Laser radar and cleaning equipment

Abstract

The utility model discloses a laser radar and a cleaning device, the laser radar comprises a laser emission module, a receiving module and a reflector module, the laser emission module comprises a laser emission part and a light splitting element, the laser emission part is used for emitting a first laser beam emitted along a first direction, and the light splitting element is used for splitting the first laser beam. The light splitting element is mounted on a light emitting path of the laser emitting part, and is used for transmitting the first laser beam and splitting the first laser beam into at least two second laser beams which form different included angles with the first laser beam; the receiving module is used for receiving the reflected light beam; the reflector module is located on a light emitting path of the light splitting element and a receiving path of the receiving module, and the reflector module is used for reflecting the first laser beam and the second laser beam to the outside of the laser radar and sending reflected beams of the first laser beam and the second laser beam to the receiving module. According to the utility model, the problem that the laser radar is difficult to detect different obstacles, clifts, bosses and the like on the advancing path of the cleaning equipment so as to avoid the obstacles is solved.

Description

TECHNICAL FIELD

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

[0002] The existing cleaning device (such as a sweeping robot, a floor washing machine, etc.) sends parallel light to an object through a laser radar, receives the emitted light reflected by the object to perform laser ranging, speed measurement, etc., however, in this process, the laser radar is difficult to detect different obstacles, cliffs, bosses, etc. on the travel path of the cleaning device to avoid obstacles. CONTENT OF THE UTILITY MODEL

[0003] The main purpose of the present application is to provide a laser radar and a cleaning device to solve the problem that the laser radar in the background art is difficult to detect different obstacles, cliffs, bosses, etc. on the travel path of the cleaning device to avoid obstacles.

[0004] According to one aspect of the present application, a laser radar is provided, comprising:

[0005] A laser emission module, the laser emission module comprising a laser emission component and a light splitting element, the laser emission component being configured to emit a first laser beam emitted along a first direction, the light splitting element being installed on the light emission path of the laser emission component, the light splitting element being configured to transmit the first laser beam and split the first laser beam into at least two second laser beams having different angles with the first laser beam;

[0006] A receiving module, the receiving module being configured to receive a reflected light beam;

[0007] A mirror module, the mirror module being located on the light emission path of the light splitting element and the receiving path of the receiving module, the mirror module being configured to reflect the first laser beam and the second laser beam to the outside of the laser radar, and to send the reflected light beams of the first laser beam and the second laser beam to the receiving module.

[0008] Further, the light splitting element comprises:

[0009] A diffraction grating, the diffraction grating comprising a diffraction main body and a protruding part, the diffraction main body being located on the light emission path of the laser emission component, the protruding part being protruded from the surface of the diffraction main body close to or away from the laser emission component, the protruding part comprising a plurality of protruding parts, the plurality of protruding parts being arranged along a second direction, the distance between at least two adjacent protruding parts along the second direction being different from the distance between another two adjacent protruding parts, the distance being the distance between the starting positions of the two adjacent protruding parts along the second direction.

[0010] Further, the protruding part comprises a plurality of bosses, the bosses are arranged on the diffraction body in the second direction; or the protruding part comprises a plurality of ramped steps, the ramped steps are arranged in sequence and adjacent in the second direction; or the protruding part comprises a plurality of protruding columns, the protruding columns have protruding heights in the first direction, the protruding columns are arranged on the diffraction body in the second direction, and the protruding heights of the protruding columns of a single protruding part are arranged in sequence and decrease in the second direction.

[0011] Further, the laser emitting part comprises:

[0012] A laser, the laser comprises a body part and a plurality of emitting holes, the emitting holes are arranged on the body part close to the light splitting element in the first direction, and the emitting holes are arranged in sequence in the first direction;

[0013] A collimating mirror, the collimating mirror is arranged between the emitting holes and the light splitting element, and the collimating mirror is used for collimating the laser from the emitting holes into the first laser beam.

[0014] Further, the emitting holes are arranged in at least one annular structure in the circumferential direction of the body part, and at least one emitting hole is arranged in the annular structure.

[0015] Further, the projection contour of the annular structure in the first direction is arranged in the projection contour of the collimating mirror.

