3D lidar, as well as legged robot and cleaning robot using same

Abstract

A 3D LiDAR, as well as a legged robot and a cleaning robot using same, relating to the technical field of LiDAR devices. The 3D LiDAR comprises a vertical scanning unit and a transverse rotating apparatus, the vertical scanning unit comprising a laser emitting port (4) for emitting a laser pulse signal and a reflector capable of rotating at a non-uniform speed. The laser emitting port (4) is arranged on the axis of rotation of the reflector; the reflector rotates at a uniform or non-uniform speed to scan an external environment so as to control the spatial distribution condition of a point cloud obtained by scanning. Uniform-speed or non-uniform-speed scanning of the laser emitter with respect to a vertical plane is achieved by means of the uniform-speed or non-uniform-speed rotation of the reflector, and the transverse rotating apparatus drives the vertical scanning unit to rotate at a uniform or non-uniform speed, thereby achieving control over the spatial distribution condition of the point cloud obtained by scanning.

Description

A 3D laser radar and a legged robot and a cleaning robot using the same Technical Field

[0001] The present invention relates to the technical field of laser radar equipment, and in particular to a 3D laser radar and a foot-type robot and a cleaning robot using the same. Background Art

[0002] At present, 3D lidar is widely used in industrial surveying and mapping, three-dimensional modeling, autonomous driving and other fields, but most of the existing 3D lidars are multi-threaded lidars and are expensive.

[0003] Chinese patent CN113960566A discloses a 3D laser radar and a legged robot, including a vertical scanning unit and a horizontal rotation device that rotates the vertical scanning unit in the horizontal direction; the vertical scanning unit includes a mounting seat, and a laser receiving electrode, a convex lens, a laser emitting electrode, and a reflector arranged on the mounting seat in sequence, the laser receiving electrode is arranged at the focal position of the convex lens, the laser emitting electrode is arranged on the main optical axis of the convex lens, and the reflector is rotatably arranged on the mounting seat, and the rotation center of the reflector coincides with the main optical axis of the convex lens; the laser emitting electrode emits a laser pulse signal, and the rotation of the reflector realizes scanning of the surrounding environment in the vertical plane, and can realize scanning of the three-dimensional environment through a horizontal rotation device provided with a rotating motor. Technical issues

[0004] The above technical solution realizes the three-dimensional scanning of a single-threaded laser radar through a vertical scanning unit and a horizontal rotation device, which greatly reduces the cost. However, it was found during use that since the vertical scanning unit and the horizontal rotation device are both uniformly rotating structures, the distribution of the point cloud collected after the 3D laser radar scans the external environment is extremely uneven, as shown in Figure 1; the top of the laser radar scans the area once each time, so the point cloud in this area is dense, that is, the center of the laser radar's scanning viewpoint is fixed in this area; while the point cloud distribution in the surrounding area of ​​the laser radar is relatively sparse, so the collection effect is not ideal. Therefore, it is necessary to improve the 3D laser radar to meet the requirement that the center of its scanning viewpoint can be in any specific area within its viewing angle. Technical Solutions

[0005] In order to overcome the shortcomings of the prior art, one purpose of the present invention is to provide a 3D laser radar, which realizes adjustment and control of the scanning viewpoint center through a vertical scanning unit that can scan the external environment at a uniform speed or non-uniform speed, and a horizontal rotation device that can drive the vertical scanning unit to rotate at a uniform speed or non-uniform speed, thereby realizing concentrated high-density scanning of any area within its viewing angle.

[0006] The second object of the present invention is to provide a legged robot equipped with a 3D laser radar, which can adjust and control the center of the scanning viewpoint through a vertical scanning unit that can scan the external environment at a uniform speed or non-uniform speed, and a horizontal rotation device that can drive the vertical scanning unit to rotate at a uniform speed or non-uniform speed, thereby achieving concentrated high-density scanning of any area within its viewing angle.

[0007] The third object of the present invention is to provide a cleaning robot equipped with a 3D laser radar, which can adjust and control the center of the scanning viewpoint through a vertical scanning unit that can scan the external environment at a uniform speed or non-uniform speed, and a horizontal rotation device that can drive the vertical scanning unit to rotate at a uniform speed or non-uniform speed, thereby realizing concentrated high-density scanning of any area within its viewing angle.

