Laser radar detection device and self-moving cleaning robot

Abstract

This utility model discloses a lidar detection device and a self-propelled cleaning robot. The lidar detection device includes a base, a lidar detector, and a drive module. A first connector is provided on one side of the lidar detector in a first direction. The drive module is arranged side by side with the lidar detector in the first direction and includes a drive unit, a transmission mechanism, and a second connector. The second connector is fixedly connected to the first connector. The drive unit is driven by the transmission mechanism to drive the second connector to move, thereby moving the lidar detector relative to the base in a second direction. In this utility model, through the optimized design of the drive module layout, the overall size of the lidar detection device in the vertical direction is effectively reduced. The lidar detection device has a more compact structure and smaller size in the vertical direction, making it easier for the self-propelled cleaning robot to pass through low areas such as under furniture, thus expanding the cleaning area of ​​the self-propelled cleaning robot.

Description

Technical Field

[0001] This utility model relates to the field of cleaning equipment technology, specifically to a lidar detection device and a self-moving cleaning robot. Background Technology

[0002] In the field of cleaning equipment technology, self-propelled cleaning robots (such as sweeping robots, mopping robots, and floor cleaning robots) often use lidar detection devices to achieve environmental perception and navigation. In order to improve the mobility of self-propelled cleaning robots in low-ceilinged spaces and increase the area they can clean, the radar detector in the lidar detection device is usually set up in a height-adjustable manner relative to the robot body.

[0003] In existing technologies, the lifting drive mechanism that drives the lidar detector to move up and down is usually located at least partially at its bottom, resulting in an overly large vertical dimension of the entire lidar detection device. This structural defect is particularly prominent for self-propelled cleaning robots: firstly, the increased height of the lidar detection device makes it difficult for the self-propelled cleaning robot to access low spaces such as under furniture and beds, thus limiting the cleaning area; secondly, arranging the drive mechanism at the bottom easily leads to redundancy in the internal structure of the self-propelled cleaning robot, occupying extra space and affecting the compact layout of other components. Utility Model Content

[0004] To address the aforementioned technical problems, the main objective of this utility model is to provide a laser radar detection device and a self-moving cleaning robot that are smaller in size and more compact in the vertical direction, facilitating passage.

[0005] To achieve the above objectives, this utility model provides a lidar detection device, comprising:

[0006] seat body;

[0007] A radar detector, mounted on a base, has a first connector on one side in a first direction; and,

[0008] A drive module is installed on the base and arranged side by side with the radar detector in a first direction. The drive module includes a drive device, a transmission mechanism, and a second connecting member. The second connecting member is fixedly connected to the first connecting member. The drive device is driven to move the second connecting member through the transmission mechanism, thereby driving the radar detector to move relative to the base in a second direction.

[0009] Optionally, when the radar detector moves along the second direction to a position relatively close to the base, in a projection view along the first direction, the outer contour of the drive module is located within the outer contour range of the radar detector in the second direction.

[0010] Optionally, the transmission mechanism includes a lead screw and a nut, the lead screw extending along a second direction, the nut being threadedly engaged with the lead screw, the driving device being drivenly connected to the lead screw to drive the lead screw to rotate, and the second connecting member being disposed on the nut.

[0011] Optionally, the drive module further includes a mounting plate and is fixed to the base body via the mounting plate. The drive device and the transmission mechanism are respectively mounted on the mounting plate. A first guide post extending in a second direction is fixed on the mounting plate. The first guide post passes through the nut and slides with the nut.

[0012] Optionally, the driving device is a motor, which includes a base and an output shaft. The base is fixed on the mounting plate. The transmission mechanism also includes a reduction gear set. The output shaft is driven to the lead screw through the reduction gear set to drive the lead screw to rotate.

[0013] Optionally, the mounting plate has a first side and a second side that are arranged opposite to each other in a second direction. The lead screw passes through the mounting plate in the second direction and has a first section protruding from the first side and a second section protruding from the second side. The nut is sleeved on the first section. The base is disposed on the first side. The output shaft protrudes from the second side and extends in the second direction. The output shaft and the second section are arranged side by side in a third direction. The reduction gear set is disposed between the output shaft and the second section.

[0014] Optionally, the second connector is integrally formed with the nut.

[0015] Optionally, the second connector includes a first clip and a second clip spaced apart in a second direction, with the first connector at least partially clamped between the first clip and the second clip.

