Lidar lens, lidar and cleaning robot

Abstract

The present application relates to the technical field of intelligent household appliances. Disclosed are a LiDAR lens (100), a LiDAR (200) and a cleaning robot. The LiDAR lens (100) comprises a lens body (110), wherein the lens body (110) comprises a tapered end and a flared end; a first light-transmitting surface (111) is formed between the flared end and the tapered end of the lens body (110); a second light-transmitting surface (112) is formed at the flared end; and as the first light-transmitting surface (111) is an aspheric surface, the second light-transmitting surface (112) is a convex surface or a flat surface, and light is conducted by means of the first light-transmitting surface (111) and the second light-transmitting surface (112), and the lens body (110) can simultaneously correct spherical aberration and coma aberration, so that the LiDAR lens (100) has better light convergence capability, and can improve the focusing quality of an echo received by the LiDAR (200), thereby improving the detection precision when the LiDAR lens (100) is applied to the LiDAR (200).

Description

LiDAR lenses, LiDAR, and cleaning robots

[0001] This application claims priority to the Chinese patent application filed with the China Patent Office on January 5, 2024, with application number 202420034800.4 and application name “LiDAR Lens, LiDAR and Cleaning Robot”, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The embodiments of the present application relate to the field of smart home appliance technology, and in particular to a laser radar lens, a laser radar, and a cleaning robot. Background Art

[0003] LiDAR is widely used in electrical appliances due to its stable and timely ranging performance. In traditional technology, laser light is emitted by the LiDAR and reflected by objects. The reflected laser light passes through a receiving mirror and is then transmitted to a receiver. The processor can measure distance based on the emitted and received laser light. The inventors realized that the LiDAR lenses in traditional technology have poor light focusing capabilities, which affects the inspection accuracy of the LiDAR, especially when the lenses are used as receiving mirrors, which affects the focusing quality of the received waves.

[0004] Application Contents

[0005] This application aims to solve at least one of the technical problems existing in the prior art or related art.

[0006] To this end, the first aspect of the present application provides a laser radar lens.

[0007] A second aspect of the present application provides a laser radar.

[0008] A third aspect of the present application provides a cleaning robot.

[0009] In view of this, according to a first aspect of an embodiment of the present application, a laser radar lens is proposed, comprising:

[0010] A lens body, the lens body comprising a flared end and a closed end;

[0011] Wherein, the lens body forms a first light-transmitting surface between the flared end and the closed end, and the flared end forms a second light-transmitting surface;

[0012] The first light-transmitting surface is an aspherical surface, and the second light-transmitting surface is a convex surface or a flat surface.

[0013] In a feasible implementation manner, the aspheric expression of the first light-transmitting surface is:

[0014] Among them, z is the distance from a point on the aspheric surface to the vertex of the aspheric surface; y is the sag, which represents the distance from a point on the aspheric surface to the optical axis; R is the radius of curvature of the first light-transmitting surface, ranging from 4 to 10 mm; K is the cone coefficient, ranging from -3 to 0; A2 is the second-order coefficient, ranging from 0; A4 is the fourth-order coefficient, ranging from -1×10^-3 to 1×10^-3; A6 is the sixth-order coefficient, ranging from -1×10^-5 to 1×10^-5; A8 is the eighth-order coefficient, ranging from -1×10^-6 to 1×10^-; A10 is the tenth-order coefficient, ranging from -1×10^-8 to 1×10^-8; A12 is the twelfth-order coefficient, ranging from -1×10^-9 to 1×10^-9.

[0015] In a feasible implementation manner, when the second light-transmitting surface is a convex surface, the curvature radius of the second light-transmitting surface is -10 to -100.

[0016] In a feasible embodiment, the value range of R is 4 to 6; the value range of K is -1.5 to -0.5; the value range of A4 is 1.5×10^-4 to 5×10^-4; the value range of A6 is 1×10^-7 to 3×10^-7; the value range of A8 is 3×10^-8 to 9×10^-8; and the value range of A10 is -3×10^-10 to -1×10^-10.

[0017] In a feasible implementation manner, the curvature radius of the second light-transmitting surface is between -60 and -30.

[0018] In a feasible implementation manner, the diameter of the outer contour of the second light-transmitting surface is 10 mm to 20 mm.

[0019] In a feasible embodiment, a through portion is formed in the lens body.

[0020] In a feasible embodiment, the diameter of the through portion is 5 mm to 10 mm.

[0021] In a feasible embodiment, the focal length of the lens body ranges from 8 mm to 15 mm;

[0022] Wherein, the ratio of the diameter of the outer contour of the second light-transmitting surface to the focal length range is 0.8 to 2.2.

[0023] In a feasible embodiment, the lens body is made of glass, polymethyl methacrylate or polycarbonate.

[0024] In a feasible implementation, it further includes:

[0025] The mounting portion is formed on the peripheral side of the flared end; wherein the water inlet and / or gate of the laser radar lens is formed on the mounting portion.

[0026] In a feasible implementation manner, the thickness of the mounting portion is 0.5 mm to 3 mm.

[0027] In a feasible implementation manner, the ratio of the height of the lens body to the thickness of the mounting portion is 2 to 6.

[0028] According to a second aspect of an embodiment of the present application, a laser radar is provided, comprising:

[0029] The laser radar lens as described in any of the above technical solutions, the laser radar lens serves as a receiving mirror.

[0030] In a feasible embodiment, the laser radar further includes:

[0031] an emitter for emitting light;

[0032] a transmitting and receiving assembly, the transmitting and receiving assembly being used to receive light returned via the receiving mirror and / or to excite the transmitter;

[0033] A line, one end of which is connected to the transmitter, and the other end of which is connected to the transmitting and receiving assembly.

[0034] In a feasible embodiment, the hair extension assembly includes:

[0035] One end of the circuit of the excitation element is connected to the excitation element, and the other end is connected to the emitter, and the excitation element is used to drive the emitter;

[0036] A receiver is used to receive the returned light.

[0037] In a feasible embodiment, the hair extension assembly further includes:

[0038] An encoder, one end of the line is connected to the encoder, and the other end is connected to the emitter, and the encoder is used to obtain the angle of the emitted light;

[0039] A main control board, the encoder is connected to the main control board, the excitation component is connected to the main control board, the receiver is arranged on the main control board, and the main control board is used to measure distance based on emitted light and returned light.