[0016] Further, the projection contour of the collimating mirror in the first direction is arranged in the projection contour of the light splitting element; and / or, the collimating mirror comprises one of a lens, a cylindrical lens, a spherical lens, an aspherical lens, and a Fresnel lens.

[0017] Further, the mirror module comprises:

[0018] A driving part, the driving part comprises a motor and a transmission wheel, the motor is in transmission connection with the transmission wheel;

[0019] A mirror part, the mirror part is connected with the transmission wheel and can rotate with the transmission wheel under the driving of the motor, the mirror part comprises a first mirror and a second mirror, the first mirror is arranged on the light path of the light splitting element, the second mirror is arranged on the receiving path of the receiving module, the first mirror comprises a first reflecting surface and a second reflecting surface arranged oppositely, the first mirror has a first position in which the first reflecting surface is directed to the light splitting element, and a second position in which the second reflecting surface is directed to the light splitting element.

[0020] The first mirror comprises a first lens segment and a second lens segment, and the second lens segment is located between the first lens segment and the second mirror along the second direction, and the first lens segment is located on the light emitting path of the first laser beam, and the second lens segment is located on the light emitting path of the second laser beam, and the first reflecting surface is located in the region of the second lens segment, and the second reflecting surface is located in the region of the first lens segment, and the regions are provided with light-absorbing members.

[0021] Further, the projection outer contour of the first lens segment and the projection outer contour of the second lens segment are both greater than the projection outer contour of the light splitting element along the first direction, and / or the light-absorbing members comprise a black paint layer.

[0022] In another aspect, the application also provides a cleaning device comprising the laser radar.

[0023] In the application, the light splitting element is arranged between the laser emitting component and the mirror module of the laser radar, the light splitting element is used for transmitting the first laser beam emitted by the laser emitting component and separating the first laser beam into at least two second laser beams with different angles, i.e., the second laser beams are inclined beams, so that the receiving module can perform ranging and speed measurement according to the reflected light of the first laser beam reflected by the mirror module, and the second laser beams with different inclination angles can be reflected by the mirror module to different height, size and other obstacles, so that the receiving module can detect different height, size and other obstacles and cliffs through the reflected light of the at least two second laser beams, and the obstacle avoidance ability and accuracy of the cleaning device using the laser radar are improved. BRIEF DESCRIPTION OF DRAWINGS

[0024] The accompanying drawings, which are included to provide a further understanding of the application and constitute a part of this application, illustrate certain illustrative embodiments of the application and together with the description serve to explain the application. In the drawings:

[0025] Figure 1 A structure schematic view of the first mirror of the laser radar in a first position according to an embodiment of the application is shown in the figure;

[0026] Figure 2 A structure schematic view of the first mirror of the laser radar in a second position according to an embodiment of the application is shown in the figure;

[0027] Figure 3 A structure schematic view of the diffraction grating when the convex part is a convex table is shown in the figure;

[0028] Figure 4 A structure schematic view of the diffraction grating when the convex part is a slope step is shown in the figure;

[0029] Figure 5 Structure diagram of diffraction grating when the convex part is a plurality of convex columns;

[0030] Figure 6 Structure diagram of light splitting element;

[0031] Figure 7 Front view of laser.

[0032] Wherein, the above drawings include the following reference signs:

[0033] 10, laser emitting part; 11, laser; 111, main body part; 112, emitting hole; 121, annular structure; 12, collimating mirror; 20, light splitting element; 21, diffraction grating; 211, diffraction main body; 212, convex part; 2121, convex column; 2122, ramp-like step; 2123, convex column; 30, reflecting mirror part; 31, first reflecting mirror; 311, first lens segment; 312, second lens segment; 32, second reflecting mirror; 33, black paint layer; 40, receiving module; 50, first laser beam; 60, second laser beam. DETAILED DESCRIPTION

[0034] It should be noted that the embodiments and features in 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 drawings and in combination with the embodiments.

[0035] 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 also be understood that the terms "comprise" and / or "include" as used in the specification mean the presence of features, steps, operations, devices, components and / or combinations thereof.

[0036] The relative arrangement of components and steps, numerical expressions and 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 accordance with the actual proportional relationship. The techniques, methods and devices known to those skilled in the relevant art can not be discussed in detail, but in appropriate cases, the techniques, methods and devices should be considered as part of the authorized specification. 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 signs and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further discussed in subsequent drawings.

