Solid state laser radar and cleaning robot

Abstract

This application provides a solid-state lidar and a cleaning robot. The solid-state lidar includes a transmitting device and a receiving device. The transmitting device includes a laser emitter and a light processing component, with the light processing component positioned in the output light path of the laser emitter. The laser emitter outputs a detection laser; the light processing component converts the detection laser into a wide-angle line laser, which is emitted towards the target object; and the receiving device receives the echo signal from the target object. Thus, wide-angle measurement can be achieved with a fixed structure and a single point light source, simplifying the structure of the solid-state lidar and increasing its detection range.

Description

Technical Field

[0001] This application belongs to the field of smart home technology, and in particular relates to a solid-state lidar and a cleaning robot. Background Technology

[0002] LiDAR is a radar system that uses laser signals to detect the position, velocity, and other characteristics of objects within a target scene. Currently, LiDAR mainly includes solid-state LiDAR and rotating LiDAR (or mechanical LiDAR). Solid-state LiDAR is further divided into pure solid-state LiDAR and hybrid LiDAR.

[0003] Rotating lidar achieves environmental scanning by mechanically rotating the ranging module, while hybrid lidar scans by adjusting the attitude of internal mechanisms within the ranging module. Both types of lidar contain moving mechanisms, resulting in relatively complex structural designs, and the module's lifespan is limited by the moving mechanisms such as motors and galvanometers. Solid-state lidar can be used in a fixed position and direction, with a limited scanning angle, failing to meet users' needs for lidar with a wider field of view. Utility Model Content

[0004] This application provides a solid-state lidar, including a transmitting device (110) and a receiving device (120). The transmitting device (110) includes a laser emitter (111) and an optical processing component (112). The optical processing component (112) is disposed on the output optical path of the laser emitter (111). The laser emitter (111) is used to output a detection laser. The optical processing component (112) is used to convert the detection laser into a wide-angle line laser, which is emitted to the target detection object (130). The receiving device (120) is used to receive the echo signal from the target detection object (130).

[0005] In some embodiments, the light processing assembly (112) includes at least one of the following lenses (1121): at least one cylindrical lens; at least one Powell lens; at least one diffractive lens; at least one micro / nano lens.

[0006] In some embodiments, the lens (1121) converts the probe laser into a wide-angle line laser with a laser divergence angle of 100° to 150°.

[0007] In some embodiments, when the lens (1121) includes a plurality of cylindrical lenses, the plurality of cylindrical lenses are arranged side by side along a first direction, and the direction in which the probe laser is incident on the plurality of cylindrical lenses is perpendicular to the first direction.

[0008] In some embodiments, the light processing assembly (112) further includes a beam expander (1122), the first bright surface and the second bright surface of the beam expander (1122) having different curvatures, and the lens (1121) and the beam expander (1122) are arranged sequentially along the laser emission direction of the laser emitter (111).

[0009] In some embodiments, the lens (1121) and the beam expander (1122) convert the probe laser into a wide-angle line laser with a laser divergence angle greater than 180°.

[0010] In some embodiments, the light processing assembly further includes a collimating lens (1123) disposed between the laser emitter (111) and the lens (1121), the collimating lens (1123) being used to concentrate the energy of the probe laser.

[0011] In some embodiments, the receiving device (120) includes a conical reflector (122) and a receiving unit (121). The horizontal cross-section of the conical reflector (122) is circular or elliptical, and the receiving unit (121) is disposed on the reflected light path of the conical reflector (122). The conical reflector (122) is used to receive and converge the echo signal and reflect the echo signal to the receiving unit (121).

[0012] In some embodiments, the angle between the side of the conical mirror (122) and the horizontal plane is between 30° and 60°.

[0013] In some embodiments, the receiving unit (121) is placed horizontally, the conical reflector (122) has a first end and a second end, the cross-sectional area of ​​the first end is smaller than the cross-sectional area of ​​the second end, the receiving unit (121) is disposed below or above the conical reflector (122), and the first end is close to the receiving unit (121).

[0014] In some embodiments, the transmitting device (110) and the receiving device (120) are at different heights.

[0015] In some embodiments, the transmitting device (110) is disposed below the receiving device (120), and the transmitting device (110) is provided with a preset upward tilt angle.

[0016] In some embodiments, the transmitting device (110) is disposed above the receiving device (120), and the receiving unit (121) in the receiving device (120) is disposed below the conical reflector (122).

[0017] In some embodiments, the transmitting device (110) and the receiving device (120) adopt a fixed structure.