[0040] In a feasible embodiment, the laser radar further includes:

[0041] a transmitting mirror, the transmitting mirror being arranged on a side of the receiving mirror facing away from the transmitter;

[0042] A fixing member, wherein a through portion is formed in the middle of the receiving mirror, the fixing member is arranged in the through portion, and the transmitting mirror is connected to the fixing member;

[0043] A pressure ring is formed with a groove on one side of the fixing member facing the emitting mirror, and the pressure ring is arranged in the groove to limit the emitting mirror.

[0044] In a feasible embodiment, the laser radar further includes:

[0045] a light-shielding ring, the light-shielding ring being sleeved on the fixing member;

[0046] Wherein, the fixing piece is made of transparent material.

[0047] In a feasible embodiment, the laser radar further includes: a light adjustment component, the light adjustment component is used to adjust the angle of the emitted and / or returned light, and the light adjustment component includes:

[0048] a supporting member, wherein the supporting member is rotatable relative to the receiving mirror;

[0049] A driving assembly, the driving assembly is used to drive the support member to rotate;

[0050] A reflector is provided on the support member and is used to adjust the emission and input angles of light.

[0051] In a feasible embodiment, the laser radar further includes:

[0052] a first shell, wherein a convex portion is formed on the first shell, the receiving mirror is disposed in the convex portion, and the hair receiving assembly is connected to the first shell;

[0053] A bearing, wherein the bearing is sleeved on the convex portion, and the support member is connected to the bearing;

[0054] The second shell is used to cover the support member, and a window is formed on the second shell, and light is emitted through the window.

[0055] In a feasible embodiment, the driving assembly includes:

[0056] a driving member and a dust cover, wherein the driving member is disposed in the first housing, and the dust cover is connected to the first housing to cover the driving member;

[0057] A flexible transmission member, wherein the driving member is connected to the supporting member through the flexible transmission member.

[0058] According to a third aspect of an embodiment of the present application, a cleaning robot is provided, comprising:

[0059] Robot body;

[0060] The laser radar as described in any of the above technical solutions is connected to the robot body.

[0061] Compared with the prior art, this application has at least the following beneficial effects:

[0062] The laser radar lens provided in the embodiment of the present application includes a lens body, which includes a closed end and a flared end. The lens body forms a first light-transmitting surface between the flared end and the closed end, and the flared end forms a second light-transmitting surface. Combined with the fact that the first light-transmitting surface is aspherical and the second light-transmitting surface is convex or flat, light is transmitted through the first light-transmitting surface and the second light-transmitting surface. The lens body can correct spherical aberration and coma at the same time, so that the laser radar lens has better light converging ability, can improve the focusing quality of the laser radar receiving echo, and thus can improve the detection accuracy when the laser radar lens is applied to the laser radar. BRIEF DESCRIPTION OF THE DRAWINGS

[0063] 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. The same reference symbols are used throughout the drawings to represent the same components. In the drawings:

[0064] FIG1 is a schematic structural diagram of a laser radar lens at a first angle according to an embodiment of the present application;

[0065] FIG2 is a schematic structural diagram of a laser radar lens according to an embodiment of the present application from a second angle;

[0066] FIG3 is a schematic structural diagram of a laser radar lens according to an embodiment of the present application at a third angle;

[0067] FIG4 is a schematic structural diagram of a laser radar lens according to an embodiment of the present application at a fourth angle;

[0068] FIG5 is a schematic structural diagram of a laser radar according to an embodiment of the present application from a first angle;

[0069] FIG6 is a schematic structural diagram of a laser radar according to an embodiment of the present application from a second angle;

[0070] FIG7 is a schematic structural diagram of a laser radar according to an embodiment of the present application from a third angle;

[0071] FIG8 is a schematic structural diagram of a light adjustment component of a laser radar according to an embodiment of the present application;

[0072] FIG9 is a schematic structural diagram of a light adjustment component of a laser radar according to an embodiment of the present application from another angle;

[0073] FIG10 is a schematic structural diagram of the arrangement of the lines of a laser radar according to an embodiment of the present application;

[0074] FIG11 is a schematic structural diagram of a cleaning robot according to an embodiment of the present application.

[0075] 1 to 11 , the correspondence between the reference numerals and the component names is as follows: 100 laser radar lens; 110 lens body, 120 mounting portion; 111 first light-transmitting surface, 112 second light-transmitting surface; 200 laser radar, 210 transmitting and receiving assembly, 220 transmitter, 230 circuit, 240 transmitting mirror, 250 fixing part, 260 pressure ring, 270 light-shielding ring, 280 light adjustment assembly, 290 first shell, 300 bearing, 310 second shell; 211 encoder, 212 main control board, 213 excitation part, 214 receiver, 281 support part, 282 drive assembly, 283 reflector; 2821 drive part, 2822 dust cover, 2823 flexible transmission part; 311 window; 2000 robot body. DETAILED DESCRIPTION

[0076] In order to better understand the above technical solution, the technical solution of the embodiment of the present application is described in detail below through the accompanying drawings and specific embodiments. It should be understood that the embodiment of the present application and the specific features in the embodiment are detailed descriptions of the technical solution of the embodiment of the present application, rather than limitations on the technical solution of the present application. In the absence of conflict, the embodiment of the present application and the technical features in the embodiment can be combined with each other.

[0077] As shown in Figures 1 to 4, according to the first aspect of an embodiment of the present application, a laser radar lens 100 is proposed, including: a lens body 110, the lens body 110 including a flared end and a closed end; wherein, the lens body 110 forms a first light-transmitting surface 111 between the flared end and the closed end, and the flared end forms a second light-transmitting surface 112; wherein, the first light-transmitting surface 111 is an aspherical surface, and the second light-transmitting surface 112 is a convex surface or a plane.

[0078] The laser radar lens 100 provided in the embodiment of the present application includes a lens body 110, which includes a closed end and a flared end. The lens body 110 forms a first light-transmitting surface 111 between the flared end and the closed end, and forms a second light-transmitting surface 112 at the flared end. Combined with the fact that the first light-transmitting surface 111 is an aspherical surface and the second light-transmitting surface 112 is a convex surface or a plane, light is transmitted through the first light-transmitting surface 111 and the second light-transmitting surface 112. The lens body 110 can simultaneously correct spherical aberration and coma, so that the laser radar lens 100 has better light converging ability, can improve the focusing quality of the echo received by the laser radar 200, and thus can improve the detection accuracy when the laser radar lens 100 is applied to the laser radar 200.

