CN222653107U - Cleaning robot and laser radar - Google Patents
Cleaning robot and laser radar Download PDFInfo
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- CN222653107U CN222653107U CN202420039006.9U CN202420039006U CN222653107U CN 222653107 U CN222653107 U CN 222653107U CN 202420039006 U CN202420039006 U CN 202420039006U CN 222653107 U CN222653107 U CN 222653107U
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Abstract
The embodiment of the application discloses a cleaning robot and a laser radar, wherein the laser radar comprises a receiving mirror, a receiving and transmitting assembly, a transmitter and a circuit, in the use process, the transmitter transmits laser, the laser is projected on an object to be reflected, the reflected laser is fed back to the receiving and transmitting assembly after passing through the receiving mirror, and the distance of the object can be determined based on the transmitted laser and the received laser based on the laser radar. According to the laser radar provided by the embodiment of the application, the transmitter is independently arranged, the transmitter and the receiving and transmitting assembly are separately arranged, one end of the circuit is connected to the transmitter, and the other end of the circuit is connected to the receiving and transmitting assembly, so that the width of the circuit can be greatly reduced, only the circuit can shield the light path of the receiving mirror, the shielding area of the receiving mirror is reduced, the ranging precision is improved, and the size of the laser radar is reduced.
Description
Technical Field
The embodiment of the application relates to the technical field of intelligent household appliances, in particular to a cleaning robot and a laser radar.
Background
The conventional laser radar transmitting circuit design scheme generally arranges transmitting devices on an FPC flexible board or arranges transmitting devices on an FR4 board, and the transmitting devices comprise lasers, mosDriver, driving MOSFETs, peripheral resistor-capacitor circuits and the like, so that the widths of the FPC flexible board and the FR4 board are larger. This design has the disadvantage of (1) optically blocking the area of the receiver mirror, resulting in a reduced received signal. (2) When the laser radar is applied to the sweeper, the returned light received by the laser radar can be blocked by the transmitting circuit in the rotating ranging process of the laser radar of the sweeper, so that the ranging precision can be greatly influenced, and the range finding is inaccurate.
Disclosure of utility model
The present utility model aims to solve at least one of the technical problems existing in the prior art or related art.
To this end, a first aspect of the utility model provides a lidar.
A second aspect of the present utility model provides a cleaning robot.
In view of this, a first aspect of an embodiment according to the present application proposes a lidar comprising:
A receiving mirror;
An emitter for emitting light;
a transceiver assembly for receiving light returned via a receiving mirror and/or exciting the emitter;
And one end of the circuit is connected with the transmitter, and the other end of the circuit is connected with the hair extension assembly.
In one possible embodiment, the circuit comprises a flexible circuit board.
In one possible embodiment, the flexible circuit board includes a first wiring layer distributed on a first surface of the flexible circuit board and a second wiring layer distributed on a second surface of the flexible circuit board;
One end of the first circuit layer is connected with the emitter, the other end of the first circuit layer is connected with the hair extension assembly, one end of the second circuit layer is connected with the emitter, and the other end of the second circuit layer is connected with the hair extension assembly.
In one possible embodiment, the hair extension assembly comprises:
The excitation piece is connected with one end of the circuit, the other end of the circuit is connected with the emitter, and the excitation piece is used for driving the emitter;
And a receiver for receiving the returned light.
In one possible embodiment, the hair extension assembly further comprises:
an encoder, one end of the line is connected with the encoder, the other end is connected with the transmitter, the encoder is used for acquiring the angle of light rays emitted by the laser radar;
The main control board, the encoder connect in the main control board, the excitation piece connect in the main control board, the receiver sets up on the main control board, the main control board is used for carrying out range finding based on the light that sends out and return light.
In one possible embodiment, the lidar further comprises a shielding member arranged between the main control board and the transmitter, a region of the shielding member opposite to the receiver is formed with a light-transmitting through hole,
In one possible implementation, the laser radar further comprises a light homogenizing sheet and a connecting piece, wherein the light homogenizing sheet is connected to the shielding piece through the connecting piece, and the light homogenizing sheet covers the light-transmitting through hole.
In one possible embodiment, the lidar further comprises:
The limiting piece is arranged between the emitter and the hair extension assembly and is used for supporting and limiting the circuit.
In one possible embodiment, the limiting member includes:
The support body is annular or arc-shaped;
The limiting body is connected to the supporting body and used for limiting the circuit.
