Laser radar and sweeping robot

Abstract

The utility model relates to the technical field of household appliances, in particular to a laser radar and a sweeping robot. The laser radar comprises a shell, a driving part, a first reflecting mirror and a radar part, the driving part comprises a stator and a rotor rotatably installed in the stator, and the stator is connected with the shell; the first reflecting mirror is connected to the rotor; the radar component is connected to the shell, laser emitted by the radar component can be reflected by the first reflector and then emitted out of the shell, and laser emitted from the outside of the shell can be reflected by the first reflector and then received by the radar component. The rotor is rotatably installed in the stator, after the driving part is powered on, the first reflector can be driven to rotate through rotation of the rotor, the structure of the driving part is simplified, and therefore the occupied space is reduced; and the laser radar can realize omnibearing scanning of the surrounding environment by adjusting the angle of the first reflecting mirror, so that the energy consumption of the laser radar is reduced, and the scanning flexibility and accuracy are improved.

Description

Technical Field

[0001] This application relates to the field of home appliance technology, and in particular to a lidar and a robotic vacuum cleaner. Background Technology

[0002] LiDAR is an active sensor and a core component of intelligent robotic vacuum cleaners. It mainly consists of a transmitting module and a receiving module. Its working principle involves the transmitting module emitting a laser beam towards the target in the room, then measuring parameters such as the time it takes for the reflected or scattered signal to reach the receiving module, the signal strength, and frequency changes. This allows for the determination of the target's distance and location, enabling room mapping, navigation, and path planning. This not only avoids collisions with obstacles but also improves cleaning efficiency.

[0003] In related technologies, the reflector assembly in a lidar device is driven to rotate by a drive mechanism to obtain a larger scanning range. However, existing drive mechanisms are complex, such as using a motor to drive the reflector assembly through a belt drive mechanism or a gear drive mechanism, resulting in a large number of parts and a large space occupation. Utility Model Content

[0004] The purpose of this application is to provide a laser radar and a sweeping robot to solve the problems of complex drive mechanisms, numerous parts, and large space occupation in related technologies.

[0005] The first aspect of this application provides a lidar, which includes:

[0006] case;

[0007] A drive component includes a stator and a rotor rotatably mounted within the stator, the stator being connected to the housing;

[0008] A first reflecting mirror is connected to the rotor;

[0009] A radar component is connected to the housing. The laser emitted by the radar component can be reflected by the first reflector and exit the housing. The laser emitted from outside the housing can be reflected by the first reflector and received by the radar component.

[0010] Furthermore, the rotor includes a rotating shaft and a winding seat. The first end of the rotating shaft is rotatably connected to the stator, and the second end of the rotating shaft is connected to the first reflector. The winding seat is disposed in the middle of the rotating shaft, and a coil is wound on the winding seat. The middle of the rotating shaft is located between the first end and the second end of the rotating shaft.

[0011] Furthermore, the stator includes a base and a magnet. The base is sleeved on the winding seat and has a wiring portion that is electrically connected to the coil. The magnet is disposed on the inner wall of the base and surrounds the winding seat.

[0012] Furthermore, the first reflector is provided with a first reflective plane, and the angle between the first reflective plane and the axis of the rotating shaft is α, where 0° < α < 90°.

[0013] Furthermore, the radar component includes a laser emitter capable of emitting laser light and a laser receiver capable of receiving laser light. The housing is connected to the stator to form a mounting cavity. Both the laser emitter and the laser receiver are disposed within the mounting cavity, and both are connected to the end of the housing away from the stator.

[0014] Furthermore, the lidar also includes a beam splitter and a second reflector, both of which are disposed within the mounting cavity. The laser emitted by the laser emitter can be refracted by the beam splitter and reflected by the first reflector in sequence before exiting the housing. The laser emitted from outside the housing can be reflected by the first reflector, the beam splitter, and the second reflector in sequence before being received by the laser receiver.