[0016] Optionally, the second connector further includes a cushioning pad disposed between the first connector and the first clip and / or the second clip.

[0017] Optionally, the radar detector includes a base and a radar module mounted on the base, the base being slidably mounted on the seat body along a second direction, and the first connector being integrally formed with the base.

[0018] Optionally, a plurality of second guide posts extending along a second direction are fixed on the base, and a plurality of guide sleeves are provided on the base. The plurality of guide sleeves are distributed at intervals along the circumferential direction on the outer periphery of the radar module, and the plurality of guide sleeves correspond one to one and are slidably fitted onto the plurality of second guide posts.

[0019] Optionally, the lidar detection device further includes a blocking component and a photoelectric detection module. The blocking component is disposed on the base, and the photoelectric detection module is disposed on the base body and includes two photoelectric sensors spaced apart in the second direction. When the blocking component moves to its limit position in the second direction, it blocks the light path of either photoelectric sensor to trigger a signal to control the drive device to stop working.

[0020] To achieve the above objectives, this utility model provides a self-moving cleaning robot, comprising: the laser radar detection device as described above.

[0021] This utility model provides a lidar detection device, including a base, a radar detector, and a drive module. The radar detector is mounted on the base and has a first connecting member on one side in a first direction. The drive module is arranged side-by-side with the radar detector in the first direction and includes a drive device, a transmission mechanism, and a second connecting member. The second connecting member is fixedly connected to the first connecting member. The drive device is driven by the transmission mechanism to drive the second connecting member to move, thereby moving the radar detector relative to the base along a second direction. The second direction extends vertically, and the first direction is perpendicular to the second direction.

[0022] In the embodiments provided by this utility model, the overall size of the lidar detection device in the second direction (i.e., the vertical direction) is effectively reduced through optimized design of the drive module layout. The lidar detection device has a more compact structure and smaller size in the vertical direction, making it easier for the self-moving cleaning robot to pass through low areas such as under furniture, thus expanding the cleaning area of ​​the self-moving cleaning robot. At the same time, the drive module has a simple and compact structure, does not occupy extra space, and allows other components in the self-moving cleaning robot to be installed more compactly. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0024] Figure 1 A three-dimensional structural schematic diagram of an embodiment of the lidar detection device provided by this utility model;

[0025] Figure 2 for Figure 1 A three-dimensional structural diagram of a lidar detection device, in which part of the base is not shown;

[0026] Figure 3 for Figure 2 A three-dimensional structural diagram of the middle drive module and the second connector;

[0027] Figure 4 for Figure 3 A three-dimensional structural diagram of the middle drive module and the second connector from another perspective;

[0028] Figure 5 for Figure 2 A three-dimensional structural diagram of the lidar detection device from another perspective;

[0029] Figure 6 for Figure 5 A three-dimensional exploded view of the lidar detection device.

[0030] Explanation of icon numbers:

[0031] 100-LiDAR detection device; 10-Base; 11-Second guide post; 12-Photoelectric detection module; 121-Photoelectric sensor; 20-Radar detector; 21-Radar module; 22-Base; 221-Shielding component; 222-Guide sleeve; 23-First connector; 30-Drive module; 31-Drive device; 311-Motor; 312-Base; 32-Transmission mechanism; 321-Lead screw; 3211-First section; 3212-Second section; 322-Nut; 323-Mounting plate; 324-First guide post; 325-Reduction gear set; 33-Second connector; 331-First clamping plate; 332-Second clamping plate; 333-Buffer pad.

[0032] The realization of the purpose, functional characteristics and excellent effects of this utility model will be further explained below in conjunction with specific embodiments and accompanying drawings. Detailed Implementation

[0033] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0034] It should be noted that if the embodiments of this utility model involve directional indication, the directional indication is only used to explain the relative positional relationship and movement of each component in a specific posture. If the specific posture changes, the directional indication will also change accordingly.

[0035] Furthermore, if the embodiments of this utility model involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the meaning of "and / or" throughout the text includes three parallel solutions; for example, "A and / or B" includes solution A, solution B, or a solution where both A and B are satisfied simultaneously. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this utility model.

[0036] Please see Figures 1 to 6 This utility model provides a laser radar detection device 100 and a self-moving cleaning robot. A self-moving cleaning robot is a cleaning device that can move autonomously according to a preset route or program and perform cleaning work at the same time. Specifically, it can be a sweeping robot, a sweeping and mopping robot, etc.

