3D laser radar, and a legged robot and a cleaning robot using the same

Abstract

Relates to the technical field of laser radar devices, discloses a 3D laser radar, and a legged robot and a cleaning robot using the same. The 3D laser radar includes a vertical scanning unit and a horizontal rotation device. The vertical scanning unit includes a laser emission port (4) that emits a laser pulse signal and a mirror that can rotate at a non-uniform speed. The laser emission port (4) is provided on the rotation axis of the mirror. The mirror rotates at a uniform or non-uniform speed to scan the external environment, and controls the distribution status of the point cloud space obtained by the scanning. By the mirror rotating at a uniform or non-uniform speed, the uniform or non-uniform scanning in the vertical plane by the laser emission electrode and the uniform or non-uniform rotation of the vertical scanning unit driven by the horizontal rotation device are realized, and further, the scanning control for the distribution status of the point cloud space is realized.

Description

Technical Field

[0001] The present invention relates to the technical field of laser radar devices, and particularly to 3D laser radars, and legged robots and cleaning robots using the same.

Background Art

[0002] Currently, 3D laser radars are widely applied in fields such as industrial mapping, 3D modeling, and autonomous driving. However, conventional 3D laser radars are generally multi-threaded laser radars, and their prices are high.

[0003] Chinese Patent CN113960566A discloses a 3D laser radar and a legged robot, including a vertical scanning unit and a horizontal rotating device for rotating the vertical scanning unit in the horizontal direction. The vertical scanning unit includes a mounting pedestal, a laser receiving electrode, a convex lens, a laser emitting electrode, and a reflector sequentially provided on the mounting pedestal. The laser receiving electrode is provided at the focal position of the convex lens, the laser emitting electrode is provided on the principal optical axis of the convex lens, the reflector is rotatably provided on the mounting pedestal, the rotation center of the reflector coincides with the principal optical axis of the convex lens, the laser emitting electrode emits a laser pulse signal, the rotation of the reflector realizes the scanning of the surrounding environment in the vertical plane, and the rotation motor-equipped horizontal rotating device can realize the scanning of the three-dimensional environment.

[0004] In the above technical solution, the three-dimensional scanning of the single-thread laser radar is realized by the vertical scanning unit and the horizontal rotating device, significantly reducing the cost. However, as discovered during the usage process, since both the vertical scanning unit and the horizontal rotating device are constant-speed rotation mechanisms, after the external environment is scanned by the 3D laser radar, the distribution of the point cloud collected and obtained is very uneven. Referring to Figure 1, every time it scans, it scans the area of the top part of the laser radar, so the point cloud in this area is dense, that is, the scanning viewpoint center of the laser radar is fixed in this area. In the peripheral area of the laser radar, since the point cloud distribution is sparse, its acquisition effect is not ideal. Therefore, it is necessary to improve the 3D laser radar so that its scanning viewpoint center can be located in any specific area within its viewing angle range.

Summary of the Invention

Problems to be Solved by the Invention

[0005] In order to overcome the defects of the prior art, as the first object of the present invention, a 3D laser radar is provided, which realizes the adjustment and control of the scanning viewpoint center by a vertical scanning unit capable of scanning the external environment at a constant speed or a non-constant speed, and a horizontal rotating device capable of driving the vertical scanning unit to rotate at a constant speed or a non-constant speed, and further realizes the concentrated and high-density scanning of any area within its viewing angle range.

[0006] As the second object of the present invention, a legged robot is provided, and the 3D laser radar mounted thereon realizes the adjustment and control of the scanning viewpoint center by a vertical scanning unit capable of scanning the external environment at a constant speed or a non-constant speed, and a horizontal rotating device capable of driving the vertical scanning unit to rotate at a constant speed or a non-constant speed, and further realizes the concentrated and high-density scanning of any area within its viewing angle range.

[0007] An object of the present invention is to provide a cleaning robot. The 3D laser radar mounted thereon includes a vertical scanning unit capable of scanning the external environment at a constant speed or a non-constant speed, and a lateral rotation device capable of driving the vertical scanning unit to rotate at a constant speed or a non-constant speed, so as to realize adjustment control with respect to the center of the scanning viewpoint, and further realize concentrated and high-density scanning of any area within its viewing angle range.