[0015] Furthermore, the laser emitter and the laser receiver are arranged radially spaced on the rotor, and the beam splitter and the second reflector are both disposed between the laser emitter and the first reflector.

[0016] Furthermore, the beam splitter has a second reflecting plane on the side near the first reflecting mirror, and the angle between the second reflecting plane and the rotation axis of the rotor is β, where 0° < β < 90°.

[0017] The second reflector has a third reflecting plane on the side near the beam splitter, and the angle between the third reflecting plane and the rotation axis of the rotor is γ, where 0° < γ < 90°.

[0018] Furthermore, the housing is made of a light-transmitting material.

[0019] The second aspect of this application provides a robotic vacuum cleaner that includes the lidar provided in the first aspect of this application.

[0020] The technical solutions provided in this application have the following advantages compared with the prior art:

[0021] In this application, the driving component includes a stator and a rotor. The first reflector is directly connected to the rotor, and the rotor is rotatably installed inside the stator. After the driving component is powered on, the first reflector can be rotated by the rotation of the rotor, which simplifies the structure of the driving component and reduces the space occupied. Furthermore, by adjusting the angle of the first reflector, the lidar can achieve all-round scanning of the surrounding environment, reducing the power consumption of the lidar and improving the flexibility and accuracy of scanning. Attached Figure Description

[0022] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0023] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0024] One or more embodiments are illustrated by way of example with reference numerals in the accompanying drawings. These illustrations do not constitute a limitation on the embodiments. Elements with the same reference numerals in the drawings are denoted as similar elements. Unless otherwise stated, the figures in the drawings are not to be limited by scale.

[0025] Figure 1 This is a perspective view of a lidar according to one embodiment of this application;

[0026] Figure 2 for Figure 1 Exploded view of the structure shown;

[0027] Figure 3 This is a front view of a partial structure of a lidar according to one embodiment of this application;

[0028] Figure 4 An exploded view of a portion of the structure of a lidar according to one embodiment of this application;

[0029] Figure 5 This is an optical path diagram of a lidar according to one embodiment of this application.

[0030] Explanation of reference numerals in the attached figures:

[0031] 100. Shell;

[0032] 200. Drive component; 210. Stator; 211. Base; 212. Wiring part; 220. Rotor; 221. Shaft; 222. Winding block;

[0033] 300. First reflecting mirror; 310. First reflecting plane;

[0034] 400. Radar components; 410. Laser transmitter; 420. Laser receiver;

[0035] 500. Beam splitter; 510. Second reflecting plane;

[0036] 600. Second reflecting mirror; 610. Third reflecting plane. Detailed Implementation

[0037] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0038] The following disclosure provides numerous different embodiments or examples for implementing various structures of this application. To simplify the disclosure, specific examples of components and arrangements are described below. These are merely examples and are not intended to limit the scope of this application. Furthermore, reference numerals and / or letters may be repeated in different examples. Such repetition is for simplification and clarity and does not in itself indicate a relationship between the various embodiments and / or arrangements discussed.

[0039] For ease of description, spatial relative terms may be used in the text to describe the relative position or movement of one element or feature relative to another element or feature, as shown in the figure. These relative terms include, for example, "inside," "outside," "middle," "outer," "below," "below," "above," "front," "back," etc. Such spatial relative terms are intended to include different orientations of the device in use or operation, other than those depicted in the figure. For example, if the device in the figure undergoes a positional flip, orientation change, or change of motion, these directional indications will change accordingly. For instance, an element described as "below other elements or features" or "below other elements or features" will subsequently be oriented "above other elements or features" or "above other elements or features." Therefore, the example term "below" can include both upper and lower orientations. The device may be otherwise oriented (rotated 90 degrees or in other directions), and the spatial relative descriptors used in the text will be interpreted accordingly.

