Cleaning robot and lidar

Abstract

A LiDAR (100) and a cleaning robot. The LiDAR (100) comprises a rotating assembly (120), a fixed assembly (110) and a driving assembly (130). The driving assembly (130) comprises a first housing (131), a driving member (132) and a dust cover (133). The driving member (132) is configured to drive the rotating assembly (120) to rotate relative to the fixed assembly (110), the fixed assembly (110) is configured to emit laser light and also process the received laser light that is returned by an object to achieve the ranging of the LiDAR (100), and the rotating assembly (120) is configured to receive and emit light, enabling 360° ranging. The driving assembly (130) comprises the first housing (131) and the dust cover (133), which reduces or eliminates the probability of dust and debris intruding into the driving assembly (130), ensuring the stability of the operation of the driving assembly (130), and thus ensuring the stability of the operation of the LiDAR (100).

Description

Cleaning robots and lidar

[0001] This application claims priority to the Chinese patent application filed with the China Patent Office on January 5, 2024, with application number 202420039251.X, and invention name “Cleaning Robot and LiDAR”, 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 cleaning robot and a laser radar. Background Art

[0003] During use, dust or debris can easily enter the space where the drive unit is located in traditional laser radars, causing the laser radar to fail to rotate. The inventors realized that especially when the laser radar is used on a cleaning robot, hair and other debris invading the drive unit will cause the laser radar to be unable to rotate, affecting the normal use of the cleaning robot.

[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.

[0007] A second aspect of the present application provides a cleaning robot.

[0008] In view of this, according to a first aspect of an embodiment of the present application, a laser radar is proposed, comprising:

[0009] Rotating components;

[0010] a fixed assembly, the rotating assembly being rotatably connected to the fixed assembly;

[0011] The drive assembly includes a first shell, a drive member and a dust cover, the output end of the drive member is connected to the rotating assembly, the drive member is arranged in the first shell, and the dust cover is connected to the first shell to seal the drive member.

[0012] In a feasible embodiment, the laser radar further includes:

[0013] a transmission shaft, the transmission shaft being arranged at an output end of the driving member and having a first limiting portion formed on the transmission shaft;

[0014] A flexible transmission member is sleeved on the first limiting portion and the rotating assembly.

[0015] In a feasible embodiment, the laser radar further includes:

[0016] A second limiting member is connected to the dust cover and is arranged on a peripheral side of the first limiting portion.

[0017] In a feasible embodiment, the first limiting portion includes a connecting portion and a recess formed on the connecting portion, and a cross section of the recess along the height direction of the transmission shaft is adapted to a cross section of the flexible transmission member;

[0018] The second limiting member includes a first boss formed on the dust cover, and the first boss is provided with an abutting portion close to the first limiting portion.

[0019] In a feasible embodiment, the laser radar further includes:

[0020] The third limiting member, the fixing assembly is arranged on the first shell, the third limiting member is arranged on the first shell, away from the driving member, and the third limiting member is used to limit the flexible transmission member away from the driving member.

[0021] In a feasible implementation manner, the third limiting member includes a second boss formed on the first shell.

[0022] In a feasible implementation manner, the rotating component is used to adjust the receiving and emitting directions of light, and the fixed component is used to receive and emit light.

[0023] In a feasible embodiment, the fixing assembly includes:

[0024] A receiving mirror, wherein a convex portion is formed in the middle of the first shell, and the receiving mirror is arranged in the convex portion;

[0025] an emitter for emitting light;

[0026] a transmitting and receiving assembly, the transmitting and receiving assembly being used to receive light returned via the receiving mirror;

[0027] A circuit, one end of which is connected to the transmitter, and the other end of which passes through the first shell and is connected to the transmitting and receiving assembly.

[0028] In a feasible embodiment, the laser radar further includes:

[0029] A fourth limiting member is arranged between the transmitter and the transmitting and receiving assembly, and is used to support and limit the circuit.

[0030] In a feasible implementation manner, the fourth limiting member includes:

[0031] A support body, wherein the support body is annular or arc-shaped;

[0032] A limiting body is connected to the supporting body and is used to limit the circuit.

[0033] In a feasible embodiment, the fixing component further includes:

[0034] a transmitting mirror, the transmitting mirror being arranged on a side of the receiving mirror facing away from the transmitter;

[0035] 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;

[0036] 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.

[0037] In a feasible embodiment, the fixing component further includes:

[0038] A light-shielding ring is sleeved on the fixing member.

[0039] In a feasible embodiment, the rotating assembly includes:

[0040] a support member, the drive assembly being connected to the support member;

[0041] A bearing, wherein the bearing is sleeved on the convex portion of the first housing, and the support member is connected to the bearing;

[0042] A reflector, disposed on the support member and used to adjust the emission and input angles of light;

[0043] 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.

[0044] According to a second aspect of an embodiment of the present application, a cleaning robot is provided, comprising:

[0045] Robot body;

[0046] The laser radar as described in any of the above technical solutions is connected to the robot body.

