Laser radar and sweeping robot
By integrating the optical communication module and the wireless power supply module onto the same circuit board and using an alternating magnetic field for power supply, the problems of large size, high cost, and high failure rate of lidar are solved, thus simplifying the structure and reducing the cost of lidar.
Patent Information
- Application Number
- CN202423318485.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-31
- Publication Date
- 2026-01-16
- Estimated Expiration
- 2034-12-31
AI Technical Summary
Existing lidar systems are large in size, have high production costs, and high failure rates, mainly because the optical communication module and the wireless power supply module are located on different circuit boards, resulting in a complex structure.
The optical communication module and the wireless power supply module are integrated on the same circuit board, and power supply and communication are achieved through an alternating magnetic field, which simplifies the structure and reduces the number of circuit boards.
The size of lidar has been reduced, production costs have decreased, failure rates have decreased, and versatility has increased.
Smart Images
Figure CN223808551U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] Embodiments of the present application relate to the technical field of radar, in particular to a laser radar and a sweeping robot. BACKGROUND
[0002] Li dar (Li ght Detect i on and Rangi ng) is a remote sensing technology that determines the distance and shape of a target object by emitting a laser pulse and measuring the reflected light signal. In the current era of rapid technological development, Li dar is used in many fields, such as sweeping robots, topographic mapping, autonomous driving, and unmanned aerial vehicle navigation lights.
[0003] In order to achieve 360° scanning, the Li dar usually needs to be divided into an upper half and a lower half. The ranging module of the upper half needs to be rotated, and the processor and power interface are arranged in the lower half of the Li dar. The lower half needs to power the upper half, and the upper half needs to transmit the ranging data to the lower half. According to the above principle, the upper half and the lower half of the Li dar each include two parts, an optical communication module and a wireless power supply module. Currently, some existing Li dars arrange the two parts of the upper half on different circuit boards, and / or arrange the two parts of the lower half on different circuit boards. This makes the Li dar itself have a large volume, high production cost, complex process, and high failure rate. CONTENT OF THE INVENTION
[0004] Embodiments of the present application mainly provide a Li dar whose volume and structure are simplified, which is conducive to reducing production cost and failure rate and improving universality.
[0005] To solve the above technical problems, embodiments of the present application adopt the following technical solutions:
[0006] In a first aspect, embodiments of the present application provide a Li dar, comprising a first assembly and a second assembly arranged oppositely.
[0007] The first assembly comprises a first optical communication module and a first wireless power supply module.
[0008] The second assembly comprises a second optical communication module and a second wireless power supply module, and the second wireless power supply module is electrically connected to the second optical communication module.
[0009] The first optical communication module and the first wireless power supply module are integrated on a first circuit board, and / or the second optical communication module and the second wireless power supply module are integrated on a second circuit board.
[0010] The first wireless power supply module is configured to generate an alternating magnetic field, and the second wireless power supply module is configured to generate an induced current based on the alternating magnetic field to power the second optical communication module, so that the second optical communication module and the first optical communication module realize optical communication.
[0011] In some embodiments, the second optical communication module comprises a transmitting light, a first control circuit and a first electrical connection, and the second wireless power module comprises a receiving coil;
[0012] The first control circuit is located at the periphery of the receiving coil;
[0013] The transmitting light is located at the inner periphery of the receiving coil;
[0014] The transmitting light and the first control circuit are electrically connected through the first electrical connection.
[0015] In some embodiments, the transmitting light is located at the center of the receiving coil and exposed to the first surface of the second circuit board close to the first component.
[0016] In some embodiments, the second optical communication module is arranged on the second surface of the second circuit board away from the first component.
[0017] In some embodiments, the receiving coil is arranged on the first surface of the second circuit board close to the first component.
[0018] In some embodiments, the first wireless power module comprises a transmitting coil, and the first optical communication module comprises a light receiver, a second control circuit and a second electrical connection;
[0019] The light receiver is located at the inner periphery of the transmitting coil;
[0020] The second control circuit is located at the periphery of the transmitting coil;
[0021] The light receiver and the second control circuit are electrically connected through the second electrical connection.
[0022] In some embodiments, the light receiver is located at the center of the transmitting coil and exposed to the first surface of the first circuit board close to the second component.
[0023] In some embodiments, the second electrical connection and the second control circuit are arranged on the second surface of the first circuit board away from the second component.
[0024] In some embodiments, the transmitting coil is arranged on the first surface of the first circuit board close to the second component.
[0025] In the second aspect, the embodiments of the present application provide a sweeping robot, comprising the laser radar of any one of the first aspect.
