Laser detection module and self-moving robot

Abstract

The utility model discloses a kind of laser detection module and self-moving robot, laser detection module includes seat, laser radar assembly and drive assembly, wherein laser radar assembly is relatively movably installed in seat in axial direction, drive assembly is installed seat in seat, and it is set at the outer circumferential position of laser radar assembly, laser radar assembly is driven by drive device and transmission mechanism and is relatively close or far away seat along axial direction.This utility model, by the optimization design of drive assembly layout, effectively reduce the overall size of laser detection module in axial direction, reduce its space occupation in up-down direction, can make self-moving robot more easily pass through low area such as furniture bottom, expand cleaning area range, while drive assembly structure is simple and compact, does not occupy additional space, so that other components in self-moving robot can be more compactly installed.

Description

Technical Field

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

[0002] In the field of cleaning equipment technology, self-moving robots (such as sweeping robots, mopping robots, and floor cleaning robots) often use laser detection modules to achieve environmental perception and navigation. In order to improve the mobility of self-moving robots in low-ceilinged spaces and increase the cleaning area of ​​self-moving robots, the lidar component is usually set up in a height-adjustable manner relative to the body.

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

[0004] In order to solve the above-mentioned technical problems, the main purpose of this utility model is to provide a laser detection module and self-moving robot that is smaller in size in the vertical direction, more compact in structure, and more conducive to movement in low-ceiling spaces.

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

[0006] seat body;

[0007] The lidar assembly is mounted on the base; and,

[0008] A drive assembly is mounted on the base and disposed on the outer periphery of the lidar assembly. The drive assembly includes a drive device and a transmission mechanism. One end of the drive device is drivenly connected to the transmission mechanism, and the other end of the transmission mechanism is connected to the lidar assembly, so that the lidar assembly can move axially closer to or further away from the base under the drive of the drive device.

[0009] Optionally, when the lidar assembly is located relatively close to the base, in a radially projected view, the outer contour of the drive assembly is axially within the range of the outer contour of the lidar assembly.

[0010] Optionally, the transmission mechanism includes a linkage structure and a slider. The slider is fixed on the lidar assembly and is slidably engaged with the base along the axis. The linkage structure has a driving end and an actuating end. The driving device is drivenly connected to the driving end, and the actuating end is connected to the slider, so that when the driving device drives the driving end to rotate, it drives the slider to slide along the axis.

[0011] Optionally, the linkage structure includes a rocker arm and a driven rod. One end of the rocker arm constitutes the driving end and is driven to swing by the driving device. The other end of the rocker arm is rotatably connected to one end of the driven rod. The other end of the driven rod, which is relatively far away from the rocker arm, constitutes the actuating end and is rotatably connected to the slider.

[0012] Optionally, the base is provided with a guide portion, and the lidar assembly is provided with a guide mating portion. The guide portion and the guide mating portion are slidably engaged, so that the lidar assembly can be slidably mounted on the base along the axial direction.

[0013] Optionally, the seat body forms a cavity, and the lidar assembly is at least partially housed within the cavity. The cavity has a peripheral wall surrounding the outer periphery of the lidar assembly. The guide portion is disposed on the peripheral wall, and the guide mating portion is disposed on the periphery of the lidar assembly. One of the guide portion and the guide mating portion is an axially extending groove, and the other is a protrusion slidably embedded in the groove.

[0014] Optionally, a groove extending axially is provided on the peripheral wall, the slider protrudes from the periphery of the lidar assembly and passes through the groove, and the end of the slider that exits the cavity from the groove is rotatably connected to the connecting rod structure.

[0015] Optionally, the two ends of the groove in the length direction respectively abut and limit the slider during the axial movement of the slider.

[0016] Optionally, multiple guide portions are provided, and the multiple guide portions are distributed at intervals along the circumference. Multiple guide mating portions are provided correspondingly, and slide in one-to-one with the multiple guide portions.

[0017] Optionally, the transmission mechanism is provided in two sets, the driving device has two output ends, the two output ends are driven and connected to the two connecting rod structures in a one-to-one correspondence, and the two sliders are fixed to the two sides of the lidar assembly that are radially opposite to each other in a one-to-one correspondence.

