermined object by the first light beam 51 and the second light beam 52, respectively. These at least two receivers 41 can receive light beams from different directions independently, reducing interference from other directions and improving the beam processing efficiency of the receiving component 40, ensuring higher sensitivity.

[0037] In this embodiment, the emitting component 10 can continuously emit light beams from multiple directions. To converge these beams and emit them along the same direction, in one embodiment, a collimating lens 60 can be disposed between the emitting component 10 and the beam splitter 20. The collimating lens 60 can converge the light beams from multiple directions and emit them along the same direction. For example, in this embodiment, the collimating lens 60 can be a biconvex lens. The biconvex lens has the function of focusing light and changing the optical path. The light signal emitted by the emitting component 10 is converged by the biconvex lens and emitted along a first direction.

[0038] The light splitting component 20 can split the light signal into at least a first light beam 51 and a second light beam 52, so that the light signal can more comprehensively cover the predetermined object, and ensure that the receiving component 40 can obtain more abundant feature information about the predetermined object. Specifically, the light splitting component 20 includes a light splitting mirror. The light splitting mirror extends along a second direction perpendicular to the first direction for a certain length. The height of the light splitting mirror is lower than that of the lenticular lens. After the light signal converges through the lenticular lens, at least part of the converged light signal forms the first light beam 51 by avoiding the position of the lenticular lens through the light splitting mirror, and the first light beam 51 directly hits the reflecting component 30, which reflects the first light beam 51 to the predetermined object. At least another part of the converged light signal changes direction to form the second light beam 52 by passing through the light splitting mirror, and the second light beam 52 hits the reflecting component 30 in a direction oblique to the first direction, and the reflecting component 30 reflects the second light beam 52 to the predetermined object.

[0039] The light beam reflected back from the predetermined object through the first light beam 51 can be used by the receiver 41 to obtain distance information of the predetermined object. The light beam reflected back from the predetermined object through the second light beam 52 can be used by the receiver 41 to obtain height information of the predetermined object. For example, when the laser radar is arranged on a cleaning device, the receiver 41 can obtain information such as whether there is an obstacle in front of the cleaning device, the distance between the cleaning device and the obstacle, the height of the obstacle, whether there is a pit in front of the cleaning device, etc., and the laser radar can help the cleaning device to achieve better obstacle avoidance function.

[0040] The receiver 41 can use a SPAD detector. The SPAD detector is a photon detector based on a single photon avalanche diode (SPAD). The SPAD detector can capture single photons in the order of tens of picoseconds with very high time resolution, and has high sensitivity. Even in a relatively weak light environment, the SPAD detector can effectively receive the light beam reflected back from the predetermined object, ensuring that the laser radar can achieve accurate distance and height measurement. At the same time, by accurately measuring the round-trip time or phase difference of the photons and combining information such as the inclination angle of the second light beam 52, the SPAD detector can provide more accurate distance and height information, which is more conducive to improving the obstacle avoidance ability of the cleaning device. The SPAD detector also has the advantages of low cost, high integration, and miniaturization.

[0041] Further, the receiver 41 comprises a first receiver 411 and a second receiver 412. The first receiver 411 is disposed at one side of the emitting component 10 along the second direction, and the length of the first receiver 411 extends along the second direction. The first receiver 411 is configured to receive the light beam reflected by the predetermined object. The length of the first receiver 411 extending along the second direction allows the first receiver 411 to have a wider receiving range, and ensures that the first receiver 411 can receive the light beam reflected by the predetermined object more sufficiently, which helps the first receiver 411 to obtain the distance information between the laser radar and the predetermined object more accurately, etc.

[0042] The second receiver 412 is disposed at at least one side of the first receiver 411 along the second direction and spaced apart from the first receiver 411. The length of the second receiver 412 extends along the second direction. The second receiver 412 is configured to receive the light beam reflected by the predetermined object. The length of the second receiver 412 extending along the second direction allows the second receiver 412 to have a wider receiving range, and ensures that the second receiver 412 can receive the light beam reflected by the predetermined object more sufficiently, which helps the second receiver 412 to obtain the height information of the predetermined object more accurately, etc. The first receiver 411 and the second receiver 412 are spaced apart, which can save the cost of the area between the first receiver 411 and the second receiver 412 that cannot receive the light beam, and is more conducive to reducing the manufacturing cost of the laser radar.

