Lidar and cleaning device

Abstract

A lidar and a cleaning device, wherein the lidar comprises: a transmitting unit (110), a receiving unit (120) and a substrate (130). The transmitting unit (110) and the receiving unit (120) are mounted on the same side of the substrate (130). The transmitting unit (110) comprises a laser emitter (112) and an optical processing assembly (113) arranged in sequence. The laser emitter (112) is connected to the substrate (130). The end portion of the optical processing assembly (113) distant from the laser emitter (112) is configured as a light outlet (111). The optical processing assembly (113) is configured to adjust the distance between the light outlet (111) and the substrate (130) so as to adapt to the receiving unit (120).

Description

Lidar and cleaning device

[0001] The present application claims priority to the Chinese patent application No. 202411237152.3, filed on September 04, 2024, and entitled "Lidar and cleaning device", the content of which is incorporated herein by reference in its entirety.

[0002] The present application claims priority to the Chinese patent application No. 202422169720.2, filed on September 04, 2024, and entitled "Lidar and cleaning device", the content of which is incorporated herein by reference in its entirety. TECHNICAL FIELD

[0003] The present application relates to the technical field of smart home, in particular to a lidar and a cleaning device. BACKGROUND

[0004] With the continuous development of science and technology and the continuous improvement of people's living standards, cleaning devices such as intelligent sweeping robots have continuously entered our daily life. The current cleaning device is usually provided with a lidar to detect the environment around the cleaning device. The lidar is an important sensor for the cleaning device, which plays an important role in mapping, navigation, obstacle avoidance and other working conditions. SUMMARY

[0005] A series of simplified concepts are introduced in the summary section, which will be further described in detail in the specific embodiment section. This part of the present application does not mean to try to limit the key features and necessary technical features of the claimed technical solution, nor does it mean to try to determine the protection scope of the claimed technical solution.

[0006] In an embodiment of the first aspect of the present application, a lidar is provided, comprising: a transmitting unit, a receiving unit and a substrate, the transmitting unit and the receiving unit are installed on the same side of the substrate, the transmitting unit comprises a laser transmitter and a light processing assembly arranged in sequence, the laser transmitter is connected with the substrate, an end of the light processing assembly away from the laser transmitter is provided as an light outlet, and the light processing assembly is configured to adjust the distance between the light outlet and the substrate to adapt to the receiving unit.

[0007] Exemplarily, the side of the substrate on which the transmitting unit and the receiving unit are installed is a plane.

[0008] Exemplarily, an end of the receiving unit away from the substrate is provided as an light inlet, and the light outlet is arranged close to the light inlet.

[0009] Exemplarily, the absolute value of the difference between the distance between the light outlet and the substrate and the distance between the light inlet and the substrate is less than or equal to 5mm.

[0010] Exemplarily, the center of the light outlet is substantially in the same plane as the center of the light inlet; wherein the light outlet and the light inlet are substantially in the same plane.

[0011] Exemplarily, the light processing assembly comprises at least one lens, and the light emitted by the laser emitter is diffused by the at least one lens before being emitted by the light outlet.

[0012] Exemplarily, the light processing assembly comprises a first collimating lens and a diffusion mirror, the first collimating lens is located between the laser emitter and the diffusion mirror, and the light outlet is located at the end of the diffusion mirror away from the first collimating lens.

[0013] Exemplarily, the light processing assembly comprises a second collimating lens and a free-form lens, the second collimating lens is located between the laser emitter and the free-form lens, and the light outlet is located at the end of the free-form lens away from the second collimating lens.

[0014] Exemplarily, the light processing assembly comprises an incident lens, the light outlet is located at the end of the incident lens away from the laser emitter, and the end of the incident lens away from the laser emitter is provided as a light diffusion surface.

[0015] Exemplarily, the light diffusion surface is curved or wavy.

[0016] Exemplarily, the receiving unit comprises a laser receiver and a receiving lens arranged in sequence, the laser receiver is connected to the substrate, the light inlet is located at the end of the receiving lens away from the laser receiver, and the receiving lens is a convex lens.

[0017] Exemplarily, the substrate is a circuit board, the emitting unit is electrically connected to the circuit board by surface mounting or bonding, and the receiving unit is electrically connected to the circuit board by surface mounting or bonding.

[0018] In the embodiments of the second aspect of the present application, a cleaning device is provided, comprising a machine body and the lidar of any one of the first aspect, the lidar being mounted to the machine body.