[0040] See appendix Figure 1-5As shown, the main structure of the lidar includes a housing 100, a drive component 200, a first reflector 300, and a radar component 400 to achieve laser scanning and ranging functions of the environment. Specifically, the drive component 200 includes a stator 210 and a rotor 220 rotatably mounted within the stator 210, the stator 210 being connected to the housing 100; the first reflector 300 is connected to the rotor 220; the radar component 400 is connected to the housing 100, the laser emitted by the radar component 400 can be reflected by the first reflector 300 and exit the housing 100, and the laser emitted from outside the housing 100 can be reflected by the first reflector 300 and received by the radar component 400.

[0041] The housing 100 is a partially enclosed structure, providing overall support and protection. The housing 100 can be made of lightweight materials (such as ABS plastic or aluminum alloy) to reduce weight and improve structural stability. The sides of the housing 100 have openings or light-transmitting windows to allow laser light to enter and exit.

[0042] The drive unit 200 is used to drive the rotation of the first reflector 300 so that the radar unit 400 can scan the environment. The stator 210 of the drive unit 200 is used to provide a magnetic field to drive the rotor 220 to rotate. The rotor 220 of the drive unit 200 is rotatably mounted in the stator 210 and rotates about an axis under the action of electromagnetic induction.

[0043] In this embodiment, the stator 210 is fixedly connected to the housing 100, which can be achieved through threaded connection, snap-fit ​​connection, or adhesive bonding. The rotor 220 is supported by magnetic levitation bearings or low-friction ball bearings to reduce friction and improve rotational stability and service life.

[0044] The first reflector 300 is used to change the propagation path of the laser, so that the laser emitted by the radar component 400 scans in a set direction. It can be made of glass with a high reflectivity coating or a metal coating material to improve reflection efficiency. The first reflector 300 is fixed to the rotor 220 and rotates synchronously with the rotor, achieving a 360° scan of the environment. By optimizing the installation angle of the first reflector 300, the scanning range can be adjusted, improving detection accuracy.

[0045] The radar component 400 is used to transmit and receive laser signals. It can generate a laser beam of a specific wavelength and guide it to the first reflector 300. The first reflector 300 receives signals reflected back from the environment and measures parameters such as arrival time and intensity changes to calculate the distance and position of the target object.

[0046] The lidar provided in this application has the following technical effects:

[0047] Firstly, it reduces the mechanical transmission structure. Compared to traditional belt or gear drives, this embodiment uses a stator to directly drive the rotor, reducing additional mechanical parts and thus lowering the product's size and maintenance costs.

[0048] Secondly, it improves the scanning accuracy of the lidar. Since the rotor 220 directly drives the first reflector 300 to rotate, it reduces the vibration and errors caused by the fit clearance of mechanical transmission methods such as belts or gears, thereby improving the accuracy of data acquisition.

[0049] Thirdly, power consumption is reduced. This embodiment eliminates additional transmission components and uses a stator-driven rotor method, reducing the overall power consumption of the lidar and improving its battery life. This makes it particularly suitable for devices with high battery life requirements, such as intelligent robotic vacuum cleaners.

[0050] In some implementations, such as Figure 4 As shown, the rotor 220 includes a shaft 221 and a winding seat 222. The first end of the shaft 221 is rotatably connected to the stator 210, and the second end is connected to the first reflector 300. The winding seat 222 is located in the middle of the shaft 221, specifically in the axial middle of the shaft 221. A coil is wound on the winding seat 222, and the axial middle of the shaft 221 is located between the first and second ends of the shaft 221. In this embodiment, the winding seat 222, through a reasonable coil arrangement, makes the electromagnetic drive more efficient. Furthermore, through precise design, the number of mechanical transmission components can be reduced without adding extra structures, making the lidar more compact and improving the overall stability and reliability. Since the rotor 220 no longer relies on a complex mechanical transmission system when rotating, the system's energy consumption is reduced, improving the radar's working efficiency and endurance. The method of driving the stator 210 with the coil wound on the winding seat 222 after being energized reduces mechanical wear and friction, lowering operating noise. By combining the coil, winding base 222 and rotating shaft 221, and placing the winding base 222 in the middle of the axial direction of the rotating shaft 221, not only is space saved, but the overall structural compactness of the lidar is also improved.

