Cleaning robot and cleaning system

Abstract

Disclosed in the present application are a cleaning robot and a cleaning system. The cleaning robot comprises: an apparatus main body; and a time-of-flight laser radar, which is arranged on the apparatus main body and comprises a transmitting unit and a receiving unit, wherein the transmitting unit comprises a laser transmitter and a transmitting lens, which are sequentially arranged; the receiving unit comprises a receiver and a receiving lens, which are sequentially arranged; and the optical axis of the transmitting lens and the optical axis of the receiving lens are coaxially arranged.

Description

Cleaning robots and cleaning systems

[0001] This application claims priority to the Chinese patent application filed with the China Patent Office on January 5, 2024, with application number 202420039240.1 and application name “Cleaning Robot and Cleaning System”, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present application relates to the field of smart home technology, and in particular to a cleaning robot and a cleaning system. Background Art

[0003] With the continuous development of science and technology and the continuous improvement of people's living standards, cleaning robots, such as intelligent sweeping robots, have become increasingly integrated into our daily lives. As sweeping robots become more integrated and functional, they also have an increasing number of components. For cleaning robots, the overall structure must be compact and small in size, which places high demands on the external dimensions of each component.

[0004] Current cleaning robots are usually equipped with lidar to detect the environment around them. Lidar is an important sensor for cleaning robots and plays an important role in mapping, navigation, obstacle avoidance and other working conditions. At the same time, the external dimensions of the lidar will also have a certain impact on the size of the cleaning robot.

[0005] Application Contents

[0006] The content of this application introduces a series of simplified concepts that will be further described in the detailed description. This section of this application does not intend to limit the key features and essential technical features of the claimed technical solution, nor does it intend to determine the scope of protection of the claimed technical solution.

[0007] An embodiment of the first aspect of the present application provides a cleaning robot, comprising: an equipment body; a time-of-flight laser radar, which is arranged on the equipment body, and the time-of-flight laser radar includes a transmitting unit and a receiving unit, the transmitting unit includes a laser transmitter and a transmitting lens arranged in sequence, and the receiving unit includes a receiver and a receiving lens arranged in sequence; wherein the optical axis of the transmitting lens and the optical axis of the receiving lens are coaxially arranged.

[0008] In a feasible embodiment, the time-of-flight lidar further includes: a reflector, which is tilted above the transmitting lens and the receiving lens, and is configured to rotate with the optical axis of the transmitting lens and / or the optical axis of the receiving lens as the axis of rotation; wherein the light emitted by the laser transmitter passes through the transmitting lens and is redirected by the reflector and then emitted, and the returned received light is redirected by the reflector and then passed through the receiving lens and received by the receiver.

[0009] In a feasible embodiment, the inclination angle of the reflector relative to the horizontal line is at least 45° and no more than 47°.

[0010] In a feasible embodiment, the time-of-flight laser radar also includes: a fixed base, which is connected to the device body and the transmitting unit and the receiving unit are installed on the fixed base; a rotating base, which is rotatably connected above the fixed base and the reflector is installed on the rotating base; a driving unit, which is installed on the fixed base and / or the device body and connected to the rotating base, and the driving unit is configured to drive the rotating base to rotate relative to the fixed base.

[0011] In a feasible embodiment, the time-of-flight laser radar also includes: a main circuit, the main circuit is installed on a fixed seat, the transmitting unit also includes a transmitting circuit electrically connected to the laser transmitter, the receiving unit also includes a receiving circuit electrically connected to the receiver, and the main circuit is electrically connected to the transmitting circuit and the receiving circuit.

[0012] In a feasible implementation, the laser transmitter is arranged horizontally, and the receiver is arranged horizontally; the laser transmitter is arranged above the transmitting circuit, and the receiver is arranged above the receiving circuit, and the main circuit is located below the transmitting circuit and the receiving circuit.

[0013] In a feasible embodiment, the time-of-flight laser radar also includes: a rotating part, the rotating seat and the fixed seat together form an installation chamber, the fixed seat is provided with an annular installation groove located in the installation chamber, the transmitting unit and the receiving unit are installed inside the installation groove, the rotating part is sleeved on the outside of the installation groove and connected to the rotating seat; a locking part, the locking part is sleeved on the outside of the installation groove and is located above the rotating part, the transmitting unit also includes a mounting tube, the locking part is connected to the outer wall of the mounting groove to lock the rotating part on the mounting tube.

[0014] In a feasible embodiment, a first step is provided on the outer wall of the mounting groove, and a threaded structure is provided on the outer wall of the mounting groove toward the end of the rotating seat; the locking member is a locking nut, the rotating member is overlapped on the first step, the rotating member includes an inner ring and an outer ring, the locking nut cooperates with the threaded structure to clamp the inner ring between the locking nut and the first step, and the outer ring is connected to the rotating seat.

[0015] In a feasible embodiment, the inner wall of the mounting groove connects the inside and outside of the mounting chamber, the main circuit of the time-of-flight lidar is installed at the bottom of the fixing seat and is located outside the mounting chamber, and the main circuit is electrically connected to the transmitting circuit and the receiving circuit through the mounting groove.

[0016] In a feasible embodiment, the receiver is located below the laser transmitter, the receiving lens is located below the transmitting lens, and the projection of the receiving lens is located on the peripheral side of the projection of the transmitting lens in a plane perpendicular to the optical axis of the transmitting lens and / or the optical axis of the receiving lens; wherein the receiver is a single-photon receiver.

[0017] In a feasible embodiment, the transmitting unit also includes a mounting tube, the laser transmitter and the transmitting lens are respectively installed at the two ends inside the mounting tube, the mounting tube is passed through the receiving lens and connected to the mounting tube, and the receiver is located below the mounting tube.

[0018] A second aspect of the present application provides a cleaning system, comprising: a cleaning base station, and the cleaning robot according to any one of the first aspects.

[0019] The above description is only an overview of the technical solution of the present application. In order to more clearly understand the technical means of the present application, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Various other advantages and benefits will become apparent to those skilled in the art upon reading the detailed description of the preferred embodiment below. The accompanying drawings are for illustration purposes only and are not to be considered as limiting the present application. Throughout the drawings, the same reference numerals are used to denote the same components.

[0021] FIG1 shows a schematic structural diagram of a laser radar provided in an embodiment of the present application;

[0022] FIG2 is a schematic structural diagram of the embodiment shown in FIG1 from a first viewing angle;

[0023] FIG3 shows a cross-sectional view of the embodiment shown in FIG1 at a viewing angle AA;

[0024] FIG4 shows a partial enlarged schematic diagram of point A in the embodiment shown in FIG3 ;

[0025] FIG5 is a partial enlarged schematic diagram of point B in the embodiment shown in FIG3 ;

[0026] FIG6 is a schematic structural diagram of a portion of a laser radar provided in an embodiment of the present application;

[0027] FIG7 shows a schematic structural diagram of a fixing base provided in an embodiment of the present application;

[0028] FIG8 shows a schematic structural diagram of a limit ring provided in an embodiment of the present application;

[0029] FIG9 is a schematic structural diagram of another part of the laser radar provided in an embodiment of the present application;

[0030] FIG10 is a schematic structural diagram of another part of the laser radar provided in an embodiment of the present application;

[0031] FIG11 is a schematic structural diagram showing a perspective of the embodiment shown in FIG10 ;

[0032] FIG12 is a schematic structural diagram showing a second viewing angle of the embodiment shown in FIG10 ;

[0033] FIG13 is a schematic structural diagram of another part of the laser radar provided in an embodiment of the present application;

[0034] FIG14 shows a cross-sectional view of the embodiment shown in FIG13 from one perspective;

[0035] FIG15 shows a projection view of a receiving lens and a transmitting lens at one viewing angle according to an embodiment of the present application;

[0036] FIG16 shows a schematic structural diagram of a cleaning robot according to an embodiment of the present application.