[0019] Exemplarily, the machine body is provided with an exit window, the lidar is mounted inside the machine body, the light outlet and the exit window are opposite, and the distance between the light outlet and the exit window is less than the distance between the light outlet and the substrate.

[0020] Exemplarily, the machine body is provided with an entrance window, the light inlet of the lidar and the entrance window are opposite, and the distance between the light inlet and the entrance window is less than the distance between the light inlet and the substrate.

[0021] Exemplarily, the distance between the light outlet and the exit window is substantially the same as the distance between the light inlet and the entrance window.

[0022] Exemplarily, the exit window and the entrance window are integrated into one window.

[0023] Exemplarily, the transmitting unit and the receiving unit are coplanarly arranged on the substrate.

[0024] The above description is only a summary of the technical solutions of the present application. In order to enable one skilled in the art to better understand the technical means provided by the present application, the contents of the specification can be implemented, and in order to enable the above and other purposes, characteristics and advantages of the present application to be more obvious and easy to understand, the following specific embodiments of the present application are described. BRIEF DESCRIPTION OF DRAWINGS

[0025] The following drawings of the present application are hereby incorporated as part of the embodiments of the present application for understanding the present application. The drawings of the embodiments of the present application and their description are used to explain the principles of the present application.

[0026] In the drawings:

[0027] Fig. 1 shows a structural schematic diagram of a laser radar provided by an embodiment of the present application;

[0028] Fig. 2 shows a structural schematic diagram of a transmitting unit provided by an embodiment of the present application;

[0029] Fig. 3 shows a structural schematic diagram of a transmitting unit provided by another embodiment of the present application;

[0030] Fig. 4 shows a structural schematic diagram of a transmitting unit provided by yet another embodiment of the present application;

[0031] Fig. 5 shows a size schematic diagram of a laser radar provided by an embodiment of the present application.

[0032] EXPLANATION OF REFERENCE NUMERALS

[0033] 100 laser radar, 110 transmitting unit, 111 light exit port, 112 laser transmitter, 113 light processing assembly, 114 first collimating lens, 115 diffusion mirror, 116 second collimating lens, 117 free-form lens, 118 entrance lens, 1181 light diffusion surface, 120 receiving unit, 121 light entrance port, 122 laser receiver, 123 receiving lens, 130 substrate, 200 window. DETAILED DESCRIPTION

[0034] In the following description, a large number of specific details are given in order to provide a more thorough understanding of the technical solutions provided by the present application. However, it is obvious to those skilled in the art that the technical solutions provided by the present application can be implemented without one or more of these details.

[0035] It is to be noted that the terms used herein are merely for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, the singular forms are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and / or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof.

[0036] Exemplary embodiments according to the present application will now be described in more detail with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in various different forms and should not be construed as being limited to the embodiments set forth herein. It is to be understood that the embodiments are provided merely to make the present disclosure complete and to fully convey the concept of the exemplary embodiments to those skilled in the art.

[0037] As shown in FIGS. 1 to 5, embodiments of the first aspect of the present application provide a laser radar 100, and embodiments of the second aspect of the present application provide a cleaning device. The cleaning device can be a robot cleaner, a robot mop, a robot cleaner-mop, or other cleaning device that meets the requirements, and the laser radar 100 is applied to the cleaning device.

[0038] Specifically, the cleaning device includes, but is not limited to, a machine body, a cleaning system, a driving system, a perception system, etc. The above-mentioned various systems cooperate with each other to enable the cleaning device to move autonomously to achieve a cleaning function. The functional elements constituting the above-mentioned systems in the cleaning device are integrally arranged in the machine body. It can be understood that the cleaning device can be a self-moving cleaning device, wherein the self-moving cleaning device is a device that automatically performs cleaning operations in a certain area to be cleaned without user operation. The perception system can include the laser radar 100, which is used to detect information about obstacles and the environment around the cleaning device. For example, the laser radar 100 can realize distance detection.

[0039] As shown in FIG. 1, the laser radar 100 provided by the embodiments of the present application includes a transmitting unit 110, a receiving unit 120, and a substrate 130. The transmitting unit 110 and the receiving unit 120 are mounted on the same side of the substrate 130. The transmitting unit 110 includes a laser emitter 112 and a light processing assembly 113 arranged in sequence. The laser emitter 112 is connected to the substrate 130. The end of the light processing assembly 113 away from the laser emitter 112 is provided as a light outlet 111. The light processing assembly 113 is configured to adjust the distance between the light outlet 111 and the substrate 130 to adapt to the receiving unit 120.