[0018] This application embodiment also provides a cleaning robot (300), including: a robot body 310 and a solid-state lidar (100). The solid-state lidar (100) includes a transmitting device (110) and a receiving device (120). The transmitting device (110) includes a laser emitter (111) and a light processing component (112). The light processing component (112) is disposed on the output light path of the laser emitter (111). The laser emitter (111) is used to output a detection laser. The light processing component (112) is used to convert the detection laser into a wide-angle line laser, and the wide-angle line laser is emitted to the target detection object (130). The receiving device (120) is used to receive the echo signal from the target detection object (130). The solid-state lidar (100) is disposed on the robot body (310).

[0019] In some embodiments, the cleaning robot (300) includes a solid-state lidar (100) which is fixedly disposed on the top or side wall of the machine body (310); or, it is connected to the machine body (310) via a lifting mechanism (340) which is used to raise or lower the solid-state lidar (100) to the detection position when the solid-state lidar (100) is working.

[0020] In some embodiments, the cleaning robot (300) further includes a drive wheel (320) and a control device (330), wherein the drive wheel (320) is rotatably connected to the machine body, and the control device (330) is electrically connected to the drive wheel (320) and the solid-state lidar (100); the control device (330) is used to control the drive wheel (320) to turn during the detection period of the solid-state lidar (100), thereby controlling the machine body (310) to drive the solid-state lidar (100) to turn.

[0021] In some embodiments, the cleaning robot (300) includes at least two solid-state lidars (100), which are fixedly connected to the main body (310) and arranged symmetrically.

[0022] In some embodiments, the at least two solid-state lidars include a first solid-state lidar (101) and a second solid-state lidar (102); the first solid-state lidar (101) is disposed on the front side of the machine body (310), and the second solid-state lidar (102) is disposed on the rear side of the machine body (310) symmetrical to the front side.

[0023] Compared with existing technologies, the above technical solution has at least the following beneficial technical effects: The solid-state lidar design provided in this application uses a single point light source expanded into a wide-angle line light source (i.e., a wide-angle line laser) to achieve wide-angle single-line or multi-line detection. It eliminates the need for complex array structures, resulting in relatively low cost. Furthermore, the wide-angle line laser is achieved through a purely solid-state structure, and the absence of moving parts such as motors and galvanometers leads to higher reliability and a smaller footprint, enabling the solid-state lidar to be used in a wider range of applications. Attached Figure Description

[0024] Figure 1 A schematic diagram of the structure of the solid-state lidar provided in an embodiment of this application is shown; Figure 2 The laser optical path diagram provided in the embodiment of this application is shown; Figure 3 This paper presents a schematic diagram of another solid-state lidar provided in an embodiment of the present application. Figure 4 This paper shows a schematic diagram of the structure of another solid-state lidar provided in an embodiment of the present application; Figure 5 This illustration shows a point cloud diagram provided in an embodiment of this application; Figure 6 This paper shows a schematic diagram of the structure of a cleaning robot provided in an embodiment of this application; Figure 7 A top view schematic diagram of a cleaning robot provided in an embodiment of this application is shown; Figure 8 A schematic diagram of another cleaning robot provided in an embodiment of this application is shown; Figure 9 A top view schematic diagram of another cleaning robot provided in an embodiment of this application is shown; Figure 10 This invention provides a schematic diagram of the structure of another cleaning robot according to an embodiment of the present application. Figure 11 This invention provides a schematic diagram of the structure of another cleaning robot according to an embodiment of the present application. Figure 12 This invention provides a schematic diagram of the structure of another cleaning robot according to an embodiment of the present application. Figure 13 This illustration shows a top view of yet another cleaning robot provided in an embodiment of this application.

[0025] Explanation of reference numerals in the attached figures: 100 Solid-state LiDAR, 110 Transmitter, 120 Receiver, 130 Target Detection Object, 111 Laser Emitter, 112 Optical Processing Component, 1121 Lens, 1122 Beam Expander, 1123 Collimator, 122 Conical Reflector, 121 Receiver Unit, 210 Wide-angle Linear Laser, 220 Target Surface of Receiver Unit, 230 Conical Reflector, 240 Point Cloud Map, 300 Cleaning Robot, 310 Robot Body, 320 Drive Wheel, 330 Control Device, 340 Lifting Mechanism, 101 First Solid-state LiDAR, 102 Second Solid-state LiDAR. Detailed Implementation

[0026] To make the objectives, technical solutions, and advantages of this application clearer, the application will be further described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0027] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that an article or device that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such an article or device. Without further limitation, an element defined by the phrase "comprising one" does not exclude the presence of other identical elements in the article or device that includes said element.