[0037] Although the current cleaning device can identify and avoid obstacles along the way through the laser radar during the working process, when there are many obstacles along the way and the sizes of the obstacles are different, some obstacles are difficult to be identified by the cleaning device, which leads to avoidance failure and causes hindrance or even damage to the cleaning device. Therefore, in order to improve the accurate detection of different obstacles, cliffs, steps and the like on the way of the cleaning device by the laser radar, the first embodiment of the utility model provides a laser radar, please see Figures 1 to 7 The laser radar comprises a laser emission module, a mirror module and a receiving module 40.

[0038] As shown in Figure 1 and Figure 2 , the laser emission module comprises a laser emission component 10 and a light splitting element 20. The laser emission component 10 is used for emitting a first laser beam 50 emitted along a first direction. The light splitting element 20 is installed on the light emitting path of the laser emission component 10. The first direction is the direction indicated by the arrow X in Figure 1 and Figure 2 . The light splitting element 20 is used for transmitting the first laser beam 50 and separating the first laser beam 50 into at least two second laser beams 60 having different angles with the first laser beam 50. The angle between the second laser beam 60 separated by the light splitting element 20 and the first laser beam 50 can be at least one of 5 degrees, 10 degrees, 15 degrees, 20 degrees, 25 degrees and the like. Of course, the angle in the embodiment is not limited to the values mentioned above, and can also be any other value greater than 0 degrees, which is specifically determined according to actual needs or the working environment of the cleaning device, and the embodiment is not limited to only this. The number of the second laser beams 60 can include one of 2, 3, 4, 5, 6, 7, 8 and 10, and can also be any other number greater than two, and the number of the second laser beams 60 to be separated can be determined according to the working environment of the cleaning device and other actual needs.

[0039] The mirror module is located on the light emitting path of the light splitting element 20 and the receiving path of the receiving module 40, and is used for reflecting the first laser beam 50 and the second laser beam 60 to the outside of the laser radar, so that the first laser beam 50 can reach the target measured object, and the second laser beam 60 reaches the obstacle. The mirror module is also used for sending the reflected beams of the first laser beam 50 and the second laser beam 60 to the receiving module 40. The receiving module 40 receives the reflected beams, and the imaging system of the receiving module 40 adopts a line array CMOS (line array camera, which is a camera using a line array image sensor) + lens mode to image and perform three-dimensional reconstruction on the reflected beams of the received first laser beam 50, perform ranging work, and image and perform three-dimensional reconstruction on the reflected beams of the received at least two second laser beams 60, measure whether there is an obstacle of different sizes in the surrounding environment, so as to timely remind the cleaning equipment to avoid obstacles, and improve the detection range of the laser radar on the obstacle and the detection accuracy of the obstacle of different volumes and shapes.

[0040] The laser radar in the embodiment further includes a shell, and the laser emission module, the mirror module and the receiving module 40 are all installed in the mounting cavity in the shell, so that the structure is compact and reliable.

[0041] It can be seen that in the embodiment, the laser emission component 10 and the mirror module of the laser radar are provided with the light splitting element 20, the light splitting element 20 is used for transmitting the first laser beam 50 emitted by the laser emission component 10, and separating the first laser beam 50 into at least two second laser beams 60 with different angles with the first laser beam 50, that is, the second laser beam 60 is an inclined beam, so that the receiving module 40 can perform ranging, speed measurement and the like according to the reflected light of the first laser beam 50 reflected by the mirror module, and the second laser beams 60 with different inclination angles can be reflected by the mirror module to obstacles of different heights, sizes and the like, so that the receiving module 40 can detect obstacles of different heights and sizes and cliffs through the received reflected light of the at least two second laser beams 60, avoid the cleaning equipment being blocked by the obstacle or falling off the cliff, and improve the obstacle avoidance ability and accuracy of the cleaning equipment using the laser radar.