[0043] Further, the emitting end of the emitting component 10, the receiving end of the first receiver 411, and the receiving end of the second receiver 412 are located in the same plane parallel to the second direction. Such a configuration can reduce the phase difference between the emitting component 10, the first receiver 411, and the second receiver 412, and reduce the error of the first receiver 411 and the second receiver 412 in calculating the time of flight of the light beam, which is conducive to improving the accuracy and precision of the measurement data of the laser radar. Such a configuration also helps to ensure that the first receiver 411 and the second receiver 412 can accurately receive the light beam reflected by the predetermined object, thereby improving the accuracy and reliability of the measurement of the laser radar. In addition, the present embodiment can also simplify the structure of the laser radar system, and is more conducive to the production and installation of the laser radar.

[0044] Further, the receiving component 40 further comprises a condenser lens 42. The condenser lens 42 is arranged on the light-incident side of the receiver 41. The condenser lens 42 converges and reflects the light beams reflected from the predetermined object by the first light beam 51 to the first receiver 411, and converges and reflects the light beams reflected from the predetermined object by the second light beam 52 to the second receiver 412. The condenser lens 42 can converge the light beams reflected from the predetermined object, so that more light beams can be focused on the receiver 41, effectively improving the convergence efficiency of the light beams, so that the receiver 41 can receive stronger light beams, thereby improving the detection sensitivity and accuracy of the laser radar. Through the convergence effect of the condenser lens 42, the light beam intensity of the first light beam 51 and the second light beam 52 reflected from the predetermined object is enhanced, and the first receiver 411 and the second receiver 412 can more easily detect these light beams. Even in the case of weak light or large environmental interference, the first receiver 411 and the second receiver 412 can maintain high detection performance, which is conducive to improving the detection range of the receiving component 40.

[0045] Further, the focal length of the condenser lens 42 is F, and the included angle between the second light beam 52 and the first light beam 51 is A. In the second direction, the maximum distance L between the first receiver 411 and the second receiver 412 satisfies the relationship: L=FxtanA. Through the relationship L=FxtanA, the maximum distance L between the first receiver 411 and the second receiver 412 in the second direction can be accurately calculated, which can provide clear guidance for the installation layout of the first receiver 411 and the second receiver 412, and ensure that each receiver 41 can accurately receive the light beams from the predetermined direction. By adjusting the included angle between the second light beam 52 and the first light beam 51, the maximum distance L between the first receiver 411 and the second receiver 412 can be changed, so that the laser radar has higher flexibility, which is conducive to improving the application range of the laser radar.

[0046] For example, when the included angle A between the second light beam 52 and the first light beam 51 is 5°, the maximum distance L between the first receiver 411 and the second receiver 412 is 0.0183mm, and the second receiver 412 is located 0.0183mm above the first receiver 411.

[0047] Further, along the first direction, the condenser lens 42 comprises a plano-convex lens, the curved surface of the plano-convex lens faces the predetermined object, the plane of the plano-convex lens faces the receiver 41, and the distance S between the plane of the plano-convex lens and the receiver 41 along the first direction is equal to the back focal length of the condenser lens 42. The curved surface of the plano-convex lens faces the predetermined object, and the light beam is refracted and focused when passing through the curved surface of the plano-convex lens, so that the light beam can be more accurately projected onto the receiver 41. The focusing effect of the plano-convex lens also helps to enhance the intensity of the light beam, thereby improving the receiving efficiency and receiving range of the receiver 41. The structure of the plano-convex lens is also simpler, only one surface is refracted, so the aberration of the plano-convex lens is relatively small, which helps to reduce the aberration of the light beam passing through the plano-convex lens, and can improve the imaging quality of the receiving component 40. By setting the distance S between the plane of the plano-convex lens and the receiver 41 along the first direction as the back focal length of the condenser lens 42, it can be ensured that the light beam can be accurately projected onto the receiver 41 after passing through the plano-convex lens, which helps to optimize the projection path of the light beam and ensure the reliability of the laser radar.

[0048] Further, the included angle A between the second light beam 52 and the first light beam 51 satisfies the relationship: 5°≤A≤7°. For example, the included angle A between the second light beam 52 and the first light beam 51 can be set to one of 5°, 6°, 7°, etc. The light beam of the second light beam 52 passing through the reflecting component 30 can hit the ground near the laser radar, thereby accurately detecting the obstacles on the ground near the laser radar. When A is less than 5°, the light beam of the second light beam 52 passing through the reflecting component 30 will hit the ground far from the laser radar, thereby causing the laser radar to be unable to accurately detect the obstacles on the surrounding ground. When A is greater than 7°, the deflection angle of the light beam is relatively large, which can easily cause the laser radar to be unable to determine whether there are obstacles on the surrounding ground.