[0028] LiDAR is a radar system that uses laser signals to detect the position, velocity, and other characteristics of objects within a target scene. Its working principle involves emitting a laser signal (detection signal) towards the target object within the scene, then comparing the received echo signal reflected back from the target object with the emitted laser signal. After appropriate processing, relevant information about the target object can be obtained, thus enabling the detection and identification of objects within the target scene.

[0029] LiDAR mainly includes solid-state LiDAR and rotating LiDAR (or mechanical LiDAR). Solid-state LiDAR is further divided into pure solid-state LiDAR and hybrid LiDAR. In related technologies, rotating LiDAR achieves environmental scanning by mechanically rotating the ranging module, while hybrid LiDAR scans the environment by adjusting the attitude of some mechanisms within the ranging module. Both types of LiDAR have moving mechanisms, resulting in relatively complex structural designs, and the module's lifespan is limited by the moving mechanisms such as motors and galvanometers. Solid-state LiDAR can be used in a fixed position and direction, with a limited scanning angle, which cannot meet users' needs for a wider field of view. Therefore, how to make LiDAR possess both high reliability and a large field of view has become an urgent technical problem to be solved.

[0030] This application provides a solid-state lidar that, without the need for a moving mechanism, converts a point light source into a wide-angle linear laser through a fixed light processing component, enabling wide-angle single-line or multi-line detection, thus combining high reliability and a large field of view.

[0031] The specific embodiments and optional examples of this application are described in detail below with reference to the accompanying drawings.

[0032] Figure 1 A schematic diagram of the device layout of a solid-state lidar 100 provided in an embodiment of this application is shown, wherein the arrows indicate the propagation direction of the laser. Figure 1 As shown, the solid-state lidar 100 includes a transmitting device 110 and a receiving device 120, wherein the transmitting device 110 is used to emit a detection laser, and the receiving device 120 is used to receive the echo signal reflected from the target detection object 130.

[0033] In some embodiments, the transmitting device 110 and the receiving device 120 adopt a fixed structure, that is, the components within the transmitting device 110 and the receiving device 120 are all non-movable components. In other words, the solid-state lidar 100 in this embodiment is essentially a pure solid-state lidar. By designing a fixed structure, problems such as structural complexity and limited module lifespan caused by designing moving parts are avoided, thereby improving the overall structural reliability.

[0034] The emitting device 110 is used to emit a wide-angle line laser towards the target object 130. The wide-angle line laser refers to a line laser with an angle greater than a preset angle (such as 100° or 180°). By scanning the surrounding environment with a wide-angle line laser, the detection requirements of a large field of view can be met, solving the problem of limited scanning angle of pure solid-state lidar.

[0035] like Figure 1As shown, in some possible embodiments provided in this application, the emitting device 110 includes a laser emitter 111 and an optical processing component 112. The laser emitter 111 is used to output a probe laser. In some embodiments, the probe laser output by the laser emitter 111 is a point laser, that is, the laser emitter 111 is used to provide a point light source. As an example, the point light source can be an edge-emitting laser (EEL) or a vertical-cavity surface-emitting laser (VCSEL).

[0036] The light processing component 112 is used to convert the detection laser output by the laser emitter 111 into a wide-angle line laser, which is emitted to the target detection object 130. In this way, scanning within a large field of view can be achieved by controlling only a single point light source. Compared with scanning through a laser array, it is not necessary to control multiple point light sources individually, thereby reducing structural complexity and cost.

[0037] like Figure 1 As shown, in some possible embodiments provided in this application, the light processing component 112 is disposed on the output light path of the laser emitter 111. That is, the light inlet of the light processing component 112 is located on the side of the light processing component closer to the laser emitter 111, and the light outlet of the light processing component 112 is located on the side of the light processing component away from the laser emitter 111. In other words, the detection laser emitted by the laser emitter 111 is processed by the light processing component 112 and then directed towards the target detection object 130 from the side of the light processing component 112 away from the laser emitter 111. It is understood that the light processing component 112 includes one or more components. When the light processing component 112 includes multiple components, these multiple components are arranged sequentially along the laser emission direction of the laser emitter 111.

[0038] like Figure 1 As shown, in some possible embodiments provided in this application, the light processing component 112 includes at least one of the following lenses 1121: at least one cylindrical lens; at least one Powell lens; at least one diffractive lens; at least one micro / nano lens. In some embodiments, the lens 1121 is used to convert the probe laser into a wide-angle linear laser with a laser divergence angle of 100° to 150°. The laser divergence angle, also known as the laser dispersion angle, refers to the angle at which the laser spreads in a specific direction. The larger the laser divergence angle, the larger the range that can be detected simultaneously.

