3D lidar and a robot equipped with legs and a cleaning robot equipped with it

Abstract

3D lidar, comprising a vertical scanning unit and a lateral rotating device, characterized by the fact that the vertical scanning unit has a laser emission aperture (4) for emitting a laser pulse signal and a non-uniformly rotating mirror, wherein the laser emission aperture (4) is arranged on the axis of rotation of the mirror, wherein the mirror rotates at a uniform or non-uniform speed to scan the external environment, so that the spatial distribution of the point cloud obtained by scanning can be controlled, wherein the lateral rotating device is equipped with a rotary motor to drive the vertical scanning unit for lateral rotation at a uniform or non-uniform speed, so that the spatial distribution of the point cloud obtained by scanning can be controlled.

Description

TECHNICAL FIELD

[0001] The present invention relates to the technical field of lidar devices, in particular to a 3D lidar and a legged robot equipped therewith and a cleaning robot equipped therewith. STATE OF THE ART

[0002] Currently, 3D lidars are widely used in industrial surveying and mapping, 3D modeling, autonomous driving, and other fields. However, most conventional 3D lidars are multi-threaded and expensive.

[0003] Chinese Patent CN 113960566 A discloses a 3D lidar and a legged robot comprising a vertical scanning unit and a horizontal rotating device for rotating the vertical scanning unit in a horizontal direction, wherein the vertical scanning unit has an installation seat and a laser receiving electrode, a convex lens, a laser emitting electrode, and a reflector sequentially arranged on the installation seat, wherein the laser receiving electrode is arranged at a focal position of the convex lens, wherein the laser emitting electrode is arranged on the main optical axis of the convex lens, wherein the reflector is rotatably arranged on the installation seat, wherein the rotation center of the reflector coincides with the main optical axis of the convex lens, wherein a laser pulse signal is emitted from the laser emitting electrode such thatthat the scanning of the peripheral environment in the vertical plane is realized by a rotation of the reflector, whereby the scanning of the three-dimensional environment is carried out by the horizontal rotating device provided with a rotary motor. SUMMARY OF THE INVENTIONTechnical Problems

[0004] For the technical solution described above, the three-dimensional scanning of the single-thread lidar is realized by a vertical scanning unit and a horizontal rotating device to significantly reduce costs. However, during use, it was found that the vertical scanning unit and the horizontal rotating device are each uniform rotating structures. This 3D lidar scans the external environment, so the distribution of the point clouds obtained by the detection is extremely uneven, as shown in Fig. 1. Since the upper part of the lidar scans the area once during each scan, the area is covered with a dense point cloud, meaning the center of the lidar's scanning viewpoint is fixed in this area. The point cloud distribution in the surrounding area of ​​the lidar is relatively sparse, so the sensing effect is not ideal. Therefore, the 3D lidar needs to be improved to meet the requirements where the center of the scanning viewpoint can be in any specific area within its viewing angle range. Technical solutions

[0005] To overcome the deficiencies of the prior art, the first purpose of the present invention is to provide a 3D lidar. The vertical scanning unit can scan the external environment at a uniform or uneven speed, and the lateral rotation device can drive the vertical scanning unit to rotate at a uniform or uneven speed, so that the adjustment and control of the center of the scanning viewpoint can be realized, thereby achieving high-density, concentrated scanning of any area within the viewing angle range.

[0006] The purpose of the present invention is to provide a legged robot equipped with a 3D lidar. The vertical scanning unit can scan the external environment at a uniform or uneven speed, and the lateral rotation device can drive the vertical scanning unit to rotate at a uniform or uneven speed, so that the adjustment and control of the scanning viewpoint center can be realized, thereby achieving high-density, concentrated scanning of any area within the viewing angle range.

[0007] The purpose of the present invention is to provide a cleaning robot equipped with a 3D lidar. The vertical scanning unit can scan the external environment at a uniform or uneven speed, and the lateral rotation device can drive the vertical scanning unit to rotate at a uniform or uneven speed, so that the adjustment and control of the center of the scanning viewpoint can be realized, thereby achieving concentrated, high-density scanning of any area within the viewing angle range.