[0018] Optionally, the driving device is located on one side of the lidar assembly in the first direction, and the two sliders are fixed one-to-one on the two sides of the lidar assembly that are arranged opposite each other in the second direction. The first direction and the second direction extend radially and are perpendicular to each other.

[0019] Optionally, the driving device includes a motor, the output shaft of which extends along a second direction, and both ends of the output shaft in the second direction extend out of the motor housing to form two output terminals; or,

[0020] The driving device includes a motor and a transmission component. The output shaft of the motor extends along a first direction, and the transmission component extends along a second direction. The output shaft is connected to the middle part of the transmission component to drive the transmission component to rotate. The two ends of the transmission component in the second direction constitute two output ends.

[0021] To achieve the above objectives, this utility model provides a self-moving robot, including the laser detection module as described above.

[0022] This utility model provides a laser detection module and a self-moving robot. The laser detection module includes a base, a laser radar assembly, and a drive assembly. The laser radar assembly is movably mounted on the base in the axial direction (i.e., the extension direction of the rotation axis in the laser radar assembly). The drive assembly is mounted on the base and is located on the outer periphery of the laser radar assembly. The drive device and transmission mechanism drive the laser radar assembly to move closer to or away from the base in the axial direction.

[0023] In the embodiments provided by this utility model, the overall axial size of the laser detection module is effectively reduced through optimized design of the drive component layout. Specifically, the drive component is located on the outer periphery of the laser radar component, that is, on the circumferential side of the laser radar component, rather than on the axial (i.e., vertical) end side. When the laser radar component is working normally, its rotation axis extends vertically. Compared to the drive structure connecting the axial bottom end of the laser radar component, the laser detection module in this utility model significantly reduces the space occupied by the module in the vertical direction, allowing the self-moving robot to more easily pass through low areas such as under furniture, thus expanding the cleaning area of ​​the self-moving robot. At the same time, the drive component has a simple and compact structure, does not occupy extra space, and allows other components in the self-moving robot to be installed more compactly. Attached Figure Description

[0024] 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.

[0025] Figure 1 A three-dimensional structural schematic diagram of an embodiment of the lidar component provided by this utility model;

[0026] Figure 2 for Figure 1 A three-dimensional structural diagram of the lidar component;

[0027] Figure 3 for Figure 2 A three-dimensional structural diagram of the drive unit and connecting rod structure;

[0028] Figure 4 for Figure 2 A three-dimensional structural diagram of the lidar component;

[0029] Figure 5 for Figure 2 A schematic diagram of the three-dimensional structure of the central base.

[0030] Explanation of icon numbers:

[0031] 100-Laser detection module; 10-Base; 11-Cavity; 12-Peripheral wall; 121-Slide groove; 13-Guide part; 131-Groove; 20-LiDAR component; 21-Guide mating part; 211-Protrusion; 30-Drive component; 31-Drive device; 311-Output end; 312-Motor; 32-Transmission mechanism; 33-Linkage structure; 331-Rock arm; 332-Driven rod; 34-Slider.

[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 5 This utility model provides a laser detection module 100 and a self-moving robot. A self-moving 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 mopping robot, a floor mopping robot, etc.

[0037] In this embodiment, the self-moving robot includes at least a body, and a cleaning module, a walking drive module, and a laser detection module 100 mounted on the body. The cleaning module cleans the surface, the walking drive module drives the self-moving robot, and the laser detection module 100 perceives and navigates the surrounding environment. Specifically, the laser detection module 100 uses a lidar sensor to detect the surrounding environment and obtain relevant data, enabling the self-moving robot to be controlled based on this data. For example, it can control the self-moving robot to avoid obstacles or move to areas with accumulated dirt for localized cleaning.

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

[0039] Both the lidar assembly 20 and the drive assembly 30 are mounted on the base 10, wherein the lidar assembly 20 is movably disposed relative to the base 10 at least axially. Specifically, the lidar assembly 20 includes a lidar sensor, which is rotatably disposed about a rotation axis to achieve panoramic navigation. The rotation angle is not limited, and the extension direction of the rotation axis is the axial direction in this embodiment. The radial and circumferential directions are matched with the axial direction. Specifically, the radial direction is perpendicular to the axial direction and intersects the rotation axis, and the circumferential direction is perpendicular to the axial direction and surrounds the rotation axis.