[0039] Lens 1121 can be considered as being composed of multiple cylindrical lenses. When a point laser is incident on lens 1121, it will form a line laser, and the laser angle will be diffused (i.e., the laser angle will increase).

[0040] It is understood that when the lens 1121 includes multiple cylindrical lenses, these multiple cylindrical lenses are arranged side by side along the first direction, and in this case, the lens 1121 can also be referred to as a wave mirror. The direction in which the detection laser is incident on the multiple cylindrical lenses is perpendicular to the first direction; a detailed illustration can be found later. Figure 2 The corresponding descriptions will not be elaborated here.

[0041] like Figure 1 As shown, in some possible embodiments provided in this application, the light processing component 112 further includes a beam expander 1122. Exemplarily, the lens 1121 and the beam expander 1122 are arranged sequentially along the laser emission direction of the laser emitter 111. That is, the laser first passes through the lens 1121, and the line laser processed by the lens 1121 is then emitted onto the beam expander 1122. The beam expander 1122 includes at least two bright surfaces, denoted as the first bright surface and the second bright surface, where the first bright surface is the incident bright surface and the second bright surface is the exit bright surface. In other words, the line laser emitted from the lens 1121 is incident on the first bright surface of the beam expander 1122, and the wide-angle line laser formed after processing by the beam expander 1122 is emitted from the second bright surface to the target detection object 130.

[0042] The first and second bright surfaces of the beam expander 1122 have different curvatures. In one example, the curvature of the first bright surface is greater than that of the second bright surface. The incident bright surface achieves rapid beam divergence through its large curvature, while the exiting bright surface ensures collimation and stability after beam expansion through its small curvature.

[0043] In some embodiments, lens 1121 and beam expander 1122 convert the probe laser into a wide-angle line laser with a laser divergence angle greater than 180°.

[0044] like Figure 1 As shown, in some possible embodiments provided in this application, the light processing component 112 includes a collimating lens 1123, which is disposed between the laser emitter 111 and the lens 1121. That is, the collimating lens 1123, the lens 1121 and the beam expander 1122 are arranged sequentially along the laser emission direction of the laser emitter 111.

[0045] The collimating lens 1123 is used to concentrate the energy of the probe laser emitted by the laser emitter 111, or in other words, the collimating lens 1123 is used to compress the divergence angle of the probe laser. The collimating lens 1123 can achieve optical path integration and stability improvement, and increase the divergence effect of the lens 1121 and the beam expander 1122.

[0046] It is understandable that if the point source emitted by the laser emitter 111 is a vertical cavity laser (VCSEL), since the divergence angle of this laser is relatively small, the collimating lens 1123 may not be required in this case.

[0047] The above provides a design scheme for a solid-state lidar transmitter. In this scheme, the transmitter does not have any moving parts or use an array light source. Instead, it converts the point light source into a wide-angle line light source through a light processing component, thus achieving wide-angle detection through a simple fixed structure.

[0048] Figure 2 A top view schematic diagram of the laser circuitry in the lidar emitting device according to an embodiment of this application is shown. Figure 2 As can be seen, the detection laser emitted by laser emitter 111 has a larger angular size after passing through lens 1121. After passing through beam expander 1122, the laser's angular size α will exceed 180°, thus enabling large-angle scanning. Compared to the emitting devices of rotating or hybrid lidar in related technologies, this design is more reliable, smaller in size, and reduces costs. Compared to the emitting devices of pure solid-state lidar in related technologies, this design can meet the requirements of wide-angle detection.

[0049] The receiving device 120 is used to receive the echo signal reflected from the target detection object 130. For example... Figure 1 As shown, in some possible embodiments provided in this application, the receiving device 120 includes a conical reflector 122 and a receiving unit 121. The conical reflector 122 receives and converges the echo signal reflected from the target detection object 130, and reflects the echo signal to the receiving unit 121. The receiving unit 121 is disposed in the reflected optical path of the conical reflector 122 and is used to receive the echo signal reflected by the conical reflector 122.

[0050] The horizontal cross-section of the conical reflector 122 is circular or elliptical. As a specific example, the conical reflector 122 is shaped like a cone or cylinder (the figure shows a conical reflector 122 as an example). Apart from the sides, the conical reflector 122 includes two ends, denoted as the first end and the second end, where the cross-sectional area of ​​the first end is smaller than that of the second end. That is, the first end has a relatively smaller area, and the second end has a relatively larger area. In the case where the conical reflector 122 is a cone, the first end is the apex of the cone and its cross-sectional area is 0.