[0049] Further, the reflecting component 30 comprises a first reflecting part 31 and a second reflecting part 32. The first reflecting part 31 extends along the second direction and can rotate about its own axis, the first reflecting part 31 comprises a first reflecting surface 311 and a first light-absorbing surface 312 opposite to the first reflecting surface 311. The second reflecting part 32 extends along the second direction, along the second direction, the second reflecting part 32 is arranged on at least one side of the first reflecting part 31 and coaxial with the first reflecting part 31, the second reflecting part 32 rotates coaxially with the first reflecting part 31, and the second reflecting part 32 comprises a second reflecting surface 321 and a second light-absorbing surface 322 opposite to the second reflecting surface 321. Among them, the first reflecting surface 311 and the second light-absorbing surface 322 are located in the same plane parallel to the second direction, and the second reflecting surface 321 and the first light-absorbing surface 312 are located in the same plane perpendicular to the first direction.

[0050] When the first reflecting part 31 and the second reflecting part 32 rotate to a certain angle around the axis thereof, the first light beam 51 and the second light beam 52 are simultaneously reflected to the first reflecting part 31 and the second reflecting part 32, the second light beam 52 is absorbed by the second light-absorbing surface 322, and the first light beam 51 can be reflected to the predetermined object through the first reflecting surface 311, the light beam reflected from the predetermined object is captured by the first receiver 411, and the distance between the predetermined object and the laser radar can be obtained by the first receiver 411. When the first reflecting part 31 and the second reflecting part 32 rotate to another angle around the axis thereof, the first light beam 51 and the second light beam 52 are simultaneously reflected to the first reflecting part 31 and the second reflecting part 32, the first light beam 51 is absorbed by the first light-absorbing surface 312, and the second light beam 52 can be reflected to the predetermined object through the second reflecting surface 321, the light beam reflected from the predetermined object is captured by the second receiver 412, and the height information of the predetermined object can be obtained by the second receiver 412. By rotating the first reflecting part 31 and the second reflecting part 32, one of the first light beam 51 and the second light beam 52 passes through the reflecting part 30, and the receiving part 40 can only receive light beams in one direction at the same time, which further ensures the accuracy of the laser radar detection.

[0051] Specifically, the light-absorbing coating can be arranged on the first light-absorbing surface 312 and the second light-absorbing surface 322 to block the light beams from passing through the first light-absorbing surface 312 and the second light-absorbing surface 322.

[0052] Further, the reflecting part 30 further comprises a driving motor and a belt pulley. The driving motor is in transmission connection with the belt pulley, and the driving motor drives the belt pulley to rotate to drive the first reflecting part 31 and the second reflecting part 32 to rotate synchronously along the axis of the first reflecting part 31. The transmission connection between the driving motor and the belt pulley can ensure that the first reflecting part 31 and the second reflecting part 32 rotate in a preset direction and speed, and ensure that the first light beam 51 and the second light beam 52 can be reflected to the receiver 41 at a preset time. The driving motor can also ensure that the rotation process of the first reflecting part 31 and the second reflecting part 32 is relatively stable, which further ensures the stability and reliability of the laser radar detection. The belt pulley has the advantages of simple structure, high transmission efficiency and low noise. The power of the driving motor can be transmitted to the reflecting part 30 through the belt pulley, which can ensure the efficiency and stability of power transmission.

[0053] On the other hand, the embodiment of the present application also provides a cleaning device comprising the above laser radar, and therefore the cleaning device comprises all the technical effects of the above laser radar. Since the technical effects of the laser radar have been described in detail in the foregoing, they will not be described here again.

[0054] For purposes of the description hereinafter, the terms "upper", "lower", "right", "left", "rear", "front", "vertical" and "horizontal" as can be perceived herein relative to the accompanying drawings refer to the orientation of the components being described. However, it is to be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device described herein relative to the other device or structure is inverted, then a spatially relative term such as "above" can be interpreted as meaning "below" or "below" can be interpreted as meaning "above". The device can also be oriented in other ways (rotated at 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly. The devices can be otherwise oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

[0055] In addition, it should be pointed out that the use of "first", "second" and the like words to qualify parts, is only for the convenience of distinguishing the corresponding parts, and the above words have no special meaning unless otherwise stated, and therefore cannot be understood as limiting the scope of protection of the present application.