[0037] Explanation of reference numerals 001 laser radar, 100 fixed module, 110 transmitting unit, 111 laser transmitter, 112 transmitting lens, 1121 first incident surface, 1122 first exit surface, 1123 limiting groove, 113 transmitting circuit, 120 receiving unit, 121 receiver, 122 receiving lens, 1221 concave spherical contact surface, 130 fixing seat, 131 mounting groove, 132 first step, 133 threaded structure, 134 second step, 1341 avoidance gap, 135 second supporting portion, 140 mounting cylinder, 141 convex spherical contact surface, 142 first boss, 143 second boss, 150 light homogenizing element, 160 pressure ring, 161 positioning groove, 17 0 shading ring, 180 limiting ring, 181 clamping part, 182 first supporting part, 200 rotating module, 210 reflecting mirror, 220 rotating seat, 221 transmitting window, 222 receiving window, 223 seat body, 2231 first card slot, 2232 belt slot, 224 upper cover, 2241 second card slot, 230 window lens, 240 filter, 300 driving part, 310 synchronous wheel, 400 main circuit, 500 rotating part, 600 locking part, 700 transmission part, 002 cleaning robot, 021 equipment main body. DETAILED DESCRIPTION

[0038] In the following description, a number of specific details are given to provide a more thorough understanding of the technical solutions provided by this application. However, it is obvious to those skilled in the art that the technical solutions provided by this application can be implemented without one or more of these details.

[0039] It should be noted that the terms used herein are only for the purpose of describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should also be understood that when the terms "comprise" and / or "include" are used in this specification, they indicate the presence of the features, wholes, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or combinations thereof.

[0040] Now, exemplary embodiments according to the present application will be described in more detail with reference to the accompanying drawings. However, these exemplary embodiments may be implemented in a variety of different forms and should not be construed as being limited to the embodiments set forth herein. It should be understood that these embodiments are provided to make the disclosure of this application thorough and complete and to fully convey the concepts of these exemplary embodiments to those of ordinary skill in the art.

[0041] As shown in Figures 1 to 16, an embodiment of the first aspect of the present application provides a cleaning robot 002, and an embodiment of the second aspect of the present application provides a cleaning system, wherein the cleaning robot 002 can be a sweeping robot, a sweeping and mopping machine, or other cleaning robots 002 that meet the requirements, and the cleaning system includes a base station and a cleaning robot 002, that is, the cleaning base station is used in conjunction with the cleaning robot 002.

[0042] Specifically, as shown in Figure 16, the cleaning robot 002 includes but is not limited to: a device body, a cleaning system, a drive system, a perception system, a control module, an energy system and a human-computer interaction system, etc. The above-mentioned systems coordinate with each other so that the cleaning robot 002 can move autonomously to achieve the cleaning function. The functional elements and the like that constitute the above-mentioned systems in the cleaning robot 002 are integratedly arranged in the device body. Among them, when the cleaning robot 002 starts working, the cleaning robot 002 starts from the cleaning base station to perform the cleaning task. When the cleaning robot 002 completes the cleaning task or other situations require the termination of the cleaning task, the cleaning robot 002 can return to the cleaning base station for charging, and / or water replenishment, and / or cleaning, and / or dust collection and other operations.

[0043] As shown in Figures 9, 10, 11, 12 and 16, the cleaning robot 002 provided in an embodiment of the present application includes: an equipment body 021 and a time-of-flight laser radar 001. The time-of-flight laser radar 001 is arranged on the equipment body 021. The time-of-flight laser radar 001 includes a transmitting unit 110 and a receiving unit 120. The transmitting unit 110 includes a laser transmitter 111 and a transmitting lens 112 arranged in sequence. The receiving unit 120 includes a receiver 121 and a receiving lens 122 arranged in sequence; wherein, the optical axis of the transmitting lens 112 and the optical axis of the receiving lens 122 are coaxially arranged.

[0044] The time-of-flight laser radar 001 is mounted on the device body 021 and is used to detect the distance between the cleaning robot 002 and surrounding obstacles and the surrounding environment. It is understood that the time-of-flight laser radar 001 is an important sensor for the cleaning robot 002, playing a crucial role in mapping, navigation, obstacle avoidance, and other operations. The principle of the time-of-flight laser radar 001 is to calculate the distance to the target object using the speed of a laser beam in space and the time it takes to reflect back. The time-of-flight laser radar 001 offers advantages such as high precision, high speed, and high resolution, thus meeting the functional requirements of the cleaning robot 002.

[0045] In this embodiment, the time-of-flight laser radar 001 includes a transmitting unit 110 and a receiving unit 120. The light emitted by the laser transmitter 111 passes through a transmitting lens 112 and is directed toward obstacles and the surrounding environment. The received light returned by the obstacles and the surrounding environment passes through a receiving lens 122 and is received by a receiver 121, thereby achieving a ranging function. The optical axes of the transmitting lens 112 and the receiving lens 122 are coaxially arranged. Compared to the related art in which the optical axes of the transmitting lens and the receiving lens are arranged separately, this can appropriately reduce the size of the laser radar 001, thereby meeting the design requirements of the laser radar 001 being small and compact. This reduces the space occupied by the cleaning robot 002, expands the range of use of the cleaning robot 002, and facilitates storage. This also helps save manufacturing costs for the laser radar 001.

[0046] As shown in Figures 9, 10, 11, and 12, in some possible embodiments provided by the present application, the time-of-flight laser radar 001 further includes: a reflector 210, which is tilted and arranged above the transmitting lens 112 and the receiving lens 122, and is configured to rotate with the optical axis of the transmitting lens 112 and / or the optical axis of the receiving lens 122 as the rotation axis. Among them, the light emitted by the laser transmitter 111 passes through the transmitting lens 112 and is redirected by the reflector 210 and then emitted toward the obstacle and the surrounding environment. The received light returned by the obstacle and the surrounding environment is redirected by the reflector 210 and then passed through the receiving lens 122 and received by the receiver 121. In this way, the detection function of the laser radar 001 can be realized. By rotating the reflector 210 in conjunction with the transmitting unit 110 and the receiving unit 120, the detection range of the laser transmitter 111 can be expanded, thereby enabling the detection of obstacles and the surrounding environment in multiple directions around the cleaning robot 002. Specifically, the solid line in FIG10 represents the outgoing light, and the dotted line in FIG10 represents the received light.

[0047] Specifically, if the reflector 210 is configured to rotate 360° with the optical axis of the receiving lens 122 as the rotation axis, the laser radar 001 can detect obstacles and the surrounding environment in a 360° direction around the cleaning robot 002, which is beneficial to improve the perception accuracy and perception precision of the cleaning robot 002 and improve the operation accuracy of the cleaning robot 002.

[0048] As shown in FIG11 , in some possible embodiments provided in the present application, the inclination angle of the reflector 210 relative to the horizontal line is 45° to 47°, that is, the inclination angle of the reflector 210 relative to the horizontal line is at least 45° and not more than 47°. The inclination angle of the reflector 210 relative to the horizontal line is α, that is, the range of α is 45° to 47°. Thus, it is possible to ensure that the reflector 210 can more comprehensively redirect the emission light emitted by the transmitting unit 110 and project it through the transmitting window 221, and can more comprehensively redirect the light returned through the receiving window 222 and project it to the receiving unit 120, so as to reduce the energy loss of the transmitting unit 110, improve the energy utilization rate of the transmitting unit 110, and improve the ranging accuracy of the laser radar 001.

[0049] Specifically, the inclination angle α of the reflector 210 relative to the horizontal line may be in the range of 45°, 45.5°, 46°, 47°, or other angles.

[0050] As shown in Figures 3, 9, 10 and 11, in the above embodiment, the reflector 210 includes a reflective surface and a base, and the reflective surface is located on the side of the base facing the emission window 221. Thus, it can be ensured that the emission light emitted by the emitting unit 110 is projected through the emission window 221 after changing direction by the reflective surface of the reflector 210, and the returned receiving light is received by the unit after changing direction by the reflective surface of the reflector 210 through the receiving window 222.

