Lidar and robots

Abstract

A 3D lidar comprising a vertical scanning unit, characterized in that the vertical scanning unit comprises an installation seat (1) and a protective cover (16) fixed to the installation seat (1), wherein a laser emission aperture (4), a convex lens (3), and a rotatable mirror (5) are arranged horizontally in sequence between the installation seat (1) and the protective cover (16), wherein the rotation axis of the mirror (5) coincides with the main optical axis of the convex lens (3), wherein the laser emission aperture (4) is arranged on the main optical axis of the convex lens (3), wherein the laser signal emitted horizontally through the laser emission aperture (4) is reflected and rotated by the mirror (5), thereby realizing scanning of the surroundings in the vertical plane, wherein a light-shielding cavity (51) is arranged between the mirror (5) and the protective cover (16),wherein the light-shielding cavity (51) extends along the reflection direction of the laser signal and is arranged on the rotation axis of the mirror (5), wherein an arcuate portion (161) is arranged on the protective cover (16) for approaching the rotation path of the end of the light-shielding cavity (51), so that the distance between the end of the light-shielding cavity (51) and the arcuate portion (161) remains unchanged during the rotation process.

Description

TECHNICAL FIELD

[0001] The present invention relates to the technical field of lidar, in particular to a lidar and a robot. STATE OF THE ART

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

[0003] Chinese Patent CN113960566A discloses a 3D lidar and a foot-mounted 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 in such a way 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. CONTENT OF THE PRESENT INVENTIONTechnical Problems

[0004] For the technical solution described above, the three-dimensional scanning of the single-thread lidar is realized. However, during the use of this technical solution, it was found that due to the wide light-shielding channel from the protective cover, scattering occurs within the protective cover and mutual interference is generated with the laser signal of the loop before the laser signal exits the light-shielding channel and passes through the protective cover, which affects the reception of the laser signal by the laser receiving electrode. This in turn leads to unsatisfactory scanning results of the lidar, thus resulting in poor user experience, which is not conducive to promotion and use.

[0005] In addition, the laser signal emitted by the laser emitter is reflected when the laser signal passes the protective cover on the installation seat, which affects the reception of the laser signal by the laser receiving electrode on the loop. Technical solutions

[0006] In order to overcome the deficiencies of the prior art, the purpose I of the present invention is to provide a 3D lidar provided with a light shielding cavity between the mirror and the protective cover to reduce the scattering and reflection of the laser signal emitted by the mirror in the protective cover, thereby improving the sensing effect of the lidar.

[0007] The purpose of the present invention is to provide a 3D lidar. During the rotation of the light-shielding cavity with the mirror, the distance between the end of the light-shielding cavity and the arcuate section always remains unchanged, so that the scattering and reflection of the emitted laser signal within the protective cover remain constant, thereby making the sensing result of the lidar of the external environment more stable.

[0008] The purpose III of the present invention is to provide a lidar with good sensing efficiency, which is provided with a light shielding cavity between the reflector and the protective casing to reduce the scattering and reflection of the laser signal emitted by the reflector in the protective casing, thereby improving the sensing efficiency of the lidar.

[0009] The purpose of the present invention is to provide a lidar with good sensing efficiency and a robot. During the rotation of the light-shielding cavity with the reflector, the distance between the end of the light-shielding cavity and the arcuate portion always remains unchanged, so that the scattering and reflection of the emitted laser signal within the protective casing remain constant, thereby making the sensing result of the lidar of the external environment more stable.

[0010] The purpose V of the present invention is to provide a foot-mounted robot equipped with a 3D lidar provided with a light-shielding cavity between the mirror and the protective cover to reduce the scattering and reflection of the laser signal emitted by the mirror in the protective cover, thereby improving the sensing effect of the lidar.

[0011] The purpose VI of the present invention is to provide a cleaning robot equipped with a 3D lidar provided with a light shielding cavity between the mirror and the protective cover to reduce the scattering and reflection of the laser signal emitted by the mirror in the protective cover, thereby improving the sensing effect of the lidar.