Means for Solving the Problems

[0008] In order to achieve one of the above objects, as a first technical solution of the present invention, a 3D laser radar, including a vertical scanning unit and a lateral rotation device, the vertical scanning unit includes a laser emission port for emitting a laser pulse signal and a mirror that can rotate at a non-constant speed, the laser emission port is provided on the rotation axis of the mirror, and the mirror can scan the external environment so as to rotate at a constant speed or a non-constant speed, control the distribution situation of the point cloud space obtained by scanning, and the lateral rotation device is provided with a rotation motor for rotating the vertical scanning unit horizontally at a constant speed or a non-constant speed, and control the distribution situation of the point cloud space obtained by scanning.

[0009] As a preferred technical measure, the mirror is a plane mirror, the vertical scanning unit includes a mounting pedestal, and a laser light receiving electrode, a convex lens, a laser emission port, and a plane mirror sequentially provided on the mounting pedestal. The laser light receiving electrode is provided at the focal position of the convex lens, the laser emission port is provided on the principal optical axis of the convex lens, the plane mirror is rotatably provided on the mounting pedestal, the rotation center of the plane mirror coincides with the principal optical axis of the convex lens, the laser emission port emits a laser pulse signal, the rotation of the plane mirror realizes scanning of the surrounding environment in the vertical plane, and further, the lateral rotation device realizes scanning of the three-dimensional environment.

[0010] As a suitable technical measure, the reflecting mirror is a concave reflecting mirror, and the vertical scanning unit includes a mounting pedestal, a laser light receiving electrode provided on the mounting pedestal, a laser emission port, a concave reflecting mirror, and a first reflecting mirror. The laser light receiving electrode is provided at the focal position of the concave reflecting mirror. The concave reflecting mirror is rotatably provided on the mounting pedestal, and its rotation center passes through the laser light receiving electrode in the lateral direction. The first reflecting mirror is fixedly provided on the reflecting surface of the concave reflecting mirror and rotates together with the concave reflecting mirror. The laser emission port emits a laser pulse signal, and the rotation of the first reflecting mirror realizes scanning of the surrounding environment in the vertical plane. Further, a lateral rotation device realizes scanning of a three-dimensional environment. The concave reflecting mirror receives the returned laser pulse signal and focuses it at its focal point, and the laser light receiving electrode receives it.

[0011] As a suitable technical measure, the vertical scanning unit further includes a laser emission electrode and a second reflecting mirror. The laser emission electrode is fixed to the bottom of the mounting pedestal, and the emitted laser pulse signal is reflected by the second reflecting mirror to the first reflecting mirror. Non-transparent light shielding passages are provided between the laser emission electrode and the second reflecting mirror and between the second reflecting mirror and the first reflecting mirror. By fixing the laser emission electrode to the bottom, the optical signal received by the laser light receiving electrode is not blocked too much. By arranging the light shielding passages and light shielding plates, the emitted laser pulse signal and the received laser pulse signal are prevented from being interfered by external ambient light, thereby improving the scanning accuracy.

[0012] As a suitable technical measure, a first motor and a first code disk are provided in the vertical scanning unit. The first motor drives the reflecting mirror to rotate, the first code disk is fixedly connected concentrically to the reflecting mirror, and the rotation information of the reflecting mirror is obtained by the first code disk.

[0013] As a suitable technical measure, a protective cover is fixed to the outside of the mounting pedestal. The protective cover is fixedly connected to the lower bottom housing. A visible light emitting electrode is provided on the mounting pedestal. The visible light emitted from the visible light emitting electrode is reflected by the second mirror, and further, by the reflection of the first mirror, a specific pattern is formed on the protective cover, or penetrates the protective cover, and with the cooperation of the lateral rotation device, a pattern is displayed or drawn on the surrounding external environment. With this structure, the 3D laser radar can project a visible light pattern to the outside, so that various information related to the radar itself and the robot can be displayed to the outside, the cost is low, and the structure is simple.

[0014] As a suitable technical measure, the lateral rotation device includes an upper bottom housing rotor, a lower bottom housing, and a motor stator fixed in the lower bottom housing. A magnetic steel plate is provided on the motor stator.

[0015] The mounting pedestal is fixed to the upper bottom housing rotor and rotates therewith.

[0016] As a suitable technical measure, in the circumferential direction of the upper bottom housing rotor, through holes are uniformly opened along the same circumference. The through holes constitute an optical code disk to obtain the rotation information of the upper bottom housing rotor, and further obtain the lateral rotation information of the vertical scanning unit.