[0008] To achieve one of the above purposes, the first technical solution of the present invention is:

[0009] A 3D laser radar, comprising a vertical scanning unit and a horizontal rotation device;

[0010] The vertical scanning unit includes a laser emitting port for emitting laser pulse signals and a reflective mirror capable of non-uniform rotation;

[0011] The laser emission port is arranged on the rotation axis of the reflector, and the reflector can scan the external environment in a uniform or non-uniform rotation manner to control the spatial distribution of the point cloud obtained by the scan; the horizontal rotation device is provided with a rotating motor, which is used to drive the vertical scanning unit to rotate horizontally in a uniform or non-uniform manner to control the spatial distribution of the point cloud obtained by the scan.

[0012] As a preferred technical measure, the reflector is a plane reflector; the vertical scanning unit includes a mounting seat, and a laser receiving electrode, a convex lens, a laser emitting port, and a plane reflector sequentially arranged on the mounting seat, the laser receiving electrode is arranged at the focal position of the convex lens, the laser emitting port is arranged on the main optical axis of the convex lens, the plane reflector is rotatably arranged on the mounting seat, and the rotation center of the plane reflector coincides with the main optical axis of the convex lens; the laser emitting port emits a laser pulse signal, and the rotation of the plane reflector realizes the scanning of the circumferential environment in the vertical plane, and further realizes the scanning of the three-dimensional environment through the horizontal rotation device.

[0013] As a preferred technical measure, the reflector is a concave reflector, and the vertical scanning unit includes a mounting seat, and a laser receiving electrode, a laser emitting port, a concave reflector, and a first reflector arranged on the mounting seat. The laser receiving electrode is arranged at the focal position of the concave reflector, and the concave reflector is rotatably arranged on the mounting seat, and its rotation center passes horizontally through the laser receiving electrode. The first reflector is fixed on the reflecting surface of the concave reflector and rotates with the concave reflector; the laser emitting port emits a laser pulse signal, and the rotation of the first reflector realizes the scanning of the circumferential environment in the vertical plane, and further realizes the scanning of the three-dimensional environment through the horizontal rotation device. The concave reflector receives the returned laser pulse signal and focuses it to its focal point, which is received by the laser receiving electrode.

[0014] As a preferred technical measure, the vertical scanning unit also includes a laser emitter and a second reflector. The laser emitter is fixed to the bottom of the mounting base, and the laser pulse signal emitted by the laser emitter is reflected onto the first reflector via the second reflector. Light-proof shading channels are provided between the laser emitter and the second reflector, and between the second reflector and the first reflector. Fixing the laser emitter to the bottom prevents excessive obstruction of the laser receiver from receiving the light signal. Providing a shading channel and a shading plate prevents interference between the emitted and received laser pulse signals and external ambient light, thereby improving scanning accuracy.

[0015] As a preferred technical measure, the vertical scanning unit is provided with a first motor and a first code disk, the first motor drives the reflector to rotate, the first code disk is fixedly connected to the reflector concentrically, and the rotation information of the reflector is obtained through the first code disk.

[0016] As a preferred technical measure, a protective shield is fixed to the outside of the mounting base, fixedly connected to the lower base shell. A visible light emitter is provided on the mounting base. Visible light emitted by the emitter is reflected by the second reflector and further by the first reflector, forming a specific pattern on the protective shield. Alternatively, the light penetrates the protective shield and, in conjunction with a lateral rotation device, displays or draws a pattern on the surrounding external environment. This structure enables the 3D lidar to project visible light patterns, thereby facilitating the display of various information related to the radar itself and the robot. It is low-cost and simple in structure.

[0017] As a preferred technical measure, the lateral rotation device includes an upper bottom shell rotor, a lower bottom shell and a motor stator fixed in the lower bottom shell, and the motor stator is provided with a magnetic steel sheet.

[0018] The mounting seat is fixed on the upper bottom shell rotor and rotates therewith.

[0019] As an optimal technical measure, through holes are evenly opened along the same circle on the circumference of the upper bottom shell rotor, and a photoelectric encoder is formed through the through holes to obtain the rotation information of the upper bottom shell rotor, and then obtain the horizontal rotation information of the vertical scanning unit.

[0020] As a preferred technical measure, a hollow wireless power transmission module is concentrically positioned between the upper rotor and the lower housing. This module powers the laser receiver and emitter. Because the upper rotor and lower housing rotate relative to each other, the wireless power transmission module replaces traditional cables when power and signal transmission are required, preventing fatigue damage to the cables during reciprocating rotation.

