Laser radar and cleaning apparatus

Abstract

The utility model provides a kind of laser radar and cleaning equipment, the laser radar includes light emitting module, light receiving module, beam splitter and shell, for emitting probe beam, for receiving the reflected light beam reflected back by the detected object, setting at the intersection of the propagation path of probe beam and reflected light beam, beam splitter includes reflection part and light transmission part, probe beam is shot to target object after the reflection of reflection part, and reflected light beam reflected by target object can pass through light transmission part, to be shot to light receiving module, light emitting module, light receiving module and beam splitter are all installed in shell.The laser radar of the utility model can improve detection accuracy.

Description

Technical Field

[0001] This utility model relates to the field of cleaning equipment technology, specifically to a lidar and cleaning equipment. Background Technology

[0002] LiDAR is a highly integrated sensor used to detect objects in its surroundings and has wide applications in fields such as autonomous driving. With technological advancements and increasing application demands, higher requirements are being placed on the miniaturization and cost control of LiDAR.

[0003] In related technologies, such as lidar, some stray light can enter the receiver, affecting the receiving accuracy of the receiving unit and leading to a decrease in detection accuracy. Utility Model Content

[0004] In view of this, the present invention aims to provide a lidar that can improve detection accuracy.

[0005] The first aspect of this utility model provides a lidar, comprising: The optical emission module is used to emit a probe beam; The optical receiving module is used to receive the reflected light beams sent back by the object being detected. A beam splitter is disposed at the intersection of the propagation paths of the probe beam and the reflected beam. The beam splitter includes a reflective part and a light-transmitting part. The probe beam is reflected by the reflective part and then directed to the target object. The reflected beam, after being reflected by the target object, can pass through the light-transmitting part and be directed to the light receiving module. The housing contains the optical emitting module, the optical receiving module, and the beam splitter.

[0006] In one embodiment, the reflective portion is located in the middle of the beam splitter, and the light-transmitting portion surrounds the outer periphery of the reflective portion.

[0007] In one embodiment, the light receiving module includes a receiving unit and a first optical component, the first optical component being disposed between the beam splitter and the receiving unit, and the reflected light beam passing sequentially through the light-transmitting part and the first optical component before being projected onto the receiving unit.

[0008] In one embodiment, the first optical component includes a first optical element having a first incident surface and a first exit surface. The first incident surface faces the beam splitter, and the first exit surface faces the receiving unit. The first exit surface is a convex surface protruding towards the receiving unit. The first optical element can use the first exit surface to converge the reflected light beam to the receiving unit.

[0009] In one embodiment, the first optical component further includes a filter disposed between the first incident surface and the beam splitter, the filter being used to filter out stray light entering the lidar.

[0010] In one embodiment, the lidar further includes a light-blocking plate, which is installed inside the housing and located on the side of the reflective portion away from the light-emitting module. Along the direction away from the light-receiving module, the distance between the side of the light-blocking plate facing the reflective portion and the optical axis of the first optical element gradually increases.

[0011] In one embodiment, a light-blocking portion is provided on the inner sidewall of the housing. The light-blocking portion is located on the side of the reflective portion away from the light emitting module. Along the direction away from the light receiving module, the distance between the side of the light-blocking portion facing the reflective portion and the optical axis of the first optical element gradually increases.

[0012] In one embodiment, the light emitting module includes an emitting unit and a second optical element. The second optical element is disposed between the beam splitter and the emitting unit. The second optical element has a second incident surface and a second exit surface. The second incident surface faces the emitting unit and is a convex surface protruding towards the emitting unit. The second exit surface faces the beam splitter. The second incident surface is used to collimate the probe beam from the emitting unit.

[0013] In one embodiment, the optical axis of the light emitting module is perpendicular to the optical axis of the light receiving module.

[0014] In one embodiment, the reflective portion covers the maximum cross-sectional area of ​​the detection beam emitted by the light emitting module.

[0015] In one embodiment, the housing has a first chamber and a second chamber, the extension directions of the first chamber and the second chamber being arranged orthogonally, the light emitting module being located in the first chamber and the light receiving module being located in the second chamber.