[0051] Because the conical reflector 122 has different cross-sectional areas at its first and second ends, its side surface will form a certain angle with the horizontal plane when it is placed horizontally. By reasonably designing the size of this angle and the positional relationship between the conical reflector 122 and the receiving unit 121, the echo signal reflected by the conical reflector can be made to fall on the target surface of the receiving unit 121. In one possible design, the angle between the side surface of the conical reflector 122 and the horizontal plane is between 30° and 60°, which allows for a more compact positional relationship between the conical reflector 122 and the receiving unit 121.

[0052] like Figure 1 As shown, in some possible embodiments provided in this application, the receiving unit 121 is placed horizontally and positioned below the conical reflector 122; the direction from the first end of the conical reflector 122 to the second end is away from the receiving unit 121, that is, the conical reflector 122 is placed with the larger top and the smaller bottom.

[0053] like Figure 3 As shown, in some possible embodiments provided in this application, the receiving unit 121 is placed horizontally and positioned above the conical reflector 122; the direction from the first end of the conical reflector 122 to the second end is away from the receiving unit 121, that is, the conical reflector 122 is placed with a smaller top and a larger bottom.

[0054] Understandably, with Figure 3 Compared to the arrangement shown, Figure 1 The arrangement shown is more compact, which helps to reduce the size of the solid-state lidar 100.

[0055] The above provides a design scheme for a solid-state lidar receiver. In this scheme, the receiver has no moving parts. The conical reflector 122 focuses the echo signal onto the target surface of the receiving unit 121, thereby reducing the target surface area of ​​the receiving unit 121 and making the internal structure of the receiver more compact, which helps to reduce the size of the solid-state lidar 100. Furthermore, compared to other types of beam splitters, the conical reflector 122 does not require special coatings for specific wavelengths, reducing the added cost.

[0056] In some possible embodiments provided in this application, the transmitting device 110 and the conical reflector 122 or the receiving unit 121 are at different heights. Since the wide-angle line laser generated by the transmitting device 110 has an angle greater than 180°, this design can prevent the receiving unit 121 from directly receiving the wide-angle line laser emitted by the transmitting device 110, thus avoiding crosstalk.

[0057] Understandable, Figure 1 and Figure 3 This description uses the example of the transmitting device 110 being positioned below the receiving device 120. However, the embodiments of this application are not limited to this. In another design, the transmitting device 110 can also be positioned above the receiving device 120. For example, when the height of the solid-state lidar 100 during operation is lower than a preset value, the transmitting device 110 is positioned below the receiving device 120; when the height of the solid-state lidar 100 during operation is higher than the preset value, the transmitting device 110 is positioned above or below the receiving device 120.

[0058] The following is a detailed explanation: The fact that the solid-state lidar 100 operates at a height higher than the preset value refers to the fact that in the actual application scenario, the installation position of the solid-state lidar 100 is relatively high. For example, if the solid-state lidar 100 is used on a lawnmower robot, the detection laser emitted by the transmitting device 110 has a relatively long detection distance in the horizontal direction. Even if the transmitting device 110 has a slight downward tilt tolerance, the detection laser will not hit the ground. Therefore, placing the transmitting device 110 above the receiving device 120 also allows the echo signal to return to the conical reflector 122. For a detailed installation diagram, please refer to... Figure 4 Of course, in this case, the transmitting device 110 can also be positioned below the receiving device 120.

[0059] The fact that the solid-state lidar 100 operates at a height lower than the preset value means that in the actual application scenario of the solid-state lidar 100, the installation position is relatively low. For example, if the solid-state lidar 100 is used in a robot vacuum cleaner, and the transmitting device has a certain downward tilt angle due to installation tolerance, then at a relatively close distance, the detection laser will hit the ground, causing the echo signal to be unable to return to the conical reflector 122. In this case, a preset upward tilt angle (such as 0.5°~3°) can be set for the transmitting device 110, and the transmitting device 110 should be positioned below the receiving device 120 to ensure the optical path.

[0060] In some possible embodiments provided in this application, the receiving device employs a Time-of-Flight (TOF) chip, specifically an iTOF phase-time-of-flight chip or a DTOF direct-time-of-flight chip. The ranging scheme uses the time-of-flight method, the principle of which is to calculate the distance to the target object by utilizing the propagation speed of the laser beam in space and the time it takes for the beam to return.