[0047] Compared with the prior art, this application has at least the following beneficial effects:

[0048] The laser radar provided in the embodiment of the present application includes a rotating component, a fixed component and a driving component, and the driving component includes a first shell, a driving member and a dust cover. Based on this, during use, the driving member is used to drive the rotating component to rotate relative to the fixed component, the fixed component is used to emit laser, and at the same time, the received laser returned through the object is processed to realize the ranging of the laser radar. The rotating component is used to receive and emit light. Based on this, through the relative displacement between the rotating component and the fixed component, the laser radar can measure the distance to the object in multiple directions, and 360° ranging can be achieved. The driving component includes a first shell and a dust cover. The dust cover is connected to the first shell. Based on this, the driving member can be placed in a relatively closed space, reducing or eliminating the probability of dust and debris invading the driving member, ensuring the stability of the driving member operation, and thus ensuring the stability of the laser radar operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] 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:

[0050] FIG1 is a schematic structural diagram of a laser radar according to an embodiment of the present application from one angle;

[0051] FIG2 is a schematic structural diagram of a laser radar according to an embodiment of the present application from another angle;

[0052] FIG3 is a schematic structural diagram of a laser radar according to an embodiment of the present application from another angle;

[0053] FIG4 is a schematic structural diagram of a dust cover and a first limiting portion of a laser radar according to an embodiment of the present application from one angle;

[0054] FIG5 is a schematic structural diagram of the dust cover and the first limiting portion of the laser radar according to an embodiment of the present application from another angle;

[0055] FIG6 is a schematic structural diagram of the dust cover and the first limiting portion of the laser radar according to an embodiment of the present application from another angle;

[0056] FIG7 is a schematic structural diagram showing the arrangement of the circuits of a laser radar according to an embodiment of the present application from one angle;

[0057] FIG8 is a schematic structural diagram showing the arrangement of the circuits of a laser radar according to an embodiment of the present application from another angle;

[0058] FIG9 is a schematic structural diagram showing the arrangement position of a cleaning robot according to an embodiment of the present application from another angle.

[0059] Among them, the correspondence between the figure marks and component names in Figures 1 to 9 is: 100 laser radar; 110 fixed component, 120 rotating component, 130 driving component, 140 transmission shaft, 150 first limiting part, 160 flexible transmission part, 170 second limiting part, 180 third limiting part, 190 fourth limiting part; 111 receiving mirror, 112 receiving and transmitting component, 113 transmitter, 114 line, 115 transmitting mirror, 116 fixing part, 117 pressure ring, 118 shading ring; 121 support part, 122 bearing, 123 reflector, 124 second shell; 131 first shell, 132 driving part, 133 dust cover, 1311 convex part; 151 connecting part, 152 recess; 171 window; 191 support body, 192 limiting body; 2000 robot body. DETAILED DESCRIPTION

[0060] 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.

[0061] As shown in Figures 1 to 8, according to the first aspect of an embodiment of the present application, a laser radar 100 is proposed, including: a rotating component 120; a fixed component 110, the rotating component 120 is rotatably connected to the fixed component 110; a driving component 130, the driving component 130 includes a first shell 131, a driving member 132 and a dust cover 133, the output end of the driving member 132 is connected to the rotating component 120, the driving member 132 is arranged in the first shell 131, and the dust cover 133 is connected to the first shell 131 to close the driving member 132.

[0062] The laser radar 100 provided in the embodiment of the present application includes a rotating assembly 120, a fixed assembly 110 and a driving assembly 130, and the driving assembly 130 includes a first shell 131, a driving member 132 and a dust cover 133. Based on this, during use, the driving member 132 is used to drive the rotating assembly 120 to rotate relative to the fixed assembly 110, the fixed assembly 110 is used to emit laser light, and at the same time, the received laser light returned by the object is processed to realize the ranging of the laser radar 100, and the rotating assembly 120 is used to receive and emit light. Based on this, through the relative displacement between the rotating component 120 and the fixed component 110, the laser radar 100 can measure the distance to objects in multiple directions, and can achieve 360° ranging. The driving component 130 includes a first shell 131 and a dust cover 133. The dust cover 133 is connected to the first shell 131. Based on this, the driving component 132 can be placed in a relatively closed space, reducing or eliminating the probability of dust and debris invading the driving component 132, ensuring the stability of the operation of the driving component 132, and thus ensuring the stability of the operation of the laser radar 100.

[0063] It can be understood that the dust cover 133 is connected to the first shell 131 to close the driving member 132, which means that: on the one hand, there are no through holes or other holes through which dust and debris can pass in the area of ​​the dust cover 133 opposite to the driving member 132; on the other hand, the connection between the dust cover 133 and the first shell 131 is located on the peripheral side of the driving member 132, and the connection area is not directly above the driving member 132. Based on this, the probability of dust and debris intrusion can be reduced by connecting the first shell 131 to the dust cover 133.

[0064] It is understandable that the dust cover 133 can be connected to the first shell 131 by snap connection, thread connection or hot melt connection.

[0065] As shown in Figure 3, in a feasible embodiment, the laser radar 100 also includes: a transmission shaft 140, which is arranged at the output end of the driving member 132, and a first limiting portion 150 is formed on the transmission shaft 140; and a flexible transmission member 160, which is sleeved on the first limiting portion 150 and the rotating assembly 120.