[0037] In this embodiment, the self-propelled cleaning robot includes at least a body, and a cleaning device, a walking drive device 31, and a lidar detection device 100 mounted on the body. The cleaning device cleans the surface to be cleaned, the walking drive device 31 drives the self-propelled cleaning robot to move, and the lidar detection device 100 enables perception and navigation of the surrounding environment. Specifically, the lidar detection device 100 can obtain relevant data about the surrounding environment, allowing the self-propelled cleaning robot to be controlled based on this data. For example, it can control the self-propelled cleaning robot to avoid obstacles based on the surrounding environment data, and it can also control the self-propelled cleaning robot to move to areas with accumulated dirt for localized cleaning.

[0038] In this embodiment, please refer to Figure 1 and Figure 2 The lidar detection device 100 includes a base 10, a lidar detector 20, and a drive module 30. The base 10 serves to support and fix the various components of the lidar detection device 100. Its shape and material are not limited. The lidar detection device 100 can be installed by connecting and fixing the base 10 to the machine body.

[0039] It should be noted that in this invention, the first direction, the second direction, and the third direction are perpendicular to each other. Generally, the radar detector 20 includes a rotatably mounted radar module 23 to achieve panoramic navigation, and its rotation angle is not limited. The extension direction of the rotation axis of the radar module 23 is the second direction in this invention. When the self-moving cleaning robot is performing normal cleaning work, the second direction extends in the vertical direction. It should be noted that this vertical direction is approximately perpendicular to the surface to be cleaned; that is, when the surface to be cleaned is a horizontal plane, the vertical direction is approximately parallel to the direction of gravity. At this time, the first direction and the third direction are approximately parallel to the horizontal direction and perpendicular to each other.

[0040] Both the radar detector 20 and the drive module 30 are mounted on the base 10. The radar detector 20 is movably disposed relative to the base 10 at least in the second direction. Preferably, the lidar is movably mounted relative to the base 10 in the second direction and is driven to rise or fall by the drive module 30.

[0041] When the self-propelled cleaning robot is operating normally, the radar detector 20 can rise along the second direction to a position relatively far away from the base 10. At this time, the upper end of the radar detector 20 moves upward to protrude from the upper side of the robot body, so as to achieve detection at a greater distance. When the self-propelled cleaning robot needs to pass through low-lying areas, the radar detector 20 descends to a position relatively close to the base 10. At this time, the upper end of the radar detector 20 is flush with the upper side of the robot body, or only protrudes slightly from the upper side of the robot body.

[0042] In this embodiment, please refer to Figure 2 and Figure 5 The radar detector 20 has a first connector 21 on one side in the first direction. The drive module 30 is arranged side by side with the radar detector 20 in the first direction. The drive module 30 includes a drive device 31, a transmission mechanism 32, and a second connector 33. The specific connection structure between the second connector 33 and the first connector 21 is not limited, as long as a reliable connection and fixation between the two can be achieved. For example, they can be welded, screwed, or glued. The drive device 31 is connected to the second connector 33 through the transmission mechanism 32 to drive the second connector 33 to move, thereby moving the radar detector 20 relative to the base 10 in the second direction.

[0043] The drive unit 31 provides a power source and may include a motor 311 or a cylinder. If a motor 311 is used as the drive unit 31, the moving speed of the radar detector 20 can be precisely controlled by adjusting the speed of the motor 311. If a cylinder is used, smooth driving can be achieved through air pressure regulation. The direction of movement and the stroke of the radar detector 20 can also be switched by controlling the aforementioned drive unit 311, such as the motor or cylinder.

[0044] The transmission mechanism 32 can have various specific structures. Its function is to transmit the power of the drive device 31 to the first connecting member 21, so that the first connecting member 21 moves relative to the seat 10 in a first direction. For example, it can be a linkage slider mechanism, a lead screw nut 322 mechanism, a gear and rack mechanism, etc. In this way, the first connecting member 21 drives the second connecting member 33, which is fixed to it, to move in a second direction, thereby causing the radar detector 20 to move relative to the seat 10.