[0079] It is understood that if a monochromatic conical light beam emitted from an object point on the principal axis toward an optical system does not intersect at the same position on the principal axis after refraction by the optical system (for example, light propagating through the edge of a spherical lens will be more strongly focused than light propagating through the center of the spherical lens), a diffuse light spot will be formed at the ideal image plane on the principal axis. This is an imaging error of the optical system called spherical aberration. An aspherical first light-transmitting surface 111 combined with a convex or flat second light-transmitting surface 112 can better correct spherical aberration.

[0080] It can be understood that after being refracted by this optical system, light from an off-axis object point located outside the principal axis no longer intersects at a single point, nor does it intersect the principal ray in the vertical direction. This means that the light loses symmetry with respect to the principal ray. Instead of forming a sharp point at the ideal image plane, it forms an asymmetric, comet-shaped diffuse spot with a bright tail. The imaging error of this optical system is called coma. An aspherical first light-transmitting surface 111 combined with a convex or flat second light-transmitting surface 112 can better correct coma.

[0081] As shown in FIG. 1 and FIG. 4 , in a feasible implementation manner, the second light-transmitting surface 112 is a convex surface.

[0082] In this technical solution, the second light-transmitting surface 112 can be a convex surface. Compared with the case where the second light-transmitting surface 112 is a plane, when the second light-transmitting surface 112 is a convex surface, the lens body 110 can better correct spherical aberration and coma at the same time, that is, the lens has better light convergence ability at this time, which can improve the focusing quality of the echo received by the laser radar 200.

[0083] In a feasible implementation manner, the aspheric expression of the first light-transmitting surface 111 is:

[0084] Among them, z is the distance from a point on the aspheric surface to the vertex of the aspheric surface; y is the vector height, which represents the distance from a point on the aspheric surface to the optical axis; R is the radius of curvature of the first light-transmitting surface 111, and its value range is 4 to 10 mm; K is the cone coefficient, and its value range is -3 to 0; A2 is the second-order coefficient, and its value is 0; A4 is the fourth-order coefficient, and its value range is -1×10^-3 to 1×10^-3; A6 is the sixth-order coefficient, and its value range is -1×10^-5 to 1×10^-5; A8 is the eighth-order coefficient, and its value range is -1×10^-6 to 1×10^-; A10 is the tenth-order coefficient, and its value range is -1×10^-8 to 1×10^-8; A12 is the twelfth-order coefficient, and its value range is -1×10^-9 to 1×10^-9.

[0085] In this technical solution, an aspheric expression of the first light-transmitting surface 111 is further provided. This setting further clarifies the style of the first light-transmitting surface 111, so that the first light-transmitting surface 111 can better correct spherical aberration and coma at the same time, thereby better improving the focusing quality of the laser radar lens 100.

[0086] In this technical solution, through the selection of the aspheric expression, on the one hand, the aspheric expression is an even-order aspheric expression, and using this expression to represent the shape of the first light-transmitting surface 111 can improve the focusing performance of the laser radar lens; on the other hand, it is beneficial to improve the design optimization speed of the shape of the first light-transmitting surface 111, and can converge faster to obtain the optimal parameter combination; on the other hand, the parameters taken can not only ensure the focusing performance of the laser radar lens, but also compress the focal length as much as possible and reduce the height of the laser radar.

[0087] In a feasible implementation manner, when the second light-transmitting surface 112 is a convex surface, the curvature radius of the second light-transmitting surface 112 is set to a value of -10 to -100.

[0088] In this technical solution, compared with the case where the second light-transmitting surface 112 is a plane, the focusing quality can be better improved when the second light-transmitting surface 112 is a convex surface. When the second light-transmitting surface 112 is a convex surface, the curvature radius of the second light-transmitting surface 112 is between -10 and -100, which can further improve the focusing quality.

[0089] It can be understood that the second light-transmitting surface 112 being a plane can reduce the production cost of the laser radar lens 100.

[0090] In a feasible embodiment, the value range of R is 4 to 6; the value range of K is -1.5 to -0.5; the value range of A4 is 1.5×10^-4 to 5×10^-4; the value range of A6 is 1×10^-7 to 3×10^-7; the value range of A8 is 3×10^-8 to 9×10^-8; the value range of A10 is -3×10^-10 to -1×10^-10; and the value of the radius of curvature of the second light-transmitting surface 112 is -60 to -30.

[0091] This technical solution further provides a range of values ​​for the parameters of the first light-transmitting surface 111 that is different from the range of values ​​for the parameters of the second light-transmitting surface 112. This configuration can better correct spherical aberration and coma simultaneously, thereby further improving the focusing quality of the LiDAR lens 100. By simultaneously clarifying the parameters of the first light-transmitting surface 111 and the second light-transmitting surface 112, the shape of the LiDAR lens 100 can be determined, facilitating assembly of the LiDAR lens 100.

[0092] In some examples, the value of R is preferably 5.1; the value of K is -0.9; the value of A4 is 2.9×10^-4; the value of A6 is 1.8×10^-7; the value of A8 is 6×10^-8; the value of A10 is -1.4×10^-10; and the radius of curvature of the second light-transmitting surface 112 is -44. Such a setting can make the laser radar lens have better focusing quality and can better correct spherical aberration and coma.

[0093] In one feasible embodiment, the diameter of the outer contour of the second light-transmitting surface 112 is 10 mm to 20 mm. This configuration further clarifies the size of the LiDAR lens 100, that is, defines the maximum diameter range of the LiDAR lens 100. While ensuring the efficiency of collecting the recovered waves, it can also make the lens body 110 more compact, facilitating the miniaturization of the LiDAR 200.

[0094] In a feasible implementation, a through portion is formed in the lens body 110 .

[0095] In a possible embodiment, the diameter of the through portion is 5 mm to 10 mm.

[0096] In this technical solution, a style of the lens body 110 is further provided, and a through portion is formed in the lens body 110. In this way, the middle part of the lens body 110 can be provided with a mounting portion 120 for fixing the transmitter 220 and the transmitting mirror 240, which is beneficial to the assembly of the coaxial laser radar 200. The diameter of the through portion is 5mm to 10mm, which can provide sufficient assembly space for other components while ensuring the reception efficiency of the recovered waves.