[0040] Generally, when the self-moving robot is operating normally, its rotation axis is roughly parallel to the vertical direction (i.e., roughly perpendicular to the cleaning surface; when the cleaning surface is horizontal, the vertical direction is roughly parallel to the direction of gravity). During normal operation, the lidar component 20 rises to a position relatively far from the base 10. At this time, the upper end of the lidar component 20 moves upwards to protrude from the upper side of the robot body, enabling detection at a greater distance. When the self-moving robot needs to pass through low-lying areas, the lidar component 20 descends to a position relatively close to the base 10. At this time, the upper end of the lidar component 20 is flush with the upper side of the robot body, or protrudes only slightly from the upper side of the robot body.

[0041] In this embodiment, as Figure 1 As shown, the drive assembly 30 includes a drive device 31 and a transmission mechanism 32, both of which are disposed on the outer periphery of the lidar assembly 20. That is, the drive assembly 30 completely surrounds the outer periphery of the lidar assembly 20. In an optional embodiment, the drive assembly 30 may be disposed in a complete circle around the outer periphery of the lidar assembly 20, or only around a portion of the lidar assembly 20 in the circumferential direction, or only on one side of the lidar assembly 20 in the radial direction. The drive device 31 provides a power source, which can be a motor 312 or a cylinder, etc. If a motor 312 is used as the drive device 31, the speed of the motor 312 can be adjusted by a motor 312 controller, thereby precisely controlling the lifting speed of the lidar assembly 20. If a cylinder is used, smooth drive can be achieved by adjusting the air pressure. The switching of the direction of movement and the control of the stroke of the lidar assembly 20 can also be achieved by controlling the drive device 31, such as the motor 312 or the cylinder. The transmission mechanism 32 is used to transmit the power of the drive device 31 to the lidar assembly 20. It can be located entirely outside the outer periphery of the lidar assembly 20 or partially embedded in the outer periphery of the lidar assembly 20.

[0042] It should be noted that all components of the drive assembly 30 avoid any end of the lidar assembly 20 in the axial direction, meaning that the drive assembly 30 does not occupy the end space of the lidar assembly 20 in the axial direction. Preferably, when the lidar assembly 20 is located relatively close to the base 10, in a radially projected view, the outer contour of the drive assembly 30 is within the axial range of the outer contour of the lidar assembly 20. Thus, the axial dimension of the drive assembly 30 is less than or equal to that of the lidar assembly 20, and when the lidar assembly 20 moves downwards to be close to the base 10, the upper end of the drive assembly 30 does not exceed the upper end of the lidar assembly 20, and the lower end of the drive assembly 30 does not exceed the lower end of the lidar assembly 20.

[0043] Thus, through the optimized design of the drive component 30 layout, the overall axial dimension of the laser detection module 100 is effectively reduced. Specifically, the drive component 30 is located on the outer periphery of the lidar component 20, that is, on the circumferential side of the lidar component 20, rather than on the axial end. Compared to the drive structure connecting the axial bottom end of the lidar component 20, the laser detection module 100 in this invention significantly reduces the space occupied by the module in the axial (i.e., vertical) direction, allowing the self-moving robot to more easily pass through low areas such as under furniture, thus expanding the cleaning area of ​​the self-moving robot. At the same time, the drive component 30 has a simple and compact structure, does not occupy extra space, and allows other components in the self-moving robot to be installed more compactly.

[0044] Based on the previous embodiment, please continue to refer to... Figures 2 to 4 The transmission mechanism 32 includes a connecting rod structure 33 and a slider 34. The slider 34 is fixed to the lidar assembly 20 and is slidably fitted to the base 10 along the axial direction. It should be noted that the slider 34 can be integrally formed with the outer shell of the lidar assembly 20, or it can be fixed to the lidar assembly 20 by screwing, bonding, welding, or other methods. Integral forming improves structural strength and reduces assembly steps, while screwing and other methods facilitate later maintenance and replacement. The transmission mechanism 32 is driven by the drive device 31 to drive the lidar assembly 20. Specifically, the connecting rod structure 33 has a driving end and an actuating end. The drive device 31 is driven to the driving end, and the actuating end is connected to the slider 34. When the driving end of the connecting rod structure 33 is driven by the drive device 31, its actuating end drives the slider 34 to move axially relative to the base 10, thereby driving the lidar assembly 20 to move axially relative to the base 10. In this embodiment, the drive device 31 converts the rotational motion into the linear motion of the slider 34 through the linkage structure 33, and uses the lever principle to realize the transmission of force. The structure is simple and reliable and easy to assemble and manufacture.