[0012] To achieve one of the above-mentioned purposes, a first technical solution of the present invention consists in: A 3D lidar comprising a vertical scanning unit, the vertical scanning unit comprising an installation seat and a protective cover attached to the installation seat, wherein a laser emission aperture, a convex lens, and a rotatable mirror are arranged horizontally in order between the installation seat and the protective cover, the rotation axis of the mirror coinciding with the main optical axis of the convex lens, the laser emission aperture being arranged on the main optical axis of the convex lens, the laser signal emitted horizontally through the laser emission aperture being reflected and rotated by the mirror, thereby realizing the scanning of the environment in the vertical plane, wherein a light-shielding cavity is arranged between the mirror and the protective cover, the light-shielding cavity extending along the reflection direction of the laser signal and being arranged on the rotation axis of the mirror, wherein an arcuate portion is arranged on the protective cover for approaching the rotation path of the end of the light-shielding cavity, so that the distance between the end of the light-shielding cavity and the arcuate portion remains unchanged during the rotation process.

[0013] After continuous research, in the present invention, a light-shielding cavity is arranged between the mirror and the protective cover to reduce the scattering and reflection of the laser signal emitted by the mirror in the protective cover, thereby avoiding interference with the laser signal of the loop and improving the sensing effect of the lidar, which has the advantages of simple and practical structure, low manufacturing cost and good user experience, which is conducive to promotion and use.

[0014] Furthermore, during the rotation of the light-shielding cavity according to the present invention with the mirror, the distance between the end of the light-shielding cavity and the arcuate portion always remains unchanged, so that the scattering and reflection of the emitted laser signal within the protective cover remain constant, whereby the sensing result of the external environment by the lidar is more stable.

[0015] As a preferred technical measure, it is provided that a lateral light-shielding member is arranged between the laser emission opening and the mirror, wherein the lateral light-shielding member comprises a first light-shielding member fixed to the main optical axis of the convex lens and a second light-shielding member directly fixed to the mirror and rotating therewith, wherein the first light-shielding member is sheathed on the outer side of the second light-shielding member, wherein the lateral light-shielding member is in communication with the light-shielding cavity, wherein a light-shielding pad is arranged at a part where the second light-shielding member and the light-shielding cavity are in contact with the mirror.Lateral light-shielding elements are arranged horizontally to prevent interference of the emitted laser signal with the loop laser signal and to ensure that no light leaks into the interior of the protective cover to interfere with the loop laser signal. The lateral light-shielding elements are formed as separate structures of the first light-shielding element and the second light-shielding element. The first light-shielding element is sheathed on the outer surface of the second light-shielding element to prevent the emitted laser signal from being reflected by the second light-shielding element, which would affect the sensing effect of the lidar.

[0016] As a preferred technical measure, it is provided that the vertical scanning unit comprises a laser receiving electrode arranged at the focal point position of the convex lens, a first motor for driving the rotation of the mirror and a first encoder, wherein the first encoder is concentrically and fixedly connected to the mirror so that the information about the rotation of the mirror is obtained by the first encoder, wherein a laser signal is emitted from the laser emission opening to drive the rotation of the mirror by the first motor, thereby realizing the scanning of the environment in the vertical plane.

[0017] As a preferred technical measure, the 3D lidar includes a horizontal rotating device for driving the horizontal rotation of the vertical scanning unit. The horizontal rotating device includes a rotor of an upper bottom case, a lower bottom case, and a motor stator fixed in the lower bottom case. The installation seat and the protective cover are fixed to and rotate with the rotor of the upper bottom case. A dynamic sealing structure is arranged between the rotor of the upper bottom case and the lower bottom case. The vertical scanning unit is driven by the horizontal rotating device to rotate in the horizontal direction, thereby realizing the three-dimensional scanning of the single-thread lidar. A dynamic sealing structure is arranged to improve the overall waterproofness of the lidar, thereby broadening its application scenarios.

[0018] 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 to supply power to the vertical scanning unit via the wireless power transmission module. Due to the relative rotation between the rotor of the upper base housing and the lower base housing, the wireless power transmission module is used to replace the conventional cable for power supply and signal transmission, thus avoiding fatigue damage of the cable during reciprocating rotation. and / or, wherein through-holes are evenly arranged along the same circles in the circumferential direction of the rotor of the upper bottom casing, so that a photoelectric code disk is formed by the through-holes to obtain the information on the rotation of the rotor of the upper bottom casing, thereby obtaining the information on the horizontal rotation of the vertical scanning unit. and / or, wherein a magnetic steel sheet is fixedly arranged in the rotor of the upper bottom housing, the axial width of the magnetic steel sheet being greater than the axial width of the motor stator, and the upper edge of the magnetic steel sheet being higher than the upper edge of the motor stator. By designing this structure, the magnetic steel sheet is higher than the motor stator by a portion in the vertical direction, so that a large axial magnetic pulling force is generated between the rotor of the upper bottom housing and the motor stator. This makes the rotation of the horizontal rotating device more stable and reliable, ensuring that the rotor of the upper bottom housing is not separated from the lower bottom housing during rotation.