[0056] The preferred embodiments of the present application have been described above with the specific embodiments. The present application is not limited to the above embodiments, and various modifications and changes can be made by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the scope of protection of the present application.

Claims

1. A lidar, comprising: The application relates to a light receiving device, comprising: a light emitting component (10) for emitting a light signal; a light splitting component (20) arranged on a light emitting path of the light emitting component (10), the light splitting component (20) receiving the light signal and splitting the light signal into at least a first light beam (51) and a second light beam (52), the first light beam (51) being emitted along a first direction, and the second light beam (52) being emitted along a direction inclined to the first direction; a reflecting component (30) arranged on a light emitting side of the light splitting component (20) to reflect the first light beam (51) and the second light beam (52) to a predetermined object; and a light receiving component (40) comprising at least two receivers (41), at least one of the receivers (41) being used for receiving a light beam reflected by the first light beam (51) from the predetermined object, and at least another one of the receivers (41) being used for receiving a light beam reflected by the second light beam (52) from the predetermined object. The receiver (41) comprises: a first receiver (411) arranged on a side of the light emitting component (10) along a second direction, the first receiver (411) being used for receiving a light beam reflected by the first light beam (51) from the predetermined object; and a second receiver (412) arranged on at least one side of the first receiver (411) along the second direction and spaced apart from the first receiver (411), the second receiver (412) being used for receiving a light beam reflected by the second light beam (52) from the predetermined object. The emitting end of the light emitting component (10), the receiving end of the first receiver (411) and the receiving end of the second receiver (412) are located in the same plane parallel to the second direction. The light receiving component (40) further comprises: a condenser lens (42) arranged on a light entering side of the receiver (41), the condenser lens (42) converging and reflecting the light beam reflected by the first light beam (51) from the predetermined object to the first receiver (411), and converging and reflecting the light beam reflected by the second light beam (52) from the predetermined object to the second receiver (412). The focal length of the condenser lens (42) is F, the included angle between the second light beam (52) and the first light beam (51) is A, and the maximum distance L between the first receiver (411) and the second receiver (412) along the second direction satisfies the relationship L=F*tan A.

2. The lidar of claim 1, wherein, Along the first direction, the condenser lens (42) comprises a plano-convex lens, the curved surface of the plano-convex lens facing the predetermined object, the plane of the plano-convex lens facing the receiver (41), and the distance between the plane of the plano-convex lens and the receiver (41) along the first direction being equal to the back focal length of the condenser lens (42). ​ ​ 3. The lidar of claim 2, wherein, ​ 4. The lidar of claim 3, wherein, ​ ​ 5. The lidar of claim 4, wherein, ​ 6. The lidar of claim 4, wherein, ​ 7. The lidar of claim 5, wherein, An included angle A between the second light beam (52) and the first light beam (51) satisfies a relationship: 5° ≤ A ≤ 7°.

8. The lidar of any of claims 1-7, wherein, The reflection component (30) comprises: a first reflection part (31) extending along the second direction and rotatable about an axis thereof, the first reflection part (31) comprising a first reflection surface (311) and a first light-absorbing surface (312) opposite to the first reflection surface (311); a second reflection part (32) extending along the second direction, the second reflection part (32) being disposed on at least one side of the first reflection part (31) and coaxial with the first reflection part (31) along the second direction, the second reflection part (32) being rotatable coaxially with the first reflection part (31), the second reflection part (32) comprising a second reflection surface (321) and a second light-absorbing surface (322) opposite to the second reflection surface (321); wherein the first reflection surface (311) and the second light-absorbing surface (322) are located in the same plane parallel to the second direction, and the second reflection surface (321) and the first light-absorbing surface (312) are located in the same plane perpendicular to the first direction.

9. The lidar of claim 8, wherein, The reflection component (30) further comprises a driving motor and a belt pulley, the driving motor being in transmission connection with the belt pulley, the driving motor driving the belt pulley to rotate so as to drive the first reflection part (31) and the second reflection part (32) to rotate synchronously along the axis of the first reflection part (31).

10. A cleaning device characterized by The cleaning device comprises the laser radar according to any one of claims 1 to 9.

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