[0045] Specifically, the drive module 30 is also mounted on the base 10 and arranged side-by-side with the radar detector 20 in the first direction. That is, all components of the drive module 30 avoid the end space of the radar detector 20 in the second direction (i.e., the vertical direction), meaning the drive module 30 does not occupy the end space of the radar detector 20 in the second direction. Preferably, the size of the drive module 30 in the second direction is less than or equal to that of the radar detector 20, and when the radar detector 20 moves along the second direction to a position relatively close to the base 10, in a projection view along the first direction, the outer contour of the drive module 30 is within the range of the outer contour of the radar detector 20 in the second direction; that is, the upper end of the drive module 30 does not exceed the upper end of the radar detector 20, and the lower end of the drive module 30 does not exceed the lower end of the radar detector 20.

[0046] In this embodiment, by optimizing the layout of the drive module 30, the overall size of the lidar detection device 100 in the second direction (i.e., the vertical direction) is effectively reduced. The lidar detection device 100 has a more compact structure and smaller size in the vertical direction, making it easier for the self-moving cleaning robot to pass through low areas such as under furniture, thus expanding the cleaning area of ​​the self-moving cleaning robot. At the same time, the drive module 30 has a simple and compact structure, does not occupy extra space, and allows other components in the self-moving cleaning robot to be installed more compactly.

[0047] Please continue reading. Figures 2 to 4In this embodiment, the transmission mechanism 32 includes a lead screw 321 and a nut 322. The lead screw 321 extends along a second direction, and the nut 322 is threadedly engaged with the lead screw 321. The drive device 31 is driven by the lead screw 321 to drive the lead screw 321 to rotate. A second connecting member 33 is disposed on the nut 322. Specifically, the lead screw 321 can be fixedly mounted on the base 10 via bearings, and the nut 322 is sleeved on the lead screw 321, forming a threaded transmission pair with the lead screw 321. The output shaft of the drive device 31, such as a motor 311, can be connected to the lead screw 321 via a coupling structure or a gear transmission structure. When the motor 311 rotates, it drives the lead screw 321 to rotate. The nut 322 moves along the lead screw 321 due to the threaded transmission, and then drives the radar detector 20 to move in the vertical direction relative to the base 10 via the second connecting member 33. In this embodiment, the threaded engagement refers to the meshing transmission between the internal thread of the nut 322 and the external thread of the lead screw 321. In addition, a ball screw pair 321 can be used to improve transmission efficiency. The lead screw 321 transmission features high precision, smooth transmission, and good self-locking properties, which can accurately control the movement position of the radar detector 20. At the same time, the transmission mechanism 32 has a compact structure, occupies little space, and is easy to integrate with other components of the drive module 30.

[0048] Furthermore, the drive module 30 also includes a mounting plate 323, which is fixed to the base 10. The drive device 31 and the transmission mechanism 32 are mounted on the mounting plate 323. Preferably, the thickness direction of the mounting plate 323 is parallel to the second direction, and the bearing of the mounting screw 321 is disposed on the mounting plate 323. Preferably, the mounting plate 323 can be detachably connected to the base 10 by bolts to facilitate the maintenance or replacement of the drive module 30. A first guide post 324 extending along the second direction is fixed on the mounting plate 323. The first guide post 324 passes through the nut 322 and slides with the nut 322. Specifically, the mounting plate 323 is fixed to the side of the base 10 in the first direction, the first guide post 324 is arranged parallel to the screw 321, passes through and is fixed on the mounting plate 323, and the nut 322 has a through hole for the first guide post 324 to pass through, forming a sliding guide structure. In this embodiment, the mounting plate 323 provides support and fixation for the drive module 30, and the first guide post 324 restricts the rotation of the nut 322, so that the nut 322 moves only in the second direction under the drive of the lead screw 321, thereby improving the smoothness of the movement of the radar detector 20. The guide post prevents the nut 322 from deflecting during transmission, improving the motion accuracy. At the same time, the integrated mounting method of the mounting plate 323 makes the drive module 30 more compact, facilitating overall assembly and maintenance.