[0026] The embodiment of the application has the beneficial effects that: different from the prior art, the laser radar provided by the embodiment of the application comprises a first assembly and a second assembly arranged oppositely; the first assembly comprises a first optical communication module and a first wireless power supply module; the second assembly comprises a second optical communication module and a second wireless power supply module, and the second wireless power supply module is electrically connected to the second optical communication module; the first optical communication module and the first wireless power supply module are integrated on a first circuit board, and / or the second optical communication module and the second wireless power supply module are integrated on a second circuit board; the first wireless power supply module is configured to generate an alternating magnetic field, and the second wireless power supply module is configured to generate an induced current based on the alternating magnetic field to supply power to the second optical communication module, so that the second optical communication module and the first optical communication module realize optical communication. The scheme integrates the first optical communication module and the first wireless power supply module on the same circuit board, and / or integrates the second optical communication module and the second wireless power supply module on the same circuit board, and supplies power to the second optical communication module through the second wireless power supply module, so that the second optical communication module can complete optical communication with the first optical communication module in the case of being integrated on the same circuit board with the second wireless power supply module. The above scheme not only reduces the volume of the laser radar itself, but also reduces the required circuit board for laser radar production, and has a simple structure, thereby reducing the production cost of the laser radar. That is, the volume and structure of the laser radar are simplified, which is beneficial to reduce the production cost and failure rate and improve the universality. BRIEF DESCRIPTION OF DRAWINGS
[0027] One or more embodiments are illustrated by way of example in the drawings that are not intended to be limiting of the embodiments so as to illustrate exemplary principles of the embodiments. The drawings in which like reference numerals refer to similar elements are to be used herein to provide illustrations of the embodiments of the present application. It is to be expressly understood that such drawings are included herein merely for purposes of illustration and description and are not intended to limit the scope of the application.
[0028] Figure 1 is a structural schematic diagram of a sweeping robot provided by the embodiment of the application;
[0029] Figure 2 is a structural schematic diagram of a laser radar provided by the embodiment of the application;
[0030] Figure 3 is a structural schematic diagram of a laser radar provided by the embodiment of the application;
[0031] Figure 4 is a structural schematic diagram of a laser radar provided by the embodiment of the application;
[0032] Figure 5 is a partial structural schematic diagram of a laser radar provided by the embodiment of the application;
[0033] Figure 6Part circuit board schematic diagram of laser radar
[0034] Figure 7 Part circuit board schematic diagram of laser radar
[0035] Figure 8 Part physical schematic diagram of laser radar
[0036] Figure 9 Part structure schematic diagram of laser radar
[0037] Figure 10 Part circuit principle diagram of laser radar
[0038] Figure 11 Part circuit principle diagram of laser radar
[0039] Figure 12 Part structure schematic diagram of laser radar
[0040] Figure 13 Part circuit board schematic diagram of laser radar
[0041] Figure 14 Part structure schematic diagram of laser radar
[0042] Figure 15 Part circuit principle diagram of laser radar
[0043] Figure 16 Part circuit principle diagram of laser radar. DETAILED DESCRIPTION
[0044] The application will be described in further detail below with reference to the drawings and embodiments. The following embodiments are helpful for those skilled in the art to further understand the application, but do not limit the application in any form. It should be pointed out that, for those skilled in the art, without departing from the concept of the application, a number of modifications and improvements can be made. These all belong to the protection scope of the application.
[0045] In order to make the purpose, technical scheme and advantages of the application clearer and more apparent, the application will be further described in detail below with reference to the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the application and do not limit the application.
[0046] It should be noted that the various features of the embodiments of the present application can be combined with each other, and are within the scope of the present application, if there is no conflict. In addition, although the functional modules are divided in the device schematic diagram, and the logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in a different order from the module division in the device or the order in the flowchart. In addition, the terms "first", "second", "third" and the like used herein do not limit the data and execution order, but only distinguish the same items or similar items with basically the same function and effect.
[0047] Unless otherwise defined, all technical and scientific terms used in the present application have the same meaning as commonly understood by one of ordinary skill in the art to which the present application belongs. The terms used in the present application are only for the purpose of describing specific embodiments of the present application, and are not intended to limit the present application. The term "and / or" used in the present application includes any and all combinations of one or more related listed items.
[0048] In addition, the technical features involved in each embodiment of the present application described below can be combined with each other as long as there is no conflict.
[0049] The laser radar can be divided into an upper radar and a lower radar, wherein the upper radar sends a laser pulse and receives a laser pulse reflected by an object to calculate a distance. The upper radar sends the calculated distance data to the lower radar.