[0008] To achieve one of the above-mentioned purposes, a first technical solution of the present invention consists in: 3D lidar comprising a vertical scanning unit and a lateral rotation device, wherein the vertical scanning unit has a laser emission aperture for emitting a laser pulse signal and an unevenly rotating mirror, wherein the laser emission aperture is arranged on the rotation axis of the mirror, wherein the mirror rotates at a uniform or uneven speed to scan the external environment so that the spatial distribution of the point cloud obtained by scanning can be controlled, wherein the lateral rotation device is provided with a rotation motor to drive the vertical scanning unit for lateral rotation at a uniform or uneven speed so that the spatial distribution of the point cloud obtained by scanning can be controlled.

[0009] As a preferred technical measure, the mirror is a plane mirror, and the vertical scanning unit includes an installation seat and a laser receiving electrode, a convex lens, a laser emission aperture, and a plane mirror arranged sequentially on the installation seat. The laser receiving electrode is arranged at a focal point position of the convex lens, the laser emission aperture is arranged on the main optical axis of the convex lens, and the plane mirror is rotatably arranged on the installation seat, the rotation center of the plane mirror coinciding with the main optical axis of the convex lens. A laser pulse signal is emitted from the laser emission aperture such that scanning of the peripheral environment in the vertical plane is realized by rotating the plane mirror, whereby scanning of the three-dimensional environment is further performed by the lateral rotating device.

[0010] As a preferred technical measure, the mirror is a concave mirror, wherein the vertical scanning unit comprises an installation seat and a laser receiving electrode, a laser emission aperture, a concave mirror, and a first mirror arranged on the installation seat, wherein the laser receiving electrode is arranged at a focal point position of the concave mirror, wherein the concave mirror is rotatably arranged on the installation seat, wherein the rotation center extends transversely through the laser receiving electrode, wherein the first mirror is fixedly arranged on the reflecting surface of the concave mirror to follow the rotation of the concave mirror, wherein a laser pulse signal is emitted from the laser emission aperture such that the scanning of the peripheral environment in the vertical plane is realized by a rotation of the first mirror,whereby the scanning of the three-dimensional environment is further performed by the lateral rotating device, the returning laser pulse signal being received by the concave mirror and focused to its focal point to be received by the laser receiving electrode.

[0011] As a preferred technical measure, the vertical scanning unit further comprises a laser emission electrode and a second mirror. The laser emission electrode is fixed to the underside of the installation seat so that the laser pulse signal emitted by it is reflected by the second mirror onto the first mirror. Light-shielding channels are arranged between the laser emission electrode and the second mirror, and between the second mirror and the first mirror, respectively. The laser emission electrode is fixed to the underside so that the reception of the optical signal by the laser reception electrode is not excessively blocked. The light-shielding channel and the light-shielding plate are arranged to prevent the emitted laser pulse signal and the received laser pulse signal from being interfered with by external ambient light rays, thereby improving scanning accuracy.

[0012] As a preferred technical measure, it is provided that the vertical scanning unit is provided with a first motor and a first code disk, wherein the rotation of the mirror is driven by the first motor, wherein the first code disk is concentrically and firmly connected to the mirror, so that the information about the rotation of the mirror is obtained by the first code disk.

[0013] As a preferred technical measure, it is provided that a protective cover is attached to the outside of the installation seat, wherein the protective cover is firmly connected to the lower floor housing, wherein a visible light emission electrode is arranged on the installation seat, wherein the visible light emitted by the visible light emission electrode is reflected by a second mirror so that further by the reflection of the first mirror a certain pattern is formed on the protective cover, or to penetrate through the protective cover so that a pattern is displayed or drawn on the surrounding external environment under the cooperation of a lateral rotating device.This structure allows the 3D lidar to project visible light pattern outward, making it convenient to display various information related to the radar itself and the robot to the outside, which has low cost and simple structure.