[0051] This embodiment provides an improvement in the performance and stability of the lidar by simplifying the drive structure and optimizing the coil winding method. In this embodiment, the rotor 220 not only drives the rotation of the reflector but also forms a key part of the electromagnetic drive through the coil wound on the winding seat 222. The rotating shaft 221 can be a hollow or solid cylindrical structure, with one end rotatably connected to the stator 210 component via a bearing or other adaptable structure, and the other end connected to the back of the first reflector 300. The structure of the rotating shaft 221 needs to have good rigidity and stability to ensure the accuracy of the reflector rotation. It is usually made of metal or composite materials to ensure stability and wear resistance during long-term use. The winding seat 222 is located in the middle of the axial direction of the rotating shaft 221 and is designed to maintain the stable winding of the coil when the rotating shaft 221 rotates. The winding seat 222 is used to wind the coil, and its shape is suitable for winding the coil to ensure that the coil can be wound evenly. The coil wound on the winding base 222 is typically made of conductive copper wire. The number of coils and the winding method need to be designed based on factors such as the specific current, drive requirements, and rotational speed. The coil's function is to provide a magnetic field, which, in conjunction with the magnetic field changes of the stator 210, drives the rotation of the rotor 220, i.e., drives the rotation of the shaft 221 through the electromagnetic field provided by the stator 210. The connection between the second end of the shaft 221 and the first reflector 300 must ensure the stable rotation of the reflector. Therefore, a rigid connection is preferably used between the shaft 221 and the reflector to avoid loosening and vibration, thus preventing any impact on scanning accuracy during lidar operation. Common connection methods include, but are not limited to, snap-fit ​​connections, adhesive bonding, integral molding, or other mechanical locking methods.

[0052] Preferably, the first end of the rotating shaft 221 is rotatably connected to the stator 210 via a bearing. This rotatable connection can be achieved using a ball bearing, a sliding bearing, or a magnetic levitation bearing, etc. The inner and outer rings of the bearing are connected to the stator 210 and the rotating shaft 221, respectively, ensuring smooth rotation of the rotating shaft 221 under electromagnetic influence while maintaining minimal frictional resistance. The choice of bearing directly affects the rotational accuracy and stability of the rotating shaft 221; therefore, it is best to select a material with low friction and wear resistance to achieve efficient rotation.

[0053] In some embodiments, the stator 210 includes a base 211 and a magnet (not shown in the figure). The base 211 is sleeved on the winding seat 222. The base 211 is provided with a wiring portion 212 that is electrically connected to the coil. The magnet is disposed on the inner wall of the base 211 and surrounds the winding seat 222.

[0054] In this embodiment, the stator 210, serving as the electromagnetic drive component of the lidar, mainly consists of a base 211 and magnets. The base 211 is a crucial supporting component of the stator 210. The material of the base 211 can be chosen to be robust and durable, such as plastic, metal, or synthetic materials, ensuring no deformation during long-term use. The base 211 is designed to completely fit over the winding seat 222, avoiding direct exposure of the winding seat 222 and effectively improving structural stability and safety. Magnets surround the inner wall of the base 211, forming an electromagnetic field with the energized coil on the winding seat 222 to generate a driving force, propelling the rotation of the shaft 221 and the first reflector 300. To maximize the magnetic force, the magnets are typically made of high-permeability materials, such as neodymium iron boron (NdFeB) magnets or other high-efficiency magnetic materials. The magnets can be arranged in a ring around the winding seat 222, with the optimal magnetic field distribution selected based on design requirements. The inner diameter of the base 211 is slightly larger than the outer diameter of the winding seat 222 so that the base 211 can be fitted onto the outside of the winding seat 222. A certain gap can be provided between the base 211 and the winding seat 222 so that the rotating shaft 221 can rotate smoothly and avoid frictional wear.