[0097] In a feasible implementation, the focal length range of the lens body 110 is 8 mm to 15 mm; wherein, the ratio of the diameter of the outer contour of the second light-transmitting surface 112 to the focal length range is 0.8 to 2.2.

[0098] As shown in FIG3 , D in FIG3 is the diameter of the outer contour of the second light-transmitting surface 112. In this technical solution, parameters of the lens body 110 are further provided. The focal length range of the lens body 110 is 8 mm to 15 mm. This arrangement facilitates the projection of the recovered wave through the lens body 110 onto the receiver 214 of the laser radar 200, thereby improving the detection accuracy and reducing the volume of the laser radar 200. The ratio of the diameter of the outer contour of the second light-transmitting surface 112 to the focal length range is 0.8 to 2.2. This arrangement enables the laser radar lens 100 to better receive the recovered wave, that is, the laser reflected back by the object.

[0099] In this technical solution, the ratio of the diameter of the outer contour of the second light-transmitting surface 112 to the focal length range is 0.8 to 2.2, which can not only ensure that the lens body 110 has good echo focusing quality, but also ensure that the focal length is short enough, which is conducive to reducing the height of the laser radar and facilitating the installation of the cleaning robot.

[0100] In a feasible embodiment, the lens body 110 is made of glass, polymethyl methacrylate or polycarbonate, which can ensure that the lens body 110 has good light transmittance.

[0101] In one feasible embodiment, the laser radar lens 100 further includes a mounting portion 120 formed around the flared end. This arrangement facilitates assembly of the laser radar lens 100 onto the laser radar 200, more securely securing the laser radar lens 100 to the laser radar 200 and reducing the likelihood of the laser radar lens 100 becoming loose.

[0102] In one feasible embodiment, the thickness of the mounting portion 120 is 0.5 mm to 3 mm. This configuration further clarifies the thickness of the mounting portion 120. The selection of a transparent thickness of 0.5 mm to 3 mm ensures that the LiDAR lens 100 can be securely installed while minimizing the thickness of the LiDAR lens 100 and ensuring focusing quality.

[0103] As shown in Figures 1 to 4, in one feasible embodiment, the nozzle and / or gate of the laser radar lens 100 are formed on the mounting portion 120. This arrangement can prevent the nozzle and gate from contacting the first light-transmitting surface 111 or the second light-transmitting surface 112, thereby ensuring the processing accuracy of the first light-transmitting surface 111 and the second light-transmitting surface 112.

[0104] In a feasible implementation manner, the ratio of the height of the lens body 110 to the thickness of the mounting portion 120 is 2 to 6.

[0105] As shown in Figure 4 , h1 is the height of the lens body 110, and h2 is the thickness of the mounting portion 120. This technical solution further provides a relationship between the height of the lens body 110 and the thickness of the mounting portion 120. By controlling the ratio between 2 and 6, the difference between the center and edge thicknesses of the lens body 110 can be reduced while ensuring focusing performance, thereby improving the manufacturability of the lens body 110 and increasing the production yield of the lens body 110.

[0106] In some examples, the ratio of the height of the lens body 110 to the thickness of the mounting portion 120 is preferably 4.5 or about 4.5. Such a setting can better improve the manufacturability of the lens body 110 and improve the production yield of the lens body 110 while ensuring the focusing performance.

[0107] As shown in Figures 5 to 9, according to the second aspect of the embodiment of the present application, a laser radar 200 is proposed, including: a laser radar lens 100 as any of the above technical solutions, and the laser radar lens 100 serves as a receiving mirror.

[0108] The laser radar 200 provided in the embodiment of the present application includes the laser radar lens 100 of any of the above-mentioned technical solutions, so the laser radar 200 has all the beneficial effects of the laser radar lens 100 of the above-mentioned technical solutions.

[0109] The laser radar lens 100 of the laser radar 200 provided in the embodiment of the present application includes a lens body 110, and the lens body 110 includes a closed end and a flared end. The lens body 110 forms a first light-transmitting surface 111 between the flared end and the closed end, and forms a second light-transmitting surface 112 at the flared end. Combined with the fact that the first light-transmitting surface 111 is an aspherical surface and the second light-transmitting surface 112 is a convex surface or a plane, light is transmitted through the first light-transmitting surface 111 and the second light-transmitting surface 112. The lens body 110 can correct spherical aberration and coma at the same time, so that the laser radar lens 100 has better light converging ability, can improve the focusing quality of the echo received by the laser radar 200, and thus can improve the detection accuracy when the laser radar lens 100 is applied to the laser radar 200.

[0110] As shown in Figures 7 and 9, in a feasible embodiment, the laser radar 200 also includes: a transceiver assembly 210, which is used to receive light returned through the receiving mirror and / or excite the transmitter 220; a transmitter 220, which is used to emit light, and the transmitter 220 is located between the receiving mirror and the transceiver assembly 210; and a line 230, where one end of the line 230 is connected to the transmitter 220 and the other end is connected to the transceiver assembly 210.

[0111] In this technical solution, the laser radar 200 includes a receiving mirror, a transceiver assembly 210, a transmitter 220 and a circuit 230. During use, the transmitter 220 emits a laser, which is refracted when projected onto an object. The refracted laser passes through the receiving mirror and then fed back to the transceiver assembly 210. Based on this, the laser radar 200 can determine the distance of the object based on the emitted laser and the received laser. Compared with the conventional technology in which all transmitters and receivers 214 are arranged on a flexible board or FR4 board, the laser radar 200 provided in the embodiment of the present application has an independent arrangement for the transmitter 220, and the transmitter 220 is separated from the transmitter-receiver assembly 210. Then, one end of the line 230 is connected to the transmitter 220, and the other end is connected to the transmitter-receiver assembly 210. Based on this, the width of the line 230 can be greatly reduced, and only the line 230 will block the optical path of the receiving mirror. On the one hand, the blocked optical receiving area is greatly reduced, and the impact can even be ignored, thereby effectively improving the measuring distance. On the other hand, when the laser radar 200 used in the cleaning robot rotates to measure distance, when it rotates to the point where the transmitting circuit blocks the receiving mirror part, it will not affect the ranging accuracy, thereby ensuring the control accuracy of the cleaning robot. On the other hand, since the blocking area is reduced, the volume of the receiver can be reduced, and the volume of the laser radar 200 can be further reduced.