[0014] As a preferred technical measure, it is provided that the lateral rotating device comprises a rotor of an upper bottom housing, a lower bottom housing and a motor stator which is fastened in the lower bottom housing, wherein the motor stator is provided with a plurality of magnetic steel sheets, wherein the installation seat is fastened to the rotor of the upper bottom housing and rotates therewith.

[0015] As a preferred technical measure, it is provided that through holes are evenly arranged along the same circles in the circumferential direction of the rotor of the upper bottom housing, so that a photoelectric code disk is formed by the through holes to obtain the information about the rotation of the rotor of the upper bottom housing, thereby obtaining the information about the lateral rotation of the vertical scanning unit.

[0016] As a preferred technical measure, a hollow wireless power transmission module is arranged concentrically between the rotor of the upper base housing and the lower base housing, so that the laser receiving electrode and the laser emitting electrode are powered via the wireless power transmission module. Due to the relative rotation between the rotor of the upper base housing and the lower base housing, when power supply and signal transmission are required, a wireless power transmission module is used to replace the conventional cable, thus avoiding fatigue damage to the cable during reciprocating rotation.

[0017] As a preferred technical measure, it is provided that a base board is fixedly arranged on the lower base housing, wherein a wireless signal transmission arrangement is arranged concentrically between the rotor of the upper base housing and the lower base housing in order to realize wireless communication using optical communication, wherein the wireless communication between the laser emission electrode and the laser reception electrode and the base board is realized by the wireless signal transmission arrangement, wherein the laser emission electrode is electrically connected to a laser driver board.

[0018] To achieve one of the above-mentioned purposes, a second technical solution of the present invention consists in: Robot with legs using the above-mentioned 3D lidar, which allows the robot to sense information about its environment in real time.

[0019] To achieve one of the above-mentioned purposes, a third technical solution of the present invention consists in: Cleaning robot comprising the 3D lidar described above. Beneficial effects

[0020] The present invention provides a 3D lidar. Uniform or uneven scanning of the laser emission electrode in the vertical plane is realized by the smooth or uneven rotation of the mirror. The vertical scanning unit is driven by the lateral rotation device to rotate at a uniform or uneven speed, thereby controlling the spatial distribution of the scanned point cloud. For the upper part of the 3D lidar, the point cloud is dense due to the frequent back-and-forth scanning of the area. Therefore, when scanning this area, the mirror rotates quickly to obtain a sparser point cloud. When scanning the surrounding area of ​​the 3D lidar, the mirror rotates slowly to obtain a denser point cloud. The distribution of the entire point cloud acquired in this way is relatively uniform.

[0021] The present invention provides a legged robot equipped with a 3D lidar. Uniform or uneven scanning of the laser emission electrode in the vertical plane is realized by the smooth or uneven rotation of the mirror. The vertical scanning unit is driven by the lateral rotation device to rotate at a uniform or uneven speed, thereby controlling the spatial distribution of the scanned point cloud. For the upper part of the 3D lidar, the point cloud is dense due to the frequent back-and-forth scanning of the area. Therefore, when scanning this area, the mirror rotates quickly to obtain a sparser point cloud. When scanning the surrounding area of ​​the 3D lidar, the mirror rotates slowly to obtain a denser point cloud. The distribution of the entire point cloud acquired in this way is relatively uniform.

[0022] The present invention provides a cleaning robot equipped with a 3D lidar. Uniform or uneven scanning of the laser emission electrode in the vertical plane is realized by the smooth or uneven rotation of the mirror. The vertical scanning unit is driven by the lateral rotation device to rotate at a uniform or uneven speed, thereby controlling the spatial distribution of the scanned point cloud. For the upper part of the 3D lidar, the point cloud is dense due to the frequent back-and-forth scanning of the area. Therefore, the mirror rotates quickly when scanning this area to obtain a sparser point cloud. When scanning the surrounding area of ​​the 3D lidar, the mirror rotates slowly to obtain a denser point cloud. The distribution of the entire point cloud acquired in this way is relatively uniform. BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is a distribution map of the point cloud acquired by the existing 3D lidar; Fig. 2 is an example of the distribution map of the point cloud acquired by the 3D lidar according to the present invention; Fig. 3 is a structural diagram of a 3D lidar using a plane mirror according to the present invention; Fig. 4 is a full-sectional view of a 3D lidar using a plane mirror according to the present invention; Fig. 5 is a structural diagram of a 3D lidar using a concave mirror according to the present invention; Fig. 6 is a full-sectional view of a 3D lidar using a concave mirror according to the present invention; Fig. 7 is an exploded diagram of a 3D lidar using a concave mirror according to the present invention; Fig. 8 is an exploded diagram of a cleaning robot according to the present invention; Fig. 9 is a plan view of a cleaning robot according to the present invention; Fig. 10 is a side view of a cleaning robot according to the present invention; Fig. 11 is a front view of a cleaning robot according to the present invention. DETAILED DESCRIPTION Embodiments of the present invention