[0019] 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 vertical scanning unit and the base board is realized by the wireless signal transmission arrangement.

[0020] To achieve one of the above-mentioned purposes, a second technical solution of the present invention consists in: 3D lidar comprising a rotatable mirror for reflecting laser signals and an arc-shaped protective cover, wherein a light-shielding cavity is arranged between the protective cover and the mirror, the light-shielding cavity being cylindrical in shape, having an outer end portion with an arcuate rotational path and capable of rotating with the mirror, wherein an arcuate portion for covering the light shielding cavity is arranged on the protective cover, wherein the partial or complete cross-sectional shape of the arcuate portion is formed in a circular arc concentric with the rotational path of the outer end portion to form a constant pitch structure, so that the distance between the end of the light-shielding cavity and the arcuate portion remains unchanged during the rotation process.

[0021] After continuous research, in the present invention, a light-shielding cavity is arranged between the mirror and the protective cover to reduce the scattering and reflection of the laser signal emitted by the mirror in the protective cover, thereby avoiding interference with the laser signal of the loop and improving the sensing effect of the lidar, which has the advantages of simple and practical structure, low manufacturing cost and good user experience, which is conducive to promotion and use.

[0022] Furthermore, according to the present invention, the cross-sectional shape of the arcuate portion is formed into a circular arc concentric with the rotational trajectory of the outer end portion to form a constant-pitch structure. During the rotation of the light-shielding cavity with the mirror, the distance between the end of the light-shielding cavity and the arcuate portion always remains unchanged, so the scattering and reflection of the emitted laser signal within the protective cover remain constant, thereby making the sensing result of the external environment by the lidar more stable.

[0023] The preferred technical measure is to the cylindrical structure is L-shaped, the vertical section of which is used to receive the laser signal reflected by the mirror and the lateral section of which is used to receive the laser signal emitted from the convex lens, wherein the vertical portion extends to the wall surface of the protective cover and is adjacent to the wall surface of the protective cover, wherein a first light shielding element is arranged on the convex lens, wherein the first light shielding element is sheathed on the outside of the L-shaped lateral portion.

[0024] To achieve one of the above-mentioned purposes, a third technical solution of the present invention consists in: 3D lidar comprising a rotatable mirror for reflecting laser signals and an arc-shaped protective cover, wherein a light shielding cavity is arranged between the protective cover and the mirror, the light shielding cavity being cylindrical in shape and extending from the end face of the mirror toward the wall surface of the protective cover.

[0025] After continuous research, in the present invention, a light-shielding cavity is arranged between the mirror and the protective cover to reduce the scattering and reflection of the laser signal emitted by the mirror in the protective cover, thereby avoiding interference with the laser signal of the loop and improving the sensing effect of the lidar, which has the advantages of simple and practical structure, low manufacturing cost and good user experience, which is conducive to promotion and use.

[0026] Furthermore, a mirror is an object for reflecting light, including, but not limited to, mirrors or reflectors or light-reflecting films or other light-reflecting materials as are common in the art.

[0027] To achieve one of the above-mentioned purposes, a fourth technical solution of the present invention consists in: Lidar with good scanning efficiency, comprising a laser emitter for emitting the laser signal, a rotatable reflector for reflecting the laser signal and an arc-shaped protective housing, the reflector is covered by the protective housing, wherein a light shielding cavity is arranged between the reflector and the protective housing, wherein the light shielding cavity is a cylindrical member extending from the end face of the reflector toward the wall surface of the protective housing.

[0028] After continuous research, in the present invention, a light-shielding cavity is arranged between the reflector and the protective casing to reduce the scattering and reflection of the laser signal emitted by the reflector in the protective casing, thereby avoiding interference with the laser signal of the loop and improving the sensing effect of the lidar, which has the advantages of simple and practical structure, low manufacturing cost and good user experience, which is conducive to promotion and use.

[0029] Furthermore, the reflector is a mirror or a reflector or a light-reflecting film or another light-reflecting material.

[0030] The preferred technical measure is to the laser emitter is arranged laterally and is provided with a laser emission opening, wherein the reflector is provided with an obliquely arranged light-reflecting surface, wherein the extension line where the laser emission aperture is located intersects with the light-reflecting surface to realize the reflection of the laser signal.