[0050] In some embodiments of the present application, the laser radar is applied to a sweeping robot or other mobile robot. The present application does not limit the application scenario of the laser radar. Taking the sweeping robot as an example, as shown in Figure 1 The sweeping robot 200 includes a machine body 210, a laser radar 100 and a controller 230. Among them, according to the actual needs of the sweeping robot 200, the shape structure (such as "D" type, round or oval type, etc.) and manufacturing material (such as hard plastic or aluminum, iron and other metals) of the machine body 210 can be selected, and the machine body 210 is provided with auxiliary moving devices, such as universal wheels, side sweeping and driving wheels, etc., to assist the sweeping robot to move during the working process.
[0051] In some embodiments, the laser radar 100 is arranged on the machine body 210. In yet some embodiments, the laser radar 100 is arranged in the machine body 210, and the laser radar 100 emits laser beams to the external environment and receives the laser beams reflected by the external environment by arranging the laser emission port and the laser receiving port on the side of the machine body 210. The laser radar 100 is divided into an upper laser radar and a lower laser radar. The upper laser radar emits laser beams and receives the laser beams reflected by the surrounding environment or objects, so as to calculate the corresponding distance data and send the distance data to the lower laser radar. The lower laser radar of the laser radar 100 sends the received distance data to the controller 230 of the sweeping robot 200, and the controller 230 controls the sweeping robot 200 to navigate, avoid obstacles, or plan a path, and the like based on the distance data.
[0052] As known from the foregoing, the laser radar mainly includes an optical communication circuit and a wireless power supply circuit. The optical communication circuit includes an optical communication transmitting circuit and an optical communication receiving circuit. Similarly, the wireless power supply circuit includes a wireless power supply transmitting circuit and a wireless power supply receiving circuit.
[0053] At present, the optical communication transmitting circuit, the optical communication receiving circuit, the wireless power supply transmitting circuit, and the wireless power supply receiving circuit are arranged on different circuit boards, respectively. Thus, four circuit boards are assembled in the laser radar, which makes the laser radar large in size, high in production cost, complex in process, and high in failure rate.
[0054] Therefore, the embodiments of the present application provide a laser radar, please refer to Figures 2 to 4 The laser radar 100 includes a first assembly 110 and a second assembly 120 arranged oppositely. The first assembly 110 includes a first optical communication module 1111 and a first wireless power supply module 1112. The second assembly 120 includes a second optical communication module 1211 and a second wireless power supply module 1212. The second wireless power supply module 1212 is electrically connected to the second optical communication module 1211 to supply power for the second optical communication module 1211. The first optical communication module 1111 and the first wireless power supply module 1112 are integrated on a first circuit board 111, and / or the second optical communication module 1211 and the second wireless power supply module 1212 are integrated on a second circuit board 121.
[0055] The first wireless power supply module 1112 generates an alternating magnetic field. The second wireless power supply module 1212 generates an induced current through electromagnetic induction under the alternating magnetic field, and provides the induced current to the second optical communication module 1211 to supply power. The second optical communication module 1211 converts an electrical signal into an optical signal to communicate with the first optical communication module 1111.
[0056] Thus, the embodiment of the present application integrates the first optical communication module 1111 and the first wireless power supply module 1112 on the first circuit board 111, and / or integrates the second optical communication module 1211 and the second wireless power supply module 1212 on the second circuit board 121, and uses the second wireless power supply module 1212 to supply power for the second optical communication module 1211, so that the second optical communication module 1211 can communicate with the first optical communication module 1111. Compared with arranging the above four parts on different circuit boards, this method effectively reduces the volume of the laser radar 100, thereby reducing the risk of accidental knocking and the like of the laser radar 100 in use due to the large volume. In addition, the above structure reduces the number of circuit boards in the laser radar 100, is simple in structure, and reduces the production cost of the laser radar. That is, the volume and structure of the laser radar are simplified, which is beneficial to reduce the production cost and failure rate and improve the universality.
[0057] The second wireless power supply module 1212 includes a receiving coil 1212a, which is used to work in cooperation with the transmitting coil 1112a in the first wireless power supply module 1112. The transmitting coil 1112a generates an alternating magnetic field, and the receiving coil 1212a generates an induced current under electromagnetic induction of the alternating magnetic field, and provides the generated induced current to the transmitting lamp 1211a and the first control circuit 1211c for power supply. The second optical communication module 1211 includes the transmitting lamp 1211a, the first electrical connector 1211b, and the first control circuit 1211c.