[0023] The present invention will be further described below in conjunction with the drawings and specific embodiments. It should be noted that the embodiments or technical features described below can be arbitrarily combined to form new embodiments, provided they do not conflict.

[0024] It should be noted that the two elements may be directly connected, or an intermediate element may be present if the two elements are firmly connected or attached. In contrast, there is no intermediate element if one element is directly attached to another element. The terms "horizontal," "vertical," "top," "bottom," and similar expressions used herein are for illustrative purposes only.

[0025] Unless otherwise defined, all technical and scientific terms used in the present invention have the same meaning as commonly understood by those skilled in the art to which the present invention pertains. The terms used in the present invention are for the purpose of describing specific embodiments only and are not intended to limit the present invention. The term "or" or "and" used in the present invention encompasses any and all combinations of one or more of the related listed elements.

[0026] A specific embodiment of the 3D lidar according to the present invention, as shown in Fig. 1 to Fig. 7 shown: A 3D lidar comprising a vertical scanning unit and a lateral rotation device, wherein the vertical scanning unit has a laser emission aperture 4 for emitting a laser pulse signal and a non-uniformly rotating mirror, wherein the laser emission aperture 4 is arranged on the rotation axis of the mirror, wherein the mirror rotates at a uniform or non-uniform speed to scan the external environment so that the spatial distribution of the point cloud obtained by scanning can be controlled, wherein the lateral rotation device is provided with a rotation motor to drive the vertical scanning unit for lateral rotation at a uniform or non-uniform speed so that the spatial distribution of the point cloud obtained by scanning can be controlled.

[0027] A specific embodiment of the plane mirror 5 according to the present invention, as shown in Fig. 3 to Fig. 4 shown:Furthermore, it is provided that the mirror is a plane mirror 5, wherein the vertical scanning unit comprises an installation seat 1 and a laser receiving electrode 2, a convex lens 31, a laser emission aperture 4, and a plane mirror 5, which are arranged successively on the installation seat 1, wherein the laser receiving electrode 2 is arranged at a focal point position of the convex lens 31, wherein the laser emission aperture 4 is arranged on the main optical axis of the convex lens 31, wherein the plane mirror 5 is rotatably arranged on the installation seat 1, wherein the rotation center of the plane mirror 5 coincides with the main optical axis of the convex lens 31, wherein a laser pulse signal is emitted from the laser emission aperture 4 such that the scanning of the peripheral surroundings in the vertical plane is realized by rotating the plane mirror 5,whereby the scanning of the three-dimensional environment is further carried out by the lateral rotation device.,

[0028] A specific embodiment of the concave mirror 51 according to the present invention, as shown in Fig. 5 to Fig. 7 shown: Furthermore, it is provided that the mirror is a concave mirror 51, wherein the vertical scanning unit comprises an installation seat 1 and a laser receiving electrode 2, a laser emission aperture 4, a concave mirror 51, and a first mirror 3 arranged on the installation seat 1. The laser receiving electrode 2 is arranged at a focal point position of the concave mirror 51. The concave mirror 51 is rotatably arranged on the installation seat 1, with the rotation center extending transversely through the laser receiving electrode 2. The first mirror 3 is fixedly arranged on the reflecting surface of the concave mirror 51 to follow the rotation of the concave mirror 51. A laser pulse signal is emitted from the laser emission aperture 4 such that scanning of the peripheral surroundings in the vertical plane is realized by rotating the first mirror 3.whereby the scanning of the three-dimensional environment is further performed by the lateral rotating device, the returning laser pulse signal being received by the concave mirror 51 and focused to its focal point to be received by the laser receiving electrode 2.