[0031] The preferred technical measure is to the cylindrical element is L-shaped, the vertical section of which is used to receive the laser signal reflected by the reflector and the lateral section of which is used to receive the laser signal emitted from the convex lens, wherein the vertical portion extends to the wall surface of the protective housing and is adjacent to the wall surface of the protective housing.

[0032] Side sections for the light shielding cavity are arranged in the horizontal direction so that interference of the emitted laser signal with the laser signal of the loop is avoided and no leakage into the interior of the protective housing to interfere with the laser signal of the loop is ensured.

[0033] The preferred technical measure is to the convex lens is provided with a first light shielding element, at the focal point position of which a laser receiving electrode is arranged, wherein the first light shielding member is coated on the outer side of the L-shaped lateral portion to prevent the emitted laser signal from hitting the light shielding cavity for reflection, thereby affecting the sensing effect of the lidar.

[0034] To achieve one of the above-mentioned purposes, a fifth technical solution of the present invention consists in: The preferred technical measure is to the cylindrical element is arranged on the axis of rotation of the reflector, has an outer end portion with an arcuate rotation path and can rotate with the reflector, wherein an arcuate portion for covering the light-shielding cavity is arranged on the protective casing, wherein the partial or complete cross-sectional shape of the arcuate portion is formed in a circular arc concentric with the rotational path of the outer end portion to form a constant pitch structure, so that the distance between the end of the light-shielding cavity and the arcuate portion remains unchanged during the rotation process.

[0035] During the rotation of the light-shielding cavity according to the present invention with the reflector, the distance between the end of the light-shielding cavity and the arcuate portion always remains unchanged, so that the scattering and reflection of the emitted laser signal within the protective casing remain constant, which makes the sensing result of the external environment by the lidar more stable.

[0036] The preferred technical measure is to the rotation axis of the reflector coincides with the main optical axis of the convex lens, wherein the laser emission aperture is arranged on the main optical axis of the convex lens, wherein the laser signal emitted horizontally through the laser emission aperture is reflected and rotated by the reflector, thereby realizing the scanning of the environment in the vertical plane.

[0037] The preferred technical measure is to a lateral light-shielding element is arranged between the laser emitter and the reflector, the lateral light-shielding element comprising a first light-shielding element fixed to the main optical axis of the convex lens and a second light-shielding element fixed directly to the reflector and rotating therewith, the first light-shielding element being encased on the outside of the second light-shielding element, wherein the side light-shielding member is in communication with the light-shielding cavity, wherein a light-shielding pad is arranged at a part where the second light-shielding member and the light-shielding cavity are in contact with the reflector.

[0038] Lateral light-shielding elements are arranged horizontally to prevent interference of the emitted laser signal with the loop laser signal and to ensure that no light leaks into the interior of the protective cover to interfere with the loop laser signal. The lateral light-shielding elements are formed as separate structures of the first light-shielding element and the second light-shielding element. The first light-shielding element is sheathed on the outer surface of the second light-shielding element to prevent the emitted laser signal from being reflected by the second light-shielding element, which would affect the sensing effect of the lidar.

[0039] To achieve one of the above-mentioned purposes, a sixth technical solution of the present invention consists in: Robot, using a 3D lidar as above, thereby achieving real-time scanning of environmental information by the robot, where the robot is a foot robot or a cleaning robot.

[0040] To solve one of the above-mentioned purposes, a seventh technical solution of the present invention consists in: A robot comprising a lidar having good sensing efficiency, wherein the robot is a walking robot or a cleaning robot. Beneficial effects

[0041] The present invention provides a 3D lidar. A light-shielding cavity is arranged between the mirror and the protective cover to reduce the scattering and reflection of the laser signal emitted by the mirror in the protective cover, thereby avoiding interference with the laser signal of the loop and improving the sensing effect of the lidar. During the rotation of the light-shielding cavity with the mirror, the distance between the end of the light-shielding cavity and the arcuate portion always remains unchanged, so the scattering and reflection of the emitted laser signal within the protective cover remain constant, making the sensing result of the lidar of the external environment more stable.

[0042] The present invention provides a cleaning robot equipped with a 3D lidar. A light-shielding cavity is arranged between the mirror and the protective cover to reduce the scattering and reflection of the laser signal emitted by the mirror in the protective cover, thereby avoiding interference with the laser signal of the loop and improving the sensing effect of the lidar. During the rotation of the light-shielding cavity with the mirror, the distance between the end of the light-shielding cavity and the arcuate portion always remains unchanged, so the scattering and reflection of the emitted laser signal within the protective cover remain constant, making the sensing result of the lidar of the external environment more stable.