[0049] In an alternative embodiment, please continue to refer to Figure 3 and Figure 4The drive device 31 is a motor 311, which includes a base 312 and an output shaft. The base 312 is fixed on the mounting plate 323. The transmission mechanism 32 also includes a reduction gear set 324. The output shaft is driven by the reduction gear set 324 to drive the lead screw 321 to rotate. Specifically, the base 312 is fixed to one side of the mounting plate 323 by bolts, and the output shaft extends to the other side of the mounting plate 323. The reduction gear set 324 consists of a driving gear, a driven gear, and at least one stage of transmission gear. The driving gear is fixed on the output shaft, and the driven gear is fixed to one end of the lead screw 321. The two are transmitted through the meshing of the transmission gear. The reduction gear set 324 can reduce the speed of the motor 311 and increase the torque to meet the transmission needs of the lead screw 321. The specific structure of the transmission gear can be designed according to the load requirements. In this embodiment, the reduction gear set 324 enables the motor 311 to operate at a more reasonable speed, improves the transmission torque, ensures that the radar detector 20 has sufficient driving force during its movement in the second direction, and at the same time reduces the impact of movement and extends the service life of the device drive module 30.

[0050] Furthermore, the mounting plate 323 has a first side and a second side arranged opposite to each other in a second direction. The lead screw 321 passes through the mounting plate 323 in the second direction and has a first section 3211 protruding from the first side and a second section 3212 protruding from the second side. The nut 322 is sleeved on the first section 3211. The base 312 is disposed on the first side. The output shaft protrudes from the second side and extends in the second direction. The output shaft and the second section 3212 are arranged side by side in a third direction. The reduction gear set 324 is disposed between the output shaft and the second section 3212, located on the side of the mounting plate 323 closer to the second side. Specifically, the mounting plate 323 has a plate-like structure. The lead screw 321 passes through the bearing disposed on the mounting plate 323, and its two ends protrude from the first side and the second side respectively. Both the first section 3211 and the second section 3212 are provided with external threads. The nut 322 is installed on the first section 3211, and the driven gear is fixed on the second section 3212. The motor 311 has its base 312 fixed on the first side, and its output shaft extends from the second side of the mounting plate 323, arranged in parallel with the second section 3212 of the lead screw 321 in a third direction. A reduction gear set 324 is located between the two, and transmission is achieved through gear meshing. Here, the third direction refers to the direction that is perpendicular to both the first and second directions.

[0051] In this embodiment, the design of the mounting plate 323 allows the two ends of the lead screw 321 to extend out to both sides of the mounting plate 323. The base of the motor 311 and the reduction gear set 324 are also distributed on both sides of the mounting plate 323, forming a compact spatial layout. This dual-sided layout makes full use of the space on both sides of the mounting plate 323 and utilizes the space in the third direction, avoiding the size superposition of the drive module 30 in the second direction, further reducing the overall outer diameter of the lidar detection device 100, making it easier to integrate into the self-moving cleaning robot.

[0052] Based on the above embodiments, please refer to Figure 3 and Figure 4 The second connecting member 33 and the nut 322 are integrally formed. Thus, by utilizing an integral forming process, the second connecting member 33 and the nut 322 become a single unit. The movement of the nut 322 directly drives the movement of the second connecting member 33, thereby driving the radar detector 20 to move along the second direction. The integrally formed structure eliminates the assembly gap between the nut 322 and the second connecting member 33, improving transmission rigidity and reliability, reducing the number of parts, simplifying the assembly process, and enhancing structural strength.

[0053] The specific structure of the second connector 33 can be adapted to the first connector 21. In this embodiment, for example... Figure 4 As shown, the second connector 33 includes a first clamping piece 331 and a second clamping piece 332 spaced apart in a second direction. The first connector 21 is at least partially clamped between the first clamping piece 331 and the second clamping piece 332. Specifically, the first clamping piece 331 and the second clamping piece 332 are arranged in parallel, forming a clamping space between them. The end of the first connector 21 is inserted into this clamping space and is tightly pressed and fixed by the first clamping piece 331 and the second clamping piece 332. Preferably, to accommodate first connectors 21 of different thicknesses, the spacing between the first clamping piece 331 and the second clamping piece 332 can be designed to be adjustable. The clamping connection structure facilitates the installation and disassembly of the first connector 21 and the second connector 33, and can accommodate first connectors 21 of different shapes and sizes, improving the versatility of the drive module 30. At the same time, the clamping connection method has high reliability, ensuring the stability of power transmission.