[0066] In this technical solution, the laser radar 100 can also include a transmission shaft 140 and a flexible transmission member 160. Based on this, the driving member 132 is connected to the transmission shaft 140. Turning on the driving member 132 can drive the transmission shaft 140 to rotate, and then the transmission shaft 140 can drive the flexible transmission member 160 to move. The flexible transmission member 160 is mounted on the first limiting portion 150 and the rotating assembly 120. The flexible transmission portion can drive the rotating assembly 120 to rotate. Based on this, it is convenient for the driving member 132 to drive the rotating assembly 120, so that the driving member 132 can be arranged on one side of the rotating assembly 120, which can reduce the height of the laser radar 100, facilitate the assembly of the laser radar 100, and improve the scope of application.

[0067] In this technical solution, a first limiting portion 150 can be formed on the transmission shaft 140, and the diameter of the first limiting portion 150 will be larger than the diameter of the transmission shaft 140. Based on this, the flexible transmission member 160 is mounted on the first limiting portion 150, which can facilitate the transmission shaft 140 to drive the flexible transmission member 160 to move, thereby reducing the probability of the flexible transmission member 160 slipping.

[0068] It is understood that the flexible transmission member 160 may include a belt.

[0069] As shown in FIG3 , in a feasible embodiment, the laser radar 100 further includes: a second limiting member 170 , which is connected to the dust cover 133 and is arranged on the peripheral side of the first limiting portion 150 .

[0070] In this technical solution, a second limiting member 170 can also be formed on the dust cover 133. Based on this, through the setting of the second limiting member 170, the second limiting member 170 can limit the flexible transmission member 160, which greatly reduces the probability of the flexible transmission member 160 being separated from the first limiting portion 150, and can make the flexible transmission member 160 better fixed on the first limiting portion 150, thereby ensuring the reliability of the driving member 132 driving the rotating assembly 120, and at the same time ensuring the inspection accuracy of the laser radar 100.

[0071] As shown in FIG. 3 , in a feasible embodiment, the first limiting portion 150 includes a connecting portion 151 and a recess 152 formed on the connecting portion 151 , and a cross section of the recess 152 along the height direction of the transmission shaft 140 is adapted to a cross section of the flexible transmission member 160 .

[0072] In this technical solution, a style of a first limiting portion 150 is further provided. The first limiting portion 150 includes a connecting portion 151 and a recess 152. The connecting portion 151 is connected to the transmission shaft 140, and the recess 152 is formed on the connecting portion 151. The flexible transmission member 160 is then arranged in the recess 152, and the cross-sectional shape of the recess 152 is adapted to the cross-sectional shape of the flexible transmission member 160, which can make the positioning of the flexible transmission member 160 more reliable.

[0073] It can be understood that the cross-section of the recess 152 along the height direction of the transmission shaft 140 is adapted to the cross-section of the flexible transmission member 160, which means that the cross-section of the recess 152 along the height direction is the same as or similar to the cross-section of the flexible transmission member 160. If the cross-section of the flexible transmission member 160 is circular, then the cross-section of the recess 152 along the height direction is arc-shaped. If the cross-section of the flexible transmission member 160 is trapezoidal, then the cross-section of the recess 152 along the height direction can also be trapezoidal.

[0074] As shown in FIG. 3 , in a feasible embodiment, the second limiting member 170 includes a first boss formed on the dust cover 133 , and the first boss is provided with an abutting portion close to the first limiting portion 150 .

[0075] In this technical solution, a style of a second limiting portion is further provided. The second limiting portion may include a first boss formed on the dust cover 133. Through the abutment portion on the first boss, the flexible transmission member 160 can be limited by the abutment portion and the first limiting portion 150. When the flexible transmission member 160 is separated from the first limiting portion 150, the flexible transmission member 160 will abut against the abutment portion, and the abutment portion will limit the flexible transmission member 160 to prevent the flexible transmission member 160 from being separated. In this case, as the power of the driving member 132 continues to be output, the flexible transmission member 160 will be reset on the first limiting portion 150. This arrangement ensures the reliability of the drive.

[0076] As shown in Figure 3, in a feasible embodiment, the laser radar 100 also includes: a third limiting member 180, the fixing assembly 110 is arranged on the first shell 131, the third limiting member 180 is arranged on the first shell 131, away from the driving member 132, and the third limiting member 180 is used to limit the flexible transmission member 160 away from the driving member 132.

[0077] In this technical solution, the laser radar 100 may also include a third limiter 180. This arrangement is based on the consideration that, through the arrangement of the first limiter 150 and the second limiter 170, the probability of the flexible transmission member 160 detaching from the driving member 132 side will be greatly reduced, but the flexible transmission member 160 may detach from the rotating assembly 120. Based on this, a third limiter 180 is formed on the side of the first shell 131 away from the driving member 132. The third limiter 180 can reduce the probability of the flexible transmission member 160 detaching from the rotating assembly 120, thereby further ensuring the reliability of the operation of the laser radar 100.