[0043] The present invention provides a foot-mounted robot equipped with a 3D lidar. A light-shielding cavity is arranged between the mirror and the protective cover to reduce the scattering and reflection of the laser signal emitted by the mirror in the protective cover, thereby avoiding interference with the laser signal of the loop and improving the sensing effect of the lidar. During the rotation of the light-shielding cavity with the mirror, the distance between the end of the light-shielding cavity and the arcuate portion always remains unchanged, so the scattering and reflection of the emitted laser signal within the protective cover remain constant, making the sensing result of the lidar of the external environment more stable. SHORT DESCRIPTION OF THE DRAWING Fig. 1 is a schematic diagram of the overall structure of a 3D lidar according to the present invention; Fig. 2 is an exploded diagram of a vertical scanning unit of a 3D lidar according to the present invention; Fig. 3 is a full-sectional view of a 3D lidar according to the present invention; Fig. 4 is an exploded diagram of a 3D lidar according to the present invention; Fig. 5 is a schematic diagram of the overall structure of a cleaning robot according to the present invention.

[0044] Reference numerals: 1. Installation seat; 2. Laser receiving electrode; 3. Convex lens; 4. Laser emission port; 5. Mirror; 51. Light shielding cavity; 52. First light shielding member; 53. Second light shielding member; 54. Light shielding pad; 6. First motor; 7. First encoder; 8. Rotor of an upper bottom case; 9. Lower bottom case; 10. Motor stator; 11. Through hole; 12. Wireless power transmission module; 13. Base board; 14. Dynamic sealing structure; 15. Magnetic steel sheet; 16. Protective cover; 161. Arc-shaped portion; 17. Wireless signal transmission assembly; 18. Laser driver board; 19. Horizontal rotary bearing; 20. Cleaning robot body. DETAILED DESCRIPTION Embodiments of the present invention

[0045] 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.

[0046] It should be noted that the two elements may be directly connected, or an intermediate element may be present if the two elements are fixedly connected or rotationally connected. In contrast, there is no intermediate element if one element is directly referenced on another element. As used herein, the terms horizontal, vertical, sideways, top, bottom, and similar expressions are used for illustrative purposes only. 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 this invention pertains. The terms used in the present invention are merely for describing specific embodiments and are not intended to limit the present invention.

[0047] A first embodiment of the 3D lidar according to the present invention, as shown in Fig. 1, Fig. 2, Fig. 3 and Fig. 4 shown: A 3D lidar comprising a vertical scanning unit, the vertical scanning unit comprising an installation seat 1 and a protective cover 16 directly attached to the installation seat 1. A laser emission aperture 4, a convex lens 3, and a rotatable mirror 5 are arranged horizontally in order between the installation seat 1 and the protective cover 16. The rotation axis of the mirror 5 coincides with the main optical axis of the convex lens 3. The laser emission aperture 4 is arranged on the main optical axis of the convex lens 3. The laser signal emitted horizontally through the laser emission aperture 4 is reflected and rotated by the mirror 5, thereby realizing scanning of the surroundings in the vertical plane. A light-shielding cavity 51 is arranged between the mirror 5 and the protective cover 16.wherein the light-shielding cavity 51 extends along the reflection direction of the laser signal and is directly attached to the rotation axis of the mirror 5, wherein an arcuate portion 161 is arranged on the protective cover 16 for approaching the rotation path of the end of the light-shielding cavity 51, so that the distance between the end of the light-shielding cavity 51 and the arcuate portion 161 remains unchanged during the rotation process.

[0048] A second embodiment of the 3D lidar according to the present invention: 3D lidar comprising a vertical scanning unit, the vertical scanning unit comprising an installation seat 1 and a protective cover 16 attached to the installation seat 1, wherein a laser emission aperture 4, a convex lens 3, and a rotatable mirror 5 are arranged horizontally in order between the installation seat 1 and the protective cover 16, the rotation axis of the mirror 5 coinciding with the main optical axis of the convex lens 3, the laser emission aperture 4 being arranged on the main optical axis of the convex lens 3, the laser signal emitted horizontally through the laser emission aperture 4 being reflected and rotated by the mirror 5, thereby realizing the scanning of the environment in the vertical plane, wherein a light-shielding cavity 51 is arranged between the mirror 5 and the protective cover 16, the light-shielding cavity 51 extending along the reflection direction of the laser signal and being arranged on the rotation axis of the mirror 5, wherein an arcuate portion 161 is arranged on the protective cover 16 for approaching the rotation path of the end of the light-shielding cavity 51, so that the distance between the end of the light-shielding cavity 51 and the arcuate portion 161 remains unchanged during the rotation process.