[0055] The wiring portion 212 on the base 211 is electrically connected to the coil on the winding base 222 via a wire or flexible cable. The wiring portion 212 is a stationary component, and the coil on the winding base 222 is a rotating component. The two can be connected through a moving contact structure between the brush and the commutator / slip ring to ensure continuous energization during rotation. The specific moving contact connection method is applicable to the prior art and will not be described in detail here.

[0056] When energized, the coil on the winding base 222 interacts with the magnet on the base 211, creating an electromagnetic force. The magnetic field generated by the magnet interacts with the current in the coil, driving the rotation of the shaft 221. As the shaft 221 rotates, it drives the first reflector 300 to rotate, thereby changing the direction of the laser beam and achieving environmental scanning. By controlling the direction and magnitude of the current, the rotation of the rotor 220 can be precisely controlled, thus adjusting the scanning angle of the lidar. This embodiment, by placing the base 211 and magnet outside the winding base 222, provides a more compact and stable structural design. Compared with traditional drive systems, this solution reduces the number of transmission components, lowering the system's complexity and size. The arrangement of the magnets around the winding base 222 increases the uniformity and intensity of the electromagnetic force, thereby improving the lidar's driving efficiency. The combined design of the base 211 and magnets simplifies the manufacturing and assembly process of the stator 210, reducing redundant structures and components and improving production efficiency.

[0057] In some implementations, such as Figure 3As shown, the first reflector 300 has a first reflective plane 310, and the angle between the first reflective plane 310 and the axis of the rotating shaft 221 is α, where 0° < α < 90°. The laser beam emitted by the radar component 400 of the lidar is reflected by the first reflector 300 and exits the housing 100. The reflected laser signal is then reflected again by the first reflector 300 and received by the radar component 400. This process optimizes the emission and reception range of the laser by using the angle between the reflective plane and the rotating shaft 221, thereby achieving efficient environmental scanning.

[0058] The first reflector 300, a crucial component of the lidar system, primarily reflects laser light emitted from the lidar component 400, as well as laser light incident from the external environment. To ensure the laser beam scans at the required angle, this embodiment optimizes the reflection effect by adjusting the angle between the first reflector 300 and the axis of rotation 221. The first reflector 300 has a reflective plane that reflects the laser light during lidar operation. The reflective plane is typically made of a highly reflective mirror material, such as aluminum alloy or silver plating, ensuring effective laser reflection. The angle α between the reflective plane and the axis of rotation 221 is 0° < α < 90°, meaning the reflective plane is not parallel to the axis of rotation 221 and has an angle of inclination. This angle can be precisely calculated to ensure the scanning range and accuracy of the reflected laser beam. Different α values ​​can be used to achieve scanning in different ranges and directions; the specific angle setting depends on the design requirements of the lidar. In order to achieve the optimal working state of the lidar, a suitable angle is usually selected. Preferably, α is 45°, so that the axial or radial laser beam along the rotation axis 221 can be deflected and reflected by the first reflector 300.

[0059] In some implementations, such as Figure 2 , Figure 3 and Figure 5 As shown, the radar component 400 includes a laser emitter 410 capable of emitting laser light and a laser receiver 420 capable of receiving laser light. The housing 100 is connected to the stator 210 to form a mounting cavity. Both the laser emitter 410 and the laser receiver 420 are disposed within the mounting cavity, and both are connected to the end of the housing 100 away from the stator 210. This design ensures a compact structure for the lidar and optimizes the directionality and accuracy of laser emission and reception.

[0060] The laser emitter 410 is a device capable of emitting a laser beam, typically employing a semiconductor laser diode, a solid-state laser, or other laser emission technologies. Its function is to emit a laser beam, which is then reflected by a mirror and exits the lidar system for environmental scanning. The laser receiver 420 is a device used to receive reflected light signals from the external environment. The performance of the laser receiver 420 determines the accuracy of the reflected light and the receiving range of the lidar system; it typically employs technologies such as photodiodes and fiber optic sensors.