[0045] The specific form of the connecting rod structure 33 is not limited. It can be a crank-slider 34 mechanism, a rocker 331-slider 34 mechanism, etc., as long as it can drive the slider 34 to slide axially when the drive device 31 drives the drive end to rotate.

[0046] Based on the previous embodiment, the number and connection method of the links in the linkage structure 33 can be selected in various ways. Further, in this embodiment, the linkage structure 33 includes a rocker arm 331 and a driven rod 332. One end of the rocker arm 331 forms a driving end and is driven to rotate by the driving device 31, causing the rocker arm 331 to oscillate around the driving end. The other end of the rocker arm 331 is rotatably connected to one end of the driven rod 332. The other end of the driven rod 332, relatively away from the rocker arm 331, forms an actuating end. When the rocker arm 331 oscillates, the driven rod 332 is driven to rotate, simultaneously driving the actuating end to move axially. Since the actuating end of the driven rod 332 is rotatably connected to the slider 34, it can drive the slider 34 to move axially. In this embodiment, the rotational connection between the rocker arm 331 and the driven rod 332, and the rotational connection between the driven rod 332 and the slider 34, are not limited. For example, they can be achieved using a pin with limiting structures at both ends to prevent detachment. Alternatively, a ball joint connection can be used to accommodate small displacements in different directions. In this way, the transmission between the drive device 31 and the slider 34 is achieved through the cooperation of the rocker arm 331 and the driven rod, eliminating the need for complex transmission components, reducing the number of parts, simplifying assembly, and providing shock absorption through the hinge connection, resulting in high motion stability.

[0047] In this embodiment, the lidar component 20 is slidably mounted on the base 10 along the axial direction. For details, please refer to the following references. Figure 2 , Figure 4 and Figure 5 The base 10 is provided with a guide portion 13, and the lidar assembly 20 is provided with a guide mating portion 21. The guide portion 13 and the guide mating portion 21 are slidably engaged, so that the lidar assembly 20 can be slidably mounted on the base 10 along the axial direction. The specific form of the guide portion 13 and the guide mating portion 21 is not limited, for example, they can be mutually compatible sliders 34 and grooves 121, guide members and guide rails, etc.

[0048] There are several ways to achieve the axial sliding fit between the slider 34 and the base 10. In one embodiment, the slider 34 directly slides into contact with the base 10. For example, a sliding rail, groove, or other fitting structure can be provided on the base 10 for the slider 34 to slide on, and the slider 34 is slidably assembled onto the base 10 through these fitting structures. In another optional embodiment, since the slider 34 is fixed on the lidar assembly 20, the slider 34 may not directly contact the base 10. Instead, the relative sliding fit between the slider 34 and the base 10 can be indirectly achieved through a limiting structure between the lidar assembly 20 and the base 10 (i.e., the axial sliding fit between the guide portion 13 and the guide fitting portion 21). In this case, no additional sliding fit structure is provided between the slider 34 and the base 10, making the structure of the laser detection module 100 simpler. In yet another optional embodiment, the sliding contact between the slider 34 and the base 10, and the sliding fit between the guide portion 13 and the guide fitting portion 21, can also be implemented simultaneously. This makes the sliding motion of the lidar component 20 more stable when it is driven to slide along the axial direction.