[0112] It is understandable that the transmitting and receiving assembly 210 is used to receive light emitted by the receiving mirror and / or excite the emitter 220. Based on this, the emitter 220 can be separated from other modules, which can help further reduce the width of the circuit 230.

[0113] As shown in Figures 7 and 9, in a feasible embodiment, the receiving and sending component 210 includes: an excitation member 213, the excitation member 213 is connected to the main control board 212, one end of the circuit 230 is connected to the excitation member 213, and the other end is connected to the transmitter 230, and the excitation member 213 is used to drive the transmitter 220; a receiver 214, and the receiver 214 is set on the main control board 212.

[0114] In a feasible embodiment, the transceiver assembly 210 further includes: an encoder 211, one end of the line 230 is connected to the encoder 211, and the other end is connected to the transmitter 220; a main control board 212, and the encoder 211 is connected to the main control board 212;

[0115] In this technical solution, the structural composition of the receiving and transmitting component 210 is further provided. The receiving and transmitting component 210 may include an encoder 211, a main control board 212, an excitation member 213 and a receiver 214. Based on this, during use, the main control board 212 can control the opening or closing of the transmitter 220 through the excitation member 213, the rotation position of the laser radar 200 can be obtained through the encoder 211, the light emitted through the receiving mirror can be received through the receiver 214, and the distance of the object can be determined based on the emitted laser and the received laser through the main control board 212, thereby realizing ranging through the laser radar 200.

[0116] In this technical solution, through the setting of the main control board 212, the transmitter 220 and the encoder 211, the main control board 212, the excitation element 213 and the receiver 214 are arranged at intervals. The cable can only serve as the transmitter 220 to communicate with the main control board 212 and the encoder 211. No other components need to be bonded to the line 230, so the width of the line 230 can be reduced, thereby reducing the obstruction of the receiving mirror, which can improve the performance of the laser radar 200 and reduce the volume of the laser radar 200.

[0117] It is understandable that MosDriver can also be set on the main control board 212 to drive MOSFET, peripheral resistor-capacitor circuits, etc., that is to say, the transmitter 220 is set as independently as possible, and other functional components are set on the main board to minimize the cable width and reduce the obstruction of the receiving mirror.

[0118] As shown in FIG. 7 to FIG. 10 , in a feasible implementation, the laser radar 200 further includes: a transmitting mirror 240 , which is disposed on a side of the receiving mirror facing away from the transmitter 220 .

[0119] In this technical solution, the laser radar 200 can also include a transmitting mirror 240. Through the setting of the transmitting mirror 240, the light emitted by the transmitter 220 can be adjusted so that the light projected through the transmitting mirror 240 is parallel light or approximately parallel light, which can better perform ranging.

[0120] As shown in Figure 7, in a feasible embodiment, the laser radar 200 also includes: a fixing part 250, a through part is formed in the middle of the receiving mirror, the fixing part 250 is arranged in the through part, and the transmitting mirror 240 is connected to the fixing part 250; a pressure ring 260, the fixing part 250 is formed with a groove on one side facing the transmitting mirror 240, and the pressure ring 260 is arranged in the groove to limit the transmitting mirror 240.

[0121] In a feasible implementation manner, the light shielding ring 270 is sleeved on the fixing member 250 .

[0122] In this technical solution, the laser radar 200 can also include a fixing part 250, a pressure ring 260 and a light shielding ring 270, and a through-portion is formed through the middle of the receiving mirror, and then the fixing part 250 is arranged inside the through-portion, so that the laser radar 200 can be a coaxial laser radar 200, which can further reduce the volume of the laser radar 200.

[0123] In this technical solution, the transmitting mirror 240 is fixed by the pressure ring 260, which can make the fixation of the transmitting mirror 240 more reliable and reduce the probability of the transmitting mirror 240 loosening. At the same time, the fixing part 250, the pressure ring 260 and the transmitting mirror 240 can be modularly assembled, which facilitates the assembly of the laser radar 200.

[0124] In some examples, the contact surface between the fixing member 250 and the receiving mirror may be a curved surface. This configuration facilitates positioning of the fixing member 250 and adjustment of the angle between the fixing member 250 and the receiving mirror.

[0125] In this technical solution, the fixing member 250 is made of a transparent material, which facilitates the passage of light.

[0126] In this embodiment, the emitter 220 and the transmitting mirror 240 are respectively mounted at opposite ends of the fixing member 250. It is understood that an optical path is formed inside the fixing member 250, and the light emitted by the emitter 220 is projected out by the transmitting mirror 240 through the inside of the fixing member 250. That is, the setting of the fixing member 250 makes the relative position of the emitter 220 and the transmitting mirror 240 fixed, that is, the direction of the light emitted by the emitter 220 projected out by the transmitting mirror 240 through the inside of the fixing member 250 is fixed, that is, the direction of the light emitted by the emitter 220 is fixed relative to the axis of the fixing member 250. By installing the fixing member 250 inside the laser radar lens 100 (receiving mirror), and setting the contact surface of the laser radar lens 100 and the fixing member 250 to spherical contact, the fixing member 250 and the laser radar lens 100 form a ball joint, that is, the relative position of the fixing member 250 and the laser radar lens 100 is adjustable. Thus, by adjusting the relative position of the axis of the fixing member 250 and the axis of the laser radar lens 100, the direction of the light emitted by the emitter 220 and the relative position of the axis of the laser radar lens 100 can be adjusted, thereby enabling universal adjustment of the direction of the emitted light beam to meet the needs of different emission beam directions. At the same time, the processing accuracy requirements of the laser radar 200 can be reduced, while still ensuring the relative position of the direction of the emitted light emitted by the emitter 220 and the axis of the laser radar lens 100, thereby reducing manufacturing costs, reducing product rejection rates, and improving production capacity.

[0127] For example, the detection accuracy requirements of laser radar in current related technologies often exceed manufacturing capabilities. For example, relying on processing accuracy to ensure the direction of the laser emission of the laser radar will result in higher costs and lower pass rates.