[0054] Preferably, the second connector 33 further includes a buffer pad 333, which is disposed between the first connector 21 and the first clamping piece 331 and / or the second clamping piece 332. In specific implementations, the buffer pad 333 can be made of materials such as rubber, silicone, or elastic plastic. It can be fitted onto the outside of the first clamping piece 331 and / or the second clamping piece 332, or onto the outer periphery of the first connector 21, or clamped and fixed to the contact surface between the first connector 21 and the first clamping piece 331 and / or the second clamping piece 332. In this embodiment, the buffer pad 333 is used to absorb vibrations and impacts during movement and to increase the clamping force between the first connector 21 and the second connector 33. When the radar detector 20 moves, the buffer pad 333 provides elastic cushioning between the clamping piece and the first connector 21, reducing the impact force caused by movement start-stop or collision, and reducing vibration and noise during the operation of the drive module 30.

[0055] Based on any of the above embodiments, a limiting structure is further provided between the radar detector 20 and the base 10 to limit the movement of the radar detector 20 relative to the base 10 to only the second direction. Specifically, please refer to... Figure 5 and Figure 6 The radar detector 20 includes a base 22 and a radar module 23 mounted on the base 22. The base 22 is slidably mounted on the seat 10 along a second direction, and a first connecting member 21 is integrally formed with the base 22. Optionally, the radar module 23 is fixed to the upper side of the base 22 by bolts. A guide sleeve 222 is also formed on the base 22, and the guide sleeve 222 slides with a second guide post 11 on the seat 10 to achieve sliding along the second direction. The first connecting member 21 extends from the side of the base 22 in the first direction and is integrally formed with the base 22 by injection molding or casting. In this embodiment, the base 22 serves as the mounting carrier for the radar module 23. The guide sleeve 222 slides up and down relative to the seat 10 through the cooperation of the second guide post 11. The first connecting member 21 moves synchronously with the base 22 and connects with the second connecting member 33 on the drive module 30, thereby realizing the movement of the radar detector 20. The design of the base 22 makes the installation of the radar module 23 more stable, the one-piece first connector 21 enhances the structural strength, and the cooperation between the guide sleeve 222 and the guide post ensures the smoothness and accuracy of the sliding of the radar detector 20 relative to the seat 10.

[0056] Preferably, a plurality of second guide posts 11 extending along a second direction are fixed on the base 10, and a plurality of guide sleeves 222 are provided on the base 22. The guide sleeves 222 are spaced apart circumferentially around the outer periphery of the radar module 23 and are slidably fitted onto the plurality of second guide posts 11. The circumferential spacing means that the guide sleeves 222 are arranged at intervals around the radar module 23 in its outer periphery. Preferably, more than three guide posts can be provided to ensure the smooth sliding of the base 10. In this embodiment, a multi-point support guide structure is formed by the plurality of second guide posts 11 and the plurality of guide sleeves 222. When the base 22 moves along the second direction, each guide sleeve 222 slides on the corresponding guide post to prevent the base 22 from shaking or deflecting. This improves the stability of the radar detector 20 during movement and prevents jamming caused by its off-center loading.

[0057] Furthermore, such as Figure 5 and Figure 6 As shown, the lidar detection device 100 also includes a shielding component 221 and a photoelectric detection module 12. The shielding component 221 is mounted on the base 22, and the photoelectric detection module 12 is mounted on the base 10 and includes two photoelectric sensors 121 spaced apart in the second direction. When the shielding component 221 moves to its limit position in the second direction, that is, when the radar detector 20 moves to its limit position in the vertical direction, the shielding component 221 blocks the optical path of the corresponding photoelectric sensor, triggering a signal to stop the control drive device 31. Specifically, the shielding component 221 is a sheet-like structure that protrudes from one side of the base 22 and moves vertically with the base 22. The two photoelectric sensors 121 are respectively positioned at the upper and lower limit positions of the shielding component 221 as it moves in the second direction, emitting and receiving infrared or visible light signals. When the radar detector 20 moves to the upper and lower limit positions, the shielding component 221 blocks the optical path, and the sensor sends a signal to stop the motor 311, thus limiting the radar detector 20 to the limit position in the vertical direction. In this embodiment, the cooperation between the photoelectric detection module 12 and the shielding component 221 enables precise control and stable positioning of the radar detector 20 along the second direction.

[0058] The above description is only a preferred embodiment of the present utility model and does not limit the patent scope of the present utility model. Any equivalent structure made using the contents of the present utility model specification and drawings, or directly or indirectly applied to other related technical fields, are similarly included within the patent protection scope of the present utility model.