[0016] In one embodiment, the housing further includes a third chamber, one side of which communicates with the first chamber and the other side with the second chamber. A first positioning part is provided in the third chamber, and the beam splitter is installed in the third chamber through the first positioning part.

[0017] In one embodiment, the reflective portion has an anti-reflection layer.

[0018] In one embodiment, the light-transmitting portion has an anti-reflective layer.

[0019] In one embodiment, the lidar further includes a scanning module, which includes a third optical element. The detection beam from the reflector is reflected by the third optical element and directed to the target object, and the reflected beam from the target object is reflected by the third optical element and directed to the light-transmitting part.

[0020] In one embodiment, the scanning module further includes a driver installed within the housing, the driver being used to drive the third optical element to rotate.

[0021] In one embodiment, the scanning module further includes a support member, the output shaft of the drive member is coaxially fixed with the support member to drive the support member to rotate, and the third optical element is fixedly mounted on the support member.

[0022] In one embodiment, the scanning module further includes a code disk and a sensor. The output shaft of the drive unit is coaxially fixed with the code disk to drive the code disk and the third optical element to rotate synchronously. The sensor is installed inside the housing, and the detection end of the sensor corresponds to the edge of the code disk to detect the rotation angle and / or rotation speed of the code disk.

[0023] In one embodiment, the code disk is located on the side of the support member opposite to the third optical element, and a connector is provided between the code disk and the support member, so that the code disk and the support member can move synchronously through the connector.

[0024] The second aspect of this utility model provides a cleaning device, including: a cleaning device body and a laser radar as described in any one of the first aspects, wherein the laser radar is located inside the cleaning device body and at the front end of the cleaning device body. Attached Figure Description

[0025] Figure 1 The diagram shown is a structural schematic of the lidar of this utility model, excluding the outer casing.

[0026] Figure 2 The diagram shown is a schematic diagram of the laser radar beam propagation of this utility model.

[0027] Figure 3 The diagram shown is a structural schematic of the beam splitter of this invention.

[0028] Figure 4 The image shown is a top view of the lidar of this utility model.

[0029] Figure 5 The diagram shown is a structural schematic of the lidar of this utility model, including the outer shell.

[0030] Explanation of reference numerals in the attached figures: Housing 100, first housing 101, second housing 102, first chamber 1001, first mounting groove 10011, second chamber 1002, second mounting groove 10021, third chamber 1003, first positioning part 10031, second positioning part 10032. Optical transmitting module 200, optical receiving module 300, scanning module 400. Transmitting unit 1, second optical element 2, receiving unit 3, first optical element 4, beam splitter 5, reflective part 51, light-transmitting part 52, anti-reflective layer 6, filter 7, light-blocking plate 8, driving component 9, support component 10, third optical element 11, transmitting circuit board 12, receiving circuit board 13, code disk 14, connector 15. Detailed Implementation

[0031] 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.

[0032] One embodiment of this utility model provides a lidar, including a light emitting module 200, a light receiving module 300, a beam splitter 5, and a housing 100. The light emitting module 200 is used to emit a detection beam, and the light receiving module 300 is used to receive the reflected beam from the object being detected and convert the optical signal into an electrical signal. The beam splitter 5 is installed at the intersection of the propagation path of the detection beam and the propagation path of the reflected beam. The beam splitter 5 includes a reflective part 51 and a light-transmitting part 52. The detection beam is reflected by the reflective part 51 and then shines on the target object. The reflected beam from the target object can pass through the light-transmitting part 52 and shine on the light receiving module 300.

[0033] The optical transmitting module 200, the optical receiving module 300, and the beam splitter 5 are all located inside the housing 100.

[0034] Specifically, see Figure 1 and Figure 2 The beam splitter 5 is located on both the propagation path of the probe beam and the propagation path of the reflected beam. In other words, the propagation paths of both the probe beam and the reflected beam pass through the beam splitter 5.