[0017] As a suitable technical measure, a hollow wireless energy transmission module is concentrically provided between the upper bottom housing rotor and the lower bottom housing. The wireless energy transmission module supplies power to the laser receiving electrode and the laser emitting electrode. Since the upper bottom housing rotor and the lower bottom housing rotate relative to each other, when power supply and signal transmission are required, a wireless energy transmission module can be used instead of the conventional cable to avoid fatigue damage of the cable during reciprocating rotation.

[0018] As a suitable technical measure, a base circuit board is fixedly provided on the lower bottom housing, and a wireless signal transmission assembly is concentrically provided between the upper bottom housing rotor and the lower bottom housing to realize wireless communication using optical communication. The laser emission electrode and the laser light receiving electrode realize wireless communication with the base circuit board using the wireless signal transmission assembly. The laser emission electrode is electrically connected to a laser drive circuit board.

[0019] To achieve one of the above objects, as a second technical solution of the present invention, A leg-type robot that realizes real-time scanning of the surrounding environment information of the robot using the above 3D laser radar.

[0020] To achieve one of the above objects, as a third technical solution of the present invention, A cleaning robot that includes the above 3D laser radar.

Advantages of the Invention

[0021] In the 3D laser radar provided by the present invention, the reflector rotates at a constant speed or a non-constant speed, so that the laser emission electrode realizes constant-speed or non-constant-speed scanning in the vertical plane, and the constant-speed or non-constant-speed rotation of the vertical scanning unit driven by the lateral rotation device is realized. Furthermore, scanning control for the distribution situation of the point cloud space is realized. Regarding the top part of the 3D laser radar, since frequent reciprocating scanning is performed in this area, the point cloud is dense. Therefore, when scanning this area, the rotation speed of the reflector is fast to obtain a sparse point cloud. When scanning the peripheral area of the 3D laser radar, the rotation speed of the reflector is slow to obtain a dense point cloud. Thus, the overall point cloud distribution collected in this way is uniform.

[0022] In the leg-type robot provided by the present invention, the 3D laser radar mounted thereon realizes uniform or non-uniform scanning in the vertical plane by the laser emission electrode and uniform or non-uniform rotation of the vertical scanning unit driven by the lateral rotation device by the rotation of the reflecting mirror at a uniform or non-uniform speed, and further realizes scanning control for the distribution situation of the point cloud space. Regarding the top part of the 3D laser radar, since frequent reciprocating scanning is performed in this area, the point cloud is dense. Therefore, when scanning this area, the rotation speed of the reflecting mirror is fast, and a sparse point cloud is obtained. When scanning the peripheral area of the 3D laser radar, the rotation speed of the reflecting mirror is slow, and a dense point cloud is obtained. The overall point cloud distribution collected in this way is uniform.

[0023] In the cleaning robot provided by the present invention, the 3D laser radar mounted thereon realizes uniform or non-uniform scanning in the vertical plane by the laser emission electrode and uniform or non-uniform rotation of the vertical scanning unit driven by the lateral rotation device by the rotation of the reflecting mirror at a uniform or non-uniform speed, and further realizes scanning control for the distribution situation of the point cloud space. Regarding the top part of the 3D laser radar, since frequent reciprocating scanning is performed in this area, the point cloud is dense. Therefore, when scanning this area, the rotation speed of the reflecting mirror is fast, and a sparse point cloud is obtained. When scanning the peripheral area of the 3D laser radar, the rotation speed of the reflecting mirror is slow, and a dense point cloud is obtained. The overall point cloud distribution collected in this way is uniform.

Brief Description of the Drawings

[0024]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

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Figure 11

Modes for Carrying Out the Invention

[0025] Hereinafter, the present invention will be further described by combining the drawings and specific embodiments. Here, as long as there is no conflict, new embodiments can be arbitrarily formed by combining any of the following described examples or each technical feature.

[0026] Here, when two elements are "fixedly connected" or "fixedly joined", the two elements may be directly connected, or there may be an intermediate element. Also, when an element is described as being "directly" located "on" another element, there is no intermediate element. The terms "lateral direction", "vertical direction", "upper", "lower" and similar expressions used in this specification are merely for the purpose of explanation.

[0027] Unless otherwise defined, all technical and scientific terms used in this specification have the same meaning as commonly understood by those skilled in the art of the present invention. The terms used in this specification are not intended to limit the present invention, but are merely used to describe specific embodiments. The term "and / or" used in this specification includes any and all combinations of one or more related items.