[0029] A specific embodiment of the vertical scanning unit according to the present invention: Furthermore, it is provided that the vertical scanning unit further comprises a laser emission electrode, a second mirror 20, a first motor 6 and a first code disk 7, The laser emission electrode is fixed to the underside of the installation seat 1 so that the laser pulse signal emitted by it is reflected by the second mirror 20 onto the first mirror 3. Light-shielding channels 21 are arranged between the laser emission electrode and the second mirror 20, and between the second mirror 20 and the first mirror 3, respectively. The laser emission electrode is fixed to the underside so that the reception of the optical signal by the laser reception electrode 2 is not excessively blocked. The light-shielding channel 21 and the light-shielding plate 22 are arranged to prevent the emitted laser pulse signal and the received laser pulse signal from being interfered with by external ambient light rays, thereby improving scanning accuracy. wherein the rotation of the mirror is driven by the first motor 6, wherein the first code disc 7 is concentrically and fixedly connected to the mirror, so that the information about the rotation of the mirror is obtained by the first code disc 7.

[0030] A specific embodiment according to the present invention by adding a protective structure: Furthermore, it is provided that a protective cover 16 is attached to the outside of the installation seat 1, wherein the protective cover 16 is fixedly connected to the lower floor housing 9, wherein an emission electrode 14 for visible light is arranged on the installation seat 1, wherein the visible light emitted by the emission electrode 14 for visible light is reflected by a second mirror 20, so that further by the reflection of the first mirror 3 a certain pattern is formed on the protective cover 16, or to penetrate through the protective cover 16, so that a pattern is displayed or drawn on the surrounding external environment under the cooperation of a lateral rotating device.This structure allows the 3D lidar to project visible light pattern outward, making it convenient to display various information related to the radar itself and the robot to the outside, which has low cost and simple structure.

[0031] A specific embodiment of the lateral turning device according to the present invention: Furthermore, it is provided that the lateral rotating device comprises a rotor 8 of an upper base housing, a lower base housing 9, a transverse pivot bearing 19 and a motor stator 10 which is fastened in the lower base housing 9, wherein the motor stator 10 is provided with a plurality of magnetic steel sheets 15, wherein the installation seat 1 is fixed to the rotor 8 of the upper bottom housing and rotates therewith, wherein through holes 11 are evenly arranged along the same circles in the circumferential direction of the rotor 8 of the upper bottom case, so that a photoelectric code disk is formed by the through holes 11 to obtain the information on the rotation of the rotor 8 of the upper bottom case, thereby obtaining the information on the lateral rotation of the vertical scanning unit.

[0032] A specific embodiment according to the present invention by adding a wireless power transmission module 12: Furthermore, a hollow wireless power transmission module 12 is arranged concentrically between the rotor 8 of the upper base housing and the lower base housing 9, so that the laser receiving electrode 2 and the laser emitting electrode are powered via the wireless power transmission module 12. Due to the relative rotation between the rotor 8 of the upper base housing and the lower base housing 9, when power supply and signal transmission are required, a wireless power transmission module 12 is used to replace the conventional cable, thereby avoiding fatigue damage to the cable during reciprocating rotation.

[0033] A specific embodiment of the signal transmission structure according to the present invention: Furthermore, it is provided that a base board 13 is fixedly arranged on the lower base housing 9, wherein a wireless signal transmission arrangement 17 is arranged concentrically between the rotor 8 of the upper base housing and the lower base housing 9 in order to realize wireless communication using optical communication, wherein the wireless communication between the laser emission electrode and the laser reception electrode 2 and the base board 13 is realized by the wireless signal transmission arrangement 17, wherein the laser emission electrode is electrically connected to a laser driver board 18.