[0042] The light splitting element 20 in the embodiment can include one of a light splitting prism, a half-mirror, a birefringent crystal and the like. When the light splitting element 20 is a light splitting prism, the light splitting prism is arranged on the light emitting path of the first laser beam 50, and the first laser beam 50 passing through the light splitting prism is refracted into an inclined beam, but at least two light splitting prisms need to be arranged to ensure that inclined beams with different inclination angles are obtained, which will increase the assembly and design difficulty of the laser radar. When the light splitting element 20 is a half-mirror, the half-mirror is arranged on the light emitting path of the first laser beam 50, and the first laser beam 50 passing through the half-mirror is reflected into an inclined beam, but the half-mirror needs to be arranged to ensure that inclined beams with different inclination angles are obtained, which will increase the assembly and design difficulty of the laser radar. Figures 3 to 5As shown, the beam splitting element 20 in this embodiment includes a diffraction grating 21 to diffract and split the first laser beam 50. The diffraction grating 21 includes a diffraction body 211 and protrusions 212. The diffraction body 211 is located on the light emission path of the laser emitting component 10, and the protrusions 212 protrude from the surface of the diffraction body 211 near or away from the laser emitting component 10. Specifically, the protrusions 212 are formed by scribing the diffraction body 211. Multiple protrusions 212 are included, and the multiple protrusions 212 are arranged along a second direction. Along the second direction (i.e.... Figures 1 to 5 The direction indicated by the middle arrow Y, where, Figures 3 to 5 To Figure 2 (A schematic diagram of the structure of the diffraction grating 21 after it has been rotated 90 degrees counterclockwise) The spacing between at least two adjacent protrusions 212 is different from the spacing between another two adjacent protrusions 212, so that after the first laser beam 50 passes through the diffraction grating 21, at least two second laser beams 60 that are tilted relative to the first laser beam 50 can be separated. The spacing is the distance between the starting positions of each of the two adjacent protrusions 212 along the second direction.

[0043] In this embodiment, the protrusion 212 may include bosses 2121, and multiple bosses 2121 are spaced apart along the second direction on the diffraction body 211. This structure facilitates the processing of the protrusion 212. Under this structure, as... Figure 3 As shown, counting from left to right along the second direction, such as the distance between the first protrusion 2121 and the second protrusion 2121 on the diffraction body 211, specifically the distance between the starting positions of the first protrusion 2121 and the second protrusion 2121 along the second direction, this distance is usually referred to as the structural period of the diffraction grating 21. To ensure that multiple second laser beams 60 with different tilt angles are obtained, in this embodiment, the distance between the first protrusion 2121 and the second protrusion 2121 can be different from the distance between the second protrusion 2121 and the third protrusion 2121, and the distance between the second protrusion 2121 and the third protrusion 2121 can be different from the distance between the third protrusion 2121 and the fourth protrusion 2121, and so on. In this embodiment, the spacing between the first boss 2121 and the second boss 2121 may be the same as the spacing between the second boss 2121 and the third boss 2121, the spacing between the second boss 2121 and the third boss 2121 may be different from the spacing between the third boss 2121 and the fourth boss 2121, and the spacing between the third boss 2121 and the fourth boss 2121 may be different from the spacing between the fourth boss 2121 and the fifth boss 2121, etc.

[0044] To this end, the second laser beam 60 with the corresponding tilt angle is obtained accurately in the present embodiment, and the structure period of the diffraction grating 21 can be obtained in the following manner:

[0045] For the design of the diffraction angle, the structure period between two adjacent protrusions 212 on the diffraction grating 21 can be calculated using the grating equation: dsin(θ) = mλ, where, as shown in Figures 3 to 4 d is the structure period of the diffraction grating 21 (also referred to as the microstructure period of the diffraction grating 21), θ is the diffraction angle (i.e., the included angle between the first laser beam 50 and the second laser beam 60), m is the diffraction order (e.g., m = 0 for 0° diffraction, and m = 1 for 5° diffraction), and λ is the wavelength of the first laser beam 50.

[0046] For 0° diffraction (m = 0): dsin(0°) = 0.940 nm, which means that theoretically any period of the diffraction grating 21 can achieve 0° diffraction.

[0047] For 5° diffraction (m = 1): dsin(5°) = 1.940 nm, d = 940 nm / sin(5°) ≈ 16.3 um.