[0035] In one embodiment, see Figure 2The reflector 51 covers the maximum cross-sectional area of ​​the detection beam emitted by the light emitting module 200. That is, the entire maximum cross-section of the area where the detection beam forms is covered by the reflector 51; in other words, the reflector 51 can reflect the entire detection beam. This configuration improves the reflection efficiency of the detection beam, ensuring that the entire detection beam can be reflected by the reflector.

[0036] See Figure 3 The beam splitter 5 includes a reflecting portion 51 and a transmitting portion 52, which are disposed in different regions of the beam splitter 5. In one embodiment, the central part of the beam splitter 5 is the reflecting portion 51, and the peripheral region of the reflecting portion 51 is the transmitting portion 52. The reflecting portion 51 can reflect the light beam incident on it, thereby changing the optical path direction of the light beam through reflection. The transmitting portion 52 can transmit the light beam incident on it, allowing the light beam to pass through it. In this way, laser emission and transmission are simultaneously achieved using a single beam splitter 5, which can reduce the number of optical components and the size of the lidar, thus facilitating the miniaturization of lidar.

[0037] In one embodiment, the surface of the reflective portion 51 facing the light emitting module 200 has an anti-reflection layer, which is a high-reflectivity film. This configuration allows the high-reflectivity film to enhance the reflectivity of the probe beam as it passes through the reflective portion 51, thereby ensuring the energy and quality of the probe beam emitted to the target object.

[0038] In one embodiment, the surface of the light-transmitting portion 52 facing away from the light-receiving module 300 has an anti-reflection layer, which is a high-transmittance film. This high-transmittance film increases the light transmittance of the light-transmitting portion 52, thereby increasing the transmittance of the reflected beam through the light-transmitting portion 52, ensuring the density of the reflected beam returning to the light-receiving module 300, and improving the detection accuracy of the lidar. In other embodiments, anti-reflection layers are provided on both the surface of the light-transmitting portion 52 facing away from the light-receiving module 300 and the surface of the light-transmitting portion 52 facing the light-receiving module 300. This configuration simultaneously increases the transmittance of both surfaces of the light-transmitting portion 52, further increasing the density of the reflected beam returning to the light-receiving module 300.

[0039] The beam splitter 5 is installed within the housing 100 at a specific angle. This specific angle refers to the angle between the axis of the beam splitter 5 and the optical axis of the light emitting module 200. Preferably, this specific angle is 45°. In other embodiments, this specific angle can also be other angles, such as 20°, 30°, 40°, 50°, etc., as long as the reflective part 51 of the beam splitter 5 can receive the probe beam and the light-transmitting part 52 of the beam splitter 5 can receive the reflected beam. This application does not specifically limit the value of the specific angle. With this configuration, the probe beam from the light emitting module can be reflected to the target object by the reflective part 51 of the beam splitter 5, and the reflected beam formed by the probe beam after being reflected by the target object can be transmitted to the light receiving module by the light-transmitting part 52 of the beam splitter 5. In other words, the transmission and reception of the beam can be achieved using only one beam splitter 5. This greatly reduces the number of optical components inside the lidar, thereby reducing the size of the lidar, which is beneficial for miniaturization of the lidar and facilitates its installation inside cleaning equipment, thus reducing the size of the cleaning equipment and achieving miniaturization. In addition, by using a beam splitter 5 to transmit and receive the beam, the detection optical path and the transmission optical path can be made coaxial. The coaxial optical path can reduce the detection blind zone of the lidar and improve the lidar's comprehensiveness and accuracy of recognition.

[0040] In one embodiment, the light receiving module 300 includes a receiving unit 3 and a first optical component. The first optical component is disposed between the beam splitter 5 and the receiving unit 3. The reflected light beam passes sequentially through the light-transmitting part 52 and the first optical component before reaching the receiving unit 3. In the propagation path of the reflected light beam, the first optical element 4 is located upstream of the receiving unit 3, and the first optical element 4 is used to converge the reflected light beam onto the receiving unit 3.

[0041] The receiving unit 3 is capable of receiving the reflected beam generated after the detection beam is reflected by the target object. The receiving unit 3 includes one or more photodetectors. After the reflected beam shines on the photodetector, the optical signal is converted into an electrical signal. For example, the receiving unit 3 can be a photodiode, an avalanche diode (APD), or a silicon photomultiplier tube (SiPM).