Claims

1. A laser radar detection device (100), characterized in that include: base(10); A radar detector (20) is mounted on a mounting body (10), and the radar detector (20) has a first connector (21) on one side in a first direction; and, A drive module (30) is installed on the base (10) and arranged side by side with the radar detector (20) in a first direction. The drive module (30) includes a drive device (31), a transmission mechanism (32), and a second connector (33). The second connector (33) is connected and fixed to the first connector (21). The drive device (31) is connected to the second connector (33) through the transmission mechanism (32) to drive the second connector (33) to move and drive the radar detector (20) to move relative to the base (10) in a second direction.

2. The lidar probing device (100) of claim 1, characterized by When the radar detector (20) moves along the second direction to a position relatively close to the seat (10), in a projection view along the first direction, the outer contour of the drive module (30) is located within the outer contour range of the radar detector (20) in the second direction.

3. The lidar probing device (100) of claim 1, characterized by The transmission mechanism (32) includes a lead screw (321) and a nut (322). The lead screw (321) extends along a second direction. The nut (322) is threadedly engaged with the lead screw (321). The driving device (31) is drivenly connected to the lead screw (321) to drive the lead screw (321) to rotate. The second connecting member (33) is disposed on the nut (322).

4. The lidar probing device (100) according to claim 3, characterized in that The drive module (30) also includes a mounting plate (323) and is fixed to the base (10) by the mounting plate (323). The drive device (31) and the transmission mechanism (32) are respectively mounted on the mounting plate (323). A first guide post (324) extending in the second direction is fixed on the mounting plate (323). The first guide post (324) passes through the nut (322) and slides with the nut (322).

5. The lidar probing device (100) according to claim 4, characterized in that The driving device (31) is a motor (311), which includes a base (312) and an output shaft. The base (312) is fixed on the mounting plate (323). The transmission mechanism (32) also includes a reduction gear set (324). The output shaft is driven to the lead screw (321) through the reduction gear set (324) to drive the lead screw (321) to rotate.

6. The lidar probing device (100) of claim 5, characterized by The mounting plate (323) has a first side and a second side that are arranged opposite to each other in a second direction. The lead screw (321) passes through the mounting plate (323) in the second direction and has a first section (3211) protruding from the first side and a second section (3212) protruding from the second side. The nut (322) is sleeved on the first section (3211). The base (312) is disposed on the first side. The output shaft protrudes from the second side and extends in the second direction. The output shaft and the second section (3212) are arranged side by side in a third direction. The reduction gear set (324) is disposed between the output shaft and the second section (3212).

7. The ladar probe (100) of claim 3, wherein, The second connector (33) is integrally formed with the nut (322).

8. The ladar probe (100) of claim 3, wherein, The second connector (33) includes a first clip (331) and a second clip (332) spaced apart in a second direction, and the first connector (21) is at least partially clamped between the first clip (331) and the second clip (332).

9. The ladar probe device (100) of claim 8, wherein, The second connector (33) further includes a buffer pad (333) disposed between the first connector (21) and the first clip (331) and / or the second clip (332).

10. The lidar detection apparatus (100) according to any one of claims 1 to 9, characterized in that The radar detector (20) includes a base (22) and a radar module (23) mounted on the base (22). The base (22) is slidably mounted on the seat body (10) along a second direction. The first connector (21) is integrally formed with the base (22).

11. The ladar probe device (100) of claim 10, wherein, The base (10) is fixed with a plurality of second guide posts (11) extending along the second direction. The base (22) is provided with a plurality of guide sleeves (222). The plurality of guide sleeves (222) are distributed at intervals along the circumferential direction on the outer periphery of the radar module (23). The plurality of guide sleeves (222) correspond one to one and are slidably sleeved on the plurality of second guide posts (11).

12. The lidar detection device (100) as described in claim 10, characterized in that, The lidar detection device (100) further includes a shielding component (221) and a photoelectric detection module (12). The shielding component (221) is disposed on the base (22), and the photoelectric detection module is disposed on the seat (10) and includes two photoelectric sensors (121) spaced apart in the second direction. When the shielding component (221) moves to the limit position in the second direction, it blocks the light path of either photoelectric sensor to trigger a signal to control the drive device (31) to stop working.

13. A self-moving cleaning robot, characterized in that, Includes the lidar detection device (100) as described in any one of claims 1 to 12.

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