[0048] Generally, the protrusion height h (as shown in Figure 3 and Figure 5 ) of the protrusion 212 should be less than half of the wavelength of light to avoid too high protrusions 212 causing attenuation of light. The structure period should be matched with the protrusion height h to ensure the diffraction efficiency of the diffraction grating 21. For example, for the first laser beam 50 with a wavelength of 940 nm, the protrusion 212 can be a boss 2121 with a protrusion height h of 400 nm. The structure period required for the design of a 5° diffraction angle is 16.4 um. For a 10° diffraction angle, the required structure period is 10.2 um.

[0049] As shown in Figure 4 , the protrusion 212 in the present embodiment can also include a ramped step 2122, and a plurality of ramped steps 2122 are sequentially and adjacently arranged along the second direction, and the structure period between two adjacent ramped steps 2122 is the distance between the starting positions of the respective ramped steps 2122 along the second direction.

[0050] As shown in Figure 5 , the protrusion 212 in the present embodiment can also include a plurality of protruding columns 2123, and the protruding column 2123 has a protrusion height along the first direction (as shown in Figure 5(The height is indicated by h in the diagram). Multiple protrusions 212 are spaced apart on the diffraction body 211 along the second direction. Along the second direction, multiple protrusions 2123 of a single protrusion 212 are spaced apart from each other, and the protrusion heights of the multiple protrusions 2123 decrease sequentially. The specific structure of the protrusions 212 can be determined according to actual design requirements, as long as it is ensured that the first laser beam 50 can generate at least two or more second laser beams 60 after passing through the diffraction grating 21.

[0051] like Figure 6 and Figure 7 As shown, the laser emitting component 10 in this embodiment includes a laser 11 and a collimating lens 12. The laser 11 includes a main body 111 and a plurality of emission holes 112. Along a first direction, the plurality of emission holes 112 are mounted on the side of the main body 111 near the beam splitter 20, and the plurality of emission holes 112 are spaced apart from each other. The collimating lens 12 is mounted between the emission holes 112 and the beam splitter 20, and the collimating lens 12 is used to collimate the laser from the emission holes 112 into a first laser beam 50. Since the laser 11 in this embodiment has a plurality of emission holes 112 (such as six or more holes), when the first laser beam 50 is emitted through the plurality of emission holes 112, the laser 11 can evenly distribute the total power to different beams, which helps to reduce the intensity of a single beam, thereby avoiding damage to the beam splitter 20 during the beam splitting process. Secondly, the design of multiple emission holes 112 allows the first laser beam 50 to be better coupled to the beam splitter 20, improving energy conversion efficiency, and also makes the various second laser beams 60 after beam splitting more compliant with requirements.

[0052] like Figure 7 As shown, multiple emission apertures 112 are arranged circumferentially along the main body 111 in at least one annular structure 121, and at least one emission aperture 112 is located within the annular structure 121. Therefore, when the multiple emission apertures 112 of the laser 11 are arranged in at least one annular structure 121, and at least one emission aperture 112 is located within the space enclosed by the annular structure 121, the laser 11 can produce a more uniform light intensity distribution, which helps to reduce light intensity fluctuations during beam splitting, improve beam quality and stability, and reduce central obstruction. Furthermore, the overall annular structure 121 can also improve the coupling efficiency of the first laser beam 50 coupled to the beam splitter 20, and improve the beam quality and intensity of the second laser beam 60 split by the beam splitter 20. The number of annular structures 121 may specifically include one or more. When multiple annular structures 121 are included, the larger annular structure 121 can be arranged around the outer periphery of the smaller annular structure 121 to improve the uniformity of the light intensity distribution of the first laser beam 50.

[0053] In the first direction, the projection outer contour of the annular structure 121 is located within the projection outer contour of the collimating mirror 12, thereby ensuring that the first laser beams 50 emitted by the plurality of emission holes 112 of the laser 11 can be coupled into the collimating mirror 12 more efficiently.

[0054] In the first direction, the projection outer contour of the collimating mirror 12 is located within the projection outer contour of the light splitting element 20, so that the collimated first laser beams 50 of the collimating mirror 12 can all be coupled into the light splitting element 20. The type of the collimating mirror 12 includes one of a lens, a cylindrical lens, a spherical lens, an aspherical lens, and a Fresnel lens.

[0055] The mirror module in the embodiment includes a driving component and a mirror component 30. The driving component includes a motor and a transmission wheel, and the motor is in transmission connection with the transmission wheel. The mirror component 30 is connected with the transmission wheel and can rotate with the transmission wheel under the driving of the motor.