[0128] As for the laser radar 200 provided in this embodiment, since the fixing part 250 and the laser radar lens 100 are configured as a ball joint, in actual application scenarios, during the assembly process, the relative position of the fixing part 250 and the transmitting mirror 240 can be adjusted first, so that the laser emission direction of the transmitter 220 and the optical axis of the laser radar lens 100 meet the detection accuracy requirements, and then the fixing part 250 and the laser radar lens 100 are fixed with an adhesive, so that the assembly of the transmitter 220 and the laser radar lens 100 is completed, and it can be ensured that the laser radar 200 meets the detection accuracy requirements. To this end, the processing accuracy requirements for each component can be reduced, thereby reducing the manufacturing cost. In addition, this method can improve the processing qualification rate of the product and is suitable for promotion and application.

[0129] The fixture 250 is configured as a straight cylinder, and the emitter 220 and the emission mirror 240 are mounted on opposite ends of the fixture 250, respectively, to form a collimated optical path. Specifically, the emission mirror 240 is located on the outgoing optical path of the emitter 220, with the emission surface of the emission mirror 240 facing the outside of the fixture 250. Thus, the emission mirror 240 and the laser are mounted in the same structural component to form a collimated optical path.

[0130] Among them, the laser radar lens 100 is mounted on the outside of the fixing part 250 on which the transmitting mirror 240 and the transmitter 220 are installed. Compared with the laser radar in the related technology in which the optical axis of the transmitting lens and the optical axis of the receiving lens are arranged in parallel, the volume of the laser radar can be greatly reduced, thereby reducing the space occupied by the laser radar 200, expanding the scope of use of the laser radar 200, and meeting the design requirements of the cleaning robot with a compact structure and small size. At the same time, it is conducive to reducing the manufacturing cost of the laser radar 200, thereby meeting the low-cost design requirements of the cleaning robot.

[0131] As shown in Figures 8 and 9, in one feasible embodiment, the laser radar 200 further includes a light adjustment component 280, which is used to adjust the angle of the emitted and / or returned light. This configuration enables the laser radar 200 to perform multi-angle ranging.

[0132] As shown in Figures 8 and 9, in a feasible embodiment, the light adjustment component 280 includes: a support member 281, which can rotate relative to the receiving mirror; a driving component 282, which is used to drive the support member 281 to rotate; and a reflector 283, which is arranged on the support member 281 and is used to adjust the emission and input angles of the light.

[0133] In this technical solution, the structural composition of a light adjustment component 280 is further provided. The light adjustment component 280 may include a support 281, a drive component 282 and a reflector 283. Through the setting of the reflector 283, the reflector 283 can reflect the laser, thereby adjusting the emission and receiving angles of the laser. Through the setting of the drive component 282 and the support 281, the drive component 282 can drive the support 281 to rotate relative to the receiving mirror, thereby realizing 360° ranging of the laser radar 200, thereby improving the application range of the laser radar 200, especially facilitating the application of the laser radar 200 on a cleaning robot.

[0134] In some possible embodiments provided herein, the laser radar 200 further includes a reflector 283, which is tilted above the transmitting mirror 240 and configured to rotate about the optical axis of the laser radar lens 100. The light emitted by the transmitter 220 passes through the transmitting mirror 240, is redirected by the reflector 283, and is then directed toward the obstacle. The light returned by the obstacle is redirected by the reflector 283, passes through the laser radar lens 100, and is received by the receiver 214. This allows the laser radar 200 to measure distance. The rotating reflector 283, in conjunction with the transmitting mirror 240 and the transmitter 220, can expand the detection range of the transmitter 220, thereby enabling the detection of obstacles in multiple directions around the cleaning robot. For example, the reflector 283 is configured to rotate 360° with the optical axis of the laser radar lens 100 as the rotation axis, so that the laser detector can detect obstacles in 360° directions around the cleaning robot, which is beneficial to improving the perception accuracy and perception precision of the cleaning robot and improving the operation accuracy of the cleaning robot.

[0135] The laser radar 200 can be a time-of-flight laser radar, which uses the speed of a laser beam in space and the time it takes to reflect back to calculate the distance to a target object. Time-of-flight laser radar 200 offers advantages such as high precision, high speed, and high resolution, thus meeting the functional requirements of a cleaning robot.

[0136] In some possible embodiments provided herein, the reflector 283 is tilted at an angle of 45° to 47° relative to the horizontal, wherein the tilt angle of the reflector 283 relative to the horizontal is α, i.e., α is in the range of 45° to 47°. This ensures that the reflector 283 more comprehensively redirects the transmitted light emitted by the transmitter 220 and projects it through the window 311, and redirects the returned light and projects it more comprehensively to the receiver 214, thereby reducing energy loss in the transmitter 220, improving energy utilization of the transmitter 220, and enhancing the ranging accuracy of the laser radar 200.

[0137] Specifically, the inclination angle α of the reflector 283 relative to the horizontal line may be in the range of 45°, 45.5°, 46°, 47°, or other angles.

[0138] In the above embodiment, the reflector 283 includes a reflective surface and a substrate. The reflective surface is located on the side of the substrate facing the window 311. This ensures that the light emitted by the emitter 220 is redirected by the reflective surface of the reflector 283 and then projected through the window 311. The reflective surface can be a dielectric high-reflective film or a metal reflective film, and the substrate can be glass or plastic.

[0139] In some possible embodiments provided herein, the laser radar 200 further includes a light shielding ring 270, which is sleeved on the exterior of the fixing member 250 and located above the laser radar lens 100. The light shielding ring 270 is configured to shield at least a portion of the light emitted by the transmitter 220, which is redirected by the reflector 283 after passing through the transmitting mirror 240 and then directed toward the laser radar lens 100. In other words, the provision of the light shielding ring 270 can effectively prevent stray light generated by the emitted light beam after passing through the reflector 283 from returning to the laser radar lens 100, causing optical crosstalk and affecting ranging accuracy, thereby improving the detection accuracy of the laser radar 200.

[0140] The light shielding ring 270 and the fixing member 250 can be connected by a snap-fit ​​structure and / or an adhesive, which is simple to operate and easy to install, and can ensure that the light shielding ring 270 is reliably connected to the fixing member 250. Specifically, the light shielding ring 270 can be connected to the fixing member 250 by a snap-fit ​​structure or an adhesive, or the light shielding ring 270 can be connected to the fixing member 250 by both a snap-fit ​​structure and an adhesive.