[0040] The laser radar 100 can be a time-of-flight laser radar. The working principle of the time-of-flight laser radar is that a laser beam is emitted to a target object by the emitting unit 110, and then the laser beam returned from the target object is received by the receiving unit 120. The distance of the target object is calculated by using the propagation speed of the laser beam in space and the time of return. The time-of-flight laser radar 100 has the advantages of high precision, high speed, and high resolution, and can meet the functional requirements of the cleaning device. Specifically, the laser radar 100 provided in the embodiments of the present application is a solid-state laser radar, which can be understood as a radar without moving parts. That is, the laser radar 100 provided in the embodiments of the present application does not have moving parts in the emitting unit 110, the receiving unit 120, and the substrate 130. The emitting unit 110, the receiving unit 120, and the substrate 130 are all solid-state components.

[0041] The laser radar 100 provided in the embodiments of the present application has the emitting unit 110 and the receiving unit 120 installed on the same side of the substrate 130. That is, the emitting unit 110 and the receiving unit 120 share the substrate 130. Compared with the related art in which the emitting unit and the receiving unit have separate substrates, the arrangement of one substrate 130 can be simplified, and the production process of the laser radar 100 can be simplified, thereby reducing the production cost. The emitting unit 110 includes a laser emitter 112 and a light processing assembly 113 arranged in sequence. The laser emitter 112 is connected to the substrate 130. The light outlet 111 is located at the end of the light processing assembly 113 away from the laser emitter 112. That is, the light beam emitted by the laser emitter 112 is processed by the light processing assembly 113 and then emitted to the target object through the light outlet 111 at the end of the light processing assembly 113 away from the laser emitter 112. By adding the light processing assembly 113, the position of the light outlet 111 of the emitting unit 110 can be adjusted from the end of the laser emitter 112 away from the substrate 130 to the end of the light processing assembly 113 away from the laser emitter 112. Thus, the distance between the light outlet 111 and the substrate 130 is adjusted by the light processing assembly 113. The position of the light outlet 111 can be adjusted to a desired position by the light processing assembly 113, such as making the position of the light outlet 111 reasonable relative to the position of the exit window on the machine body of the cleaning device, making the light outlet 111 and the exit window close to each other, reducing the distance between the light outlet 111 and the exit window, and making the position of the light outlet 111 close to the light inlet 121 of the receiving unit 120. Thus, the problem that the distance between the light outlet 111 and the exit window is large in the related art due to the laser emitter and the laser receiver arranged on the common substrate is solved. Thus, the light energy loss of the emitted light is reduced, the light energy utilization rate is improved, and the detection accuracy of the laser radar 100 is improved. The arrow direction in FIG. 1 represents the propagation direction of the light beam.

[0042] The emission unit 110 and the receiving unit 120 are installed on the same side of the substrate 130, so that the incident light beams reflected by the target object after the outgoing light beams emitted by the emission unit 110 irradiate the target object can be accurately and smoothly received by the receiving unit 120, thereby ensuring good ranging accuracy.

[0043] As shown in FIG. 1, in some possible implemented embodiments provided by the present application, an exit window is formed on the machine body of the cleaning device, the laser radar 100 is installed inside the machine body, and the light outlet 111 is opposite to the exit window, so that the light beams emitted by the laser emitter 112 are emitted to the target object after being processed by the light processing assembly 113 through the light outlet 111 and the exit window, so as to ensure that the laser radar 100 can realize the ranging function. Wherein, the laser radar 100 is installed inside the machine body, so that the machine body can well protect the laser radar 100, avoid the possibility of collision and pollution of the laser radar 100 by external objects, and be conducive to improving the service life and detection accuracy of the laser radar 100. Wherein, the window 200 in FIG. 1 can be understood as the exit window.

[0044] In the above embodiment, as shown in FIG. 5, the distance between the light outlet 111 and the exit window is less than the distance between the light outlet 111 and the substrate 130, that is, the light outlet 111 is arranged close to the exit window of the machine body, so that the entire laser radar 100 is arranged close to the exit window of the machine body, so that the laser radar 100 and the exit window are arranged compactly, the space occupied by the laser radar 100 is reduced, the arrangement space is provided for other components inside the machine body, and the design requirements of compact structure and small volume of the cleaning device can be met.

[0045] Specifically, as shown in FIG. 5, the distance between the light outlet 111 and the exit window can be a first distance, as shown by D1 in FIG. 5, and the distance between the light outlet 111 and the substrate 130 can be a second distance, as shown by D2 in FIG. 5, wherein D1 is less than D2, such as the first distance can be 0.9 times, 0.7 times, 0.5 times, 0.3 times, 0.1 times, 0.05 times or other relationships of the second distance.