[0058] In some embodiments, the receiving coil 1212a is arranged on the first surface 123 of the second circuit board 121 close to the first assembly 110, so as to ensure that the distance between the receiving coil 1212a and the transmitting coil 1112a in the oppositely arranged first assembly 110 is infinitely close, and the power supply efficiency of the second wireless power supply module 1212 is improved. In yet some embodiments, the receiving coil 1212a is arranged on the second surface 122 and the first surface 123 of the second circuit board 121 at the same time. By winding on the second surface 122 and the first surface 123 of the second circuit board 121 respectively, the inductance of the receiving coil 1212a can be effectively increased, and the power supply efficiency of the second wireless power supply module 1212 is improved. The embodiment of the present application does not limit the winding shape of the receiving coil 1212a, for example, the winding shape is circular or rectangular, and the like.
[0059] Please refer to Figure 2 and Figure 5, based on the second optical communication module 1211 and the second wireless power supply module 1212 integrated on the second circuit board 121, in some embodiments, in order to simplify the circuit board, the transmitting lamp 1211a is arranged in the inner periphery of the receiving coil 1212a, for example, the transmitting lamp 1211a is arranged in the center of the receiving coil 1212a, and the first control circuit 1211c is arranged in the outer periphery of the receiving coil 1212a, the first end of the first electrical connecting piece 1211b is connected to the transmitting lamp 1211a, and the second end of the first electrical connecting piece 1211b is connected to the first control circuit 1212c.
[0060] By connecting the transmitting lamp 1211a and the first control circuit 1211c through the first electrical connecting piece 1211b, the second optical communication module 1211 and the second wireless power supply module 1212 can be integrated on the second circuit board 121 while realizing the communication function of the transmitting lamp 1211a, reducing the required circuit board of the laser radar 100, simplifying the volume and structure of the laser radar 100, reducing the production cost, and improving the applicability.
[0061] Please refer to Figure 6 , in some embodiments, the first electrical connecting piece 1211b is a jumper resistor, the first end of the jumper resistor is connected to the transmitting lamp 1211a, and the second end of the jumper resistor is connected to the first control circuit 1211c, so as to control the transmitting lamp 1211a to perform optical communication with the first optical communication module 1111 through the first control circuit 1211c. In some embodiments, please refer to Figure 7 , the first electrical connecting piece 1211b is a metal trace, the second circuit board 121 is a multi-layer circuit board with at least three layers, the first end of the metal trace is connected to the transmitting lamp 1211a, and the second end of the metal trace is connected to the first control circuit 1211c, so as to control the transmitting lamp 1211a to perform optical communication with the first optical communication module 1111 through the first control circuit 1211c. Wherein, the receiving coil 1212a is arranged on the first surface 123 and the second surface 122 of the second circuit board 121, and the metal trace is arranged on the third surface between the first surface 123 and the second surface 122 of the second circuit board 121; or, the receiving coil 1212a is arranged on the third surface between the first surface 123 and the second surface 122 of the second circuit board 121, and the metal trace is arranged on the first surface 122 and the second surface 123 of the second circuit board 121.
[0062] The first control circuit 1211c and the emitting lamp 1211a are electrically connected by the first electrical connection 1211b, so that the emitting lamp 1211a can receive the control signal of the first control circuit 1211c on the basis that the emitting lamp 1211a is arranged at the center of the receiving coil 1212a, and the optical communication between the first optical communication module 1111 and the second optical communication module 1211 is completed. The above method not only enables the second optical communication module 1211 and the second wireless power supply module 1212 to be integrated on the second circuit board 121, but also arranges the emitting lamp 1211a at the center of the receiving coil 1212a, and the receiving coil 1212a is arranged on the second circuit board 121 by winding, so that the area of the receiving coil 1212a is increased, thereby improving the efficiency of the second wireless power supply module 1212.
[0063] Please refer to Figure 8 The emitting lamp 1211a is exposed on the first surface 123 of the second circuit board 121 close to the first assembly 110, which facilitates optical communication. In some embodiments, the emitting lamp 1211a is arranged on the first surface 123 of the second circuit board 121. Based on the area required for welding the emitting lamp 1211a, the receiving coil 1212a arranged on the same surface needs a larger avoiding area, so that the area of the receiving coil 1212a is reduced, thereby reducing the inductance in the receiving coil 1212a and the power supply efficiency of the second wireless power supply module 1212.