[0141] Among them, a gap is set between the shading ring 270 and the laser radar lens 100 to allow the laser radar lens 100 and the fixing part 250 to move relative to each other, so that during the assembly process, the laser direction of the transmitter 220 can be universally adjusted relative to the optical axis of the laser radar lens 100, avoiding the problem that the shading ring 270 and the laser radar lens 100 are seamlessly arranged, causing the fixing part 250 and the laser radar lens 100 to be stuck and unable to be adjusted.

[0142] As shown in Figures 5 and 6, in a feasible embodiment, the laser radar 200 also includes: a first shell 290, a convex portion is formed on the first shell 290, the receiving mirror is arranged in the convex portion, and the receiving and transmitting assembly 210 is connected to the first shell 290; a bearing 300, the bearing 300 is sleeved on the convex portion, and the support member 281 is connected to the bearing 300; a second shell 310, the second shell 310 is used to cover the support member 281, and a window 311 is formed on the second shell 310, and the emitted light is emitted through the window 311.

[0143] In this technical solution, the laser radar 200 can also include a first shell 290, and the first shell 290 has an upper convex portion, which can accommodate the receiving mirror. At the same time, the first shell 290 can also provide an installation position for the receiving and transmitting assembly 210. By arranging a bearing 300 on the outside of the convex portion and the support member 281 being connected to the bearing 300, the first shell 290 can provide an installation position for the support member 281, which facilitates the assembly of the support member 281 and facilitates the driving assembly 282 to drive the support member 281 to rotate relative to the first shell 290.

[0144] In this technical solution, the support member 281 is covered by the second shell 310, and a window 311 is formed on the second shell 310 to facilitate the projection and collection of lasers. At the same time, the laser radar 200 can be packaged by the first shell 290 and the second shell 310.

[0145] As shown in Figures 5 and 6, in a feasible embodiment, the driving assembly 282 includes: a driving member 2821 and a dust cover 2822, the driving member 2821 is arranged in the first shell 290, and the dust cover 2822 is connected to the first shell 290 to cover the driving member 2821; a flexible transmission member 2823, and the driving member 2821 is connected to the support member 281 through the flexible transmission member 2823.

[0146] In this technical solution, the structural composition of the driving component 282 is further provided. The driving component 282 may include a driving member 2821 and a dust cover 2822, which is connected to the first shell 290 through the dust cover 2822. The dust cover 2822 and the first shell 290 can seal the driving member 2821, reduce the probability of dust invading the driving member 2821, and ensure the reliability of the driving member 2821.

[0147] In this technical solution, the driving member 2821 is connected to the flexible transmission member 2823, and the flexible transmission member 2823 can be mounted on the output shaft of the support member 281 and the driving member 2821. Based on this, turning on the driving member 2821 can drive the support member 281 to rotate.

[0148] In some examples, the drive assembly 282 includes a drive member 2821 and a flexible transmission member 2823. The drive member 2821 is connected to the first housing 290. The drive member 2821 is connected to the support member 281 through the flexible transmission member 2823 to drive the support member 281 to rotate relative to the first housing 290. As a result, the reflector 283 on the support member 281 can rotate about the optical axis of the laser radar lens 100 to expand the detection range of the laser radar 200. For example, the drive member 2821 can drive the support member 281 to rotate 360° relative to the first housing 290, so that the laser radar 200 can detect obstacles in a 360° direction around the cleaning robot, thereby improving the perception precision and accuracy of the cleaning robot and improving the operating accuracy of the cleaning robot.

[0149] As shown in FIG11 , according to the third aspect of an embodiment of the present application, a cleaning robot is proposed, comprising: a robot body 2000 ; and a laser radar 200 such as any of the above technical solutions, the laser radar 200 being connected to the robot body 2000 .

[0150] The cleaning robot provided in the embodiment of the present application includes the laser radar 200 of any of the above technical solutions, so the cleaning robot has all the beneficial effects of the laser radar 200 of the above technical solutions.

[0151] The laser radar lens 100 of the laser radar 200 provided in the embodiment of the present application includes a lens body 110, and the lens body 110 includes a closed end and a flared end. The lens body 110 forms a first light-transmitting surface 111 between the flared end and the closed end, and forms a second light-transmitting surface 112 at the flared end. Combined with the fact that the first light-transmitting surface 111 is an aspherical surface and the second light-transmitting surface 112 is a convex surface or a plane, light is transmitted through the first light-transmitting surface 111 and the second light-transmitting surface 112. The lens body 110 can correct spherical aberration and coma at the same time, so that the laser radar lens 100 has better light converging ability, can improve the focusing quality of the echo received by the laser radar 200, and thus can improve the detection accuracy when the laser radar lens 100 is applied to the laser radar 200.

[0152] The cleaning robot provided in the embodiment of the present application has a laser radar 200 including a receiving mirror, a receiving and transmitting component 210, a transmitter 220 and a circuit 230. During use, the transmitter 220 emits a laser, and the laser is refracted when projected onto an object. The refracted laser passes through the receiving mirror and then fed back to the receiving and transmitting component 210. Based on this, the laser radar 200 can determine the distance of the object based on the emitted laser and the received laser. Compared with the conventional technology in which all transmitters and receivers 214 are arranged on a flexible board or FR4 board, the laser radar 200 provided in the embodiment of the present application has an independent arrangement for the transmitter 220, and the transmitter 220 is separated from the transmitter-receiver assembly 210. Then, one end of the line 230 is connected to the transmitter 220, and the other end is connected to the transmitter-receiver assembly 210. Based on this, the width of the line 230 can be greatly reduced, and only the line 230 will block the optical path of the receiving mirror. On the one hand, the blocked optical receiving area is greatly reduced, and the impact can even be ignored, thereby effectively improving the measuring distance. On the other hand, during the ranging process, when the cleaning robot rotates to block the receiving mirror part by the transmitting circuit, it will not affect the ranging accuracy, thereby ensuring the control accuracy of the cleaning robot. On the other hand, since the blocking area is reduced, the volume of the receiver can be reduced, and the volume of the laser radar 200 can be further reduced.

[0153] In this application, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. The term "plurality" refers to two or more, unless expressly limited otherwise. Terms such as "installed," "connected," "connected," and "fixed" should be understood in a broad sense. For example, "connected" can mean a fixed connection, a detachable connection, or an integral connection; "connected" can mean a direct connection or an indirect connection through an intermediary. Those skilled in the art can understand the specific meanings of the above terms in this application based on the specific circumstances.