[0049] A third embodiment of the 3D lidar according to the present invention: 3D lidar, comprising a rotatable mirror 5 for reflecting laser signals and an arc-shaped protective cover 16, wherein a light-shielding cavity 51 is arranged between the protective cover 16 and the mirror 5, the light-shielding cavity 51 being cylindrical in shape, having an outer end portion with an arcuate rotational path and capable of rotating with the mirror 5, wherein an arcuate portion 161 for covering the light shielding cavity 51 is arranged on the protective cover 16, wherein the partial or complete cross-sectional shape of the arcuate portion 161 is formed in a circular arc concentric with the rotational path of the outer end portion to form a constant pitch structure, so that the distance between the end of the light-shielding cavity 51 and the arcuate portion 161 remains unchanged during the rotation process.

[0050] A specific embodiment according to the present invention by adding a side light shielding element: Furthermore, it is provided that a lateral light-shielding member is arranged between the laser emission opening 4 and the mirror 5, wherein the lateral light-shielding member comprises a first light-shielding member 52 which is fixed to the main optical axis of the convex lens 3, and a second light-shielding member 53 which is directly fixed to the mirror 5 and rotates therewith, wherein the first light-shielding member 52 is sheathed on the outer side of the second light-shielding member 53, wherein the lateral light-shielding member is in communication with the light-shielding cavity 51, wherein a light-shielding pad 54 is arranged at a part at which the second light-shielding member 53 and the light-shielding cavity 51 are in contact with the mirror 5.Lateral light-shielding elements are arranged horizontally to prevent interference of the emitted laser signal with the loop laser signal and to ensure that no leakage into the interior of the protective cover 16 interferes with the loop laser signal. The lateral light-shielding elements are formed as separate structures of the first light-shielding element 52 and the second light-shielding element 53. The first light-shielding element 52 is sheathed on the outer surface of the second light-shielding element 53 to prevent the emitted laser signal from being reflected by the second light-shielding element 53, which would affect the sensing effect of the lidar.

[0051] A specific embodiment of the vertical scanning unit according to the present invention: Furthermore, the vertical scanning unit comprises a laser receiving electrode 2 arranged at the focal point position of the convex lens 3, a first motor 6 for driving the rotation of the mirror 5, a first encoder 7 and a laser driver board 18. wherein the first encoder 7 is concentrically and fixedly connected to the mirror 5, so that the information about the rotation of the mirror 5 is obtained by the first encoder 7, wherein a laser signal is emitted from the laser emission aperture 4 to drive the rotation of the mirror 5 by the first motor 6, thereby realizing the scanning of the environment in the vertical plane.

[0052] A specific embodiment according to the present invention by adding a horizontal rotating device: Further, the 3D lidar includes a horizontal rotation device for driving the horizontal rotation of the vertical scanning unit. The horizontal rotation device includes a rotor 8 of an upper bottom housing, a lower bottom housing 9, a horizontal rotation bearing 19, and a motor stator 10 mounted in the lower bottom housing 9. The installation seat 1 and the protective cover 16 are mounted on and rotate with the rotor 8 of the upper bottom housing, and a dynamic sealing structure 14 is disposed between the rotor 8 of the upper bottom housing and the lower bottom housing 9. The vertical scanning unit is driven by the horizontal rotation device to rotate in the horizontal direction, thereby realizing three-dimensional scanning of the single-thread lidar.A dynamic sealing structure 14 is arranged to improve the overall waterproofness of the lidar, thereby broadening its application scenarios.

[0053] 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 to supply power to the vertical scanning unit 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, the wireless power transmission module 12 is used to replace the conventional cable in power supply and signal transmission, thus avoiding fatigue damage of the cable during reciprocating rotation.

[0054] A specific embodiment according to the present invention for realizing wireless communication: 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 vertical scanning unit and the base board 13 is realized by the wireless signal transmission arrangement 17.

[0055] A specific embodiment according to the present invention for obtaining rotation information: Further, through holes 11 are arranged uniformly along the same circles in the circumferential direction of the rotor 8 of the upper bottom casing, 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 casing, thereby obtaining the information about the horizontal rotation of the vertical scanning unit.