[0064] In some embodiments, the emitting lamp 1211a is arranged on the second surface 122 of the second circuit board 121 away from the first assembly 110, that is, the emitting lamp 1211a is arranged at the center of the receiving coil 1212a by reverse welding, and a hole is arranged on the second circuit board 121 at the corresponding position of the emitting lamp 1211a, so as to realize the optical communication between the emitting lamp 1211a and the first optical communication module 1111. Compared with arranging the emitting lamp 1211a on the first surface 123 of the second circuit board 121, based on the welding requirement of the emitting lamp 1211a, the receiving coil arranged on the first surface 123 needs a larger avoiding area. The hole arranged in the above manner only needs to transmit the optical signal of the emitting lamp 1211a, so the area of the hole is smaller than the welding area, thereby reducing the avoiding area of the receiving coil 1212a arranged on the first surface 123, increasing the area of the receiving coil 1212a, and thereby increasing the power supply efficiency of the second wireless power supply module 1212. In addition, by this arrangement, the lamp head of the emitting lamp 1211a is located inside the hole of the second circuit board 121, which can reduce the risk of damage of the emitting lamp 1211a due to external impact.
[0065] Please refer to Figure 9The second wireless power supply module 1212 further includes a first rectifier circuit 1212b, a second rectifier circuit 1212c, a first filter circuit 1212d, and a first voltage reduction diode 1212e. The second optical communication module 1211, the first rectifier circuit 1212b, the second rectifier circuit 1212c, the first filter circuit 1212d, and the first voltage reduction diode 1212e in the second wireless power supply module 1212 are arranged on the second surface 122 of the second circuit board 121 away from the first assembly 110. By arranging the second optical communication module 1211, the first rectifier circuit 1212b, the second rectifier circuit 1212c, the first filter circuit 1212d, and the first voltage reduction diode 1212e on the second surface 122 of the second circuit board 121 away from the first assembly 110, i.e., in reverse welding, the components in the second optical communication module 1211, the first rectifier circuit 1212b, the second rectifier circuit 1212c, the first filter circuit 1212d, and the first voltage reduction diode 1212e are arranged on the same surface by using the surface mount technology (SMT) during the production of the laser radar 100. In this way, the welding of the corresponding components can be completed by using the reflow soldering only once. Compared with arranging the second optical communication module 1211, the first rectifier circuit 1212b, the second rectifier circuit 1212c, the first filter circuit 1212d, and the first voltage reduction diode 1212e on different surfaces of the second circuit board 121, the above-mentioned scheme can effectively reduce the welding times of the laser radar 100 during the production process and reduce the production cost.
[0066] Please refer to Figure 10 The first control circuit 1211c further includes a first switch tube 1211c1, a first current-limiting resistor 1211c2, and a first switch resistor 1211c3. The first end of the first switch tube 1211c1 is connected to the second wireless power supply module 1212 and the first end of the first switch resistor 1211c3, respectively. The control end of the first switch tube 1211c1 is connected to the second end of the first switch resistor 1211c3. The second end of the first switch tube 1211c1 is connected to the first end of the first current-limiting resistor 1211c2. The second end of the first current-limiting resistor 1211c2 is connected to the transmitting lamp. The first switch resistor 1211c3 and the external power supply are connected to the first end of the first switch tube 1211c1 to provide a stable voltage threshold for the first switch tube 1211c1. The control end of the first switch tube 1211c1 controls the opening and closing of the first switch tube 1211c1 according to the received control signal and the voltage threshold to control the on-off of the transmitting lamp, thereby realizing the optical communication function of the transmitting lamp.
[0067] Please refer to Figure 11The first end of the first rectifier circuit 1212b is connected to the powered device, and the second end of the first rectifier circuit 1212b is connected to the receiving coil 1212b; the first end of the second rectifier circuit 1212c is connected to the receiving coil 1212b and the second end of the first rectifier circuit 1212b respectively, and the second end of the second rectifier circuit 1212c is grounded; the first end of the first filter circuit 1212d is connected to the first end of the first rectifier circuit 1212b, and the second end of the first filter circuit 1212d is grounded; the first end of the first voltage reduction diode 1212e is connected to the first end of the first filter circuit 1212d, and the second end of the first voltage reduction diode 1212e is grounded, for controlling the output voltage and reducing the voltage to ensure the stability of the output voltage. The receiving coil 1212b captures the alternating magnetic field to generate a corresponding induced current, which is rectified by the connected first rectifier circuit 1212b and second rectifier circuit 1212c and then sent to the connected powered device. In the process of current transmission, the first filter circuit 1212d is used for filtering the induced current to reduce the high-frequency components in the induced current and improve the overall quality of the signal; in addition, the first end of the first filter circuit 1212d is connected to the first voltage reduction diode 1212e, and the first voltage reduction diode 1212e is used for reducing the excessive voltage to ensure the stability of the output voltage.