[0021] As a preferred technical measure, a base circuit board is fixed to the lower shell, and a wireless signal transmission component is concentrically located between the upper shell rotor and the lower shell, utilizing optical communication for wireless communication. The laser emitter and the laser receiver communicate wirelessly with the base circuit board via the wireless signal transmission component. The laser emitter is electrically connected to a laser driver circuit board.

[0022] To achieve one of the above purposes, the second technical solution of the present invention is:

[0023] A legged robot uses the above-mentioned 3D laser radar to enable the robot to scan its surrounding environment information in real time.

[0024] To achieve one of the above purposes, the third technical solution of the present invention is:

[0025] A cleaning robot comprises the above-mentioned 3D laser radar. Beneficial effects

[0026] The present invention provides a 3D laser radar that achieves uniform or non-uniform scanning of the laser emitter within a vertical plane through the uniform or non-uniform rotation of a reflector. Furthermore, a lateral rotation device drives the uniform or non-uniform rotation of the vertical scanning unit, thereby controlling the spatial distribution of the scanned point cloud. For the top of the 3D laser radar, where the point cloud is dense due to frequent back-and-forth scanning, the reflector rotates quickly when scanning this area to produce a sparser point cloud. When scanning the surrounding area of ​​the 3D laser radar, the reflector rotates slowly to produce a denser point cloud. This results in a more uniform distribution of the collected point cloud.

[0027] The present invention provides a legged robot equipped with a 3D laser radar. Through the uniform or non-uniform rotation of a reflector, the laser emitter achieves uniform or non-uniform scanning within a vertical plane. Furthermore, a lateral rotation device drives the uniform or non-uniform rotation of the vertical scanning unit, thereby controlling the spatial distribution of the scanned point cloud. For the top of the 3D laser radar, where the point cloud is dense due to frequent back-and-forth scanning, the reflector rotates quickly when scanning this area to produce a sparser point cloud. When scanning the surrounding area of ​​the 3D laser radar, the reflector rotates slowly to produce a denser point cloud. This results in a more uniform distribution of the collected point cloud.

[0028] The present invention provides a cleaning robot equipped with a 3D laser radar. Through the uniform or non-uniform rotation of a reflector, the laser emitter achieves uniform or non-uniform scanning within a vertical plane. Furthermore, a lateral rotation device drives the uniform or non-uniform rotation of the vertical scanning unit, thereby controlling the spatial distribution of the scanned point cloud. For the top of the 3D laser radar, since this area has a dense point cloud due to frequent back-and-forth scanning, the reflector rotates quickly when scanning this area to obtain a sparser point cloud. When scanning the surrounding area of ​​the 3D laser radar, the reflector rotates slowly to obtain a denser point cloud. This results in a more uniform distribution of the collected point cloud. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 is a point cloud distribution diagram collected by an existing 3D laser radar;

[0030] FIG2 is an example of a point cloud distribution map collected by a 3D laser radar provided by the present invention;

[0031] FIG3 is a structural diagram of a 3D laser radar using a plane reflector provided by the present invention;

[0032] FIG4 is a full cross-sectional view of a 3D laser radar using a plane reflector provided by the present invention;

[0033] FIG5 is a structural diagram of a 3D laser radar using a concave reflector provided by the present invention;

[0034] FIG6 is a full cross-sectional view of a 3D laser radar using a concave reflector provided by the present invention;

[0035] FIG7 is an exploded view of a 3D laser radar using a concave reflector provided by the present invention;

[0036] FIG8 is an exploded view of the cleaning robot provided by the present invention;

[0037] FIG9 is a top view of the cleaning robot provided by the present invention;

[0038] FIG10 is a side view of the cleaning robot provided by the present invention;

[0039] FIG11 is a front view of the cleaning robot provided by the present invention.