[0078] As shown in FIG. 3 , in a feasible implementation manner, the third limiting member 180 includes a second boss formed on the first shell 131 .

[0079] In this technical solution, a style of a third limiting member 180 is further provided. The third limiting member 180 may include a second boss formed on the first shell 131. In this way, when the flexible transmission member 160 is separated from the rotating assembly 120, the flexible transmission member 160 will be limited by the second boss, and the flexible transmission member 160 will not fall off completely. As the power of the driving member 132 continues to be output, the flexible transmission member 160 will be reset and mounted on the rotating assembly 120, further ensuring the reliability of the operation of the laser radar 100.

[0080] The laser radar 100 also includes a driving member 132 and a flexible transmission member 160. The driving member 132 is connected to the first shell 131. The driving member 132 is connected to the support member 121 through the flexible transmission member 160 to drive the support member 121 to rotate relative to the first shell 131. As a result, the reflector 123 on the support member 121 can rotate around the optical axis of the receiving mirror 111 to expand the detection range of the laser radar 100. For example, the driving member 132 can drive the support member 121 to rotate 360° relative to the first shell 131, so that the laser radar 100 can detect obstacles in a 360° direction around the cleaning robot, which is beneficial to improve the perception accuracy and perception accuracy of the cleaning robot and improve the operation accuracy of the cleaning robot.

[0081] In which, the flexible transmission member 160 can be a transmission belt, and the driving member 132 is connected to the support member 121 through the flexible transmission member 160. If the driving member 132 is a motor, the transmission shaft of the motor is connected to the support member 121 through the flexible transmission member 160 to drive the support member 121 to rotate relative to the first shell 131.

[0082] In some possible embodiments provided in the present application, a belt groove is provided on the support member 121, a transmission shaft 140 and a first limiting portion 150 installed on the transmission shaft 140 are provided on the driving member 132, and a flexible transmission member 160 is arranged around the belt groove and the first limiting portion 150 of the driving member 132. Thus, the transmission shaft of the driving member 132 rotates, driving the first limiting portion 150 to transmit, and the support member 121 can be driven to rotate relative to the first shell 131 through the flexible transmission member 160.

[0083] A third stopper 180 is disposed within the first housing 131. The third stopper 180 is located below the support member 121 and adjacent to the location where the flexible transmission member 160 is mounted. Thus, the third stopper 180 effectively supports the flexible transmission member 160 within the belt groove, preventing the flexible transmission member 160 from disengaging from the belt groove. It is understood that, under normal circumstances, the belt groove provides a certain limit to the flexible transmission member 160, allowing the flexible transmission member 160 to be stably retained within the belt groove, thereby driving the support member 121 and the first stopper 150 to rotate synchronously. If the flexible transmission member 160 tends to move away from the belt groove, the flexible transmission member 160 will move to abut against the third limit member 180. Since the third limit member 180 is located below the belt groove and is arranged adjacent to the opening of the belt groove, under the support of the third limit member 180, the flexible transmission member 160 is still located in the belt groove and will not fall off from the belt groove. Therefore, the belt groove and the third limit member 180 cooperate with each other, which can effectively prevent the problem of the flexible transmission member 160 falling off from the belt groove due to external force during the production or use of the laser radar 100, causing the support member 121 to fail to rotate relative to the first shell 131, thereby improving the reliability of the laser radar 100.

[0084] In some examples, the top of the third limit member 180 is not higher than the inner bottom of the belt groove. Such a setting can prevent the top of the third limit member 180 from being higher than the inner bottom of the belt groove and interfering with the flexible transmission member 160 exposed outside the belt groove, causing the support member 121 to be unable to rotate smoothly. This can reduce the friction between the flexible transmission member 160 and the top of the third limit member 180 during the rotation of the support member 121, which is beneficial to improving the service life of the flexible transmission member 160.

[0085] Specifically, the height difference between the top of the third stopper 180 and the inner bottom of the belt groove can be 1 mm to 5 mm. By reasonably setting the height difference between the top of the third stopper 180 and the inner bottom of the belt groove, the friction between the flexible transmission member 160 and the top of the third stopper 180 during the rotation of the support member 121 can be minimized, ensuring that the third stopper 180 provides good support for the flexible transmission member 160 that tends to fall out of the belt groove, thereby reliably confining the flexible transmission member 160 within the belt groove and preventing it from falling out. Specifically, the height difference between the top of the third stopper 180 and the inner bottom of the belt groove can be 1 mm, 2 mm, 3 mm, 5 mm, or other sizes.

[0086] In some examples, since the flexible transmission member 160 is mounted on the first limiting portion 150, the first limiting portion 150 has a certain supporting force on the flexible transmission member 160, and the third limiting member 180 and the first limiting portion 150 are distributed on both sides of the fixed member 116. The third limiting member 180 and the first limiting portion 150 are used to support the flexible transmission member 160 from both sides, which is beneficial to improving the smoothness of the movement of the flexible transmission member 160, thereby improving the stability of the rotation of the support member 121 relative to the first shell 131, and improving the detection accuracy.