[0042] In one embodiment, the first optical assembly includes a first optical element 4, which may be a lens, and the first optical element 4 has a first incident surface (e.g., Figure 4 The left end face of the first optical element shown) and the first exit surface (as shown) Figure 4 The first optical element 4 (shown as the right end face) has a first incident surface facing the beam splitter 5 and a first exit surface facing the receiving unit 3. The first exit surface is a convex surface protruding towards the receiving unit 3. The first optical element 4 can use the first exit surface to focus the reflected light beam onto the receiving unit 3. Optionally, the first optical element 4 is configured such that its focal point is located on the surface of the receiving unit 3, which can reduce the area of ​​the receiving unit 3.

[0043] In one embodiment, the first optical component further includes a filter 7, which is disposed between the first incident surface and the beam splitter 5. The filter 7 is used to filter out stray light entering the lidar. With this configuration, the reflected beam first passes through the filter 7 to filter out stray light before entering the optical receiving module 300. The filter 7 can filter out stray light in the reflected beam, thereby improving the collection efficiency and receiving accuracy of the receiving unit 3.

[0044] In one embodiment, the optical axis of the reflected beam reaching the filter 7 has a preset angle with the optical axis of the filter 7. For example, the preset angle can be ±0.5°. It should be noted that the preset angle has positive or negative values ​​because the beam propagation has a direction, similar to a vector. For instance, with the optical axis of the filter 7 as the center, the angle between all reflected beams above the optical axis and the optical axis is positive, while the angle between reflected beams below the optical axis and the optical axis is negative. This setting can better filter stray light in the reflected beam, improve the beam quality entering the optical receiving module 300, and thus improve the receiving accuracy.

[0045] In one embodiment, the lidar further includes a light-blocking plate 8, which is installed inside the housing 100 and located on the side of the reflector 51 away from the light emitting module 200. Along the direction away from the light receiving module 300, the distance between the side of the light-blocking plate 8 facing the reflector 51 and the optical axis of the first optical element 4 gradually increases.

[0046] Specifically, see Figure 2 and Figure 3 The light-blocking plate 8 is located on the front side of the beam splitter 5. In other words, the light-blocking plate 8 and the light emitting module 200 are located on the front and rear sides of the beam splitter 5, respectively. The light-blocking plate 8 is detachably connected to the housing 100. The detachable connection can be achieved by adhesive bonding, plugging, magnetic connection, bolt connection, etc., and this application does not limit the method. When the detection beam from the light emitting module passes through the reflector 51, a small portion of the detection beam may pass through the reflector 51. The light-blocking plate 8 can reflect the small portion of the detection beam that passes through the reflector 51. Since the distance between the side of the light-blocking plate 8 facing the reflector 51 and the optical axis of the first optical element 4 gradually increases, the detection beam reflected by the light-blocking plate 8 can propagate in a direction away from the light receiving module, thereby avoiding the small portion of the detection beam that passes through the reflector 51 from affecting the reflected beam and improving the receiving accuracy of the receiving unit 3.

[0047] In another embodiment, a light-blocking portion is provided on the inner wall of the housing 100. The light-blocking portion is located on the side of the reflective portion away from the light-emitting module. Along the direction away from the light-receiving module, the distance between the side of the light-blocking portion facing the reflective portion and the optical axis of the first optical element gradually increases. Optionally, the light-blocking portion is integrally formed with the inner wall surface of the housing 100. The light-blocking portion has a basically the same function as the light-blocking sheet 8 in the previous embodiment, and will not be described again here.

[0048] In one embodiment, the light emitting module 200 includes an emitting unit 1 and a second optical element 2, the second optical element 2 being disposed between the beam splitter 5 and the emitting unit 1, and the second optical element 2 having a second incident surface (e.g., Figure 4 The rear end face of the second optical element 2) and the second exit face (such as Figure 4 The second incident surface of the second optical element 2 faces the transmitting unit 1. The second incident surface is a convex surface protruding towards the transmitting unit 1. The second exit surface faces the beam splitter 5. The second incident surface is used to collimate the detection beam from the transmitting unit 1.