[0040] In the figure: 1. Mounting base; 2. Laser receiving electrode; 3. First reflector; 31. Convex lens; 4. Laser emission port; 5. Plane reflector; 51. Concave reflector; 6. First motor; 7. First code disk; 8. Upper bottom shell rotor; 9. Lower bottom shell; 10. Motor stator; 11. Through hole; 12. Wireless power transmission module; 13. Base circuit board; 14. Visible light emitter; 15. Magnetic steel sheet; 16. Protective cover; 17. Wireless signal transmission component; 18. Laser drive circuit board; 19. Horizontal rotation bearing; 20. Second reflector; 21. Shading channel; 22. Shading plate; 101. Cleaning robot body. Modes for Carrying Out the Invention

[0041] The present invention will be further described below in conjunction with the accompanying drawings and specific implementation methods. It should be noted that, under the premise of no conflict, the various embodiments or technical features described below can be arbitrarily combined to form new embodiments.

[0042] It should be noted that when two elements are "fixedly connected" or "fixedly coupled," the two elements may be directly connected or there may be an intermediate element. In contrast, when an element is referred to as being "directly on" another element, there are no intermediate elements. The terms "lateral," "vertical," "upper," "lower," and similar expressions used herein are for illustrative purposes only.

[0043] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one skilled in the art to which this invention pertains. The terms used herein are for the purpose of describing specific embodiments only and are not intended to limit the present invention. As used herein, the term "or / and" includes any and all combinations of one or more of the associated listed items.

[0044] As shown in Figures 1 to 7, a specific embodiment of the 3D laser radar of the present invention:

[0045] A 3D laser radar includes a vertical scanning unit and a horizontal rotation device. The vertical scanning unit includes a laser emission port 4 for emitting laser pulse signals and a rotatable reflector. The laser emission port 4 is arranged on the rotation axis of the reflector. The reflector rotates at a uniform or non-uniform speed to scan the external environment to control the spatial distribution of the point cloud obtained by the scan; the horizontal rotation device drives the vertical scanning unit to rotate horizontally at a uniform or non-uniform speed to control the spatial distribution of the point cloud obtained by the scan.

[0046] As shown in FIG3-FIG4, the present invention adopts a specific embodiment of a plane reflector 5:

[0047] The reflector is a plane reflector 5; the vertical scanning unit includes a mounting base 1, and a laser receiving electrode 2, a convex lens 31, a laser emitting port 4, and a plane reflector 5 arranged on the mounting base 1 in sequence, the laser receiving electrode 2 is arranged at the focal position of the convex lens 31, the laser emitting port 4 is arranged on the main optical axis of the convex lens 31, and the plane reflector 5 is rotatably arranged on the mounting base 1, and the rotation center of the plane reflector 5 coincides with the main optical axis of the convex lens 31; the laser emitting port 4 emits a laser pulse signal, and the rotation of the plane reflector 5 realizes scanning of the circumferential environment in the vertical plane, and further realizes scanning of the three-dimensional environment through the horizontal rotation device.

[0048] As shown in FIG5-FIG7, the present invention adopts a specific embodiment of a concave reflector 51:

[0049] The reflector is a concave reflector 51, and the vertical scanning unit includes a mounting base 1, and a laser receiving electrode 2, a laser emitting port 4, a concave reflector 51, and a first reflector 3 arranged on the mounting base 1. The laser receiving electrode 2 is arranged at the focal position of the concave reflector 51, and the concave reflector 51 is rotatably arranged on the mounting base 1, and its rotation center passes horizontally through the laser receiving electrode 2. The first reflector 3 is fixed on the reflecting surface of the concave reflector 51 and rotates with the concave reflector 51; the laser emitting port 4 emits a laser pulse signal, and the rotation of the first reflector 3 realizes the scanning of the circumferential environment in the vertical plane, and further realizes the scanning of the three-dimensional environment through the horizontal rotation device. The concave reflector 51 receives the returned laser pulse signal and focuses it to its focal point, which is received by the laser receiving electrode 2.

[0050] A specific embodiment of the vertical scanning unit of the present invention:

[0051] The vertical scanning unit further includes a laser emitter, a second reflector 20 , a first motor 6 and a first code wheel 7 .

[0052] The laser emitter is fixed to the bottom of the mounting base 1, and the laser pulse signal it emits is reflected by the second reflector 20 onto the first reflector 3. A light-proof shielding channel 21 is provided between the laser emitter and the second reflector 20, and between the second reflector 20 and the first reflector 3. Fixing the laser emitter to the bottom prevents excessive obstruction of the laser receiver 2 from receiving the light signal. The shielding channel 21 and shielding plate 22 prevent interference between the emitted and received laser pulse signals and external ambient light, thereby improving scanning accuracy.