[0087] In some examples, the number of third stoppers 180 is one or more, with multiple third stoppers 180 spaced apart. The number of third stoppers 180 can be appropriately determined based on their specific structure to provide reliable and stable support for the flexible transmission member 160. Specifically, the number of third stoppers 180 can be one, two, three, or another number. Specifically, the third stoppers 180 can be a raised structure provided on the first housing 131.

[0088] As shown in Figures 1 to 3, in a feasible embodiment, the rotating assembly 120 is used to adjust the direction of receiving and emitting light, and the fixed assembly 110 is used to receive and emit light. In this configuration, the driving member 132 is used to drive the rotating assembly 120 to rotate relative to the fixed assembly 110. The fixed assembly 110 is used to emit laser light and process the laser light received and returned by the object to achieve ranging of the laser radar 100. The rotating assembly 120 is used to receive and emit light. Based on this, through the relative displacement between the rotating assembly 120 and the fixed assembly 110, the laser radar 100 can measure the distance of the object in multiple directions, and can achieve 360° ranging.

[0089] As shown in Figures 3 and 6 to 8, in a feasible embodiment, the fixing component 110 includes: a receiving mirror 111, a convex portion 1311 is formed in the middle of the first shell 131, and the receiving mirror 111 is arranged in the convex portion 1311; a transmitter 113, the transmitter 113 is used to emit light, and the transmitter 113 is located between the receiving mirror 111 and the first shell 131; a receiving and transmitting component 112, the receiving and transmitting component 112 is used to receive light returned through the receiving mirror 111, and the receiving and transmitting component 112 is connected to the side of the first shell 131 away from the receiving mirror 111; a line 114, one end of the line 114 is connected to the transmitter 113, and the other end passes through the first shell 131 and is connected to the receiving and transmitting component 112.

[0090] In this technical solution, the structural composition of the fixed component 110 is further provided. The fixed component 110 includes a receiving mirror 111, a transmitting and receiving component 112, a transmitter 113 and a circuit 114. During use, the transmitter 113 emits a laser, and the laser is refracted when projected onto an object. The refracted laser passes through the receiving mirror 111 and then fed back to the transmitting and receiving component 112. Based on this, the laser radar 100 can determine the distance of the object based on the emitted laser and the received laser. Compared with the conventional technology in which all transmitting and receiving devices are arranged on a flexible board or an FR4 board, the laser radar 100 provided in the embodiment of the present application independently arranges the transmitter 113, and separates the transmitter 113 from the transmitting and receiving assembly 112. Then, one end of the line 114 is connected to the transmitter 113, and the other end is connected to the transmitting and receiving assembly 112. Based on this, the width of the line 114 can be greatly reduced, and only the line 114 will block the optical path of the receiving mirror 111. 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 100 used in the cleaning robot rotates to measure the distance, when the transmitting circuit rotates to block the receiving mirror 111, 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 100 can be further reduced.

[0091] As shown in FIG. 3 and FIG. 6 to FIG. 8 , in this technical solution, by forming a protrusion 1311 on the first housing 131 , the assembly of the receiving mirror 111 is facilitated.

[0092] As shown in FIG8 , in a feasible embodiment, the laser radar 100 further includes: a fourth limiting member 190 , which is arranged between the transmitter 113 and the transmitting and receiving assembly 112 , and is used to support and limit the circuit 114 .

[0093] In this technical solution, considering that one end of the line 114 is connected to the receiving and transmitting component 112 and the other end is connected to the transmitter 113, the line 114 will involve bending or vacating to achieve interconnection. Therefore, the laser radar 100 can also include a fourth limiter 190. The fourth limiter 190 can support the line 114, so that the fixation of the line 114 is more reliable, thereby improving the reliability of the operation of the laser radar 100, while reducing the obstruction of the receiving mirror 111 by the line 114, and reducing the probability of the line 114 loosening or displacement.

[0094] As shown in FIG8 , in a feasible embodiment, the fourth limiting member 190 includes: a support body 191 , which is annular or arc-shaped; and a limiting body 192 , which is connected to the support body 191 and is used to limit the line 114 .

[0095] In this technical solution, the structural composition of the fourth limiting member 190 is further provided. The fourth limiting member 190 may include a support body 191 and a limiting body 192. The setting of the support body 191 facilitates the assembly of the limiting member. At the same time, the support body 191 is annular or arc-shaped. This arrangement allows the support member 121 to avoid the receiving mirror 111, eliminating the fourth limiting member 190 from blocking the receiving mirror 111, and the setting of the limiting body 192 can limit the line 114.

[0096] In some examples, a groove may be formed on the limiting body 192 , and the circuit 114 may pass through the groove and abut against the limiting body 192 at the bend of the circuit 114 , thereby ensuring the reliability of the positioning of the circuit 114 .

[0097] As shown in Figure 3, in a feasible embodiment, the fixing assembly 110 also includes: a emitting mirror 115, which is arranged on the side of the receiving mirror 111 facing away from the transmitter 113; a fixing member 116, a through portion is formed in the middle of the receiving mirror 111, the fixing member 116 is arranged in the through portion, and the emitting mirror 115 is connected to the fixing member 116; a pressure ring 117, a groove is formed on the side of the fixing member 116 facing the emitting mirror 115, and the pressure ring 117 is arranged in the groove to limit the emitting mirror 115.