[0046] As shown in FIG. 1, in some possible implemented embodiments provided by the present application, the side of the substrate 130 on which the emission unit 110 and the receiving unit 120 are installed is a plane.

[0047] That is, the transmitting unit 110 and the receiving unit 120 are coplanarly arranged on the substrate 130. By arranging the side of the substrate 130 on which the transmitting unit 110 and the receiving unit 120 are mounted as a plane, the light beams emitted by the transmitting unit 110 can have a higher degree of collimation, the light beams received by the receiving unit 120 can have a higher degree of collimation, the loss of light energy of the emitted light beams and the received light beams can be reduced, the utilization rate of light energy can be improved, and the detection accuracy of the lidar 100 can be improved.

[0048] As shown in FIG. 1, in some possible implemented embodiments provided by the present application, the receiving unit 120 is arranged as a light inlet 121 away from the end of the substrate 130, and the light outlet 111 is arranged close to the light inlet 121.

[0049] The light inlet 121 can be understood as the light beams reflected by the target object entering the receiving unit 120 through the light inlet 121. In this embodiment, since the transmitting unit 110 and the receiving unit 120 of the lidar 100 are mounted on the same side of the substrate 130, by arranging the light outlet 111 of the lidar 100 close to the light inlet 121, that is, arranging the light outlet 111 and the light inlet 121 close to each other, the heights of the transmitting unit 110 and the receiving unit 120 are substantially the same, so that the light inlet 121 has less influence on the arrangement of the light outlet 111 close to the exit window, and in the case of arranging the light outlet 111 close to the exit window, the distance between the light inlet 121 and the entrance window on the machine body is also small, which is conducive to reducing the loss of light energy of the incident light beams while ensuring the reduction of the loss of light energy of the emitted light beams, and greatly improves the detection accuracy of the lidar 100.

[0050] As shown in FIG. 1, in some possible implemented embodiments provided by the present application, an entrance window is also provided on the machine body of the cleaning device, and the light inlet 121 is opposite to the entrance window, so that the incident light beams reflected by the target object are received by the receiving unit 120 through the entrance window of the machine body and the light inlet 121, to ensure that the lidar 100 can realize the ranging function. The window 200 in FIGS. 1 and 5 can be understood as the entrance window.

[0051] As shown in FIG. 5, the distance between the light inlet 121 and the entrance window is less than the distance between the light inlet 121 and the substrate 130, that is, the light inlet 121 is arranged close to the entrance window of the machine body, so that the entire lidar 100 is arranged close to the entrance window of the machine body, so that the lidar 100 and the entrance window are arranged compactly, the space occupied by the lidar 100 is reduced, the arrangement space is provided for other components inside the machine body, and the design requirements of compact structure and small volume of the cleaning device can be met.

[0052] Specifically, as shown in FIG. 5, the distance between the light inlet 121 and the incident window can be a third distance, as shown as D3 in FIG. 5, and the distance between the light inlet 121 and the substrate 130 can be a fourth distance, as shown as D4 in FIG. 5, where D3 is less than D4. The third distance can be 0.9 times, 0.7 times, 0.5 times, 0.3 times, 0.1 times, 0.05 times, or other relationships of the fourth distance.

[0053] Specifically, generally, the exit window and the incident window are located on the same side wall of the machine body, and if the distance between the light inlet of the laser radar and the substrate is much greater than the distance between the light outlet and the substrate, that is, the light inlet is higher than the light outlet, the light outlet cannot be arranged close to the exit window due to the interference of the light inlet with the machine body of the cleaning device, so that the energy loss of the exit beam is large, which affects the detection accuracy of the laser radar. If the distance between the light inlet of the laser radar and the substrate is much smaller than the distance between the light outlet and the substrate, that is, the light outlet is higher than the light outlet, in this case, the light outlet can be arranged close to the exit window, but due to the distance between the light inlet of the laser radar and the substrate is much smaller than the distance between the light outlet and the substrate, the distance between the light inlet and the incident window is large, so that the energy loss of the incident beam reflected by the target object is large, which affects the detection accuracy of the laser radar.