[0028] As shown in FIGS. 1 to 7, as a specific embodiment of the 3D laser radar of the present invention, a 3D laser radar, including a vertical scanning unit and a horizontal rotating device, wherein the vertical scanning unit includes a laser emission port 4 for emitting a laser pulse signal and a rotatable mirror, the laser emission port 4 is provided on the rotation axis of the mirror, and the mirror rotates at a constant speed or a non-constant speed to scan the external environment, and controls the distribution situation of the point cloud space obtained by scanning. The horizontal rotating device rotates the vertical scanning unit horizontally at a constant speed or a non-constant speed, and controls the distribution situation of the point cloud space obtained by scanning.

[0029] As shown in FIGS. 3 to 4, as a specific embodiment in which the present invention uses a plane mirror 5, the mirror is a plane mirror 5, and the vertical scanning unit includes a mounting pedestal 1, a laser light receiving electrode 2, a convex lens 31, a laser emission port 4, and a plane mirror 5 sequentially provided on the mounting pedestal 1. The laser light receiving electrode 2 is provided at the focal position of the convex lens 31, the laser emission port 4 is provided on the principal optical axis of the convex lens 31, the plane mirror 5 is rotatably provided on the mounting pedestal 1, the rotation center of the plane mirror 5 coincides with the principal optical axis of the convex lens 31, the laser emission port 4 emits a laser pulse signal, the rotation of the plane mirror 5 realizes scanning of the surrounding environment in the vertical plane, and further, the horizontal rotating device realizes scanning of the three-dimensional environment.

[0030] As shown in FIGS. 5 to 7, as a specific embodiment in which the present invention uses a concave mirror 51, The reflecting mirror is a concave reflecting mirror 51. The vertical scanning unit includes a mounting pedestal 1, a laser light-receiving electrode 2 provided on the mounting pedestal 1, a laser emission port 4, a concave reflecting mirror 51, and a first reflecting mirror 3. The laser light-receiving electrode 2 is provided at the focal position of the concave reflecting mirror 51. The concave reflecting mirror 51 is rotatably provided on the mounting pedestal 1, and its rotation center passes through the laser light-receiving electrode 2 in the lateral direction. The first reflecting mirror 3 is fixedly provided on the reflecting surface of the concave reflecting mirror 51 and rotates together with the concave reflecting mirror 51. The laser emission port 4 emits a laser pulse signal, and the rotation of the first reflecting mirror 3 realizes scanning of the surrounding environment in the vertical plane. Further, a three-dimensional environment scanning is realized by a lateral rotation device. The concave reflecting mirror 51 receives the returned laser pulse signal and focuses it at its focal point, and the laser light-receiving electrode 2 receives it.

[0031] As a specific embodiment of the vertical scanning unit of the present invention, The vertical scanning unit further includes a laser emission electrode, a second reflecting mirror 20, a first motor 6, and a first code disk 7.

[0032] The laser emission electrode is fixed to the bottom of the mounting pedestal 1, and the emitted laser pulse signal is reflected by the second reflecting mirror 20 to the first reflecting mirror 3. Non-transparent light-shielding passages 21 are provided between the laser emission electrode and the second reflecting mirror 20 and between the second reflecting mirror 20 and the first reflecting mirror 3. By fixing the laser emission electrode to the bottom, the light signal received by the laser light-receiving electrode 2 is not blocked too much. By arranging the light-shielding passage 21 and the light-shielding plate 22, the emitted laser pulse signal and the received laser pulse signal are prevented from being interfered by external ambient light, and the scanning accuracy is improved.

[0033] The first motor 6 drives the reflecting mirror to rotate, the first code disk 7 is fixedly connected to the reflecting mirror concentrically, and the rotation information of the reflecting mirror is obtained by the first code disk 7.

[0034] As a specific embodiment in which a protection structure is additionally arranged in the present invention, A protection cover 16 is fixed to the outside of the mounting pedestal 1, the protection cover 16 is fixedly connected to the lower bottom housing 9, a visible light emitting electrode 14 is provided on the mounting pedestal 1, and the visible light emitted from the visible light emitting electrode 14 is reflected by the second mirror 20, and further, by the reflection of the first mirror 3, a specific pattern is formed on the protection cover 16, or penetrates the protection cover 16, and with the cooperation of the lateral rotation device, a pattern is displayed or drawn on the surrounding external environment. With this structure, the 3D laser radar can project a visible light pattern to the outside, so that various information related to the radar itself and the robot can be displayed to the outside, the cost is low, and the structure is simple.