[0056] As shown in Figure 1 and Figure 2 , the mirror component 30 includes a first mirror 31 and a second mirror 32. The first mirror 31 is located on the light output path of the light splitting element 20, so that the first mirror 31 can reflect the first laser beams 50 and the second laser beams 60 to the outside of the laser radar. The second mirror 32 is located on the receiving path of the receiving module 40, so that the second mirror 32 can transmit the reflected beams of the first laser beams 50 and the second laser beams 60 to the receiving component.

[0057] The first mirror 31 includes oppositely arranged first and second reflecting surfaces, and the first mirror 31 has a first position in which the first reflecting surface faces the light splitting element 20 and a second position in which the second reflecting surface faces the light splitting element 20. The motor drives the transmission wheel to drive the first mirror 31 to reciprocate between the first position and the second position.

[0058] The first mirror 31 includes a first lens segment 311 and a second lens segment 312. In the second direction, the second lens segment 312 is located between the first lens segment 311 and the second mirror 32, the first lens segment 311 is located on the light output path of the first laser beams 50, the second lens segment 312 is located on the light output path of the second laser beams 60, and the first reflecting surface is located in the region of the second lens segment 312 and the second reflecting surface is located in the region of the first lens segment 311, and the light-absorbing members are arranged in the regions of the first and second reflecting surfaces.

[0059] As shown in Figure 1 , when the first mirror 31 is rotated to the first position, the second lens segment 312 of the first reflecting surface is provided with a light-absorbing member, and the second laser beams 60 will be absorbed or blocked by the light-absorbing member. The first reflecting surface reflects the first laser beams 50 to the outside of the laser radar for ranging through the first lens segment 311.

[0060] As Figure 2 shown, when the first mirror 31 rotates to the second position, since the first lens segment 311 of the second reflecting surface is provided with the light-absorbing piece, the first laser beam 50 will be absorbed or blocked by the light-absorbing piece of the first lens segment 311, and the second reflecting surface reflects at least two second laser beams 60 to the outside of the laser radar to identify different obstacles through the second lens segment 312. Thus, the embodiment realizes time division multiplexing of the first mirror 31 by reflecting the first laser beam 50 and the second laser beam 60 through the first reflecting surface and the second reflecting surface respectively, and in a single rotation period of the first mirror 31, one of the obstacle avoidance measurement and the distance measurement is performed in the first half period, and the other of the obstacle avoidance measurement and the distance measurement is performed in the second half period. The light-absorbing piece in the embodiment can include a black paint layer 33, and the black paint layer 33 can be directly coated on the first lens segment 311 and the second lens segment 312 of different reflecting surfaces by using corresponding light-absorbing or light-blocking paint, which is simple and convenient to process. In addition to the black paint layer 33, the light-absorbing piece can also include at least one of light-absorbing paper, light-absorbing ceramic, light-absorbing glass, etc.

[0061] In the first direction, the projected outer contour of the first lens segment 311 and the projected outer contour of the second lens segment 312 are both greater than the projected outer contour of the light splitting element 20, thereby reducing the edge loss generated when the first lens segment 311 and the second lens segment 312 reflect the corresponding laser beams, enabling the first lens segment 311 and the second lens segment 312 to completely cover the laser beams from the light splitting element 20, reducing the loss of the beam edges due to insufficient mirror size, and ensuring uniform distribution of the light beams on the entire reflecting surface, improving the overall quality and stability of the first laser beam 50 and the second laser beam 60.

[0062] The second embodiment of the utility model further provides a cleaning equipment, and the cleaning equipment comprises a laser radar. The structure of the laser radar is specifically as provided in the first embodiment, and details thereof will not be repeated here. The cleaning equipment using the laser radar can improve the identification ability of the cleaning equipment to different obstacles, ensure that the cleaning equipment will not miss the identification of individual obstacles due to small size or special shape, and improve the obstacle avoidance ability of the cleaning equipment.

[0063] 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.

[0064] 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.