[0051] The reflective surface may be a dielectric high-reflective film or a metal reflective film, and the substrate may be glass or plastic.

[0052] As shown in Figures 1, 2, and 3, in some possible embodiments provided by the present application, the time-of-flight laser radar 001 further includes: a fixed base 130, a rotating base 220, and a driving unit 300. The fixed base 130 is connected to the device body 021, that is, the entire laser radar 001 is installed on the device body 021 through the fixed base 130. Among them, the transmitting unit 110 and the receiving unit 120 are installed on the fixed base 130; the rotating base 220 is rotatably connected above the fixed base 130 and encloses an installation chamber with the fixed base 130. The reflector 210 is installed on the rotating base 220. The reflector 210, the transmitting unit 110, and the receiving unit 120 are located in the installation chamber. Therefore, it can ensure that the transmitting unit 110, the receiving unit 120, and the reflector 210 are located in a closed space, reducing stray light interference and improving the detection accuracy of the laser radar 001.

[0053] The driving unit 300 is mounted on the fixed base 130 and / or the device body 021 and connected to the rotating base 220. The driving unit 300 is configured to drive the rotating base 220 to rotate relative to the fixed base 130. As a result, the reflector 210 on the rotating base 220 can rotate about the optical axis of the receiving lens 122 to expand the detection range of the laser radar 001. For example, the driving unit 300 can drive the rotating base 220 to rotate 360° relative to the fixed base 130, so that the laser radar 001 can detect obstacles and the surrounding environment in a 360° direction around the cleaning robot 002, thereby improving the perception precision and accuracy of the cleaning robot 002 and improving the operating precision of the cleaning robot 002.

[0054] The drive unit 300 can be mounted on the fixing base 130, or the drive unit 300 can be mounted on the device body 021, or the drive unit 300 can be mounted on both the fixing base 130 and the device body 021. Specifically, mounting the drive unit 300 on the fixing base 130 can achieve a modular design of the time-of-flight laser radar 001, facilitating assembly and disassembly of the time-of-flight laser radar 001 and the device body 021.

[0055] Furthermore, as shown in Figures 3 and 6, the time-of-flight laser radar 001 also includes a transmission part 700, and the driving part 300 is connected to the rotating seat 220 through the transmission part 700 to drive the rotating seat 220 to rotate relative to the fixed seat 130 through the transmission part 700.

[0056] The transmission portion 700 is a transmission belt. It is understood that the transmission portion 700 may also be a gear or other transmission mechanism. For example, if the transmission portion 700 is a transmission belt, the drive portion 300 is connected to the rotating seat 220 via the transmission belt. For example, if the drive portion 300 is a motor, the output shaft of the motor is connected to the rotating seat 220 via the transmission belt to drive the rotating seat 220 to rotate relative to the fixed seat 130. Specifically, a synchronous pulley 310 is provided on the output shaft of the motor. A synchronous belt is mounted on the synchronous pulley 310 and the rotating seat 220, so that rotation of the output shaft drives the synchronous pulley 310, which in turn drives the rotating seat 220 to rotate relative to the fixed seat 130 via the synchronous belt.

[0057] As shown in Figure 3, in some possible embodiments provided in the present application, the time-of-flight laser radar 001 also includes: a main circuit 400, the main circuit 400 is installed on the fixing seat 130, the transmitting unit 110 also includes a transmitting circuit 113 electrically connected to the laser transmitter 111, the receiving unit 120 also includes a receiving circuit electrically connected to the receiver 121, and the main circuit 400 is electrically connected to the transmitting circuit 113 and the receiving circuit.

[0058] Among them, the main circuit 400 can be the main circuit 400 of the time-of-flight laser radar 001, such as the circuit on the main control board of the time-of-flight laser radar 001, which is mainly responsible for providing power to the transmitting unit 110 and the receiving unit 120, controlling the transmitting unit 110 and / or the receiving unit 120, etc.

[0059] In this embodiment, since the transmitting unit 110 and the receiving unit are both mounted on the fixed seat 130, that is, the transmitting circuit 113 and the receiving circuit are also mounted on the fixed seat 130, by mounting the main circuit 400 on the fixed seat 130, the active components of the time-of-flight laser radar 001 are all mounted on the fixed seat 130, that is, there are no active components on the rotating seat 220. This arrangement, compared with the related art in which the optical axis of the transmitting lens and the optical axis of the receiving lens are separated and a wireless power supply part and an optical communication part are required, further simplifies the circuit scheme, is conducive to further reducing the manufacturing cost of the time-of-flight laser radar 001, can meet the low-cost design requirements of the cleaning robot 002, and expand the scope of use of the product.

[0060] In the above embodiment, the laser emitter 111 and the receiver 121 are arranged horizontally. That is, the light emitted by the laser emitter 111 is vertically upward, or propagates in a generally vertically upward direction, and the light received by the laser receiver 121 is vertically downward, or propagates in a generally vertically downward direction. To enable the time-of-flight lidar 001 to measure horizontal obstacles and the surrounding environment, a reflector 210 can be added above the laser emitter 111 and the laser receiver 121.

[0061] Furthermore, the laser emitter 111 is arranged above the transmitting circuit 113, the receiver 121 is arranged above the receiving circuit, and the main circuit 400 is located below the transmitting circuit 113 and the receiving circuit. This arrangement ensures that the main circuit 400 will not block the light emitted by the laser emitter 111 and the light received by the receiver 121, that is, the main circuit 400 will not interfere with the optical path, which is conducive to improving the ranging accuracy.

[0062] As shown in Figure 7, in some possible embodiments provided in the present application, the fixing seat 130 is provided with an annular mounting groove 131 located in the mounting chamber, and the transmitting unit 110 and the receiving unit 120 are installed inside the mounting groove 131. It can be understood that the laser transmitter 111, the transmitting lens 112, the transmitting circuit 113 of the transmitting unit 110, and the receiver 121, the receiving lens 122, and the receiving circuit of the receiving unit 120 are all located in the annular mounting groove 131, that is, the annular mounting groove 131 can be understood as part of the optical path channel.

[0063] As shown in Figures 3 and 5, the time-of-flight laser radar 001 also includes a rotating part 500 and a locking part 600. The rotating part 500 is sleeved on the outside of the mounting groove 131 and is connected to the rotating seat 220. The locking part 600 is sleeved on the outside of the mounting groove 131 and is located above the rotating part 500. The locking part 600 is connected to the outer wall of the mounting groove 131 to lock the rotating part 500 on the mounting groove 131. That is to say, in this embodiment, the rotating member 500 can be locked on the outer wall of the mounting groove 131 by using a locking member 600 to realize the rotational connection between the rotating seat 220 and the fixed seat 130. The structure is simple and easy to disassemble and assemble. In the related art, rotating members usually require multiple parts to be locked. For example, in the related art, elastic hooks and screws are usually used to lock the rotating members. The number of parts is large and the assembly process is complicated. Therefore, in this embodiment, a locking member 600 can be used to lock the rotating member 500. The number of parts is small and the assembly process is simple, which can further reduce the manufacturing cost of the time-of-flight laser radar 001 to meet the low-cost design requirements of the cleaning robot 002.

[0064] As shown in FIG7 , in the above embodiment, a first step 132 is provided on the outer wall of the mounting groove 131 , and the rotating member 500 is overlapped on the first step 132 . The first step 132 is used to pre-position the rotating member 500 , which is beneficial to improving the assembly efficiency and assembly accuracy of the rotating member 500 , thereby improving the processing efficiency of the time-of-flight radar.