[0056] A specific embodiment according to the present invention by adding a magnetic steel sheet 15: Furthermore, a magnetic steel sheet 15 is fixedly arranged in the rotor 8 of the upper bottom housing, wherein the axial width of the magnetic steel sheet 15 is greater than the axial width of the motor stator 10, and the upper edge of the magnetic steel sheet 15 is higher than the upper edge of the motor stator 10. By designing this structure, the magnetic steel sheet 15 is higher than the motor stator 10 by a portion in the vertical direction, so that a large axial magnetic pulling force is generated between the rotor 8 of the upper bottom housing and the motor stator 10. This makes the rotation of the horizontal rotating device more stable and reliable, ensuring that the rotor 8 of the upper bottom housing is not separated from the lower bottom housing 9 during rotation.

[0057] A first embodiment for the application of the 3D lidar according to the present invention, as shown in Fig. 5 shown: A cleaning robot comprising a 3D lidar and a cleaning robot body 20.

[0058] A second embodiment for the application of the 3D lidar according to the present invention: Foot robot comprising a 3D lidar as above.

[0059] In the present application, the type of 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.

[0060] Finally, it should be noted that the above embodiments only serve to illustrate the technical solution of the present invention and do not limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art will understand that the specific embodiments of the present invention can still be modified or substituted with equivalents. Any modification or equivalent substitution that does not deviate from the spirit and scope of the present invention should be covered within the scope of the claims of the present invention. 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 113960566A

[0003]