[0061] like Figure 5As shown, in some possible embodiments provided in this application, the wide-angle laser 210 generated by the transmitting device strikes the target objects in front and to the left and right within the enclosed space. The echo signals return to the conical reflector 230 from various directions, and after reflection, enter the receiving unit downwards. Point cloud maps 240 of obstacles at different orientations and distances are formed on the target surface 220 of the receiving unit. Since the TOF chip is composed of a pixel array, through calibration, the echo signals of target objects at different orientations will fall within a specific row and column range of the TOF chip. By reading the flight time of the corresponding pixel row and column range, the distance of the obstacle at the corresponding orientation can be obtained. The echo signals from all orientations in the horizontal direction fall at different pixel positions on the pixel array of the TOF chip, and each pixel region has specific flight time and distance data, thereby forming a distance point cloud of obstacles within the enclosed space.

[0062] The above presents a design scheme for a solid-state lidar that can simultaneously meet the requirements of both pure solid-state operation and wide-angle applications. Furthermore, due to the absence of moving parts such as motors and galvanometers, it offers higher reliability and a smaller footprint, enabling this solid-state lidar to be used in a wider range of scenarios.

[0063] Meanwhile, the solid-state lidar design provided in this application uses a single point light source expanded into a wide-angle line light source (i.e., the wide-angle line laser in this application) to achieve wide-angle single-line or multi-line detection. It eliminates the need for complex array structures, resulting in relatively low cost.

[0064] It is understood that the wide-angle line laser with an angle greater than 180° provided in the embodiments of this application can also be achieved by combining two line lasers with an angle greater than 90°, and the specific solution is not limited.

[0065] Another aspect of this application embodiment also proposes a cleaning robot, including: a machine body; and one or more solid-state LiDARs 100 as described in any of the above technical solutions, the solid-state LiDARs 100 being connected to the machine body. The cleaning robot can be a sweeping robot, a mopping robot, a combined sweeping and mopping robot, a lawnmower robot, or other cleaning equipment that meets the requirements. Specifically, the cleaning robot includes, but is not limited to: a machine body, a cleaning system, a drive system, and a sensing system. The above systems coordinate with each other, enabling the cleaning robot to move autonomously to achieve its cleaning function. The functional components constituting the above systems are integrated within the machine body. It is understood that the cleaning robot can be a self-moving cleaning device, which is a device that automatically performs cleaning operations in a certain area to be cleaned without user operation. The sensing system may include one or more solid-state LiDARs 100, which are used to detect obstacles and surrounding environment information around the cleaning robot. For example, the solid-state LiDARs 100 can perform distance detection.

[0066] The solid-state lidar 100 can be a time-of-flight lidar. The working principle of a time-of-flight lidar is as follows: a transmitting device 110 emits a detection laser beam to the target object, and a receiving device 120 receives the laser beam returning from the target object. The distance to the target object is calculated using the propagation speed of the laser beam in space and the time it takes for the beam to return. Time-of-flight lidar has advantages such as high precision, high speed, and high resolution, thus meeting the functional requirements of cleaning robots. Specifically, the solid-state lidar 100 provided in this application embodiment is a pure solid-state lidar. A pure solid-state lidar can be understood as a radar without moving parts. That is, there are no moving parts in the transmitting device 110 and the receiving device 120 of the solid-state lidar 100 provided in this application embodiment; all components within the transmitting device 110 and the receiving device 120 are solid-state components.

[0067] This application also provides a cleaning robot 300. The cleaning robot 300 includes a main body 310 and a solid-state LiDAR 100, which is disposed on the main body 310. For a description of the solid-state LiDAR 100, please refer to the foregoing solution of this application embodiment.

[0068] Figure 6 A schematic diagram of a possible structure for a cleaning robot 300 is shown. Figure 6In the given example, the cleaning robot 300 includes a solid-state lidar 100, which is disposed on the side wall of the robot body 310. In an alternative embodiment, the cleaning robot 300 further includes at least one drive wheel 320 and a control device 330, wherein the drive wheel 320 is rotatably connected to the robot body 310, and the control device 330 is electrically connected to the drive wheel 320 and the solid-state lidar 100; the control device 330 is used to control the drive wheel 320 to turn during the detection period of the solid-state lidar 100, thereby controlling the robot body 310 to drive the solid-state lidar 100 to turn. A top view of the cleaning robot 300 is shown below. Figure 7 As shown. Since the solid-state lidar 100 can achieve a wide-angle detection of more than 180° (i.e., the angle α is greater than 180°), it can scan a field of view of more than 180° in front of it in a fixed direction. During the rotation of the main body 310 by the drive wheel 320, it can complete the 360° distance map and realize the detection of the surrounding environment within 360°.