[0065] The preferred embodiments of the present application have been described above with the purpose of enabling not to limit the scope of protection of the present application, but of enabling a person skilled in the art to make various modifications and changes to the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles 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 laser radar, which comprises the following parts: a laser emission module, which comprises a laser emission component (10) and a light splitting element (20), the laser emission component (10) is used for emitting a first laser beam (50) in a first direction, the light splitting element (20) is installed on the light emission path of the laser emission component (10), and the light splitting element (20) is used for transmitting the first laser beam (50) and separating the first laser beam (50) into at least two second laser beams (60) with different angles with the first laser beam (50); a receiving module (40) used for receiving reflected light beams; a mirror module, which is located on the light emission path of the light splitting element (20) and the receiving path of the receiving module (40), and is used for reflecting the first laser beam (50) and the second laser beam (60) to the outside of the laser radar and sending the reflected light beams of the first laser beam (50) and the second laser beam (60) to the receiving module (40).

2. The lidar of claim 1, wherein, The light splitting element (20) comprises: a diffraction grating (21), which comprises a diffraction main body (211) and a convex part (212), the diffraction main body (211) is located on the light emission path of the laser emission component (10), the convex part (212) is convexly arranged on the surface of the diffraction main body (211) close to or away from the laser emission component (10), the convex part (212) comprises a plurality of convex parts (212), the plurality of convex parts (212) are arranged along a second direction, and the interval between at least two adjacent convex parts (212) along the second direction is different from the interval between another two adjacent convex parts (212), the interval is the distance between the starting positions of the two adjacent convex parts (212) along the second direction.

3. The lidar of claim 2, wherein, The convex part (212) comprises a convex column (2123) with a convex height along the first direction, and a plurality of convex parts (212) are arranged on the diffraction main body (211) along the second direction, and along the second direction, a plurality of convex columns (2123) of a single convex part (212) are arranged at intervals and the convex heights of the plurality of convex columns (2123) sequentially decrease.

4. The lidar of claim 1, wherein, The laser emission component (10) comprises: a laser (11), which comprises a main body (111) and a plurality of emission holes (112), along the first direction, a plurality of emission holes (112) are arranged on the side of the main body (111) close to the light splitting element (20), and the plurality of emission holes (112) are arranged at intervals. A collimating mirror (12) is installed between the emission hole (112) and the light splitting element (20), and is used to collimate the laser light from the emission hole (112) into the first laser beam (50).

5. The lidar of claim 4, wherein, A plurality of the emission holes (112) are arranged in at least one annular structure (121) along the circumference of the main body (111), and at least one of the emission holes (112) is located in the annular structure (121).

6. The lidar of claim 5, wherein, In a first direction, the projected outer contour of the annular structure (121) is located within the projected outer contour of the collimating mirror (12).

7. The lidar of any one of claims 4-6, wherein, In a first direction, the projected outer contour of the collimating mirror (12) is located within the projected outer contour of the light splitting element (20); and / or, the collimating mirror (12) comprises one of a lens, a cylindrical lens, a spherical lens, an aspherical lens, a Fresnel lens.

8. The lidar of any one of claims 1-6, wherein, The mirror module comprises: A driving component comprising a motor and a transmission wheel, the motor being in transmission connection with the transmission wheel; A mirror component (30) connected with the transmission wheel and rotatable with the transmission wheel under the driving of the motor, the mirror component (30) comprising a first mirror (31) and a second mirror (32), the first mirror (31) being located on the light path of the light splitting element (20), and the second mirror (32) being located on the receiving path of the receiving module (40), the first mirror (31) comprising oppositely arranged first and second reflecting surfaces, the first mirror (31) having a first position in which the first reflecting surface is directed towards the light splitting element (20), and a second position in which the second reflecting surface is directed towards the light splitting element (20); The first mirror (31) comprises a first lens segment (311) and a second lens segment (312), in a second direction, the second lens segment (312) is located between the first lens segment (311) and the second mirror (32), the first lens segment (311) is located on the light path of the first laser beam (50), the second lens segment (312) is located on the light path of the second laser beam (60), and the first reflecting surface is located in the region of the second lens segment (312) and the second reflecting surface is located in the region of the first lens segment (311), both of which are provided with light-absorbing members.

9. The lidar of claim 8, wherein, In a first direction, the projected outer contour of the first lens segment (311) and the projected outer contour of the second lens segment (312) are both larger than the projected outer contour of the light splitting element (20); and / or, the light-absorbing members comprise a black paint layer (33).

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

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