[0049] Preferably, the base 10 forms a cavity 11, in which the lidar assembly 20 is at least partially housed. The cavity 11 has a peripheral wall 12 surrounding the lidar assembly 20. A guide portion 13 is disposed on the peripheral wall 12, and a guide mating portion 21 is disposed on the periphery of the lidar assembly 20. One of the guide portion 13 and the guide mating portion 21 is an axially extending groove 131, and the other is a protrusion 211 slidably embedded in the groove 131. In this embodiment, as shown in the figure, the guide portion 13 is a groove 131 recessed in the peripheral wall 12 and extending axially, and the guide mating portion 21 is a protrusion 211 protruding from the outer peripheral wall 12 of the lidar assembly 20, the protrusion 211 being slidably inserted into the groove 131.

[0050] In this embodiment, the groove 131 and the protrusion 211 are shaped to match. Preferably, their cross-sections are mutually matching arc-shaped convex and concave surfaces, thereby reducing the friction between them. In this embodiment, the guide portion 13 and the guide mating portion 21 restrict the radial movement of the lidar assembly 20 through a sliding pair, allowing only axial movement. Specifically, after the protrusion 211 is embedded in the groove 131, the lidar assembly 20 can only slide axially along the groove 131 during the lifting and lowering process, and the radial displacement is effectively constrained. This allows the lidar assembly 20 to be smoothly slidably installed in the cavity 11 along the axial direction.

[0051] Furthermore, there is also a sliding fit between the slider 34 and the peripheral wall 12. Specifically, as shown in... Figure 4 and Figure 5As shown, a groove 121 extending axially is provided on the peripheral wall 12. A slider 34 protrudes from the periphery of the lidar assembly 20 and passes through the groove 121. One end of the slider 34 extending out of the cavity 11 from the groove 121 is rotatably connected to the connecting rod structure 33. Preferably, the length of the groove 121 is designed according to the lifting stroke of the lidar assembly 20, serving as a limit. Elastic buffer pads can be provided at both ends of the groove 121 to reduce the impact when the slider 34 reaches its limit position. The cooperation between the groove 121 and the slider 34 not only transmits driving force but also controls the lifting stroke of the lidar assembly 20 relative to the base 10 through physical limiting. This design can withstand the lateral force generated when the lidar assembly 20 moves, preventing the lidar sensor from shifting and affecting the detection accuracy.

[0052] Based on any of the above embodiments, please continue to refer to Figure 1 and Figure 2 The transmission mechanism 32 is provided in two sets, and the drive device 31 has two output ends 311. The two output ends 311 are connected to two connecting rod structures 33 in a one-to-one driving manner, and the two sliders 34 are fixed to the two sides of the lidar assembly 20 that are radially opposite to each other. In this embodiment, the symmetrically arranged connecting rod mechanism can ensure that the lidar assembly 20 is subjected to uniform force, and the symmetrical structure can cancel out the lateral component force, avoid the assembly tilting, improve the stability of movement, prevent the lidar assembly 20 from tilting and jamming during the lifting and lowering process, and improve the movement accuracy and reliability.

[0053] Furthermore, the drive device 31 is located on one side of the lidar assembly 20 in the first direction, and the two sliders 34 are fixed one-to-one on the two sides of the lidar assembly 20 that are arranged opposite each other in the second direction. The first direction and the second direction extend radially and are perpendicular to each other.

[0054] Preferably, the drive device 31 includes a motor 312, and the motor 312 can be arranged in various ways. Different arrangements of the motor 312 can optimize the size of the module in different directions, which is convenient for the overall space layout.

[0055] Specifically, in one embodiment (not shown in the figure), the output shaft of the motor 312 extends along the second direction, and both ends of the output shaft in the second direction extend out of the housing of the motor 312 to form two output ends 311. In this way, the motor 312 is arranged with its output shaft parallel to the outer periphery tangentially of the lidar assembly 20, making the overall size of the laser detection module 100 smaller and its structure more compact in the first direction. Furthermore, the output shaft is directly connected to the transmission mechanism 32, eliminating the need for a complex transmission structure and resulting in high transmission efficiency.

[0056] In another implementation, such as Figure 1 and Figure 2As shown, the drive unit 31 also includes a transmission component. The output shaft of the motor 312 extends along a first direction, and the transmission component extends along a second direction. The output shaft is connected to the middle of the transmission component to drive the transmission component to rotate. The two ends of the transmission component in the second direction form two output ends 311. Thus, the motor 312 is arranged with its output shaft away from the lidar assembly 20, making the overall size of the laser detection module 100 smaller and its structure more compact in the second direction. Furthermore, the design of the transmission structure between the output shaft and the transmission component allows for selection based on speed and torque requirements to achieve the optimal transmission ratio.