[0054] Therefore, in the embodiments of the present application, the light outlet 111 of the laser radar 100 is arranged close to the light inlet 121, so that the distance between the light outlet 111 and the light inlet 121 and the substrate 130 is substantially the same, thereby making the light inlet 121 have little or no effect on the arrangement of the light outlet 111 close to the exit window, and the light outlet 111 has little or no effect on the arrangement of the light inlet 121 close to the incident window, so that the light outlet 111 can be arranged close to the incident window, and at the same time, the light outlet 111 can also be arranged close to the exit window, so as to reduce the light energy loss of the exit beam and the incident beam, and improve the detection accuracy of the laser radar 100.

[0055] As shown in FIG. 5, in some possible implementation embodiments provided by the present application, the absolute value of the difference between the distance between the light outlet 111 and the substrate 130 and the distance between the light inlet 121 and the substrate 130 is less than or equal to 5 mm, where the distance between the light outlet 111 and the substrate 130 is shown as D2 in FIG. 5, and the distance between the light inlet 121 and the substrate 130 is shown as D4 in FIG. 5, that is, |D2-D4|≤5 mm. Specifically, the absolute value of the difference between the distance between the light outlet 111 and the substrate 130 and the distance between the light inlet 121 and the substrate 130 can be 5 mm, 4 mm, 3 mm, 2 mm, 1 mm, 0 mm, or other sizes. In this way, the distance between the light outlet 111 and the light inlet 121 and the substrate 130 is substantially the same, so that the light inlet 121 has little effect on the arrangement of the light outlet 111 close to the exit window, and the light outlet 111 has little effect on the arrangement of the light inlet 121 close to the entrance window, so that the light inlet 121 can be arranged close to the entrance window, and at the same time, the light outlet 111 can be arranged close to the exit window, greatly reducing the loss of optical energy of the exit beam and the entrance beam, and improving the detection accuracy of the lidar 100.

[0056] In some possible implementation embodiments provided by the present application, the center of the light outlet 111 and the center of the light inlet 121 are substantially on the same plane, which can be understood as that the distance between the center of the light outlet 111 and the substrate 130 is substantially equal to the distance between the center of the light inlet 121 and the substrate 130, or that the plane on which the center of the light outlet 111 is located is coplanar or coincides with the plane on which the center of the light inlet 121 is located. In this way, the light inlet 121 has little effect on the arrangement of the light outlet 111 close to the exit window on the machine body, and the light outlet 111 has little effect on the arrangement of the light inlet 121 close to the entrance window on the machine body, so that the light inlet 121 can be arranged close to the entrance window, and at the same time, the light outlet 111 can be arranged close to the exit window, greatly reducing the loss of optical energy of the exit beam and the entrance beam. At the same time, this kind of arrangement makes the exit beam emitted by the emitting unit 110 through the light outlet 111 be able to be more comprehensively received by the receiving unit 120 after being reflected by the obstacle through the light inlet 121, greatly reducing the loss of optical energy of the exit beam and the entrance beam, and improving the detection accuracy of the lidar 100.

[0057] In some possible implementation examples provided by the embodiments of the present application, the distance between the light outlet 111 and the exit window on the machine body is substantially consistent with the distance between the light inlet 121 and the entrance window. In this way, the light inlet 121 has little effect on the arrangement of the light outlet 111 close to the exit window on the machine body, and the light outlet 111 has little effect on the arrangement of the light inlet 121 close to the entrance window on the machine body, so that the light inlet 121 is arranged close to the entrance window, and the light outlet 111 is arranged close to the exit window, and the distance between the light inlet 121 and the entrance window is substantially equal to the distance between the light outlet 111 and the exit window, thereby greatly reducing the loss of optical energy of the exit light beam and the entrance light beam, and improving the detection accuracy of the laser radar 100. At the same time, this arrangement enables the laser radar 100 to be arranged as close to the machine body as possible, so that the laser radar 100 and the machine body are compactly arranged, and the space occupied by the laser radar 100 is reduced, thereby leaving space for the arrangement of other components in the machine body.

[0058] Specifically, the distance between the light outlet 111 and the exit window on the machine body is substantially consistent with the distance between the light inlet 121 and the entrance window. It can be understood that the absolute value of the distance difference between the distance between the light outlet 111 and the exit window on the machine body and the distance between the light inlet 121 and the entrance window is less than or equal to 1 mm, such as 0 mm, 0.5 mm, 1 mm, or other numerical values.

[0059] As shown in FIG. 1, further, the exit window and the entrance window on the machine body can be integrated into one window 200, which is convenient for processing and is conducive to increasing the opening size of the exit window and the entrance window, avoiding that the opening size of the exit window and the entrance window is small and the exit light beam and the entrance light beam are blocked, thereby being capable of reducing the loss of optical energy and being conducive to improving the detection accuracy of the laser radar 100.