[0049] The emitting unit 1 is a semiconductor laser used to generate a probe beam. For example, the emitting unit 1 can be one or more of a vertical-cavity surface-emitting laser and a side-emitting laser. The probe beam emitted by the emitting unit 1 typically has a certain divergence angle. The second optical element 2 is disposed in the optical path of the probe beam and can receive and collimate the probe beam emitted by the emitting unit 1 to adjust the probe beam emitted by the emitting unit 1 into parallel light, thereby reducing the divergence angle of the probe beam, reducing energy loss, and improving light energy utilization.

[0050] In one embodiment, the optical axis of the light emitting module 200 is perpendicular to the optical axis of the light receiving module 300. For example, see [link to example]. Figure 4 The optical axis of the light emitting module 200 extends in the front-to-back direction, while the optical axis of the light receiving module 300 extends in the left-to-right direction. This arrangement reduces or avoids interference between the detection beam emitted by the light emitting module and the reflected beam from the target object, thereby improving detection accuracy.

[0051] In one embodiment, see Figure 4 The housing 100 has a first chamber 1001 and a second chamber 1002. The first chamber 1001 and the second chamber 1002 are arranged orthogonally to each other in their extending directions. For example, the first chamber 1001 extends in the front-back direction, and the second chamber 1002 extends in the left-right direction. The optical emitting module 200 is located in the first chamber 1001, and the optical receiving module 300 is located in the second chamber 1002.

[0052] Specifically, see Figure 4The first chamber 1001 has a first mounting groove 10011, and the second optical element 2 is fitted into the first mounting groove 10011. The second chamber 1002 has a second mounting groove 10021, and the first optical element 4 is fitted into the second mounting groove 10021. In this way, the first mounting groove 10011 and the second mounting groove 10021 have the functions of positioning and fixing, which can improve the installation stability of the first optical element 4 and the second optical element 2, and improve the installation accuracy of the first optical element 4 and the second optical element 2.

[0053] See Figure 1 and Figure 4 The transmitting unit 1 is located at the end of the first chamber 1001 away from the second optical element 2. A transmitting circuit board 12 is fixed on the side wall of the housing 100, and the transmitting unit 1 is electrically connected to the transmitting circuit board 12. The receiving unit 3 is located at the end of the second chamber 1002 away from the first optical element 4. A receiving circuit board 13 is fixed on the side wall of the housing 100, and the receiving unit 3 is electrically connected to the receiving circuit board 13.

[0054] The lidar also includes a controller (not shown), which controls the operation of the transmitting unit 1 and the receiving unit 3. One controller can be integrated on each of the transmitting circuit board 12 and the receiving circuit board 13. This allows for separate control of the transmitting unit 1 and the receiving unit 3 by two controllers, offering advantages such as high control precision and simple control logic. Alternatively, the controller can be integrated on another circuit board fixed inside the lidar (other than the transmitting circuit board 12 and the receiving circuit board 13). This controller is communicatively connected to both the transmitting unit 1 and the receiving unit 3. The communication connection can be wireless, via Bluetooth, WIFI, or a direct wired connection. This allows for synchronous control of both the transmitting unit 1 and the receiving unit 3 with a single controller, simplifying the number of components in the lidar and offering advantages such as low production cost and compact structure.

[0055] In one embodiment, see Figure 4 The housing 100 also has a third chamber 1003. One side of the third chamber 1003 communicates with the first chamber 1001, and the other side communicates with the second chamber 1002. A first positioning part 10031 is provided in the third chamber 1003, and the beam splitter 5 is installed in the third chamber 1003 through the first positioning part 10031. For example, the first positioning part 10031 is a groove structure provided on the inner side wall of the third chamber 1003. Two groove structures are provided opposite to each other in the third chamber 1003. The beam splitter 5 is engaged with the two groove structures through two opposite sides to realize the installation in the third chamber 1003.