[0053] The first motor 6 drives the reflector to rotate. The first code disk 7 is fixedly connected to the reflector concentrically. The rotation information of the reflector is obtained through the first code disk 7 .

[0054] A specific embodiment of the present invention that adds a protective structure:

[0055] A protective cover 16 is fixed to the outside of the mounting base 1 and is fixedly connected to the lower base 9. A visible light emitter 14 is provided on the mounting base 1. Visible light emitted by the visible light emitter 14 is reflected by the second reflector 20 and further reflected by the first reflector 3, forming a specific pattern on the protective cover 16. Alternatively, the visible light penetrates the protective cover 16 and, in conjunction with the lateral rotation device, displays or draws a pattern on the surrounding external environment. This structure enables the 3D laser radar to project visible light patterns, thereby facilitating the display of various information related to the radar itself and the robot. It is low-cost and simple in structure.

[0056] A specific embodiment of the lateral rotation device of the present invention:

[0057] The transverse rotation device includes an upper bottom shell rotor 8, a lower bottom shell 9, a transverse rotation bearing 19, and a motor stator 10 fixed in the lower bottom shell 9. The motor stator 10 is provided with a magnetic steel sheet 15.

[0058] The mounting seat 1 is fixed on the upper bottom shell rotor 8 and rotates therewith.

[0059] The upper bottom shell rotor 8 is provided with through holes 11 uniformly along the same circle on the circumference thereof. The through holes 11 form a photoelectric encoder to obtain the rotation information of the upper bottom shell rotor 8 and further obtain the horizontal rotation information of the vertical scanning unit.

[0060] A specific embodiment of the present invention in which a wireless power transmission module 12 is added:

[0061] A hollow wireless power transmission module 12 is concentrically disposed between the upper rotor 8 and the lower rotor 9. Power is supplied to the laser receiver 2 and the laser emitter via the wireless power transmission module 12. Because the upper rotor 8 and the lower rotor 9 rotate relative to each other, the wireless power transmission module 12 replaces traditional cables when power and signal transmission are required, thus avoiding fatigue damage to the cables during reciprocating rotation.

[0062] A specific embodiment of the signal transmission structure of the present invention:

[0063] A base circuit board 13 is fixed to the lower housing 9. A wireless signal transmission assembly 17 is concentrically disposed between the upper housing rotor 8 and the lower housing 9, utilizing optical communication for wireless communication. The laser emitter and the laser receiver 2 communicate wirelessly with the base circuit board 13 via the wireless signal transmission assembly 17. The laser emitter is electrically connected to a laser driver circuit board 18.

[0064] The first specific embodiment of the present invention is as follows:

[0065] A legged robot uses the above-mentioned 3D laser radar to enable the robot to scan its surrounding environment information in real time.

[0066] As shown in FIG8-FIG11, a second specific embodiment of the present invention is applied:

[0067] A cleaning robot, comprising the above-mentioned 3D laser radar and a cleaning robot body 101;

[0068] The outer wall of the cleaning robot body 101 is equipped with the 3D laser radar.

[0069] In the present application, the fixed connection method can be screw connection, welding, riveting, plug connection, or connection through a third component, and those skilled in the art can choose according to actual conditions.

[0070] The above embodiments are only preferred embodiments of the present invention and cannot be used to limit the scope of protection of the present invention. Any non-substantial changes and replacements made by technicians in this field on the basis of the present invention fall within the scope of protection required by the present invention.

Claims

1. A 3D laser radar, characterized in that: It includes a vertical scanning unit and a horizontal rotation device; The vertical scanning unit comprises a laser emission port (4) for emitting a laser pulse signal and a reflective mirror capable of non-uniform rotation; The laser emission port (4) is arranged on the rotation axis of the reflector, and the reflector can scan the external environment in a uniform or non-uniform rotation manner to control the spatial distribution of the point cloud obtained by the scanning; The horizontal rotation device is provided with a rotating motor for driving the vertical scanning unit to rotate horizontally at a uniform speed or a non-uniform speed to control the spatial distribution of the point cloud obtained by scanning.