[0065] As shown in Figures 5 and 7 , a threaded structure 133 is provided on the outer wall of the end of the mounting groove 131 facing the rotating seat 220. The locking member 600 is a locking nut. The rotating member 500 includes an inner ring and an outer ring. If the rotating member 500 is a bearing, the locking nut cooperates with the threaded structure 133 to clamp the inner ring of the bearing between the locking nut and the first step 132, thereby connecting the outer ring of the bearing to the rotating seat 220. Thus, by utilizing a single component, the locking nut, in conjunction with the threaded structure 133 on the outer wall of the mounting groove 131, the rotating member 500 can be stably and securely locked to the exterior of the mounting groove 131, ensuring the rotational connection between the rotating seat 220 and the fixed seat 130. The assembly operation is simple and easy to operate. Furthermore, the threaded structure 133 on the outer wall of the mounting groove 131 is easy to process, and the locking nut is relatively low in cost, thereby effectively reducing the manufacturing cost of the time-of-flight radar.

[0066] Furthermore, as shown in FIG3 , the inner wall of the mounting groove 131 communicates with the inside and outside of the mounting chamber, that is, the mounting groove 131 is a through groove that penetrates the fixing base 130. The main circuit 400 is mounted on the bottom of the fixing base 130 and is located outside the mounting chamber. The main circuit 400 is electrically connected to the transmitting circuit 113 and the receiving circuit through the mounting groove 131. Since the main circuit 400 is located outside the mounting chamber, it is convenient to connect the main circuit 400 to the power supply unit and to repair and replace the main circuit 400. At the same time, the main circuit 400 located outside the mounting chamber has good ventilation and heat dissipation effects, avoiding the problem of poor ventilation and heat dissipation and easy failure of the main circuit when it is arranged inside the mounting chamber. This is conducive to increasing the service life of the main circuit 400 and improving the reliability of the time-of-flight laser radar 001.

[0067] As shown in Figures 11 and 15, in some possible embodiments provided in the present application, the receiver 121 is located below the laser transmitter 111, the receiving lens 122 is located below the transmitting lens 112, and in a plane perpendicular to the optical axis of the transmitting lens 112 and / or the optical axis of the receiving lens 122, the projection of the receiving lens 122 is located on the peripheral side of the projection of the transmitting lens 112, wherein the receiver 121 is a single-photon receiver 121.

[0068] This arrangement ensures that the receiver 121 does not block the light emitted by the laser emitter 111, thereby reducing the light energy loss of the laser emitter 111 and improving the light energy utilization rate of the laser emitter 111. It is understood that the received light reflected by obstacles and the surrounding environment can be redirected by the receiving lens 122 and then be received by the receiver 121.

[0069] As shown in Figure 15, in this embodiment, since the projection of the receiving lens 122 is located on the outer peripheral side of the projection of the transmitting lens 112 in a plane perpendicular to the optical axis of the transmitting lens 112 and / or the optical axis of the receiving lens 122, the effective area of ​​the receiving lens 122 is small. For this reason, the receiver 121 is set to be a single-photon receiver 121. For example, the receiver 121 is a single-photon receiver 121 using SPAD (single photon avalanche diode). Its integration, optical gain, accuracy, etc. are greater than those of exemplary technology PIN (positive-intrinsic-negative, photodiode), APD (Avalanche Photon Diode) and other optical receivers 121, thereby ensuring the detection accuracy of the time-of-flight lidar 001.

[0070] As shown in Figure 3, in some possible embodiments provided in the present application, the transmitting unit 110 also includes a mounting tube 140, the laser transmitter 111 and the transmitting lens 112 are respectively installed at the two ends inside the mounting tube 140, the mounting tube 140 is passed through the receiving lens 122 and is connected to the mounting tube 140, and the receiver 121 is located below the mounting tube 140.

[0071] The emitting lens 112 is located on the outgoing light path of the laser emitter 111, and the outgoing surface of the emitting lens 112 faces the outside of the mounting tube 140. Thus, the emitting lens 112 and the laser are mounted in the same structural component to form a collimated light path.

[0072] Furthermore, the middle portion of the receiving lens 122 is configured as a hollow structure, and the mounting tube 140 is disposed through the hollow structure and connected to the receiving lens 122. The receiver 121 is arranged below the receiving lens 122 and opposite the laser emitter 111. This allows the optical axis of the receiving lens 122 to be coaxial with the optical axis of the emitting lens 112, and ensures that the receiver 121 reliably receives the light projected by the receiving lens 122, resulting in a simple structure. Specifically, the mounting tube 140 can be in the shape of a straight cylinder, a cone, a bowl, or other shapes.

[0073] In the above embodiment, the contact surfaces between the mounting tube 140 and the receiving lens 122 are spherical, and the mounting tube 140 and the receiving lens 122 are configured to be fixedly connected.

[0074] That is, the lens barrel and the receiving lens 122 are configured as a ball joint. In this way, in actual application scenarios, during the assembly process, the relative position of the mounting barrel 140 and the transmitting lens 112 can be adjusted first, so that the laser emission direction of the transmitting unit 110 and the optical axis of the receiving lens 122 meet the detection accuracy requirements, such as adjusting the position of the mounting barrel 140 relative to the transmitting lens 112 so that the optical axis of the transmitting lens 112 coincides with the optical axis of the receiving lens 122, or making the optical axis of the transmitting lens 112 perpendicular to the horizontal line to ensure that the transmitting optical axis of the transmitting unit 110 is vertically upward, and then the mounting barrel 140 is fixedly connected to the receiving lens 122 to complete the assembly of the transmitting unit 110 and the receiving lens 122, and it can be ensured that the laser radar 001 meets the detection accuracy requirements. To this end, the processing accuracy requirements for each component can be reduced, thereby reducing the manufacturing cost, and this method can improve the processing qualification rate of the product and is suitable for promotion and application.

[0075] Furthermore, the mounting tube 140 and the receiving lens 122 can be fixedly connected by means of an adhesive, a threaded structure, a mortise and tenon structure, etc. Specifically, the use of an adhesive to fix the mounting tube 140 and the receiving lens 122 is simple to operate and convenient to assemble, and can ensure that the relative position of the mounting tube 140 and the receiving lens 122 after the fixed connection is reliable and stable, thereby improving the detection accuracy of the laser radar 001.

[0076] As shown in Figures 13 and 14, in some possible embodiments provided in the present application, a first mounting port for accommodating the emitting lens 112 is opened at the end of the mounting tube 140 away from the laser emitter 111, and the laser radar 001 also includes a pressure ring 160, which is located on the side of the emitting lens 112 away from the laser emitter 111. The pressure ring 160 is connected to the side wall of the first mounting port to fix the emitting lens 112 at the first mounting port.

[0077] During the assembly process, the emitting lens 112 can be first installed at the first mounting port, and then the emitting lens 112 can be clamped at the first mounting port using the pressure ring 160, and the pressure ring 160 can be connected to the side wall of the first mounting port, so that the emitting lens 112 can be reliably and stably fixed on the mounting tube 140.

[0078] Since the transmitting lens 112 of the laser radar 001 provided in the embodiment of the present application is relatively small in size and light in weight, if the transmitting lens is directly fixed to the mounting tube using an adhesive as in the related art, there will be a problem that the adhesive is injected and causes the transmitting lens to float, causing the focal length of the transmitting lens to deviate from the design value, resulting in poor measurement accuracy. At the same time, if the transmitting lens is fixed to the mounting tube by dispensing glue around the smaller transmitting lens, the adhesive can easily remain on the surface of the lens, resulting in obstruction of the light spot energy. To this end, the present application uses a pressure ring 160 to clamp the transmitting lens 112 at the first mounting port of the mounting tube 140, and connects the pressure ring 160 to the side wall of the first mounting port, which can ensure that the design value of the focal length of the transmitting lens 112 is accurate, thereby ensuring good measurement accuracy. At the same time, it can reduce the difficulty of dispensing glue on the transmitting lens 112, facilitate assembly, and reduce or avoid the problem of adhesive blocking the light spot energy.

[0079] Specifically, the pressure ring 160 can be fixedly connected to the side wall of the first mounting opening of the mounting tube 140 by adhesive, threaded structure, mortise and tenon structure, or other structures. Specifically, the pressure ring 160 can be connected to the side wall of the first mounting opening by dispensing glue around the pressure ring 160. This operation is simple and convenient for assembly. It can also ensure the reliability of the connection between the pressure ring 160 and the side wall of the first mounting opening, thereby improving the reliability of the clamping of the emitting lens 112.