[0061] By positioning the laser emitter 410 and receiver at the end of the housing 100 away from the stator 210 and arranging them centrally, they can work with the first reflector 300 to deflect the laser beam. This allows the laser signal generation and reception directions to be along the axial direction of the rotating shaft 221, while the scanning direction can be in a plane perpendicular to the rotating shaft 221. This avoids excessive structural accumulation in the scanning plane, fully utilizes the internal space of the lidar, and makes the overall structure of the lidar more compact, facilitating integration into different devices or systems. Furthermore, the location of the laser emitter 410 and receiver at the end of the housing 100 away from the stator 210 effectively prevents electromagnetic interference between them and the coils on the stator 210 and rotor 220.

[0062] In some implementations, such as Figure 2 , Figure 3 and Figure 5 As shown, the lidar also includes a beam splitter 500 and a second reflector 600. Both the beam splitter 500 and the second reflector 600 are disposed within the mounting cavity. The laser emitted by the laser emitter 410 can be refracted by the beam splitter 500 and reflected by the first reflector 300 before exiting the housing 100. The laser emitted from outside the housing 100 can be reflected by the first reflector 300, the beam splitter 500, and the second reflector 600 before being received by the laser receiver 420.

[0063] In this embodiment, the lidar also includes a beam splitter 500 and a second reflector 600. These two devices work together with the aforementioned laser emitter 410, laser receiver 420, and first reflector 300 to further optimize the laser emission and reception process. Specifically, as... Figure 5 As shown, the laser emitted by the laser emitter 410 is directed towards the beam splitter 500. A portion of the laser is refracted through the beam splitter 500 and then directed towards the first reflector 300. After being reflected by the first reflector 300, the laser exits the housing 100. Simultaneously, the laser emitted from the outside is reflected by the first reflector 300 and then directed towards the beam splitter 500. A portion of the laser is then reflected by the beam splitter 500 and directed towards the second reflector 600. This portion of the laser is finally reflected by the second reflector 600 and received by the laser receiver 420.

[0064] Beam splitter 500 is an optical component capable of splitting a laser beam into multiple directions. In this embodiment, during the laser emission phase, the portion of the laser beam refracted by beam splitter 500 is utilized. That is, the function of beam splitter 500 at this time is to refract the laser emitted by laser emitter 410 to an appropriate direction, allowing it to exit the housing 100 after reflection by first reflector 300. During the laser reception phase, the portion of the laser beam reflected by beam splitter 500 is utilized. That is, the function of beam splitter 500 at this time is to guide the external laser beam reflected by first reflector 300 to the correct receiving path, so that laser receiver 420 can accurately receive the reflected laser signal.

[0065] The main function of the second reflector 600 is to reflect the incoming laser signal sequentially through the first reflector 300 and the beam splitter 500, and then further reflect it so that it can correctly enter the laser receiver 420. This design makes the receiving path of the lidar more accurate, ensuring that the direction of the signal received by the radar is as expected.

[0066] In some embodiments, the laser emitter 410 and the laser receiver 420 are arranged radially spaced apart on the rotor 220, and the beam splitter 500 and the second reflector 600 are both arranged axially on the rotor 220 between the laser emitter 410 and the first reflector 300. During the laser emission phase, the beam splitter 500 utilizes its transmission and refraction function; the incident and refracted light differ only slightly. Therefore, the laser emitter 410, beam splitter 500, and first reflector 300 can be arranged generally along the axial direction of the rotor 220, ensuring smooth transmission of the laser beam during emission. During the laser beam recovery phase, since the laser emitter 410 and the laser receiver 420 are arranged radially spaced apart on the rotor 220, the recovered light needs to be received by the laser receiver 420 with a certain radial offset. This process is achieved through the continuous reflection of the radially parallel beam splitter 500 and second reflector 600.