2. A 3D laser radar according to claim 1, characterized in that: The reflector is a plane reflector (5); the vertical scanning unit comprises a mounting seat (1), and a laser receiving electrode (2), a convex lens (31), a laser emission port (4), and a plane reflector (5) which are sequentially arranged on the mounting seat (1); the laser receiving electrode (2) is arranged at a focal position of the convex lens (31); the laser emission port (4) is arranged on the main optical axis of the convex lens (31); the plane reflector (5) is rotatably arranged on the mounting seat (1); and the rotation center of the plane reflector (5) coincides with the main optical axis of the convex lens (31); The laser emission port (4) emits a laser pulse signal, and scanning of the surrounding environment in the vertical plane is achieved through the rotation of the plane reflector (5), and scanning of the three-dimensional environment is achieved through the horizontal rotation device.

3. The 3D laser radar according to claim 1, wherein: The reflector is a concave reflector (51), and the vertical scanning unit includes a mounting seat (1), and a laser receiving electrode (2), a laser emitting port (4), a concave reflector (51), and a first reflector (3) arranged on the mounting seat (1); the laser receiving electrode (2) is arranged at a focal position of the concave reflector (51); the concave reflector (51) is rotatably arranged on the mounting seat (1), and its rotation center passes through the laser receiving electrode (2) laterally; the first reflector (3) is fixed on the reflecting surface of the concave reflector (51) and rotates with the concave reflector (51); The laser emission port (4) emits a laser pulse signal, and the rotation of the first reflector (3) realizes scanning of the circumferential environment in the vertical plane, and the horizontal rotation device realizes scanning of the three-dimensional environment. The concave reflector (51) receives the returned laser pulse signal and focuses it to its focal point, which is received by the laser receiving electrode (2).

4. A 3D laser radar according to claim 3, characterized in that: The vertical scanning unit further comprises a laser emitter and a second reflector (20), wherein the laser emitter is fixed to the bottom of the mounting seat (1), and the laser pulse signal emitted by the laser emitter is reflected onto the first reflector (3) via the second reflector (20); and a light-proof shading channel (21) is provided between the laser emitter and the second reflector (20), and between the second reflector (20) and the first reflector (3).

5. A 3D laser radar according to claim 2 or 4, characterized in that: The vertical scanning unit is provided with a first motor (6) and a first code disk (7); the first motor (6) drives the reflector to rotate; the first code disk (7) is fixedly connected to the reflector concentrically; and rotation information of the reflector is obtained through the first code disk (7).

6. A 3D laser radar according to claim 5, characterized in that: A protective cover (16) is fixed to the outside of the mounting seat (1), and the protective cover (16) is fixedly connected to the lower bottom shell (9). A visible light emitter (14) is provided on the mounting seat (1). Visible light emitted by the visible light emitter (14) is reflected by the second reflector (20) and further reflected by the first reflector (3) to form a specific pattern on the protective cover (16), or penetrates the protective cover (16) and displays or draws a pattern on the surrounding external environment in cooperation with the horizontal rotation device.

7. A 3D laser radar according to claim 6, characterized in that: The lateral rotation device comprises an upper bottom shell rotor (8), a lower bottom shell (9), and a motor stator (10) fixed in the lower bottom shell (9), wherein the motor stator (10) is provided with a plurality of magnetic steel sheets (15); the mounting seat (1) is fixed on the upper bottom shell rotor (8) and rotates therewith.

8. The 3D laser radar according to claim 7, wherein: Through holes (11) are evenly opened along the same circle on the circumference of the upper bottom shell rotor (8), and a photoelectric encoder is formed through the through holes (11) to obtain rotation information of the upper bottom shell rotor (8), thereby obtaining horizontal rotation information of the vertical scanning unit.

9. The 3D laser radar according to claim 8, wherein: A hollow wireless power transmission module (12) is concentrically provided between the upper base shell rotor (8) and the lower base shell (9), and the laser receiving electrode (2) and the laser emitting electrode are powered by the wireless power transmission module (12).

10. The 3D laser radar according to claim 9, wherein: A base circuit board (13) is fixedly provided on the lower base shell (9); a wireless signal transmission component (17) is concentrically provided between the upper base shell rotor (8) and the lower base shell (9), which uses optical communication to achieve wireless communication; the laser emitter and the laser receiver (2) achieve wireless communication with the base circuit board (13) through the wireless signal transmission component (17); and the laser emitter is electrically connected to a laser drive circuit board (18).

11. A cleaning robot, characterized in that: It comprises a 3D laser radar as described in any one of claims 1-10.