[0098] In a feasible implementation manner, the fixing assembly 110 further includes a light shielding ring 118 , which is sleeved on the fixing member 116 .

[0099] In this technical solution, the fixed component 110 of the laser radar 100 can also include a transmitting mirror 115. Through the setting of the transmitting mirror 115, the light emitted by the transmitter 113 can be adjusted so that the light projected through the transmitting mirror 115 is parallel light or approximately parallel light, which can better perform ranging.

[0100] In this technical solution, the fixing assembly 110 of the laser radar 100 may also include a fixing part 116, a pressure ring 117 and a light shielding ring 118, and a through-portion is formed through the middle of the receiving mirror 111, and then the fixing part 116 is arranged inside the through-portion, so that the laser radar 100 can be a coaxial laser radar 100, which can further reduce the volume of the laser radar 100.

[0101] In this technical solution, the emitting mirror 115 is fixed by the pressure ring 117, which can make the fixation of the emitting mirror 115 more reliable and reduce the probability of the emitting mirror 115 loosening. At the same time, the fixing part 116, the pressure ring 117 and the emitting mirror 115 can be modularly assembled, which facilitates the assembly of the laser radar 100.

[0102] In some examples, the contact surface between the fixing member 116 and the receiving mirror 111 may be a curved surface. This configuration facilitates positioning of the fixing member 116 and adjustment of the angle between the fixing member 116 and the receiving mirror 111 .

[0103] In this technical solution, the fixing member 116 is made of a transparent material, which facilitates the passage of light.

[0104] In this embodiment, the emitter 113 and the transmitting mirror 115 are respectively mounted at opposite ends of the fixing member 116. It can be understood that an optical path is formed inside the fixing member 116, and the light emitted by the emitter 113 is projected out by the transmitting mirror 115 through the inside of the fixing member 116. That is, the setting of the fixing member 116 makes the relative positions of the emitter 113 and the transmitting mirror 115 fixed, that is, the direction of the light emitted by the emitter 113 and projected out by the transmitting mirror 115 through the inside of the fixing member 116 is fixed, that is, the direction of the emitted light emitted by the emitter 113 is fixed relative to the axis of the fixing member 116. The fixing member 116 is mounted inside the receiving mirror 111, and the fitting surfaces of the receiving mirror 111 and the fixing member 116 are set to spherical contact, so that the fixing member 116 and the receiving mirror 111 form a ball joint, that is, the relative position of the fixing member 116 and the receiving mirror 111 is adjustable. Thus, by adjusting the relative position of the axis of the fixing member 116 and the axis of the receiving mirror 111, the direction of the light emitted by the transmitter 113 and the relative position of the axis of the receiving mirror 111 can be adjusted, thereby enabling universal adjustment of the direction of the transmitted light beam to meet the needs of different transmission beam directions. At the same time, the processing accuracy requirements of the laser radar 100 can be reduced, while still ensuring the relative position of the direction of the transmitted light emitted by the transmitter 113 and the axis of the receiving mirror 111, thereby reducing manufacturing costs, reducing product rejection rates, and improving production capacity.

[0105] 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.

[0106] As for the laser radar 100 provided in this embodiment, since the fixing part 116 and the receiving mirror 111 are configured as a ball joint, in actual application scenarios, during the assembly process, the relative positions of the fixing part 116 and the transmitting mirror 115 can be adjusted first, so that the laser emission direction of the transmitter 113 and the optical axis of the receiving mirror 111 meet the detection accuracy requirements, and then the fixing part 116 and the receiving mirror 111 are fixed with an adhesive, so that the assembly of the transmitter 113 and the receiving mirror 111 is completed, and it can be ensured that the laser radar 100 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.

[0107] The fixing member 116 is configured as a straight cylinder, and the emitter 113 and the transmitting mirror 115 are respectively mounted on opposite ends of the fixing member 116 to form a collimated optical path. Specifically, the transmitting mirror 115 is located on the output optical path of the emitter 113, with the output surface of the transmitting mirror 115 facing the outside of the fixing member 116. Thus, the transmitting mirror 115 and the laser are mounted in the same structural member to form a collimated optical path.

[0108] Among them, the receiving mirror 111 is mounted on the outside of the fixing part 116 on which the transmitting mirror 115 and the transmitter 113 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 100, expanding the scope of use of the laser radar 100, 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 100, thereby meeting the low-cost design requirements of the cleaning robot.

[0109] As shown in Figures 4 and 5, in a feasible embodiment, the rotating assembly 120 includes: a support member 121, a driving member 132 is connected to the support member 121; a bearing 122, the bearing 122 is sleeved on the protrusion 1311 of the first shell 131, and the support member 121 is connected to the bearing 122; a reflector 123, the reflector 123 is arranged on the support member, and is used to adjust the emission and input angles of light; a second shell 124, the second shell 124 is used to cover the support member 121, and a window 171 is formed on the second shell 124, and the emitted light is emitted through the window 171.