[0069] Figure 8 A schematic diagram of another possible structure for the cleaning robot 300 is shown. Figure 8 In the given example, the cleaning robot 300 includes a solid-state lidar 100, which is mounted on top of the robot body 310. In an alternative embodiment, the cleaning robot 300 also includes at least one drive wheel 320 and a control device 330 for controlling the drive wheel 320 to turn during detection by the solid-state lidar 100, thereby controlling the robot body 310 to turn the solid-state lidar 100. A top view of the cleaning robot 300 is shown below. Figure 9 As shown. Since the solid-state lidar 100 can achieve a wide-angle detection of more than 180° (i.e., the angle α is greater than 180°), it can scan a field of view of more than 180° in front of it in a fixed direction. During the rotation of the main body 310 by the drive wheel 320, it can complete the 360° distance map and realize the detection of the surrounding environment within 360°.

[0070] Figure 10 and Figure 11 This diagram illustrates yet another possible structural design for the cleaning robot 300. Figure 10 and Figure 11In the given example, the cleaning robot 300 includes a solid-state lidar 100, which is connected to the robot body 310 via a lifting mechanism 340. The lifting mechanism 340 is used to raise or lower the solid-state lidar 100 to a detection position when it is operational. For example, when the solid-state lidar 100 is not operational, it is connected to the interior of the robot body 310 via the lifting mechanism 340. Figure 10 As shown. When the solid-state lidar 100 is working, the lifting mechanism 340 raises the solid-state lidar to the detection position, such as raising it to the top of the machine body 310, as shown. Figure 11 As shown. In an alternative embodiment, the cleaning robot 300 also includes at least one drive wheel 320 and a control device 330, which is used to control the drive wheel 320 to turn during the detection period of the solid-state lidar 100, thereby controlling the robot body 310 to drive the solid-state lidar 100 to turn.

[0071] Figure 12 A schematic diagram of another possible structure for the cleaning robot 300 is shown. The cleaning robot 300 includes at least two solid-state lidars 100, such as the first solid-state lidar 101 and the second solid-state lidar 102 shown in the figure. The two solid-state lidars 100 are fixedly connected to the robot body 310 and are symmetrically arranged.

[0072] In one embodiment provided in this application, a first solid-state lidar 101 is disposed on the front side of the machine body 310, and a second solid-state lidar 102 is disposed on the rear side of the machine body 310, symmetrical to the front side. As an example, the front side of the machine body 310 can be the front sidewall or the top front position; similarly, the rear side of the machine body 310 can be the rear sidewall or the top rear position. The aforementioned front and rear positions are based on the forward direction of the cleaning robot 300. In this design, the top view of the cleaning robot 300 is as follows... Figure 13 As shown, since a single solid-state lidar can achieve a wide-angle detection of more than 180° (i.e., the angle α is greater than 180°), it can scan a field of view of more than 180° in front of it in a fixed direction. Therefore, by symmetrically setting two solid-state lidars, the cleaning robot 300 does not need to complete mapping during the process of moving and rotating, but can build a 360° distance map on the spot, which improves the scanning efficiency.

[0073] The cleaning robot provided in this application embodiment includes a solid-state LiDAR as described in any of the above technical solutions, and therefore possesses all the beneficial effects of the solid-state LiDAR described in the above technical solutions.

[0074] In this application, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance; the term "multiple" refers to two or more unless otherwise expressly defined. The terms "install," "connect," "link," and "fix" should be interpreted broadly. For example, "connect" can mean a fixed connection, a detachable connection, or an integral connection; "link" can mean a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0075] In the description of this application, it should be understood that the terms "upper", "lower", "left", "right", "front", "rear", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or unit referred to must have a specific orientation or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0076] In the description of this specification, the terms "one embodiment," "some embodiments," "specific embodiment," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0077] The above are merely preferred embodiments of this application and are not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A solid-state lidar (100), characterized in that, It includes a transmitting device (110) and a receiving device (120). The transmitting device (110) includes a laser emitter (111) and an optical processing component (112). The optical processing component (112) is disposed on the outgoing optical path of the laser emitter (111). The laser emitter (111) is used to output a detection laser; The light processing component (112) is used to convert the detection laser into a wide-angle line laser, which is emitted to the target detection object (130). The receiving device (120) is used to receive the echo signal from the target detection object (130).