[0067] In some implementations, such as Figure 3 As shown, the beam splitter 500 has a second reflecting plane 510 on the side near the first reflecting mirror 300, and the angle between the second reflecting plane 510 and the rotation axis of the rotor 220 is β, 0° < β < 90°; the second reflecting mirror 600 has a third reflecting plane 610 on the side near the beam splitter 500, and the angle between the third reflecting plane 610 and the rotation axis of the rotor 220 is γ, 0° < γ < 90°.

[0068] During laser emission, the laser emitted by the laser emitter 410 is first refracted by the beam splitter 500 to ensure that the laser accurately reaches the first reflecting mirror 300. After being reflected by the first reflecting mirror 300, the laser enters the outer casing 100 for scanning. In this process, the transmission and refraction functions of the beam splitter 500 and the reflection function of the first reflecting mirror 300 work together to effectively guide the laser to the target direction. By rationally designing the angle β between the second reflecting plane 510 and the rotation axis of the rotor 220, the direction of the emitted laser can be controlled more precisely, ensuring the accuracy and efficiency of the emitted laser.

[0069] During laser recovery, the recovered laser light is reflected by the first reflecting mirror 300 and then enters the beam splitter 500. The beam splitter 500 reflects the laser light onto the second reflecting plane 510 of the second reflecting mirror 600. On the second reflecting mirror 600, the laser light is reflected again by the third reflecting plane 610 and finally enters the laser receiver 420. Due to the precise angles β and γ between the second reflecting plane 510 and the rotation axis of the rotor 220, and between the third reflecting plane 610 and the rotation axis of the rotor 220, the laser signal can be guided to the laser receiver 420 through a precise reflection path.

[0070] By appropriately setting the angles β and γ between the reflecting plane and the rotation axis of rotor 220, the emission and recovery guidance paths of the laser beam are precisely controlled, thereby greatly improving the optical path transmission efficiency during laser emission and recovery and reducing signal direction deviation. The specific angle settings of β and γ depend on the design requirements of the lidar. To achieve optimal working conditions for the lidar, a suitable angle is usually selected. Preferably, both β and γ can be chosen as 45°.

[0071] In some embodiments, the housing 100 is made of a light-transmitting material, which can effectively improve the performance of the lidar, especially in terms of optical transmission and signal reception. This design enables the lidar to efficiently transmit and receive laser signals without excessive physical barriers.

[0072] Light-transmitting materials typically possess good optical transmittance to ensure that the laser can smoothly pass through the housing 100 for both emission and transmission. Common light-transmitting materials include transparent plastics (such as PC and PMMA) or special optical glass, which have high light transmittance and low optical distortion, reducing light attenuation and distortion. The design of the housing 100, made of light-transmitting material, should be determined based on the actual application requirements of the lidar, taking into account factors such as the structure of the optical system, protection from the external environment, and the product's lifespan.

[0073] The mechanical radar provided in this application is applicable to various types of lidar application scenarios, especially in fields with high requirements for laser transmission, such as autonomous driving, robot navigation, drone obstacle avoidance, and indoor and outdoor environmental perception. Therefore, this application also protects products and equipment that use this laser, including but not limited to robotic vacuum cleaners, autonomous vehicles, and drones.

[0074] It should be understood that the terminology used herein is for the purpose of describing particular exemplary embodiments only and is not intended to be limiting. Unless the context clearly indicates otherwise, the singular forms “a,” “an,” and “described” as used herein may also include the plural forms. The terms “comprising,” “including,” “containing,” and “having” are inclusive and therefore indicate the presence of the stated features, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, steps, operations, elements, components, and / or combinations thereof. The method steps, processes, and operations described herein are not construed as requiring them to be performed in a particular order described or illustrated unless the order of performance is explicitly indicated. It should also be understood that additional or alternative steps may be used.