[0060] As shown in FIGS. 1, 2, 3 and 4, in some possible implementation examples provided by the present application, the light processing assembly 113 includes at least one lens, and the light emitted by the laser emitter 112 is diffused by the at least one lens before being emitted by the light outlet 111.

[0061] The light processing assembly 113 can include one lens, two lenses, three lenses or other numbers of lenses to meet the requirements of different structures of the light processing assembly 113. The plurality of lenses can be of the same structure or different structures.

[0062] In this embodiment, the light beam emitted by the laser emitter 112 is diffused by at least one lens, so that the light beam emitted through the light outlet 111 has a large radiation area, thereby improving the comprehensiveness of the target object irradiated by the light beam, and facilitating the improvement of the detection range and detection accuracy of the laser radar 100.

[0063] As shown in FIG. 2, in some possible implemented embodiments provided by the present application, the light processing assembly 113 includes a first collimating lens 114 and a diffusion mirror 115, the first collimating lens 114 is located between the laser emitter 112 and the diffusion mirror 115, and the light outlet 111 is located at the end of the diffusion mirror 115 away from the first collimating lens 114. Wherein, the arrow direction in FIG. 2 represents the propagation direction of the light beam.

[0064] In this embodiment, the light processing assembly 113 includes two lenses, i.e., the first collimating lens 114 and the diffusion mirror 115. The laser emitter 112, the first collimating lens 114 and the diffusion mirror 115 are arranged in sequence between the substrate 130 and the exit window of the machine body, so that the light beam emitted by the laser emitter 112 becomes parallel collimated light beams propagating in parallel after being processed by the first collimating lens 114, and the light beam emitted by the laser emitter 112 can be more comprehensively emitted to the diffusion mirror 115 after being processed by the first collimating lens 114, thereby reducing the possibility of the light beam emitted by the laser emitter 112 diffusing to an unnecessary direction, reducing the light energy loss of the light beam emitted by the laser emitter 112, and improving the utilization rate of the light beam emitted by the laser emitter 112. The mutually parallel collimated light beams change the diameter and divergence angle of the light beam through the diffusion mirror 115, thereby increasing the radiation area of the light beam emitted through the light outlet 111, improving the comprehensiveness of the target object irradiated by the light beam, and facilitating the improvement of the detection range and detection accuracy of the laser radar 100. At the same time, the setting of the diffusion mirror 115 can increase the radiation area of the light beam without significantly affecting the total energy of the light beam, and can further improve the energy utilization rate of the light beam emitted by the laser radar 100.

[0065] As shown in FIG. 3, in some possible implemented embodiments provided by the present application, the light processing assembly 113 includes a second collimating lens 116 and a free-form lens 117, the second collimating lens 116 is located between the laser emitter 112 and the free-form lens 117, and the light outlet 111 is located at the end of the free-form lens 117 away from the second collimating lens 116. Wherein, the arrow direction in FIG. 3 represents the propagation direction of the light beam.

[0066] In this embodiment, the light processing assembly 113 includes two lenses, i.e., the second collimating lens 116 and the free-form lens 117. The laser emitter 112, the second collimating lens 116, and the free-form lens 117 are sequentially arranged between the substrate 130 and the exit window of the machine body, so that the light beams emitted by the laser emitter 112 become parallel after being processed by the second collimating lens 116, and the light beams emitted by the laser emitter 112 can be more fully radiated to the free-form lens 117 after being processed by the second collimating lens 116, thereby reducing the possibility of the light beams emitted by the laser emitter 112 spreading to unnecessary directions, reducing the loss of optical energy of the light beams emitted by the laser emitter 112, and improving the utilization rate of the light beams emitted by the laser emitter 112. The parallel collimated light beams are effectively diffused by the free-form lens 117, which can increase the radiation area of the light beams radiated through the light exit port 111, improve the comprehensiveness of the target object irradiated by the light beams, and be beneficial to improving the detection range and detection accuracy of the laser radar 100.

[0067] It can be understood that the free-form lens 117 can effectively diffuse the light beams through the unique curved surface design.

[0068] As shown in FIG. 4, in some possible implemented embodiments provided by the present application, the light processing assembly 113 includes an incident lens 118, and the light exit port 111 is located at the end of the incident lens 118 away from the laser emitter 112, and the end of the incident lens 118 away from the laser emitter 112 is provided as a light diffusion surface 1181. Wherein, the arrow direction in FIG. 4 represents the propagation direction of the light beams.