[0034] A first specific embodiment according to the present invention: Robot with legs using the above-mentioned 3D lidar, which allows the robot to sense information about its environment in real time. A second specific embodiment according to the present invention, as shown in Fig. 8 to Fig. 11 shown.

[0035] A cleaning robot comprising a 3D lidar as above and a cleaning robot body 101, wherein the 3D lidar is mounted on the outer wall of the cleaning robot body 101.

[0036] In the present application, the type of fastening or fixed connection may be screwing or welding or riveting or plugging or connection by a third component, which can be selected by the person skilled in the art according to the actual situation.

[0037] The above embodiments are only preferred embodiments of the present invention and cannot be used to limit the scope of the present invention. Any minor changes and substitutions made by those skilled in the art based on the present invention will fall within the scope of the present invention.

[0038] In summary, the invention relates to a 3D lidar and a legged robot equipped therewith, as well as a cleaning robot equipped therewith. The 3D lidar comprises a vertical scanning unit and a lateral rotation device, wherein the vertical scanning unit has a laser emission aperture 4 for emitting a laser pulse signal and a non-uniformly rotating mirror. The laser emission aperture 4 is arranged on the rotation axis of the mirror. The mirror rotates at a uniform or non-uniform speed to scan the external environment, so that the spatial distribution of the point cloud obtained by scanning can be controlled. By uniformly or non-uniformly rotating the mirror, uniform or non-uniform scanning of the laser emission electrode in the vertical plane is realized.The vertical scanning unit is driven by the lateral rotation device to rotate at uniform or uneven speed, thereby controlling the spatial distribution of the scanned point cloud. LIST OF REFERENCE SYMBOLS 1 installation seat 2 laser receiving electrodes 3 first mirror 31 Convex lens 4 Laser emission aperture 5 Level mirror 51 Concave mirror 6 First engine 7 First code disc 8 Rotor of an upper bottom housing 9 Lower base housing 10 Motor stator 11 Through hole 12 Wireless power transfer module 13 Baseboard 14 Emission electrode for visible light 15 magnetic steel sheets 16 Protective cover 17 Wireless signal transmission arrangement 18 Laser driver board 19 Transverse pivot bearings 20 Second Mirror 21 Light shielding channel 22 Light shielding plate 101 cleaning robot bodies QUOTES CONTAINED IN THE DESCRIPTION

[0000] This list of documents submitted by the applicant was generated automatically and is included solely for the convenience of the reader. This list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions. Cited patent literature

[0000] CN 113960566 A

[0003]