[0035] As a specific embodiment of the lateral rotation device of the present invention, The lateral rotation device includes an upper bottom housing rotor 8, a lower bottom housing 9, a lateral rotation bearing 19, and a motor stator 10 fixed in the lower bottom housing 9, and a magnetic steel plate 15 is provided on the motor stator 10.

[0036] The mounting pedestal 1 is fixed to the upper bottom housing rotor 8 and rotates therewith.

[0037] In the circumferential direction of the upper bottom housing rotor 8, through holes 11 are uniformly opened along the same circumference, and the through holes 11 constitute an optical code disk to obtain the rotation information of the upper bottom housing rotor 8, and further obtain the lateral rotation information of the vertical scanning unit.

[0038] As a specific embodiment in which a wireless energy transmission module 12 is additionally arranged in the present invention, A hollow wireless energy transmission module 12 is concentrically provided between the upper bottom housing rotor 8 and the lower bottom housing 9, and the wireless energy transmission module 12 supplies power to the laser light receiving electrode 2 and the laser emitting electrode. Since the upper bottom housing rotor 8 and the lower bottom housing 9 rotate relative to each other, when power supply and signal transmission are required, the wireless energy transmission module 12 can be used instead of the conventional cable to avoid fatigue damage of the cable during reciprocating rotation.

[0039] As a specific embodiment of the signal transmission structure of the present invention, A base circuit board 13 is fixedly connected to the lower bottom housing 9, and a wireless signal transmission assembly 17 is concentrically provided between the upper bottom housing rotor 8 and the lower bottom housing 9 to realize wireless communication using optical communication. The laser emitting electrode and the laser light receiving electrode 2 realize wireless communication with the base circuit board 13 using the wireless signal transmission assembly 17. The laser emitting electrode is electrically connected to a laser drive circuit board 18.

[0040] As a first specific embodiment of using the present invention, A leg-type robot that uses the above 3D laser radar to realize real-time scanning of the surrounding environment information of the robot.

[0041] As shown in FIGS. 8 to 11, as a second specific embodiment of using the present invention, A cleaning robot that includes the above 3D laser radar and a cleaning robot body 101, The 3D laser radar is attached to the outer wall of the cleaning robot body 101.

[0042] In the present application, the method of fixed connection or fixed connection may be screwing, or welding, or caulking, or insertion, or connection by a third member, and those skilled in the art may select according to the actual situation.

[0043] The above embodiments do not limit the protection scope of the present invention. They are only preferred embodiments of the present invention. Any person skilled in the art can make any non-substantive changes and substitutions based on the present invention, and all of them belong to the protection scope of the present invention.

Explanation of Reference Numerals

[0044] 1 ··· Mounting pedestal; 2 ··· Laser light-receiving electrode; 3 ··· First reflecting mirror; 31 ··· Convex lens; 4 ··· Laser emission port; 5 ··· Plane reflecting mirror; 51 ··· Concave reflecting mirror; 6 ··· First motor; 7 ··· First code disk; 8 ··· Upper bottom housing rotor; 9 ··· Lower bottom housing; 10 ··· Motor stator; 11 ··· Through hole; 12 ··· Wireless energy transmission module; 13 ··· Base circuit board; 14 ··· Visible light emission electrode; 15 ··· Magnetic steel plate; 16 ··· Protective cover; 17 ··· Wireless signal transmission assembly; 18 ··· Laser drive circuit board; 19 ··· Lateral rotation bearing; 20 ··· Second reflecting mirror; 21 ··· Light-shielding passage; 22 ··· Light-shielding plate; 101 ··· Cleaning robot body.

Claims

1. A 3D laser radar, comprising a vertical scanning unit and a horizontal rotating device, the vertical scanning unit includes a laser emission port (4) for emitting a laser pulse signal and a reflecting mirror that can rotate at a non-uniform speed, the laser emission port (4) is provided on the rotation axis of the reflecting mirror, and the reflecting mirror scans the external environment so as to rotate at a uniform or non-uniform speed, and controls the distribution situation of the point cloud space obtained by scanning, the horizontal rotating device is provided with a rotating motor for rotating the vertical scanning unit horizontally at a uniform or non-uniform speed, and controls the distribution situation of the point cloud space obtained by scanning. The 3D laser radar is characterized by this.