[0056] In other examples, the first positioning part 10031 can also be a portion of the inner wall of the third chamber 1003 or a protrusion extending from the inner wall of the third chamber 1003 into the third chamber 1003. Two such portions of the inner wall or protrusions are provided opposite each other within the third chamber 1003. The beam splitter 5 is connected to the two portions of the inner wall or the two protrusions via two opposite sides, and the connection method can be bonding or interference fit, etc. With this configuration, the beam splitter 5 can be positioned and installed at a specific angle within the third chamber 1003 through the first positioning part 10031, offering advantages such as high positioning accuracy and a simple positioning method.

[0057] Optionally, the second chamber 1002 has a second positioning part 10032 at the port away from the receiving unit 3, and the filter 7 is installed in the second chamber 1002 at the port away from the receiving unit 3 through the second positioning part 10032. It should be noted that the structure of the second positioning part 10032 is the same as that of the first positioning part 10031 in the above embodiment. At the same time, the connection method between the second positioning part 10032 and the filter 7 is also the same as the connection method between the first positioning part 10031 and the beam splitter 5 in the above embodiment, which will not be described in detail here.

[0058] In one embodiment, the lidar further includes a scanning module 400, which includes a third optical element 11 disposed within the housing 100. The third optical element 11 is located on the propagation path of the probe beam after passing through the reflector 51 and on the propagation path of the reflected beam before passing through the light-transmitting part 52. The third chamber 1003 is open on the side facing the third optical element 11. The probe beam from the reflector 51 can be reflected by the third optical element 11 and directed to the target object, and the reflected beam from the target object can be reflected by the third optical element 11 and directed to the light-transmitting part 52. For example, the third optical element 11 can be a one-dimensional scanning mirror such as a rotating mirror or a galvanometer, or it can be a plane mirror.

[0059] With this configuration, the third optical element 11 can guide the detection beam to the target area and guide the reflected beam from the target area to the light-transmitting part 52, thereby realizing the transmission and reception of the laser beam between the target area and the lidar. The lidar calculates the distance by analyzing the round-trip time of the laser pulse, thereby realizing the perception of the three-dimensional information and contour information of the target area.

[0060] In one embodiment, the scanning module 400 further includes a driving component 9, which can be a motor, rotary cylinder, etc. The driving component 9 is fixedly installed inside the housing 100 and is used to drive the third optical element 11 to rotate. With this configuration, the propagation path of the laser beam is dynamically controlled by driving the third optical element 11 to rotate through the driving component 9, thereby achieving dynamic adjustment of the field of view of the laser beam in the horizontal direction. This enables systematic coverage of the target area and reduces the blind zone of the lidar.

[0061] In one embodiment, the scanning module further includes a support 10, and the output shaft of the drive 9 is coaxially fixed with the support 10 to drive the support 10 to rotate. The third optical element 11 is fixedly mounted on the support 10. The support 10 provides a mounting base for the third optical element 11, thereby achieving the stability of the third optical element 11 during rotation.

[0062] In one embodiment, the scanning module further includes a code disk 14 and a sensor. The output shaft of the drive unit 9 is coaxially fixed with the code disk 14 to drive the code disk 14 and the third optical element 11 to rotate synchronously. The sensor is installed inside the housing, and the detection end of the sensor corresponds to the edge of the code disk 14 to detect the rotation angle and / or rotation speed of the code disk 14. Specifically, the sensor is installed on the inner wall of the housing 100. The drive unit 9 can drive the code disk 14 and the support member 10 to rotate synchronously. When the code disk 14 and the support member 10 rotate synchronously, the third optical element 11 on the support member 10 also rotates coaxially with the code disk 14 at the same time. The sensor detects the rotation angle and / or rotation speed of the third optical element 11 by detecting the rotation angle and / or rotation speed of the code disk 14.

[0063] For example, the code disk 14 can be a disk with a grating on the edge, and the sensing element can be an optical coupler. The optical coupler includes a light-emitting element and a receiving element. The light-emitting element is used to emit light, and the receiving element is used to receive light. The light-emitting end of the light-emitting element and the receiving end of the receiving element are arranged opposite to each other. The edge grating of the disk is located between the light-emitting end of the light-emitting element and the receiving end of the receiving element. During the rotation of the disk, the light emitted by the light-emitting element is cut into intermittent light by the slits of the edge grating. The receiving element receives the intermittent light. After the intermittent light is processed by the control system inside the lidar, a pulse signal is output. Based on the pulse signal, the rotation angle and / or rotation speed of the code disk 14 can be sensed.