Claims

[1] 3D lidar comprising a vertical scanning unit and a lateral rotation device, characterized by , that the vertical scanning unit has a laser emission aperture (4) for emitting a laser pulse signal and a non-uniformly rotating mirror, wherein the laser emission aperture (4) is arranged on the rotation axis of the mirror, the mirror rotating at a uniform or non-uniform speed to scan the external environment, so that the spatial distribution of the point cloud obtained by scanning can be controlled, wherein the lateral rotation device is provided with a rotation motor for driving the vertical scanning unit for lateral rotation at a uniform or uneven speed so that the spatial distribution of the point cloud obtained by scanning can be controlled. [2] 3D lidar according to claim 1, characterized bythat the mirror is a plane mirror (5), wherein the vertical scanning unit comprises an installation seat (1) and a laser receiving electrode (2), a convex lens (31), a laser emission aperture (4), and a plane mirror (5) arranged one after the other on the installation seat (1), wherein the laser receiving electrode (2) is arranged at a focal point position of the convex lens (31), wherein the laser emission aperture (4) is arranged on the main optical axis of the convex lens (31), wherein the plane mirror (5) is rotatably arranged on the installation seat (1), wherein the rotation center of the plane mirror (5) coincides with the main optical axis of the convex lens (31), wherein a laser pulse signal is emitted from the laser emission aperture (4) such that the scanning of the peripheral environment in the vertical plane is realized by rotating the plane mirror (5),whereby the scanning of the three-dimensional environment is carried out by the lateral rotation device., [3] 3D lidar according to claim 1, characterized bythat the mirror is a concave mirror (51), wherein the vertical scanning unit comprises an installation seat (1) and a laser receiving electrode (2), a laser emission opening (4), a concave mirror (51), and a first mirror (3) arranged on the installation seat (1), wherein the laser receiving electrode (2) is arranged at a focal point position of the concave mirror (51), wherein the concave mirror (51) is rotatably arranged on the installation seat (1), wherein the center of rotation extends transversely through the laser receiving electrode (2), wherein the first mirror (3) is fixedly arranged on the reflecting surface of the concave mirror (51) to follow the rotation of the concave mirror (51), wherein a laser pulse signal is emitted from the laser emission opening (4) such that the scanning of the peripheral surroundings in the vertical plane is realized by a rotation of the first mirror (3),whereby the scanning of the three-dimensional environment is carried out by the lateral rotating device, the returning laser pulse signal being received by the concave mirror (51) and focused to its focal point to be received by the laser receiving electrode (2). [4] 3D lidar according to claim 3, characterized by in that the vertical scanning unit further comprises a laser emission electrode and a second mirror (20), wherein the laser emission electrode is fixed to the underside of the installation seat (1) so that the laser pulse signal emitted thereby is reflected by the second mirror (20) onto the first mirror (3), wherein opaque light-shielding channels (21) are arranged between the laser emission electrode and the second mirror (20) and between the second mirror (20) and the first mirror (3). [5] 3D lidar according to claim 2 or 4, characterized bythat the vertical scanning unit is provided with a first motor (6) and a first code disc (7), wherein the rotation of the mirror is driven by the first motor (6), wherein the first code disc (7) is concentrically and firmly connected to the mirror, so that the information about the rotation of the mirror is obtained by the first code disc (7). [6] 3D lidar according to claim 5, characterized bythat a protective cover (16) is attached to the outside of the installation seat (1), the protective cover (16) being firmly connected to the lower floor housing (9), an emission electrode (14) for visible light being arranged on the installation seat (1), the visible light emitted by the emission electrode (14) for visible light being reflected by a second mirror (20) so that a specific pattern is formed on the protective cover (16) by the reflection of the first mirror (3), or to penetrate through the protective cover (16) so that a pattern is displayed or drawn on the surrounding external environment under the cooperation of a lateral rotating device. [7] 3D lidar according to claim 6, characterized byin that the lateral rotating device comprises a rotor (8) of an upper bottom housing, a lower bottom housing (9) and a motor stator (10) which is fastened in the lower bottom housing (9), wherein the motor stator (10) is provided with a plurality of magnetic steel sheets (15), wherein the installation seat (1) is fastened to the rotor (8) of the upper bottom housing and rotates therewith. [8] 3D lidar according to claim 7, characterized by that through holes (11) are arranged evenly along the same circles in the circumferential direction of the rotor (8) of the upper bottom housing, so that a photoelectric code disk is formed by the through holes (11) to obtain the information about the rotation of the rotor (8) of the upper bottom housing, thereby obtaining the information about the lateral rotation of the vertical scanning unit. [9] 3D lidar according to claim 8, characterized bythat a hollow wireless energy transmission module (12) is arranged concentrically between the rotor (8) of the upper base housing and the lower base housing (9), so that the laser receiving electrode (2) and the laser emitting electrode are fed via the wireless energy transmission module (12). [10] 3D lidar according to claim 9, characterized by in that a base board (13) is fixedly arranged on the lower base housing (9), wherein a wireless signal transmission arrangement (17) is arranged concentrically between the rotor (8) of the upper base housing and the lower base housing (9) in order to realize wireless communication using optical communication, wherein the wireless communication between the laser emission electrode and the laser reception electrode (2) and the base board (13) is realized by the wireless signal transmission arrangement (17), wherein the laser emission electrode is electrically connected to a laser driver board (18). [11] Cleaning robots, characterized by that the robot has a 3D lidar according to one of claims 1 to 10.

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