[0075] Although terms such as first, second, third, etc., may be used in this document to describe multiple elements, components, regions, layers, and / or segments, these elements, components, regions, layers, and / or segments should not be limited by these terms. These terms may be used only to distinguish one element, component, region, layer, or segment from another. Unless the context clearly indicates otherwise, terms such as "first," "second," and other numerical terms used herein do not imply order or sequence. Therefore, the first element, component, region, layer, or segment discussed below may be referred to as the second element, component, region, layer, or segment without departing from the teachings of the exemplary embodiments.

[0076] The above description is merely a specific embodiment of this application, enabling those skilled in the art to understand or implement this application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features claimed herein.

Claims

1. A lidar, comprising: The application relates to a laser radar, which comprises the following parts: a shell (100); a driving part (200) comprising a stator (210) and a rotor (220) rotatably installed in the stator (210), wherein the stator (210) is connected with the shell (100); a first reflector (300) connected with the rotor (220); a radar part (400) connected with the shell (100), wherein laser emitted by the radar part (400) can be reflected by the first reflector (300) and then emitted out of the shell (100), and laser emitted from outside the shell (100) can be reflected by the first reflector (300) and then received by the radar part (400).

2. The lidar of claim 1, wherein, The rotor (220) comprises a rotating shaft (221) and a winding seat (222), the first end of the rotating shaft (221) is rotatably connected with the stator (210), the second end of the rotating shaft (221) is connected with the first reflector (300), the winding seat (222) is arranged at the middle part of the rotating shaft (221), a coil is wound on the winding seat (222), and the middle part of the rotating shaft (221) is located between the first end and the second end of the rotating shaft (221).

3. The lidar of claim 2, wherein, The stator (210) comprises a base (211) and a magnet, the base (211) is sleeved on the winding seat (222), the base (211) is provided with a wiring part (212) electrically connected with the coil, and the magnet is arranged on the inner wall of the base (211) and surrounds the winding seat (222).

4. The lidar of claim 2, wherein, The first reflector (300) is provided with a first reflecting plane (310), the included angle between the first reflecting plane (310) and the axis of the rotating shaft (221) is alpha (0°< alpha < 90°).

5. The lidar of claim 1, wherein, The radar part (400) comprises a laser emitter (410) capable of emitting laser and a laser receiver (420) capable of receiving laser, the shell (100) and the stator (210) are connected to form an installation cavity, the laser emitter (410) and the laser receiver (420) are arranged in the installation cavity, and the laser emitter (410) and the laser receiver (420) are connected to the end of the shell (100) away from the stator (210).

6. The lidar of claim 5, wherein, The laser radar further comprises a beam splitter (500) and a second reflector (600), the beam splitter (500) and the second reflector (600) are arranged in the installation cavity, laser emitted by the laser emitter (410) can be refracted by the beam splitter (500) and then reflected by the first reflector (300) and emitted out of the shell (100), and laser emitted from outside the shell (100) can be sequentially reflected by the first reflector (300), the beam splitter (500) and the second reflector (600) and then received by the laser receiver (420).

7. The lidar of claim 6, wherein, The laser transmitter (410) and the laser receiver (420) are arranged in a radial direction of the rotor (220), and the beam splitter (500) and the second reflector (600) are arranged between the laser transmitter (410) and the first reflector (300).

8. The lidar of claim 7, wherein, The beam splitter (500) is provided with a second reflecting plane (510) on a side close to the first reflector (300), and an angle between the second reflecting plane (510) and the rotation axis of the rotor (220) is β, 0°<β<90°. The second reflector (600) is provided with a third reflecting plane (610) on a side close to the beam splitter (500), and an angle between the third reflecting plane (610) and the rotation axis of the rotor (220) is γ, 0°<γ<90°.

9. The lidar of claim 1, wherein, The shell (100) is made of a light-transmitting material.

10. A robot vacuum cleaner characterised in that, The lidar comprises the laser radar according to any one of claims 1-9.

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