[0069] In this embodiment, the light processing assembly 113 includes an incident lens 118. The laser emitter 112 and the incident lens 118 are sequentially arranged between the substrate 130 and the exit window of the machine body, so that the light beams emitted by the laser emitter 112 are radiated through the light exit port 111 after being processed by the incident lens 118. Since the end of the incident lens 118 away from the laser emitter 112 is provided as the light diffusion surface 1181, the light diffusion surface 1181 can effectively diffuse the light beams, thereby increasing the radiation area of the light beams radiated through the light exit port 111, improving the comprehensiveness of the target object irradiated by the light beams, and being beneficial to improving the detection range and detection accuracy of the laser radar 100.

[0070] The light diffusion surface 1181 can achieve sufficient dispersion of incident light and produce the effect of optical diffusion by chemical or physical means, i.e., by using the physical phenomena of refraction, reflection, and scattering that occur when light encounters two media with different refractive index densities during the journey.

[0071] In some possible implementation embodiments provided in the present application, the light diffusion surface 1181 is curved or wavy, so as to meet the requirements of different structures of the light diffusion surface 1181. It can be understood that the light diffusion surface 1181 can also be in other shapes other than curved or wavy.

[0072] As shown in FIG. 1, in some possible implementation embodiments provided in the present application, the receiving unit 120 includes a laser receiver 122 and a receiving lens 123 arranged in sequence, the laser receiver 122 is connected with the substrate 130, the light inlet 121 is located at an end of the receiving lens 123 away from the laser receiver 122, and the receiving lens 123 is a convex lens.

[0073] In the embodiment, the laser receiver 122 and the receiving lens 123 are arranged in sequence between the substrate 130 and the incident window of the machine body, so that the light beam reflected by the target object is incident into the receiving lens 123 through the light inlet 121, is processed by the receiving lens 123 and is emitted to be received by the laser receiver 122, so as to realize the ranging function.

[0074] The receiving lens 123 is provided as a convex lens, the convex lens has the function of converging light rays, therefore, the light beam incident into the receiving lens 123 through the incident port can be processed by the convex lens to be concentrated, so that the light beam emitted to the laser receiver 122 by the receiving lens 123 is relatively concentrated, so as to reduce the possibility that the light beam cannot be received by the laser receiver 122, reduce the energy loss of the incident light beam, improve the utilization rate of the incident light beam, and improve the detection accuracy of the laser radar 100.

[0075] Further, since the receiving unit 120 in the embodiment includes the laser receiver 122 and the receiving lens 123, and the transmitting unit 110 includes the laser transmitter 112 and the light processing assembly 113, the laser receiver 122 and the laser transmitter 112 are arranged oppositely, and the receiving lens 123 and the light processing assembly 113 are arranged oppositely, the distance between the substrate 130 and the light inlet 121 can be adjusted by the receiving lens 123, and the distance between the substrate 130 and the light outlet 111 can be adjusted by the light processing assembly 113, so that the light inlet 121 and the light outlet 111 can be arranged as close as possible, the height difference of the light inlet 121 and the light outlet 111 in the direction perpendicular to the substrate 130 is small, or the light inlet 121 and the light outlet 111 are arranged flush in the direction perpendicular to the substrate 130, so that after the laser radar 100 is installed on the machine body, the distance between the light inlet 121 and the incident window is small, and the distance between the light outlet 111 and the exit window is small, so as to improve the detection accuracy of the laser radar 100, and at the same time, the laser radar 100 and the machine body are arranged compactly, the space occupied by the laser radar 100 is reduced, and space is left for the layout of other components in the machine body.

[0076] As shown in FIG. 1, in some possible implemented embodiments provided in the present application, the substrate 130 is a printed circuit board (PCB), and the transmitting unit 110 is electrically connected with the printed circuit board by surface mounting or bonding, so that the electrical connection between the transmitting unit 110 and the substrate 130 is realized to realize signal and data transmission. Specifically, the laser transmitter 112 of the transmitting unit 110 is provided with a transmitting circuit, and the transmitting circuit is electrically connected with the printed circuit board by surface mounting or bonding.

[0077] The receiving unit 120 is electrically connected with the printed circuit board by surface mounting or bonding, so that the electrical connection between the receiving unit 120 and the substrate 130 is realized to realize signal and data transmission. Specifically, the laser receiver 122 of the receiving unit 120 is provided with a receiving circuit, and the receiving circuit is electrically connected with the printed circuit board by surface mounting or bonding.