[0154] In the description of this application, it should be understood that the terms "up", "down", "left", "right", "front", "back", etc., indicating directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, rather than indicating or implying that the device or unit referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, they should not be understood as limitations on this application.

[0155] Throughout this specification, terms such as "one embodiment," "some embodiments," and "specific embodiments" mean that the specific features, structures, materials, or characteristics described in conjunction with that embodiment or example are included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0156] The above are merely preferred embodiments of the present application and are not intended to limit the present application. Those skilled in the art will readily appreciate that various modifications and variations are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present application shall be included within the scope of protection of the present application.

Claims

1. A lidar lens, wherein, Comprising: A lens body, the lens body including a flared end and a tapered end; Wherein, the lens body forms a first light-transmitting surface between the flared end and the tapered end, and the flared end forms a second light-transmitting surface; Wherein, the first light-transmitting surface is aspherical, and the second light-transmitting surface is convex or flat.

2. The lidar lens according to claim 1, wherein, The aspheric expression of the first light-transmitting surface is as follows: Wherein, z is the distance from a certain point on the aspherical surface to the vertex of the aspherical surface; y is the sagitta, representing the distance from a certain point on the aspherical surface to the optical axis; R is the radius of curvature of the first light-transmitting surface, with a value range of 4 to 10 mm; K is the conic coefficient, with a value range of -3 to 0; A2 is the quadratic term coefficient, with a value of 0; A4 is the quartic term coefficient, with a value range of -1×10^-3 to 1×10^-3; A6 is the sextic term coefficient, with a value range of -1×10^-5 to 1×10^-5; A8 is the octic term coefficient, with a value range of -1×10^-6 to 1×10^-; A10 is the decic term coefficient, with a value range of -1×10^-8 to 1×10^-8; A12 is the dodecic term coefficient, with a value range of -1×10^-9 to 1×10^-9.

3. The lidar lens according to claim 2, wherein, When the second light-transmitting surface is convex, the value of the radius of curvature of the second light-transmitting surface is -10 to -100.

4. The lidar lens according to claim 2, wherein, The value range of R is 4 to 6; the value range of K is -1.5 to -0.5; the value range of A4 is 1.5×10^-4 to 5×10^-4; the value range of A6 is 1×10^-7 to 3×10^-7; the value range of A8 is 3×10^-8 to 9×10^-8; the value range of A10 is -3×10^-10 to -1×10^-10.

5. The lidar lens according to claim 4, wherein, The value of the radius of curvature of the second light-transmitting surface is -60 to -30.

6. The lidar lens according to any one of claims 1 to 5, wherein, The diameter of the outer contour of the second light-transmitting surface is 10 mm to 20 mm.

7. The lidar lens according to any one of claims 1 to 5, wherein, A through-hole is formed in the lens body.

8. The lidar lens according to claim 7, wherein, The diameter of the through-hole is 5 mm to 10 mm.

9. The lidar lens according to any one of claims 1 to 5, wherein, The focal length range of the lens body is 8 mm to 15 mm; Wherein, the ratio of the diameter of the outer contour of the second light-transmitting surface to the focal length range is 0.8 to 2.

2.

10. The lidar lens according to any one of claims 1 to 5, wherein, The lens body is made of glass, polymethyl methacrylate or polycarbonate material.

11. The lidar lens according to any one of claims 1 to 5, wherein, Further comprising: A mounting portion formed on the periphery of the flared end; Wherein, the sprue and / or gate of the lidar lens are formed on the mounting portion.

12. The lidar lens according to claim 11, wherein, The thickness of the mounting portion is 0.5 mm to 3 mm.

13. The lidar lens according to claim 11, wherein the ratio of the height of the lens body to the thickness of the mounting portion is 2 to 6.

14. A lidar, wherein, Comprising: The lidar lens according to any one of claims 1 to 13, wherein the lidar lens serves as a receiving lens.

15. The lidar according to claim 14, wherein, Further comprising: a transmitter for emitting light; a transceiver assembly for receiving the light returned via the receiving lens and / or exciting the transmitter; a circuit, one end of which is connected to the transmitter and the other end of which is connected to the transceiver assembly.

16. The lidar according to claim 15, wherein, The transceiver assembly includes: an exciting member, one end of the circuit is connected to the exciting member and the other end is connected to the transmitter, and the exciting member is used to drive the transmitter; a receiver for receiving the returned light.

17. The lidar according to claim 16, wherein, The transceiver assembly further includes: an encoder, one end of the circuit is connected to the encoder and the other end is connected to the transmitter, and the encoder is used to obtain the angle of the emitted light; a main control board, the encoder is connected to the main control board, the exciting member is connected to the main control board, the receiver is disposed on the main control board, and the main control board is used to measure the distance based on the emitted light and the returned light.

18. The lidar according to claim 15, wherein, Further comprising: a transmitting lens disposed on the side of the receiving lens away from the transmitter; a fixing member, a through portion is formed in the middle of the receiving lens, the fixing member is disposed in the through portion, and the transmitting lens is connected to the fixing member; a retaining ring, a groove is formed on the side of the fixing member facing the transmitting lens, and the retaining ring is disposed in the groove to limit the transmitting lens.

19. The lidar according to claim 18, wherein, Further comprising: a light shielding ring sleeved on the fixing member.

20. The lidar according to claim 15, wherein, Further comprising: a light adjusting assembly for adjusting the angle of the emitted and / or returned light, the light adjusting assembly including: a support member that can rotate relative to the receiving lens; a driving assembly for driving the support member to rotate; a reflecting mirror disposed on the support member for adjusting the emission and return angles of the light.

21. The lidar according to claim 20, wherein, Further comprising: a first housing, a convex portion is formed on the first housing, the receiving lens is disposed in the convex portion, and the transceiver assembly is connected to the first housing; a bearing sleeved on the convex portion, and the support member is connected to the bearing; a second housing for covering the support member, and a window is formed on the second housing, and the emitted light is emitted through the window.

22. The lidar according to claim 21, wherein, The driving assembly includes: a driving member and a dust cover, the driving member is disposed in the first housing, and the dust cover is connected to the first housing to cover the driving member; a flexible transmission member, and the driving member is connected to the support member through the flexible transmission member.

23. A cleaning robot, wherein, Comprising: a robot body; The lidar according to any one of claims 14 to 22, wherein the lidar is connected to the robot body.

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