2. The solid-state lidar (100) according to claim 1, characterized in that, The light processing assembly (112) includes at least one of the following lenses (1121): At least one cylindrical lens; At least one Powell lens; At least one diffractive lens; At least one micro / nano lens.

3. The solid-state lidar (100) according to claim 2, characterized in that, The lens (1121) converts the detection laser into a wide-angle line laser with a laser divergence angle of 100°~150°.

4. The solid-state lidar (100) according to claim 2 or 3, characterized in that, In the case where the lens (1121) includes a plurality of cylindrical lenses, the plurality of cylindrical lenses are arranged side by side along a first direction, and the direction in which the detection laser is incident on the plurality of cylindrical lenses is perpendicular to the first direction.

5. The solid-state lidar (100) according to claim 2 or 3, characterized in that, The light processing component (112) also includes a beam expander (1122), the first bright surface and the second bright surface of the beam expander (1122) have different curvatures, and the lens (1121) and the beam expander (1122) are arranged sequentially along the laser emission direction of the laser emitter (111).

6. The solid-state lidar (100) according to claim 5, characterized in that, The lens (1121) and the beam expander (1122) convert the probe laser into a wide-angle line laser with a laser divergence angle greater than 180°.

7. The solid-state lidar (100) according to claim 2 or 3, characterized in that, The light processing assembly also includes a collimating lens (1123), which is disposed between the laser emitter (111) and the lens (1121). The collimating lens (1123) is used to concentrate the energy of the probe laser.

8. The solid-state lidar (100) according to any one of claims 1 to 3, characterized in that, The receiving device (120) includes a conical reflector (122) and a receiving unit (121). The horizontal cross-section of the conical reflector (122) is circular or elliptical, and the receiving unit (121) is disposed on the reflected light path of the conical reflector (122). The conical reflector (122) is used to receive and converge the echo signal and reflect the echo signal to the receiving unit (121).

9. The solid-state lidar (100) according to claim 8, characterized in that, The angle between the side of the conical mirror (122) and the horizontal plane is between 30° and 60°.

10. The solid-state lidar (100) according to claim 9, characterized in that, The receiving unit (121) is placed horizontally, and the conical reflector (122) has a first end and a second end. The cross-sectional area of ​​the first end is smaller than that of the second end. The receiving unit (121) is located below or above the conical reflector (122), and the first end is close to the receiving unit (121).

11. The solid-state lidar (100) according to claim 10, characterized in that, The transmitting device (110) and the receiving device (120) are at different heights.

12. The solid-state lidar (100) according to claim 11, characterized in that, The transmitting device (110) is disposed below the receiving device (120), and the transmitting device (110) is provided with a preset upward tilt angle.

13. The solid-state lidar (100) according to claim 11, characterized in that, The transmitting device (110) is disposed above the receiving device (120), and the receiving unit (121) in the receiving device (120) is disposed below the conical reflector (122).

14. The solid-state lidar (100) according to any one of claims 1 to 3, characterized in that, The transmitting device (110) and the receiving device (120) adopt a fixed structure.

15. A cleaning robot (300), characterized in that, include: The machine body (310) and the solid-state lidar (100) as described in any one of claims 1 to 14, the solid-state lidar (100) being disposed on the machine body (310).

16. The cleaning robot (300) according to claim 15, characterized in that, Includes a solid-state lidar (100), which is fixedly mounted on the top or side wall of the machine body (310); or, it is connected to the machine body (310) via a lifting mechanism (340), which is used to raise or lower the solid-state lidar (100) to the detection position when the solid-state lidar (100) is working.

17. The cleaning robot (300) according to claim 16, characterized in that, It also includes a drive wheel (320) and a control device (330), the drive wheel (320) being rotatably connected to the machine body (310), and the control device (330) being electrically connected to the drive wheel (320) and the solid-state lidar (100); The control device (330) is used to control the drive wheel (320) to turn during the detection period of the solid-state lidar (100), thereby controlling the machine body (310) to drive the solid-state lidar (100) to turn.

18. The cleaning robot (300) according to claim 15, characterized in that, The cleaning robot (300) includes at least two solid-state lidars (100), which are fixedly connected to the main body (310) and arranged symmetrically.

19. The cleaning robot (300) according to claim 18, characterized in that, The at least two solid-state lidars (100) include a first solid-state lidar (101) and a second solid-state lidar (102). The first solid-state lidar (101) is disposed on the front side of the machine body (310), and the second solid-state lidar (102) is disposed on the rear side of the machine body (310) symmetrical to the front side.

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