[0064] In one embodiment, the code disk 14 is located on the side of the support 10 opposite to the third optical element 11. A connector 15 is provided between the code disk 14 and the support 10, enabling synchronous movement between the code disk 14 and the support 15. Specifically, the connector 15 is located between the support 10 and the code disk 14, coaxially arranged with both the support 10 and the code disk 14. One end of the connector 15 is fixedly connected to the support 10, and the other end is fixedly connected to the code disk 14. The fixed connection can be achieved by bolting, bonding, snapping, welding, or integral molding. In this way, the connector 15 secures the code disk 14 and the support 15, thereby ensuring the stability of the code disk 14 and the support 15 during rotation.

[0065] In one embodiment, a through hole extends along the axis of the code disk 14, and a mating hole communicating with the through hole is provided along the axis of the connector 15. The output shaft of the drive member 9 passes through the through hole and the mating hole sequentially from bottom to top, and the output shaft of the drive member 9 is interference-fitted into the through hole and the mating hole. In this way, by having the output shaft of the drive member 9 coaxially fixed with the through hole and the mating hole, the coaxial fixation of the output shaft of the drive member 9 with the code disk 14 and the coaxial fixation of the output shaft of the drive member 9 with the support member 10 is achieved.

[0066] In one embodiment, the housing 100 includes a first housing 101 and a second housing 102. The first housing 101 is fixedly installed inside the second housing 102. The light emitting module 200, the light receiving module 300, the beam splitter 5, the first chamber 1001, the second chamber 1002, and the third chamber 1003 are all disposed within the first housing 101. The scanning module 400 is located outside the first housing 101 and inside the second housing 102. The side of the second housing 102 corresponding to the light-receiving surface of the scanning module 400 is open, allowing the detection beam and the reflected beam to propagate through the opening. This arrangement achieves a reasonable layout of the various components inside the lidar, while improving the overall integrity and aesthetics of the lidar.

[0067] This utility model also provides a cleaning device, which can be any intelligent device capable of automatic movement and cleaning, such as a sweeping robot, lawnmower robot, pool robot, window cleaning robot, or commercial cleaning robot. The cleaning device includes a cleaning device body and a laser radar from any of the above embodiments. The laser radar is located inside the cleaning device body and at its front end. Specifically, the front end refers to the part of the cleaning device body facing forward along the direction of travel. An installation space is reserved inside the cleaning device body, located at the front end of the cleaning device body, and extends through the front end of the cleaning device body, making the installation space open and communicating with the outside. The laser radar from any of the above embodiments is installed in this installation space. The detection beam emitted by the laser radar can be directed towards the target area through the opening of the installation space. The reflected beam from the target area can also echo back to the laser radar through the opening of the installation space, thereby realizing the transmission and reception of the laser beam. With this setup, the lidar can be embedded inside the cleaning equipment. Compared to mounting the lidar on the top of the cleaning equipment, this reduces the space occupied by the entire cleaning equipment in the vertical direction, making it easier for the cleaning equipment to move in confined spaces and improving the freedom of movement and cleaning coverage of the cleaning equipment.

[0068] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications or equivalent substitutions made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A lidar, characterized in that, include: The optical emission module is used to emit a probe beam; The optical receiving module is used to receive the reflected light beams sent back by the object being detected. A beam splitter is disposed at the intersection of the propagation paths of the probe beam and the reflected beam. The beam splitter includes a reflective part and a light-transmitting part. The probe beam is reflected by the reflective part and then directed to the target object. The reflected beam, after being reflected by the target object, can pass through the light-transmitting part and be directed to the light receiving module. The housing contains the optical emitting module, the optical receiving module, and the beam splitter.

2. The lidar according to claim 1, characterized in that, The reflective part is located in the middle of the beam splitter, and the light-transmitting part surrounds the outer periphery of the reflective part.