[0080] As shown in Figure 14, in the above embodiment, the side wall of the first mounting port is provided with a first boss 142, the emitting lens 112 includes a first incident surface 1121 and a first exit surface 1122, the first incident surface 1121 is overlapped on the first boss 142, and the pressure ring 160 is in contact with the first exit surface 1122 and connected to the side wall of the first mounting port.

[0081] The first incident surface 1121 of the transmitting lens 112 is overlapped with the first boss 142 to limit the position of the transmitting lens 112, ensuring that the transmitting lens 112 is properly positioned so that its focal length meets the design requirements. The pressure ring 160 is then used to press the transmitting lens 112 from one side of the first exit surface 1122 of the transmitting lens 112 and connect it to the side wall of the first mounting opening, thereby reliably and stably clamping and fixing the transmitting lens 112 to the mounting barrel 140, making the operation simple and convenient.

[0082] As shown in Figure 14, in the above embodiment, the sidewall of the first mounting opening is further provided with a second boss 143. The inner diameter of the first boss 142 is smaller than that of the second boss 143 and is located on the side of the second boss 143 closer to the laser emitter 111, that is, closer to the exterior of the second boss 143 near the first mounting opening. The first incident surface 1121 is a flat surface, the first exit surface 1122 is a curved surface, and a limiting groove 1123 is defined on the first exit surface 1122. Specifically, the limiting groove 1123 is an annular groove.

[0083] During the actual assembly process, the emitting lens 112 can be installed into the mounting tube 140 from the outside of the first mounting port from top to bottom, so that the first incident surface 1121 of the emitting lens 112 overlaps the first boss 142 to ensure that the position of the emitting lens 112 is reasonable so that its focal length meets the design requirements. Then, the mounting end of the pressure ring 160 is inserted into the first mounting port, and the positioning groove 161 on the inner wall of the mounting end is docked with the limiting groove 1123 on the first exit surface 1122 of the emitting lens 112, so that the pressure ring 160 cannot continue to move in the direction close to the laser emitter 111, and then the receiving lens 122 is clamped and fixed between the pressure ring 160 and the first boss 142. Then, the outer wall of the mounting end and the side wall of the first mounting port are fixedly connected, and the pressure ring 160 is fixed, so that the receiving lens 122 can be firmly pressed and fixed at the first mounting port.

[0084] Specifically, an adhesive can be used to connect the outer wall of the mounting end and the side wall of the first mounting opening, thereby fixing the pressure ring 160 to the mounting tube 140. Since the outer wall of the mounting end and the side wall of the first mounting opening are connected by the adhesive, and the positioning groove 161 on the inner wall of the mounting end is connected to the limiting groove 1123 on the first exit surface 1122 of the emitting lens 112, the possibility of the adhesive contaminating the emitting lens 112 can be reduced, thereby avoiding the problem of adhesive contamination of the emitting lens 112 and blocking the light spot energy.

[0085] As shown in Figures 3 and 14, in some possible embodiments provided in the present application, the laser radar 001 also includes: a light-shielding ring 170, which is mounted on the outside of the mounting tube 140 and is located above the receiving lens 122. The light-shielding ring 170 is configured to block at least part of the light directed to the receiving lens 122, thereby helping to improve the detection accuracy of the laser radar 001.

[0086] Furthermore, part of the light emitted by the laser emitter 111 and emitted through the emitting lens 112 is redirected by the reflector 210 and emitted toward the receiving lens 122. Therefore, the setting of the light shielding ring 170 can effectively prevent the stray light generated after the emitted light beam passes through the reflector 210 from returning to the receiving lens 122 and causing optical crosstalk, thereby affecting the ranging accuracy, thereby helping to improve the detection accuracy of the laser radar 001.

[0087] The light shielding ring 170 and the mounting tube 140 can be connected by a snap-fit ​​structure and / or an adhesive, which is simple to operate, convenient to install, and can ensure that the light shielding ring 170 is reliably connected to the mounting tube 140. Specifically, the light shielding ring 170 can be connected to the mounting tube 140 by a snap-fit ​​structure or an adhesive, or the light shielding ring 170 can be connected to the mounting tube 140 by both a snap-fit ​​structure and an adhesive.

[0088] Among them, a gap is set between the light-shielding ring 170 and the receiving lens 122 so that the receiving lens 122 and the mounting tube 140 can move relative to each other, so that during the assembly process, the laser direction of the transmitting unit 110 can be universally adjusted relative to the optical axis of the receiving lens 122, avoiding the problem that the light-shielding ring 170 and the receiving lens 122 are seamlessly arranged, causing the mounting tube 140 and the receiving lens 122 to be stuck and unable to be adjusted.

[0089] As shown in FIG14 , a convex spherical contact surface 141 is provided on the outer circumference of the mounting tube 140, and a concave spherical contact surface 1221 is provided on the inner circumference of the receiving lens 122. The convex spherical contact surface 141 and the concave spherical contact surface 1221 are arranged relative to each other and at least partially fit together, thereby making the mounting tube 140 and the receiving lens 122 form a ball joint to achieve adjustable positions of the mounting tube 140 and the receiving lens 122, thereby achieving universal adjustment of the direction of the emission light beam of the transmitting unit 110. The convex spherical contact surface 141 and the concave spherical contact surface 1221 are easy to realize, convenient to process, and have low manufacturing costs. It is understandable that the middle part of the receiving lens 122 is set as a hollow structure, the mounting tube 140 is passed through the hollow structure and connected to the receiving lens 122, and the space enclosed by the inner circumference of the receiving lens 122 is the shape of the hollow structure.

[0090] Specifically, the size of the gap between the light shielding ring 170 and the receiving lens 122 can be reasonably designed according to the specific structures of the convex spherical contact surface 141 and the concave spherical contact surface 1221 .

[0091] In some possible embodiments provided in the present application, the mounting tube 140 and the receiving lens 122 are installed inside the fixing seat 130. That is, during the actual assembly process, the position of the fixing seat 130 is fixed. Since the receiving lens 122 is mounted on the outside of the mounting tube 140, when the receiving lens 122 is installed inside the fixing seat 130, the mounting tube 140 is also indirectly installed on the fixing seat 130.

[0092] As shown in Figure 3, the transmitting unit 110 also includes a transmitting circuit 113 configured as a flexible part. Part of the transmitting circuit 113 is installed inside the mounting tube 140, and part of the transmitting circuit 113 is located outside the mounting tube 140. Since the transmitting circuit 113 is a flexible part, the part of the transmitting circuit 113 located outside the mounting tube 140 will change position under the action of external force. For example, when the cleaning robot 002 turns or overcomes obstacles, it will be subjected to external force, which will drive the part of the transmitting circuit 113 located outside the mounting tube 140 to change position.

[0093] Therefore, in this embodiment, the laser radar 001 also includes a limiting ring 180. The limiting ring 180 is configured to contact the portion of the transmitting circuit 113 located outside the mounting tube 140 to limit the movement of at least a portion of the transmitting circuit 113. The limiting ring 180 is used to limit the portion of the transmitting circuit 113 located outside the mounting tube 140. This ensures that the portion of the transmitting circuit 113 is positioned and oriented, thereby reducing the possibility of the entire transmitting circuit 113 moving during the turning or obstacle traversal process of the cleaning robot 002, and reducing the energy distribution of the receiving optical path affected by the movement of the transmitting circuit 113, thereby ensuring good detection accuracy. At the same time, the use of the limiting ring 180 to limit the transmitting circuit 113 is more costly than the use of adhesives to fix the portion of the transmitting circuit in the related art, which helps to reduce the overall manufacturing cost of the laser radar 001.

[0094] Specifically, the transmitting circuit of the flexible member may be an FPC (Flexible Printed Circuit) or other structures.