[0057] 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 detection module, characterized in that, include: seat body; The lidar assembly is mounted on the base. as well as, A drive assembly is mounted on the base and disposed on the outer periphery of the lidar assembly. The drive assembly includes a drive device and a transmission mechanism. One end of the drive device is drivenly connected to the transmission mechanism, and the other end of the transmission mechanism is connected to the lidar assembly, so that the lidar assembly can move axially closer to or further away from the base under the drive of the drive device.

2. The laser detection module as described in claim 1, characterized in that, When the lidar assembly is positioned relatively close to the base, in a radially projected view, the outer contour of the drive assembly is axially located within the outer contour range of the lidar assembly.

3. The laser detection module as described in claim 2, characterized in that, The transmission mechanism includes a linkage structure and a slider. The slider is fixed to the lidar assembly and is slidably fitted relative to the base along the axis. The linkage structure... It has a driving end and an actuating end. The driving device is driven to the driving end, and the actuating end is connected to the slider, so that when the driving device drives the driving end to rotate, it drives the slider to slide axially.

4. The laser detection module as described in claim 3, characterized in that, The linkage structure includes a rocker arm and a driven rod. One end of the rocker arm constitutes the driving end and is driven to swing by the driving device. The other end of the rocker arm is rotatably connected to one end of the driven rod. The other end of the driven rod, which is relatively far away from the rocker arm, constitutes the actuating end and is rotatably connected to the slider.

5. The laser detection module as described in claim 4, characterized in that, The base is provided with a guide portion, and the lidar assembly is provided with a guide mating portion. The guide portion and the guide mating portion are slidably engaged, so that the lidar assembly can be slidably mounted on the base along the axial direction.

6. The laser detection module as described in claim 5, characterized in that, The base has a cavity, and the lidar assembly is at least partially housed within the cavity. The cavity has a peripheral wall surrounding the lidar assembly. A guide portion is disposed on the peripheral wall, and a guide mating portion is disposed on the periphery of the lidar assembly. One of the guide portion and the guide mating portion is an axially extending groove, and the other is a protrusion slidably embedded in the groove.

7. The laser detection module as described in claim 6, characterized in that, A sliding groove extending axially is provided on the peripheral wall. The slider protrudes from the periphery of the lidar component and passes through the sliding groove. One end of the slider extending out of the cavity from the sliding groove is rotatably connected to the connecting rod structure.

8. The laser detection module as described in claim 7, characterized in that, The two ends of the groove in the length direction respectively abut and limit the slider during the axial movement of the slider.

9. The laser detection module as described in claim 5, characterized in that, The guide portion is provided in multiple ways, and the multiple guide portions are distributed at intervals along the circumference. The guide mating portion is provided in multiple ways, and slides in one-to-one correspondence with the multiple guide portions.

10. The laser detection module as described in any one of claims 3 to 9, characterized in that, The transmission mechanism is provided in two sets, the driving device has two output ends, the two output ends are driven and connected to the two connecting rod structures in a one-to-one correspondence, and the two sliders are fixed to the two sides of the lidar assembly that are arranged opposite each other in the radial direction.

11. The laser detection module as described in claim 10, characterized in that, The driving device is located on one side of the lidar assembly in the first direction, and the two sliders are fixed one-to-one on the two sides of the lidar assembly that are arranged opposite each other in the second direction. The first direction and the second direction extend radially and are perpendicular to each other.

12. The laser detection module as described in claim 11, characterized in that, The drive device includes a motor, the output shaft of which extends along a second direction, and both ends of the output shaft in the second direction extend out of the motor housing to form two output ends; or, The driving device includes a motor and a transmission component. The output shaft of the motor extends along a first direction, and the transmission component extends along a second direction. The output shaft is connected to the middle part of the transmission component to drive the transmission component to rotate. The two ends of the transmission component in the second direction constitute two output ends.

13. A self-moving robot, characterized in that, Includes the laser detection module as described in any one of claims 1 to 12.

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