3. The lidar according to claim 1, characterized in that, The light receiving module includes a receiving unit and a first optical component. The first optical component is disposed between the beam splitter and the receiving unit. The reflected light beam passes through the light-transmitting part and the first optical component in sequence and then shines on the receiving unit.

4. The lidar according to claim 3, characterized in that, The first optical component includes a first optical element having a first incident surface and a first exit surface. The first incident surface faces the beam splitter, and the first exit surface faces the receiving unit. The first exit surface is a convex surface protruding towards the receiving unit. The first optical element can use the first exit surface to focus the reflected light beam onto the receiving unit.

5. The lidar according to claim 4, characterized in that, The first optical component further includes a filter, which is disposed between the first incident surface and the beam splitter, and is used to filter out stray light entering the lidar.

6. The lidar according to claim 4, characterized in that, The lidar also includes a light-blocking plate, which is installed inside the housing and located on the side of the reflective part away from the light emitting module. Along the direction away from the light receiving module, the distance between the side of the light-blocking plate facing the reflective part and the optical axis of the first optical element gradually increases.

7. The lidar according to claim 4, characterized in that, The inner wall of the housing is provided with a light-blocking part, which is located on the side of the reflective part away from the light emitting module. Along the direction away from the light receiving module, the distance between the side of the light-blocking part facing the reflective part and the optical axis of the first optical element gradually increases.

8. The lidar according to claim 1, characterized in that, The light emitting module includes an emitting unit and a second optical element. The second optical element is disposed between the beam splitter and the emitting unit. The second optical element has a second incident surface and a second exit surface. The second incident surface faces the emitting unit and is a convex surface protruding towards the emitting unit. The second exit surface faces the beam splitter. The second incident surface is used to collimate the probe beam from the emitting unit.

9. The lidar according to claim 1, characterized in that, The optical axis of the optical emitting module is perpendicular to the optical axis of the optical receiving module.

10. The lidar according to claim 1, characterized in that, The reflective portion covers the maximum cross-sectional area of ​​the detection beam emitted by the light emitting module.

11. The lidar according to claim 1, characterized in that, The housing has a first chamber and a second chamber, which are arranged orthogonally to each other. The light emitting module is located in the first chamber and the light receiving module is located in the second chamber.

12. The lidar according to claim 11, characterized in that, The housing also has a third chamber, one side of which is connected to the first chamber and the other side is connected to the second chamber. A first positioning part is provided in the third chamber, and the beam splitter is installed in the third chamber through the first positioning part.

13. The lidar according to claim 1, characterized in that, The reflective part has an anti-reflection layer.

14. The lidar according to claim 1, characterized in that, The light-transmitting part has an anti-reflective layer.

15. The lidar according to claim 1, characterized in that, The lidar also includes a scanning module, which includes a third optical element. The detection beam from the reflector is reflected by the third optical element and directed to the target object, and the reflected beam from the target object is reflected by the third optical element and directed to the light-transmitting part.

16. The lidar according to claim 15, characterized in that, The scanning module also includes a driving component, which is installed inside the housing and is used to drive the third optical element to rotate.

17. The lidar according to claim 16, characterized in that, The scanning module also includes a support member, the output shaft of the drive member is coaxially fixed with the support member to drive the support member to rotate, and the third optical element is fixedly mounted on the support member.

18. The lidar according to claim 17, characterized in that, The scanning module also includes a code disk and a sensor. The output shaft of the drive unit is fixed coaxially with the code disk to drive the code disk and the third optical element to rotate synchronously. The detection end of the sensor corresponds to the edge of the code disk and is used to detect the rotation angle and / or rotation speed of the code disk.

19. The lidar according to claim 18, characterized in that, The code disk is located on the side of the support that is away from the third optical element. A connector is provided between the code disk and the support, and the code disk and the support move synchronously through the connector.

20. A cleaning device, characterized in that, include: The cleaning equipment body and the lidar as described in any one of claims 1-19, wherein the lidar is located inside the cleaning equipment body and at the front end of the cleaning equipment body.

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