[0078] In the description of the present application, the term "a plurality of" refers to two or more, unless otherwise explicitly limited, and the terms "upper", "lower", and the like indicate the orientation or positional relationship based on the orientation or positional relationship described in the drawings, which are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application; the terms "connection", "mounting", "fixing" and the like should be understood broadly, for example, "connection" can be fixed connection, can also be detachable connection, or integral connection; can be directly connected, or indirectly connected through an intermediate medium. For those skilled in the art, the specific meanings of the above terms in the present application can be understood according to the specific circumstances.

[0079] The present application can have various modifications and changes for those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A lidar (100), wherein, Comprise: a transmitting unit (110), a receiving unit (120) and a substrate (130), the transmitting unit (110) and the receiving unit (120) are installed on the same side of the substrate (130), the transmitting unit (110) comprises a laser transmitter (112) and a light processing assembly (113) arranged in sequence, the laser transmitter (112) is connected with the substrate (130), the end of the light processing assembly (113) away from the laser transmitter (112) is provided as a light outlet (111), and the light processing assembly (113) is configured to adjust the distance between the light outlet (111) and the substrate (130) to adapt to the receiving unit (120).

2. The lidar (100) according to claim 1, wherein The side of the substrate (130) on which the transmitting unit (110) and the receiving unit (120) are installed is a plane.

3. The lidar (100) according to claim 1, wherein The end of the receiving unit (120) away from the substrate (130) is provided as a light inlet (121), and the light outlet (111) is arranged close to the light inlet (121).

4. The lidar (100) according to claim 3, wherein The absolute value of the difference between the distance between the light outlet (111) and the substrate (130) and the distance between the light inlet (121) and the substrate (130) is less than or equal to 5 mm.

5. The lidar (100) of claim 4, wherein, The center of the light outlet (111) and the center of the light inlet (121) are substantially in the same plane.

6. The lidar (100) of claim 1, wherein, The light processing assembly (113) comprises: At least one lens, the light emitted by the laser transmitter (112) is diffused and processed by the at least one lens and then emitted by the light outlet (111).

7. The lidar (100) of claim 6, wherein, The light processing assembly (113) comprises: A first collimating lens (114) and a diffusion mirror (115), the first collimating lens (114) is located between the laser transmitter (112) and the diffusion mirror (115), and the light outlet (111) is located at the end of the diffusion mirror (115) away from the first collimating lens (114).

8. The lidar (100) of claim 6, wherein, The light processing assembly (113) comprises: A second collimating lens (116) and a free-form lens (117), the second collimating lens (116) is located between the laser transmitter (112) and the free-form lens (117), and the light outlet (111) is located at the end of the free-form lens (117) away from the second collimating lens (116).

9. The lidar (100) of claim 6, wherein, The light processing assembly (113) comprises: An incident lens (118), the light outlet (111) is located at the end of the incident lens (118) away from the laser transmitter (112), and the end of the incident lens (118) away from the laser transmitter (112) is provided as a light diffusion surface (1181).

10. The lidar (100) according to claim 9, wherein The light diffusion surface (1181) is curved or wavy.

11. The lidar (100) according to claim 3, wherein the receiving unit (120) comprises a laser receiver (122) and a receiving lens (123) arranged in sequence, the laser receiver (122) is connected with the substrate (130), the light inlet (121) is located at an end of the receiving lens (123) away from the laser receiver (122), and the receiving lens (123) is a convex lens.

12. The lidar (100) according to claim 1, wherein the substrate (130) is a circuit board, the transmitting unit (110) is electrically connected with the circuit board by surface mounting or bonding, and the receiving unit (120) is electrically connected with the circuit board by surface mounting or bonding.

13. A cleaning apparatus wherein, including: a machine body, and the lidar (100) according to any one of claims 1 to 12, the lidar (100) being mounted on the machine body.

14. The cleaning device according to claim 13, wherein the machine body is provided with an exit window, the lidar (100) is mounted inside the machine body, the light outlet (111) and the exit window are opposite, and a distance between the light outlet (111) and the exit window is less than a distance between the light outlet (111) and the substrate (130).

15. The cleaning device according to claim 14, wherein the machine body is provided with an entrance window, the light inlet (121) of the lidar (100) and the entrance window are opposite, a distance between the light inlet (121) and the entrance window is less than a distance between the light inlet (121) and the substrate (130).

16. The cleaning apparatus of claim 15, wherein, the distance between the light outlet (111) and the exit window is substantially consistent with the distance between the light inlet (121) and the entrance window.

17. The cleaning device according to claim 16, wherein the exit window and the entrance window are integrated into one window (200).

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