Claims

[1] 3D lidar comprising a vertical scanning unit, characterized bythat the vertical scanning unit comprises an installation seat (1) and a protective cover (16) which is fastened to the installation seat (1), wherein a laser emission opening (4), a convex lens (3) and a rotatable mirror (5) are arranged in sequence horizontally between the installation seat (1) and the protective cover (16), wherein the rotation axis of the mirror (5) coincides with the main optical axis of the convex lens (3), wherein the laser emission opening (4) is arranged on the main optical axis of the convex lens (3), wherein the laser signal emitted horizontally through the laser emission opening (4) is reflected and rotated by the mirror (5), thereby realizing the scanning of the environment in the vertical plane, wherein a light-shielding cavity (51) is arranged between the mirror (5) and the protective cover (16),wherein the light-shielding cavity (51) extends along the reflection direction of the laser signal and is arranged on the rotation axis of the mirror (5), wherein an arcuate portion (161) is arranged on the protective cover (16) for approaching the rotation path of the end of the light-shielding cavity (51), so that the distance between the end of the light-shielding cavity (51) and the arcuate portion (161) remains unchanged during the rotation process. [2] 3D lidar according to claim 1, characterized byin that a lateral light-shielding element is arranged between the laser emission opening (4) and the mirror (5), the lateral light-shielding element comprising a first light-shielding element (52) which is fixed to the main optical axis of the convex lens (3), and a second light-shielding element (53) which is directly fixed to the mirror (5) and rotates therewith, the first light-shielding element (52) being sheathed on the outside of the second light-shielding element (53), the lateral light-shielding element being in communication with the light-shielding cavity (51), a light-shielding pad (54) being arranged at a part at which the second light-shielding element (53) and the light-shielding cavity (51) are in contact with the mirror (5). [3] 3D lidar according to claim 2, characterized byin that the vertical scanning unit has a laser receiving electrode (2) arranged at the focal point position of the convex lens (3), a first motor (6) for driving the rotation of the mirror (5) and a first encoder (7), wherein the first encoder (7) is concentrically and fixedly connected to the mirror (5) so that the information about the rotation of the mirror (5) is obtained by the first encoder (7), wherein a laser signal is emitted from the laser emission opening (4) to drive the rotation of the mirror (5) by the first motor (6), thereby realizing the scanning of the environment in the vertical plane. [4] 3D lidar according to one of claims 1 to 3, characterized byin that the 3D lidar comprises a horizontal rotation device for driving the horizontal rotation of the vertical scanning unit, wherein the horizontal rotation 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 installation seat (1) and the protective cover (16) are fastened to the rotor (8) of the upper bottom housing and rotate therewith, wherein a dynamic sealing structure (14) is arranged between the rotor (8) of the upper bottom housing and the lower bottom housing (9). [5] 3D lidar according to claim 4, characterized bythat a hollow wireless power transmission module (12) is arranged concentrically between the rotor (8) of the upper bottom housing and the lower bottom housing (9) in order to supply the vertical scanning unit with power via the wireless power transmission module (12), and / or, wherein 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) in order to obtain the information about the rotation of the rotor (8) of the upper bottom housing, thereby obtaining the information about the horizontal rotation of the vertical scanning unit, and / or, wherein a magnetic steel sheet (15) is fixedly arranged in the rotor (8) of the upper bottom housing, wherein the axial width of the magnetic steel sheet (15) is greater than the axial width of the motor stator (10),wherein the upper edge of the magnetic steel sheet (15) is higher than the upper edge of the motor stator (10)., [6] 3D lidar according to claim 5, characterized by 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 vertical scanning unit and the base board (13) is realized by the wireless signal transmission arrangement (17). [7] 3D lidar, comprising a rotatable mirror (5) for reflecting laser signals and an arc-shaped protective cover (16), characterized byin that a light-shielding cavity (51) is arranged between the protective cover (16) and the mirror (5), the light-shielding cavity (51) being cylindrical, having an outer end portion with an arcuate rotational path and capable of rotating with the mirror (5), an arcuate portion (161) for covering the light-shielding cavity (51) being arranged on the protective cover (16), the partial or complete cross-sectional shape of the arcuate portion (161) being circularly arcuate and concentric with the rotational path of the outer end portion to form a constant-pitch structure, so that the distance between the end of the light-shielding cavity (51) and the arcuate portion (161) remains unchanged during the rotating process. [8] 3D lidar according to claim 7, characterized by , that the cylindrical structure is L-shaped, the vertical section of which is used to receive the laser signal reflected by the mirror and the lateral section of which is used to receive the laser signal emitted from the convex lens (3), wherein the vertical portion extends to the wall surface of the protective cover (16) and is adjacent to the wall surface of the protective cover (16), wherein a first light shielding element (52) is arranged on the convex lens (3), wherein the first light shielding element (52) is encased on the outside of the L-shaped lateral section. [9] Lidar with good scanning efficiency, comprising a laser emitter for emitting the laser signal, a rotatable reflector for reflecting the laser signal and an arc-shaped protective housing, characterized by , that the reflector is covered by the protective housing, wherein a light shielding cavity (51) is arranged between the reflector and the protective housing, wherein the light shielding cavity (51) is a cylindrical member extending from the end face of the reflector toward the wall surface of the protective casing. [10] Lidar with good sensing efficiency according to claim 9, characterized by that the laser emitter is arranged laterally and is provided with a laser emission opening, wherein the reflector is provided with an obliquely arranged light-reflecting surface, wherein the extension line on which the laser emission opening is located intersects with the light-reflecting surface, wherein the cylindrical element is L-shaped, the vertical portion of which is used to receive the laser signal reflected by the reflector and the lateral portion of which is used to receive the laser signal emitted from the convex lens, wherein the vertical portion extends to the wall surface of the protective housing and is adjacent to the wall surface of the protective housing, wherein the convex lens is provided with a first light shielding element, at the focal position of which a laser receiving electrode is arranged, wherein the first light shielding element is encased on the outside of the L-shaped lateral section, wherein the cylindrical element is arranged on the axis of rotation of the reflector, has an outer end portion with an arcuate rotation path and can rotate with the reflector, wherein an arcuate portion for covering the light-shielding cavity is arranged on the protective housing, wherein the partial or complete cross-sectional shape of the arcuate portion is formed concentrically with the rotational path of the outer end portion in a circular arc to form a constant-distance structure, so that the distance between the end of the light-shielding cavity and the arcuate portion remains unchanged during the rotation process, wherein the rotation axis of the reflector coincides with the main optical axis of the convex lens, wherein the laser emission aperture is arranged on the main optical axis of the convex lens, wherein the laser signal emitted horizontally through the laser emission aperture is reflected and rotated by the reflector, thereby realizing the scanning of the environment in the vertical plane, wherein a lateral light-shielding element is arranged between the laser emitter and the reflector, the lateral light-shielding element comprising a first light-shielding element fixed to the main optical axis of the convex lens and a second light-shielding element directly fixed to the reflector and rotating therewith, the first light-shielding element being encased on the outside of the second light-shielding element, wherein the side light-shielding member is in communication with the light-shielding cavity, wherein a light-shielding pad is arranged at a part where the second light-shielding member and the light-shielding cavity are in contact with the reflector. [11] Robots, characterized by that a 3D lidar according to one of claims 1 to 8 is used, whereby real-time scanning of environmental information by the robot is achieved, wherein the robot is a foot robot or a cleaning robot. [12] Robot comprising a lidar with good sensing efficiency according to claims 9 to 10, characterized by that the robot is a foot robot or a cleaning robot.

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