[0095] In the above embodiment, the laser emitter 111 is arranged on the transmitting circuit 113, and the transmitting circuit 113 is installed at the bottom end of the mounting tube 140, that is, part of the transmitting circuit 113 extends through the bottom end of the mounting tube 140 to the outside of the mounting tube 140. It can be understood that since the mounting tube 140 and the receiving lens 212 are installed inside the fixing seat 130, the part of the transmitting circuit located outside the mounting tube 140 will be located inside the fixing seat 130. Therefore, the limiting ring 180 is installed inside the fixing seat 130 and below the mounting tube 140, so that the part of the transmitting circuit 113 located outside the mounting tube 140 will overlap the limiting ring 180, and then the limiting ring 140 is used to contact and limit the part of the transmitting circuit 113. In this way, the positioning and orientation of the part of the transmitting circuit 113 can be guaranteed, so as to reduce the energy distribution of the transmitting circuit 113 affecting the receiving optical path as the cleaning robot 002 moves, thereby ensuring good detection accuracy.

[0096] As shown in Figure 7, in some possible embodiments provided in the present application, a second step 134 is provided inside the mounting groove 131 of the fixing seat 130, and the receiving lens 122 is fixed on the second step 134. Specifically, the receiving lens 122 can be fixed on the second step 134 by an adhesive, a clamping structure, or other structures.

[0097] As shown in FIG8 , the interior of the fixing seat 130 is further provided with a positioning portion located below the second step 134 , and the limiting ring 180 is provided with a snap-fit ​​portion 181 . The positioning portion and the snap-fit ​​portion 181 are adapted to limit the movement of the limiting ring 180 relative to the fixing seat 130 . Thus, the positioning portion and the snap-fit ​​portion 181 can be used to quickly and conveniently fix the limiting ring 180 to the fixing seat 130 , and the installation cost is relatively low. The snap-fit ​​portion 181 includes a slot and / or a notch and / or a protrusion. When the snap-fit ​​portion 181 is a slot and / or a notch, the material used for the limiting ring 180 can be further reduced, thereby further reducing the manufacturing cost of the limiting ring 180 and, in turn, reducing the manufacturing cost of the laser radar 001 .

[0098] Among them, the second step 134 is provided with an avoidance gap 1341 for avoiding the transmitting circuit 113, and the end of the limiting ring 180 facing the mounting tube 140 is provided with a protruding first support portion 182, and the first support portion 182 is opposite to the avoidance gap 1341 to support the transmitting circuit 113 located in the avoidance gap 1341. Therefore, the transmitting circuit 113 located in the avoidance gap 1341 will not fall out of the avoidance gap 1341 under the support of the first support portion 182, that is, the first support portion 182 will block the transmitting circuit 113 located in the avoidance gap 1341 in the avoidance gap 1341, thereby ensuring that part of the transmitting circuit 113 is positioned and oriented, so as to reduce the possibility of the entire transmitting circuit 113 turning or overcoming obstacles when the cleaning robot 002 is turning, and reduce the energy distribution of the receiving optical path affected by the activity of the transmitting circuit 113, so as to ensure good detection accuracy.

[0099] In some possible embodiments provided herein, the transmission portion 700 may also be a gear, a transmission belt, or other transmission mechanism. For example, if the transmission portion 700 is a transmission belt, the drive portion 300 is connected to the rotating base 220 via the transmission belt. For example, if the drive portion 300 is a motor, the output shaft of the motor is connected to the rotating base 220 via the transmission belt to drive the rotating base 220 to rotate relative to the fixed base 130.

[0100] As shown in Figures 3, 4, and 6, in some possible embodiments provided herein, the transmission portion 700 is a transmission belt, and a second support portion 135 is disposed within the fixed base 130. The second support portion 135 is located below and adjacent to the transmission belt. Thus, when the transmission belt has just fallen off and is about to continue falling off, the second support portion 135 can effectively support the transmission belt, preventing the transmission belt from continuing to fall off and affecting transmission accuracy, thereby ensuring reliable rotation of the rotating base 220 relative to the fixed base 130.

[0101] As shown in Figures 3, 4 and 6, in some possible embodiments provided in the present application, a belt groove 2232 is provided on the rotating seat 220, the driving unit 300 includes an output shaft, and a synchronous wheel 310 installed on the output shaft, and the transmission belt is wound around the belt groove 2232 and the output shaft of the driving unit 300. Thus, the output shaft of the driving unit 300 rotates, driving the synchronous wheel 310 to transmit, and the rotating seat 220 can be driven to rotate relative to the fixed seat 130 through the transmission belt.

[0102] The second support portion 135 on the fixed seat 130 is located below the belt groove 2232 and is disposed adjacent to the opening of the belt groove 2232. Thus, the second support portion 135 can effectively support the transmission belt within the belt groove 2232, preventing the transmission belt from escaping from the belt groove 2232. It is understood that, under normal circumstances, the belt groove 2232 has a certain limiting effect on the transmission belt, allowing the transmission belt to be stably retained in the belt groove 2232 to drive the rotating seat 220 and the synchronous wheel 310 to rotate synchronously. If the transmission belt has a tendency to move away from the belt groove 2232, the transmission belt will move to abut against the second support part 135. Since the second support part 135 is located below the belt groove 2232 and is arranged adjacent to the opening of the belt groove 2232, under the support of the second support part 135, the transmission belt is still located in the belt groove 2232 and will not fall off from the belt groove 2232. Therefore, the belt groove 2232 and the second support part 135 cooperate with each other, which can effectively prevent the laser radar 001 from falling off from the belt groove 2232 due to external force during production or use, causing the rotating seat 220 to fail to rotate relative to the fixed seat 130, thereby improving the reliability of the laser radar 001.

[0103] As shown in Figure 4, in the above embodiment, the top of the second support portion 135 is not higher than the inner bottom of the belt groove 2232. Such a setting can avoid the top of the second support portion 135 being higher than the inner bottom of the belt groove 2232 and interfering with the transmission belt exposed outside the belt groove 2232, causing the rotating seat 220 to be unable to rotate smoothly. This can reduce the friction between the transmission belt and the top of the second support portion 135 during the rotation of the rotating seat 220, which is beneficial to improving the service life of the transmission belt.

[0104] Specifically, the height difference between the top of the second support portion 135 and the inner bottom of the belt groove 2232 can be 1 mm to 5 mm. By reasonably setting the height difference between the top of the second support portion 135 and the inner bottom of the belt groove 2232, it is possible to minimize the friction between the transmission belt and the top of the second support portion 135 during the rotation of the rotating base 220, while ensuring that the second support portion 135 has a good supporting effect on the transmission belt that tends to fall out of the belt groove 2232, so that the transmission belt is reliably confined in the belt groove 2232 and does not fall out of the belt groove 2232. Specifically, the height difference between the top of the second support portion 135 and the inner bottom of the belt groove 2232 can be 1 mm, 2 mm, 3 mm, 5 mm, or other sizes.

[0105] Furthermore, as shown in FIG6 , since the transmission belt is sleeved on the synchronous wheel 310, the synchronous wheel 310 has a certain supporting force on the transmission belt. The second support portion 135 and the synchronous wheel 310 are distributed on both sides of the mounting tube 140. The second support portion 135 and the synchronous wheel 310 are used to support the transmission belt from both sides, which is beneficial to improving the smoothness of the transmission belt movement, thereby improving the stability of the rotation of the rotating seat 220 relative to the fixed seat 130, and improving the detection accuracy.

[0106] As shown in FIG6 , the number of second support portions 135 can be one or more, with the plurality of second support portions 135 spaced apart. The number of second support portions 135 can be appropriately determined based on their specific structure to provide reliable and stable support for the transmission belt. Specifically, the number of second support portions 135 can be one, two, three, or another number. Specifically, the second support portion 135 can be a raised structure provided on the fixing base 130.