2. the reflecting mirror is a plane reflecting mirror (5), and the vertical scanning unit includes a mounting pedestal (1), and a laser light receiving electrode (2), a convex lens (31), a laser emission port (4), and a plane reflecting mirror (5) sequentially provided on the mounting pedestal (1). The laser light receiving electrode (2) is provided at the focal position of the convex lens (31), the laser emission port (4) is provided on the principal optical axis of the convex lens (31), the plane reflecting mirror (5) is rotatably provided on the mounting pedestal (1), and the rotation center of the plane reflecting mirror (5) coincides with the principal optical axis of the convex lens (31), the laser emission port (4) emits a laser pulse signal, and realizes scanning of the surrounding environment in the vertical plane by the rotation of the plane reflecting mirror (5), and further realizes scanning of the three-dimensional environment by the horizontal rotating device. The 3D laser radar according to claim 1 is characterized by this.

3. The reflecting mirror is a concave reflecting mirror (51). The vertical scanning unit includes a mounting pedestal (1), a laser light-receiving electrode (2) provided on the mounting pedestal (1), a laser emission port (4), a concave reflecting mirror (51), and a first reflecting mirror (3). The laser light-receiving electrode (2) is provided at the focal position of the concave reflecting mirror (51). The concave reflecting mirror (51) is rotatably provided on the mounting pedestal (1), and its rotation center passes through the laser light-receiving electrode (2) in the lateral direction. The first reflecting mirror (3) is fixedly provided on the reflecting surface of the concave reflecting mirror (51) and rotates together with the concave reflecting mirror (51). The laser emission port (4) emits a laser pulse signal. The rotation of the first reflecting mirror (3) realizes scanning of the surrounding environment in the vertical plane. Further, a lateral rotation device realizes scanning of a three-dimensional environment. The concave reflecting mirror (51) receives the returned laser pulse signal and focuses it at its focal point, and the laser light-receiving electrode (2) receives it. The 3D laser radar according to claim 1, characterized in that.

4. The vertical scanning unit further includes a laser emission electrode and a second reflecting mirror (20). The laser emission electrode is fixed to the bottom of the mounting pedestal (1). The emitted laser pulse signal is reflected by the second reflecting mirror (20) to the first reflecting mirror (3). Non-transparent light-shielding passages (21) are provided between the laser emission electrode and the second reflecting mirror (20) and between the second reflecting mirror (20) and the first reflecting mirror (3). The 3D laser radar according to claim 3, characterized in that.

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

6. A protective cover (16) is fixed to the outside of the mounting pedestal (1), the protective cover (16) is fixedly connected to the lower bottom housing (9), a visible light emitting electrode (14) is provided on the mounting pedestal (1), and the visible light emitted from the visible light emitting electrode (14) is reflected by a second mirror (20) and further reflected by the first mirror (3) to form a specific pattern on the protective cover (16) or penetrate through the protective cover (16), and cooperate with a lateral rotation device to display or draw a pattern on the surrounding external environment. The 3D laser radar according to claim 5, characterized in that.

7. The lateral rotation device includes an upper bottom housing rotor (8), a lower bottom housing (9), and a motor stator (10) fixed in the lower bottom housing (9). Several magnetic steel plates (15) are provided on the motor stator (10). The mounting pedestal (1) is fixed to the upper bottom housing rotor (8) and rotates therewith. The 3D laser radar according to claim 6, characterized in that.

8. In the circumferential direction of the upper bottom housing rotor (8), through holes (11) are uniformly opened along the same circumference. The through holes (11) constitute an optical code disk to obtain the rotation information of the upper bottom housing rotor (8), and further obtain the lateral rotation information of the vertical scanning unit. The 3D laser radar according to claim 7, characterized in that.

9. A hollow wireless energy transmission module (12) is concentrically provided between the upper bottom housing rotor (8) and the lower bottom housing (9). The wireless energy transmission module (12) supplies power to the laser receiving electrode (2) and the laser emitting electrode. The 3D laser radar according to claim 8, characterized in that.

10. A base circuit board (13) is fixedly provided on the lower bottom housing (9). A wireless signal transmission assembly (17) is concentrically provided between the upper bottom housing rotor (8) and the lower bottom housing (9) to realize wireless communication using optical communication. The laser emission electrode and the laser light receiving electrode (2) realize wireless communication with the base circuit board (13) using the wireless signal transmission assembly (17). The laser emission electrode is electrically connected to a laser drive circuit board (18). The 3D laser radar according to claim 9, characterized in that.

11. A cleaning robot, characterized by including the 3D laser radar according to any one of claims 1 to 10.

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