[0068] The first optical communication module 1111 includes an optical receiver 1111a, a second electrical connector 1111b, and a second control circuit 1111c, and the first wireless power supply module 1112 includes a transmitting coil 1112a. In some embodiments, the transmitting coil 1112a is arranged on the first surface 112 of the first circuit board 111 close to the second assembly 120, so that the distance between the transmitting coil 1112a and the receiving coil 1212a in the oppositely arranged second assembly 120 is infinitely close, and the power supply efficiency of the first wireless power supply module 1112 is improved. In yet other embodiments, the transmitting coil 1112a is arranged on the first surface 112 and the second surface 113 of the first circuit board 111. By winding the transmitting coil 1112a on the first surface 112 and the second surface 113 of the first circuit board 111 respectively, the power supply efficiency of the first wireless power supply module 1112 can be effectively improved.
[0069] Please refer to Figure 3 and Figure 12, based on the first optical communication module 1111 and the first wireless power supply module 1112 being integrated on the first circuit board 111, in order to simplify the circuit board, the light receiver 1111a is arranged in the inner periphery of the transmitting coil 1112a, for example, the light receiver 1111a is arranged at the center of the transmitting coil 1112a, the second control circuit 1111c is arranged at the periphery of the transmitting coil 1112a, the first end of the second electrical connecting piece 1111b is connected to the light receiver 1111a, and the second end of the second electrical connecting piece 1111b is connected to the second control circuit 1111c.
[0070] By connecting the light receiver 1111a and the second control circuit 1111c through the second electrical connecting piece 1111b, the first optical communication module 1111 and the first wireless power supply module 1112 can be integrated on the first circuit board 111 while realizing the communication function of the light receiver 1111a, reducing the required circuit board of the laser radar 100, simplifying the volume and structure of the laser radar 100, reducing the production cost, and improving the applicability.
[0071] In some embodiments, the second electrical connecting piece 1111b is a jumper resistor, the first end of the jumper resistor is connected to the light receiver 1111a, and the second end of the jumper resistor is connected to the second control circuit 1111c, so as to control the light receiver 1111a to perform optical communication with the second optical communication module 1211 through the second control circuit 1111c. In yet some embodiments, the second electrical connecting piece 1111b is a metal trace, the first circuit board 111 is a multi-layer circuit board with at least three layers of circuit boards, the first end of the metal trace is connected to the light receiver 1111a, and the second end of the metal trace is connected to the second control circuit 1111c, so as to realize the optical communication between the light receiver 1111a and the first optical communication module 1111. Wherein, the transmitting coil 1112a is arranged on the first surface 112 and the second surface 113 of the first circuit board 111, and the metal trace is arranged on the third surface between the first surface 112 and the second surface 113 of the first circuit board 111; or, the transmitting coil 1112a is arranged on the third surface between the first surface 112 and the second surface 113 of the first circuit board 111, and the metal trace is arranged on the first surface 112 and the second surface 113 of the first circuit board 111.
[0072] The light receiver 1111a in the first optical communication module 1111 is exposed on the first surface 112 of the first circuit board 111 close to the second assembly 120, facilitating optical communication. In some embodiments, as shown in Figure 13 Based on the welding required fixed area of the light receiver 1111a, the avoidance area of the transmitting coil 1112a arranged on the same surface is larger, the coil area is reduced, and thus the power supply efficiency of the first wireless power supply module 1112 is reduced.
[0073] In some embodiments, the optical receiver 1111a is disposed on the second surface 113 of the first circuit board 111 away from the second component 120. Specifically, the optical receiver 1111a is disposed at the center of the transmitting coil 1112a via reverse soldering. Optical communication between the optical receiver 1111a and the second optical communication module 1211 is achieved by providing holes in the first circuit board 111 at the corresponding positions of the optical receiver 1111a. Compared to disposing the optical receiver 1111a on the first surface 112 of the first circuit board 111, the transmitting coil 1112a disposed on the first surface 112 requires a larger area to be avoided due to the soldering requirements of the optical receiver 1111a. The holes provided in the above-described method only need to allow the light receiver 1111a to receive the light signal transmitted by the transmitting lamp 1211a. Therefore, the area of the holes is smaller than that required for soldering, resulting in a smaller area that the transmitting coil 1112a, which is arranged on the first surface 112 according to this scheme, needs to avoid. This increases the area of the transmitting coil 1112a, thereby increasing the power supply efficiency of the first wireless power supply module 1112. In addition, this arrangement allows the lamp head of the light receiver 1111a to be located inside the holes of the first circuit board 111, reducing the risk of damage to the light receiver 1111a due to external impacts.