[0110] In this technical solution, the first shell 131 has a convex portion 1311 on the upper side, and the convex portion 1311 can accommodate the receiving mirror 111. At the same time, the first shell 131 can also provide a mounting position for the receiving assembly 112. By arranging the bearing 122 on the outer side of the convex portion 1311, and the support member 121 is connected to the bearing 122, the first shell 131 can provide a mounting position for the support member 121, which is convenient for the assembly of the support member 121, and at the same time, it is convenient for the driving member 132 to drive the support member 112 through the flexible transmission member 160. 21 rotates relative to the first shell 131. Through the setting of the reflector 123, the reflector 123 can reflect the laser, thereby adjusting the emission and receiving angles of the laser. Through the setting of the driving component 130 and the support member 121, the driving component 130 can drive the support member 121 to rotate relative to the receiving mirror 111, thereby realizing 360° ranging of the laser radar 100, thereby improving the application range of the laser radar 100, especially facilitating the application of the laser radar 100 on the cleaning robot.

[0111] It can be understood that the flexible transmission member 160 is sleeved on the support member 121 and the first limiting portion.

[0112] In this technical solution, the support member 121 is covered by the second shell 124, and a window 171 is formed on the second shell 124 to facilitate the projection and collection of lasers. At the same time, the laser radar 100 can be packaged by the first shell 131 and the second shell 124.

[0113] In some possible embodiments provided herein, the laser radar 100 further includes a reflector 123, which is tilted and arranged above the transmitting mirror 115, and is configured to rotate about the optical axis of the receiving mirror 111. The light emitted by the transmitter 113 passes through the transmitting mirror 115, is redirected by the reflector 123, and is then directed toward the obstacle. The light returned by the obstacle is redirected by the reflector 123, passes through the receiving mirror 111, and is received by the transmitting and receiving assembly 112. This allows the laser radar 100 to measure distance. The rotating reflector 123 cooperates with the fixed assembly 110 to expand the detection range of the transmitter 113, thereby enabling the detection of obstacles in multiple directions around the cleaning robot. For example, the reflector 123 is configured to rotate 360° about the optical axis of the receiving mirror 111, thereby enabling the laser detector to detect obstacles in 360° directions around the cleaning robot. This improves the perception accuracy and operating precision of the cleaning robot.

[0114] The laser radar 100 may 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 100 offers advantages such as high precision, high speed, and high resolution, thus meeting the functional requirements of a cleaning robot.

[0115] In some possible embodiments provided herein, the reflector 123 is tilted at an angle of 45° to 47° relative to the horizontal, wherein the tilt angle of the reflector 123 relative to the horizontal is α, i.e., α is in the range of 45° to 47°. This ensures that the reflector 123 more comprehensively redirects the light emitted by the transmitter 113 and projects it through the window 171, and that the returned light is more comprehensively redirected and projected onto the transceiver assembly 112, thereby reducing energy loss in the transmitter 113, improving energy utilization of the transmitter 113, and enhancing the ranging accuracy of the laser radar 100.

[0116] Specifically, the inclination angle α of the reflector 123 relative to the horizontal line may be in the range of 45°, 45.5°, 46°, 47°, or other angles.

[0117] In the above embodiment, the reflector 123 includes a reflective surface and a substrate, and the reflective surface is located on the side of the substrate facing the window 171. In this way, it can ensure that the emission light emitted by the emitter 113 is projected through the window 171 after changing direction through the reflective surface of the reflector 123, wherein the reflective surface can be a dielectric high-reflective film or a metal reflective film, and the substrate can be glass or plastic.

[0118] In some possible embodiments provided herein, the laser radar 100 further includes a light shielding ring 118, which is sleeved on the exterior of the fixing member 116 and located above the receiving mirror 111. The light shielding ring 118 is configured to shield at least a portion of the light emitted by the transmitter 113, which is redirected by the reflector 123 after passing through the transmitting mirror 115 and then directed toward the receiving mirror 111. The provision of the light shielding ring 118 effectively prevents stray light generated by the transmitted light beam after passing through the reflector 123 from returning to the receiving mirror 111 and causing optical crosstalk, thereby affecting ranging accuracy. This, in turn, helps improve the detection accuracy of the laser radar 100.

[0119] The light shielding ring 118 and the fixing member 116 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 118 is reliably connected to the fixing member 116. Specifically, the light shielding ring 118 can be connected to the fixing member 116 by a snap-fit ​​structure or an adhesive, or the light shielding ring 118 can be connected to the fixing member 116 by both a snap-fit ​​structure and an adhesive.

[0120] Among them, a gap is set between the shading ring 118 and the receiving mirror 111, so that the receiving mirror 111 and the fixing part 116 can move relative to each other, so that during the assembly process, the laser direction of the transmitter 113 can be universally adjusted relative to the optical axis of the receiving mirror 111, avoiding the problem that the shading ring 118 and the receiving mirror 111 are seamlessly arranged, causing the fixing part 116 and the receiving mirror 111 to be stuck and unable to be adjusted.