[0107] In some possible embodiments provided herein, a fixed base 130, and the transmitting unit 110, receiving unit 120, main circuit 400, etc. mounted on the fixed base 130 form a fixed module 100, and a rotating base 220 and a reflector 210 mounted on the rotating base 220 form a rotating module 200. The rotating base 220 is provided with a transmitting window 221 and a receiving window 222, with the receiving windows 222 arranged in pairs on either side of the transmitting window 221.

[0108] In this embodiment, the cleaning robot 002 cleaning robot 002 cleaning robot 002 cleaning robot 002 cleaning robot 002 cleaning robot 002 cleaning robot 002 receiving windows 222 of the laser radar 001 are arranged in pairs on both sides of the transmitting window 221, that is, with the transmitting window 221 as the center, the same number of receiving windows 222 are arranged on both sides of the transmitting window 221, thereby improving the consistency of the detection structure of the laser radar 001 at various angles, such as improving the consistency of the ranging of the laser radar 001 at various angles.

[0109] Furthermore, along the circumference of the rotating seat 220, the receiving windows 222 are arranged in pairs on both sides of the transmitting window 221, that is, along the circumference of the rotating seat 220, the projection of the receiving window 222 in the horizontal plane is located on both sides of the projection of the transmitting window 221 in the horizontal plane. As a result, the height of the laser radar 001 can be lowered, so that the laser radar 001 can be conveniently and accurately installed on the equipment body 021 of the cleaning robot 002, which is convenient for the installation of the cleaning robot 002. At the same time, the overall height of the cleaning robot 002 can be lowered to meet the design requirements of the cleaning robot 002 with a compact structure and a small size, reduce the space occupied by the cleaning robot 002, expand the scope of use of the cleaning robot 002, and facilitate storage.

[0110] It is understandable that the shape of the transmitting window 221 and the shape of the receiving window 222 may be the same or different. As shown in FIG1 , the shape of the transmitting window 221 is circular, and the shape of the receiving window 222 is rectangular.

[0111] It is understandable that, in the horizontal direction, the geometric center of the transmitting window 221 and the geometric center of the receiving window 222 can be arranged flush with each other or staggered.

[0112] Specifically, the number of receiving windows 222 can be one pair, two pairs, three pairs, or another number of pairs. That is, one receiving window 222, two receiving windows 222, three receiving windows 222, or another number of receiving windows 222 can be arranged on each side of the moisture direction of the transmitting window 221. It is understood that the number of pairs of receiving windows 222 can be reasonably selected based on the size of the laser radar 001. As shown in FIG1 , the number of pairs of receiving windows 222 is one pair.

[0113] As shown in FIG12 , in some possible embodiments provided herein, the dimensions of the reflector 210 include a first dimension Dv and a second dimension Dh, which are perpendicular to each other. The direction of the first dimension Dv is parallel to the horizontal line. For example, the first dimension Dv can be understood as the width of the reflector 210, and the second dimension Dh can be understood as the length of the reflector 210. It is understood that the reflector 210 can also include a third dimension, which can be understood as the thickness of the reflector 210. The size of the transmitting aperture of the transmitting unit 110 is D1, and the size of the receiving aperture of the receiving unit 120 is D2. Wherein, Dv satisfies: D1 < Dv / 1.414 < D2, and Dh satisfies: D2 < Dh.

[0114] This setting can effectively reduce the height of the laser radar 001 while ensuring that the laser radar 001 has a sufficient receiving area, so that the laser radar 001 can be conveniently and accurately installed on the equipment body 021 of the cleaning robot 002, facilitating the installation of the cleaning robot 002. At the same time, it can reduce the overall height of the cleaning robot 002, reduce the space occupied by the cleaning robot 002, expand the use range of the cleaning robot 002, and facilitate storage.

[0115] As shown in Figures 1, 10, and 12, in some possible embodiments provided by the present application, the opening area of ​​the emission window 221 is larger than the exit area of ​​the emission aperture, where the emission aperture can be understood as the emission lens 112 of the emission unit 110. In other words, the opening area of ​​the emission window 221 needs to be larger than the area of ​​the exit surface of the emission lens 112. This arrangement can ensure that the area of ​​the emission window 221 is large enough so that the light emitted by the emission unit 110 can be more comprehensively projected through the emission window 221 after being changed in angle by the reflective lens, thereby reducing the energy loss of the emission unit 110 and improving the energy utilization rate of the emission unit 110.

[0116] Specifically, the emission window 221 can be circular, rectangular or other shapes. When the emission window 221 is a circular window, the size of the emission window 221 can be understood as the diameter of the emission window 221. At this time, the diameter of the emission window 221 is larger than the diameter of the emission lens 112. When the emission window 221 is a rectangular window, the length and width of the emission window 221 are both larger than the diameter of the emission lens 112.

[0117] As shown in Figures 3, 10, 11 and 12, in some possible embodiments provided in the present application, the laser radar 001 also includes a first window lens 230, which is installed on the rotating seat 220 and corresponds to the emission window 221. The first window lens 230 is used to shield the emission window 221; wherein, the first window lens 230 is tilted relative to the light-emitting axis of the reflector 210, so that the first window lens 230 and the light-emitting axis of the reflector 210 are not completely perpendicular, thereby avoiding optical return light crosstalk, thereby improving the ranging accuracy of the laser radar 001.

[0118] Furthermore, as shown in FIG11 , the first window lens 230 has an inclination angle β relative to the light-emitting axis of the reflector 210, and β ranges from 2° to 45°. Specifically, the inclination angle of the first window lens 230 relative to the light-emitting axis of the reflector 210 can be appropriately set according to the location and size of the reflector 210 to effectively avoid optical return light crosstalk. Specifically, the inclination angle β of the first window lens 230 relative to the light-emitting axis of the reflector 210 can be 2°, 15°, 30°, 45°, or other angles.

[0119] As shown in Figure 3, in some possible embodiments provided in the present application, the rotating seat 220 includes a detachably connected seat body 223 and an upper cover 224, the reflector 210 is installed on the seat body 223, and the seat body 223 is rotatably connected to the fixed seat 130 to drive the reflector 210 to rotate relative to the fixed seat 130. A first card slot 2231 is provided on the base 223, and a second card slot 2241 is provided on the upper cover 224. The upper cover 224 is connected to the base 223 so that the two ends of the first window lens 230 are respectively clamped in the first card slot 2231 and the second card slot 2241, that is, the first window lens 230 is clamped and clamped between the upper cover 224 and the base 223 by using the upper cover 224 and the base 223, thereby realizing the connection between the first window lens 230 and the rotating base 220. Compared with the related technology of using adhesive to install the first window lens on the rotating base, the installation method of the first window lens 230 saves the cost of the adhesive, which is beneficial to reducing the manufacturing cost of the laser radar 001, thereby meeting the low-cost design requirements of the laser radar 001.

[0120] Specifically, the upper cover 224 and the base body 223 can be connected by a snap-fit ​​structure, a threaded structure 133 , an adhesive, or the like.

[0121] As shown in FIG. 10 and FIG. 11 , in some possible embodiments provided in the present application, the fixed module 100 further includes a light homogenizing element 150 , and the light homogenizing element 150 is located between the receiver 121 and the receiving lens 122 .

[0122] The setting of the light homogenizing element 150 can improve the echo uniformity at the photosensitive surface of the receiver 121, thereby reducing the ranging deviation of the laser radar 001 during operation and improving the radar ranging performance; at the same time, it can reduce the calibration deviation in the production process of the laser radar 001 and improve the qualified rate of product production.

[0123] The light homogenizing element 150 mainly includes optical elements with light homogenizing function, such as a frosted sheet, a light homogenizing sheet, and a DOE (diffractive optical element).

[0124] As shown in Figures 10 and 11, in some possible embodiments provided in the present application, the rotating module 200 also includes a filter 240 installed on the rotating base 220. The filter 240 corresponds to the receiving window 222 and is located between the receiving window 222 and the reflector 210. That is, each receiving window 222 corresponds to a filter 240. The filter 240 can filter out the background light of the received light reflected by obstacles and the surrounding environment to reduce stray light interference and improve the detection accuracy of the laser radar 001.