[0074] In some embodiments, the first wireless power supply module 1112 further includes a current input module 1112b and a rectifier module 1112c. The current input module 1112b, the rectifier module 1112c, and the second control circuit 1111c are disposed on the second surface 113 of the first circuit board 111 away from the second component 120, and the light receiver 1111a is disposed on the first surface 112 of the first circuit board 111 close to the second component 120.
[0075] In some other embodiments, such as Figure 14 As shown, the current input module 1112b and rectifier module 1112c, as well as the first optical communication module 1111 in the first wireless power supply module 1112, are all disposed on the second surface 113 of the first circuit board 111 away from the second component 120. That is, the current input module 1112b, rectifier module 1112c, and first optical communication module 1111 are disposed on the second surface 113 of the first circuit board 111 by reverse soldering, so that the relevant components of the current input module 1112b, rectifier module 1112c, and first optical communication module 1111 can be soldered in only one reflow soldering, effectively saving the production cost of the lidar. On this basis, by setting a hole in the first circuit board 111 at the corresponding position of the optical receiver 1111a to receive the optical signal transmitted by the transmitting lamp 1211a, optical communication between the optical receiver 1111a and the transmitting lamp 1211a can be realized.
[0076] Please refer to Figure 15 The first end of the current input module 1112b is connected to an external power supply, and the second end of the current input module 1112b is connected to the first end of the transmitting coil 1112a; the first end of the rectifier module 1112c is connected to the first end of the transmitting coil 1112a, and the second end of the rectifier module 1112c is connected to the second end of the transmitting coil 1112a.
[0077] The current input module 1112b includes a first filter capacitor 1112b1, a second filter capacitor 1112b2, and a third filter capacitor 1112b3. The first end of the first filter capacitor 1112b1 is respectively connected to an external power supply and the first end of the transmitting coil 1112a, and the second end of the first filter capacitor 1112b1 is grounded. The first end of the second filter capacitor 1112b2 is respectively connected to an external power supply and the first end of the transmitting coil 1112a, and the second end of the second filter capacitor 1112b2 is grounded. The first end of the third filter capacitor 1112b3 is respectively connected to an external power supply and the first end of the transmitting coil 1112a, and the second end of the third filter capacitor 1112b3 is grounded.
[0078] The rectifier module 1112c includes a second switch tube 1112c1, a second switch resistor 1112c2, a second current limiting resistor 1112c3, a first rectifier diode 1112c4, a third current limiting resistor 1112c5, and a fourth filter capacitor 1112c6. The control end of the second switch tube 1112c1 is respectively connected to the first end of the second current limiting resistor 1112c3 and the first end of the second switch resistor 1112c2. The first end of the second switch tube 1112c1 is respectively connected to the second end of the transmitting coil 1112a, the first end of the first rectifier diode 1112c4, and the first end of the fourth filter capacitor 1112c6. The second end of the first rectifier diode 1112c4 is connected to the first end of the third current limiting resistor 1112c5, and the second end of the third current limiting resistor 1112c5 is connected to the first end of the transmitting coil 1112a. The second end of the second switch tube 1112c1 is respectively connected to the second end of the second switch resistor 1112c2, a ground wire, and the second end of the fourth filter capacitor 1112c6.
[0079] The current input module 1112b filters the current input by the external power supply and transmits it to the first rectifier diode 1112c4 and the second switch tube 1112c1 through the transmitting coil 1112a. The control end of the second switch tube 1112c1 controls its own opening and closing through the received PWM signal and its own voltage threshold, so as to control the current size through the transmitting coil 1112a, and further control the transmitting coil 1112a to generate an alternating magnetic field.
[0080] Please refer to Figure 16The second control circuit 1111c includes a comparator 1111c1, a pull-up resistor 1111c2, a fourth current limiting resistor 1111c3, a fifth current limiting resistor 1111c4, a sixth current limiting resistor 1111c5, a fifth filter capacitor 1111c6, and a sixth filter capacitor 1111c7. The first pin of the comparator 1111c1, i.e., pin 1 in the figure, is connected to the first end of the pull-up resistor 1111c2, and the second end of the pull-up resistor 1111c2 is connected to an external power supply. The second pin of the comparator 1111c1, i.e., pin 8 in the figure, is connected to an external power supply and the first end of the fifth filter capacitor 1111c6, and the second end of the fifth filter capacitor 1111c6 is grounded. The third pin of the comparator 1111c1, i.e., pin 2 in the figure, is connected to the first end of the light receiver 1111a and the first end of the fourth current limiting resistor 1111c3, the second end of the light receiver 1111a is connected to an external power supply, and the second end of the fourth current limiting resistor 1111c3 is grounded. The fourth pin of the comparator 1111c1, i.e., pin 3 in the figure, is connected to the first end of the fifth current limiting resistor 1111c4 and the first end of the sixth current limiting resistor 1111c5, the second end of the fifth current limiting resistor 1111c4 is connected to an external power supply, and the second end of the sixth current limiting resistor 1111c5 is grounded. The fifth pin of the comparator 1111c1, i.e., pin 4 in the figure, is grounded. The first end of the sixth filter capacitor 1111c7 is connected to the first end of the fifth current limiting resistor 1111c4 and the first end of the sixth current limiting resistor 1111c5, and the second end of the sixth filter capacitor 1111c7 is grounded.