[0121] As shown in FIG9 , according to the second aspect of an embodiment of the present application, a cleaning robot is proposed, comprising: a robot body 2000 ; and a laser radar 100 such as any of the above technical solutions, the laser radar 100 being connected to the robot body 2000 .

[0122] The cleaning robot provided in the embodiment of the present application includes the laser radar 100 of any of the above technical solutions, so the cleaning robot has all the beneficial effects of the laser radar 100 of the above technical solutions.

[0123] The cleaning robot provided in the embodiment of the present application, the laser radar 100 includes a rotating component 120, a fixed component 110 and a driving component 130, and the driving component 130 includes a first shell 131, a driving member 132 and a dust cover 133. Based on this, during use, the driving member 132 is used to drive the rotating component 120 to rotate relative to the fixed component 110, the fixed component 110 is used to emit laser light, and at the same time, the received laser light returned by the object is processed to realize the ranging of the laser radar 100, and the rotating component 120 is used to receive and emit light. Based on this, through the relative displacement between the rotating component 120 and the fixed component 110, the laser radar 100 can measure the distance to the object in multiple directions, and can achieve 360° ranging. The driving component 130 includes a first shell 131 and a dust cover 133. The dust cover 133 is connected to the first shell 131. Based on this, the driving member 132 can be placed in a relatively closed space, reducing or eliminating the probability of dust and debris invading the driving member 132, reducing the probability of hair or debris entangled in the driving member 132 in life, and thus ensuring the stability of the cleaning robot operation.

[0124] 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.

[0125] 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.

[0126] 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.

[0127] 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, wherein, include: Rotating components; a fixed assembly, the rotating assembly being rotatably connected to the fixed assembly; The driving assembly comprises a first shell, a driving member and a dust cover, the output end of the driving member is connected to the rotating assembly, the driving member is arranged in the first shell, and the dust cover is connected to the first shell to close the driving member.

2. The lidar according to claim 1, wherein, Also includes: A transmission shaft, the transmission shaft being arranged at an output end of the driving member, and having a first limiting portion formed on the transmission shaft; A flexible transmission member is sleeved on the first limiting portion and the rotating assembly.

3. The lidar according to claim 2, wherein, Also includes: A second limiting member, wherein the second limiting member is connected to the dust cover and is arranged on a peripheral side of the first limiting portion.

4. The laser radar according to claim 3, wherein: The first limiting portion includes a connecting portion and a recess formed on the connecting portion, and a cross section of the recess along the height direction of the transmission shaft is adapted to a cross section of the flexible transmission member; The second limiting member includes a first boss formed on the dust cover, and the first boss is provided with an abutment portion close to the first limiting portion.

5. The lidar according to claim 2, wherein Also includes: The third limiting member, the fixing assembly is arranged on the first shell, the third limiting member is arranged on the first shell, away from the driving member, and the third limiting member is used to limit the flexible transmission member away from the driving member.

6. The laser radar according to claim 5, wherein: The third limiting member includes a second boss formed on the first shell.

7. The laser radar according to any one of claims 1 to 6, wherein: The rotating component is used to adjust the receiving and emitting directions of light, and the fixed component is used to receive and emit light.

8. The lidar according to any one of claims 1 to 6, wherein, The fixing assembly comprises: A receiving mirror, wherein a convex portion is formed in the middle of the first shell, and the receiving mirror is arranged in the convex portion; an emitter, the emitter being used to emit light; A receiving and sending component, the receiving and sending component is used to receive the light returned via the receiving mirror; A circuit, one end of which is connected to the transmitter, and the other end of which passes through the first shell and is connected to the transmitting and receiving assembly.

9. The lidar according to claim 8, wherein Also includes: A fourth limiting member, the fourth limiting member is arranged between the transmitter and the transmitting and receiving assembly, and the limiting member is used to support and limit the circuit.

10. The lidar according to claim 9, wherein, The fourth limiting member comprises: A support body, wherein the support body is annular or arc-shaped; A limiting body, the limiting body is connected to the supporting body, and the limiting body is used to limit the line.

11. The lidar according to claim 8, wherein, The fixed components also include: A transmitting mirror, the transmitting mirror being arranged on a side of the receiving mirror away from the transmitter; A fixing member, 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; A pressure ring, a groove is formed on the side of the fixing member facing the emitting mirror, and the pressure ring is arranged in the groove to limit the emitting mirror.

12. The laser radar according to claim 11, wherein: A light-shielding ring is sleeved on the fixing member.

13. The lidar according to any one of claims 1 to 6, wherein, The rotating assembly comprises: a support member, the driving member being connected to the support member; A bearing, the bearing is sleeved on a convex portion of the first housing, and the support member is connected to the bearing; A mirror, the mirror is disposed on the support member and is used for adjusting the emission and input angles of light; A second housing, the second housing is used for covering the support member, and a window is formed on the second housing, and the emitted light is emitted through the window.

14. A cleaning robot, wherein, Comprising: A robot body; The lidar according to any one of claims 1 to 13, the lidar being connected to the robot body.

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