[0125] The filter 240 is a narrowband filter 240 , and the bandwidth index of the filter 240 is less than or equal to 50 nm to ensure a good filtering effect. Specifically, the bandwidth index of the filter 240 can be 10 nm, 30 nm, 40 nm, 50 nm or other values.

[0126] In some possible embodiments provided in the present application, the diameter of the receiving lens 122 ranges from 10 mm to 20 mm. Specifically, the diameter of the receiving lens 122 can be 10 mm, 14 mm, 16 mm, 20 mm, or other sizes.

[0127] The diameter of the hollow structure of the receiving lens 122 ranges from 5 mm to 10 mm. Specifically, the diameter of the hollow structure of the receiving lens 122 can be 5 mm, 6 mm, 8 mm, 10 mm, or other sizes.

[0128] The focal length of the receiving lens 122 ranges from 8 mm to 20 mm. Specifically, the focal length of the receiving lens 122 can be 8 mm, 14 mm, 16 mm, 20 mm, or other sizes.

[0129] The ratio of the diameter of the receiving lens 122 to the focal length ranges from 0.8 to 2.2. Specifically, the ratio of the diameter of the receiving lens 122 to the focal length can be 0.8, 1, 1.5, 2, 2.2, or other values.

[0130] The diameter of the emitting lens 112 ranges from 3 mm to 8 mm. Specifically, the diameter of the emitting lens 112 can be 3 mm, 5 mm, 6 mm, 8 mm, or other sizes.

[0131] The focal length of the emission lens 112 ranges from 3 mm to 10 mm. Specifically, the focal length of the emission lens 112 can be 3 mm, 6 mm, 8 mm, 10 mm, or other sizes.

[0132] The receiving lens 122 may be made of glass, PMMA (Polymethyl Methacrylate) or PC (Polycarbonate).

[0133] The material of the emitting lens 112 may be glass, PMMA (Polymethyl Methacrylate) or PC (Polycarbonate).

[0134] The laser emitter 111 may be a LD (Laser Diode), a VCSEL (Vertical Cavity Surface Emitting Laser), or the like.

[0135] Among them, the receiver 121 mainly includes PIN (positive-intrinsic-negative, photodiode), APD (Avalanche Photon Diode, avalanche diode), SPAD (single photon avalanche diode, single photon detector), SIPM (Silicon Photomultiplier, silicon photomultiplier tube), etc. (SPAD used by Qiuniu).

[0136] The present application has been described through the above-described embodiments, but it should be understood that the above-described embodiments are for illustrative and illustrative purposes only and are not intended to limit the present application to the described embodiments. In addition, it will be understood by those skilled in the art that the present application is not limited to the above-described embodiments, and that various variations and modifications may be made based on the teachings of the present application, all of which fall within the scope of protection claimed in the present application. The scope of protection of the present application is defined by the appended claims and their equivalents.

Claims

1. A cleaning robot (002), wherein, Comprising: A device main body (021); A time-of-flight lidar (001), the time-of-flight lidar (001) being arranged on the device main body (021), the time-of-flight lidar (001) including a transmitting unit (110) and a receiving unit (120), the transmitting unit (110) including a laser emitter (111) and a transmitting lens (112) arranged in sequence, and the receiving unit (120) including a receiver (121) and a receiving lens (122) arranged in sequence; Wherein, the optical axes of the transmitting lens (112) and the receiving lens (122) are coaxially arranged.

2. The cleaning robot (002) according to claim 1, wherein, The time-of-flight lidar (001) further includes: A mirror (210), the mirror (210) being obliquely arranged above the transmitting lens (112) and the receiving lens (122), and the mirror (210) being configured to rotate about the optical axis of the transmitting lens (112) and / or the optical axis of the receiving lens (122); Wherein, the light beam emitted by the laser emitter (111) is emitted after being deflected by the mirror (210) after passing through the transmitting lens (112), and the received light beam returning is deflected by the mirror (210) and then received by the receiver (121) after passing through the receiving lens (122).

3. The cleaning robot (002) according to claim 2, wherein, The inclination angle of the mirror (210) relative to the horizontal line is at least 45° and not more than 47°.

4. The cleaning robot (002) according to claim 2, wherein, The time-of-flight lidar (001) further includes: A fixed seat (130), the fixed seat (130) being connected to the device main body (021), and the transmitting unit (110) and the receiving unit (120) being mounted on the fixed seat (130); A rotating seat (220), the rotating seat (220) being rotatably connected above the fixed seat (130), and the mirror (210) being mounted on the rotating seat (220); A driving part (300), mounted on the fixed seat (130) and / or the device main body (021) and connected to the rotating seat (220), the driving part (300) being configured to drive the rotating seat (220) to rotate relative to the fixed seat (130).

5. The cleaning robot (002) according to claim 4, wherein, The time-of-flight lidar (001) further includes: A main circuit (400), the main circuit (400) being mounted on the fixed seat (130), the transmitting unit (110) further including a transmitting circuit (113) electrically connected to the laser emitter (111), the receiving unit (120) further including a receiving circuit electrically connected to the receiver (121), and the main circuit (400) being electrically connected to the transmitting circuit (113) and the receiving circuit.

6. The cleaning robot (002) according to claim 5, wherein, The laser emitter (111) is horizontally arranged, and the receiver (121) is horizontally arranged; The laser emitter (111) is arranged above the emission circuit (113), the receiver (121) is arranged above the reception circuit, and the main circuit (400) is located below the emission circuit (113) and the reception circuit.

7. The cleaning robot (002) according to claim 5, wherein, The time-of-flight lidar (001) further includes: a rotating member (500), the rotating seat (220) and the fixed seat (130) enclose an installation chamber, the fixed seat (130) is provided with an annular installation groove (131) located inside the installation chamber, the emission unit (110) and the reception unit (120) are installed inside the installation groove (131), and the rotating member (500) is sleeved outside the installation groove (131) and connected to the rotating seat (220); a locking member (600), the locking member (600) is sleeved outside the installation groove (131) and located above the rotating member (500), the emission unit (110) further includes an installation cylinder (140), and the locking member (600) is connected to the outer wall of the installation groove (131) to lock the rotating member (500) to the installation cylinder (140).

8. The cleaning robot (002) according to claim 7, wherein, the outer wall of the installation groove (131) is provided with a first step (132), and the outer wall of the end of the installation groove (131) facing the rotating seat (220) is provided with a thread structure (133); the locking member (600) is a locking nut, the rotating member (500) is lapped on the first step (132), the rotating member (500) includes an inner ring and an outer ring, the locking nut cooperates with the thread structure (133) to clamp the inner ring between the locking nut and the first step (132), and the outer ring is connected to the rotating seat (220).

9. The cleaning robot (002) according to claim 7, wherein, the inner wall of the installation groove (131) communicates the inside and outside of the installation chamber, the main circuit (400) of the time-of-flight lidar (001) is installed at the bottom of the fixed seat (130) and located outside the installation chamber, and the main circuit (400) is electrically connected to the emission circuit (113) and the reception circuit through the installation groove (131).

10. The cleaning robot (002) according to claim 1, wherein, the receiver (121) is located below the laser emitter (111), the receiving lens (122) is located below the emitting lens (112), and in a plane perpendicular to the optical axis of the emitting lens (112) and / or the optical axis of the receiving lens (122), the projection of the receiving lens (122) is located on the outer peripheral side of the projection of the emitting lens (112); wherein, the receiver (121) is a single-photon receiver (121).

11. The cleaning robot (002) according to claim 1, wherein, The transmitting unit (110) further includes a mounting cylinder (140). The laser emitter (111) and the transmitting lens (112) are respectively mounted at two ends inside the mounting cylinder (140). The mounting cylinder (140) passes through the receiving lens (122) and is connected to the mounting cylinder (140). The receiver (121) is located below the mounting cylinder (140).

12. A cleaning system, wherein, Comprising: A cleaning base station, and a cleaning robot (002) as described in any one of claims 1 to 11.

Images