[0081] In summary, by integrating the first optical communication module and the first wireless power supply module on the first circuit board, and / or integrating the second optical communication module and the second wireless power supply module on the second circuit board, the number of circuit boards required for producing the laser radar is reduced, and the structure is simple, thereby reducing the production cost of the laser radar. That is, the volume and structure of the laser radar are simplified, which is conducive to reducing the production cost and failure rate and improving the versatility. Moreover, by arranging the components of the second optical communication module and the second wireless power supply module on the first surface of the second circuit board away from the first assembly, the components only need to be soldered once through reflow soldering, thereby reducing the production cost of the laser radar. In addition, by arranging the transmitting coil or the receiving coil on the first surface and the second surface of the corresponding circuit board, the inductance of the coil is increased, thereby improving the power supply efficiency of the wireless power supply module.
[0082] Some embodiments of the present application also provide a sweeping robot comprising the laser radar in any one of the above embodiments. The laser radar has the same structure and function as the laser radar in any one of the above embodiments, and will not be described here.
[0083] It should be noted that the embodiment of the apparatus described above is merely illustrative, and the units described as separate units can or can not be physically separate, and the units displayed as units can or can not be physical units, i.e. can be located in one place, or can be distributed on multiple network units. Part or all of the modules can be selected to achieve the purpose of the embodiment of the present application according to actual needs.
[0084] Finally, it should be noted that: the above examples are only used to illustrate the technical solutions of the present application, and not to limit them; under the idea of the present application, the technical features in the above examples or different examples can also be combined, the steps can be implemented in any order, and there are many other changes of different aspects of the present application as described above, which are not provided in detail for simplicity; although the present application has been described in detail with reference to the foregoing examples, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing examples, or make equivalent replacement for part of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.
Claims
1. A lidar, comprising: The first component and the second component are oppositely arranged; The first component comprises a first optical communication module and a first wireless power supply module; The second component comprises a second optical communication module and a second wireless power supply module, and the second wireless power supply module is electrically connected to the second optical communication module; The first optical communication module and the first wireless power supply module are integrated on a first circuit board, and / or the second optical communication module and the second wireless power supply module are integrated on a second circuit board; The first wireless power supply module is configured to generate an alternating magnetic field, and the second wireless power supply module is configured to generate an induced current based on the alternating magnetic field to supply power to the second optical communication module, so that the second optical communication module and the first optical communication module realize optical communication.
2. The lidar of claim 1, wherein, The second optical communication module comprises a transmitting lamp, a first control circuit and a first electrical connector, and the second wireless power supply module comprises a receiving coil; The first control circuit is located at the periphery of the receiving coil; The transmitting lamp is located at the inner periphery of the receiving coil; The transmitting lamp and the first control circuit are electrically connected through the first electrical connector.
3. The lidar of claim 2, wherein, The transmitting lamp is located at the center of the receiving coil and is exposed to the first surface of the second circuit board close to the first component.
4. The lidar of any of claims 1-3, wherein, The second optical communication module is arranged on the second surface of the second circuit board away from the first component.
5. The lidar of claim 3, wherein, The receiving coil is arranged on the first surface of the second circuit board close to the first component.
6. The lidar of claim 1, wherein, The first wireless power supply module comprises a transmitting coil, and the first optical communication module comprises a light receiver, a second control circuit and a second electrical connector; The light receiver is located at the inner periphery of the transmitting coil; The second control circuit is located at the periphery of the transmitting coil; The light receiver and the second control circuit are electrically connected through the second electrical connector.
7. The lidar of claim 6, wherein, The light receiver is located at the center of the transmitting coil and is exposed to the first surface of the first circuit board close to the second component.
8. The lidar of claim 7, wherein, The second electrical connector and the second control circuit are arranged on the second surface of the first circuit board away from the second component.
9. The lidar of claim 7, wherein, The transmitting coil is arranged on the first surface of the first circuit board close to the second component.
10. A robot vacuum cleaner characterised in that, The lidar comprises the laser radar as claimed in any one of claims 1-9.