In one possible embodiment, the lidar further comprises:
and the transmitting mirror is arranged on one side of the receiving mirror, which is away from the transmitter.
In one possible implementation mode, the laser radar further comprises a fixing piece, wherein a penetrating part is formed in the middle of the receiving mirror, the fixing piece is arranged in the penetrating part, and the transmitting mirror is connected to the fixing piece;
The clamping ring is arranged in the groove, and the clamping ring is arranged in the groove so as to limit the transmitting mirror.
In one possible embodiment, the lidar further comprises:
The shading ring is sleeved on the fixing piece;
wherein the fixing member is made of a transparent material.
In one possible embodiment, the lidar further comprises a light-adjusting assembly for adjusting the angle of the emitted and/or returned light, the light-adjusting assembly comprising:
A support rotatable relative to the receiver mirror;
the driving assembly is used for driving the supporting piece to rotate;
And a reflecting mirror provided on the support for adjusting the emission and return angles of the light.
In one possible embodiment, the lidar further comprises:
A first housing having a protrusion formed thereon, the receiving mirror being disposed in the protrusion, the hair extension assembly being connected to the first housing;
the bearing is sleeved on the convex part, and the supporting piece is connected with the bearing;
The second shell is used for being covered on the supporting piece, a window is formed on the second shell, and emitted light is emitted out through the window.
In one possible embodiment, the drive assembly comprises:
The driving piece is arranged in the first shell, and the dustproof cover is connected to the first shell so as to cover the driving piece;
And the driving piece is connected with the supporting piece through the flexible transmission piece.
According to a second aspect of an embodiment of the present application, there is provided a cleaning robot including:
a robot body;
The laser radar according to any one of the above aspects, wherein the laser radar is connected to the robot body.
Compared with the prior art, the utility model at least comprises the following beneficial effects:
The laser radar provided by the embodiment of the application comprises the receiving mirror, the receiving and transmitting assembly, the transmitter and the circuit, wherein in the use process, the transmitter transmits laser, the laser is projected on an object to be reflected, the reflected laser is fed back to the receiving and transmitting assembly after passing through the receiving mirror, and the distance of the object can be determined based on the transmitted laser and the received laser based on the laser radar. Compared with the scheme that all transmitters and devices related to the transmitters are arranged on a flexible board or an FR4 board in the related art, the laser radar provided by the embodiment of the application has the advantages that the transmitters are independently arranged, the transmitters and the receiving assembly are separately arranged, one end of a circuit is connected with the transmitters, the other end of the circuit is connected to the receiving assembly, the width of the circuit can be greatly reduced based on the arrangement, only the circuit can shade the light path of a receiving mirror, on one hand, the light-shielding receiving area is greatly reduced, even the influence is negligible, so that the measuring distance is effectively improved, on the other hand, the laser radar applied to a cleaning robot does not influence the distance measuring precision when rotating to the transmitting circuit shielding receiving mirror part, and the control precision of the cleaning robot can be ensured.
Drawings
Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the application. Also, like reference numerals are used to designate like parts throughout the figures. In the drawings:
FIG. 1 is a schematic block diagram of an angle of a lidar according to an embodiment of the present application;
FIG. 2 is a schematic block diagram of another angle of a lidar according to an embodiment of the present application;
FIG. 3 is a schematic block diagram of yet another angle of a lidar according to an embodiment of the present application;
FIG. 4 is a schematic block diagram of an angle of a line layout position of a lidar according to an embodiment of the present application
FIG. 5 is a schematic block diagram of another angle of the line layout position of a lidar according to an embodiment of the present application;
FIG. 6 is a schematic block diagram of still another angle of the line layout position of the lidar according to an embodiment of the present application;
FIG. 7 is a schematic block diagram of the layout positions of the lines and the limiting members of the lidar according to an embodiment of the present application;
FIG. 8 is a schematic view of a first housing and a second housing of a lidar according to an embodiment of the present application;
FIG. 9 is another schematic view of the first and second housings of the lidar according to an embodiment of the present application;
FIG. 10 is a schematic view of a further angle of the first and second housings of the lidar according to an embodiment of the present application;
Fig. 11 is a schematic structural view of a cleaning robot according to an embodiment of the present application.
The correspondence between the reference numerals and the component names in fig. 1 to 11 is:
The radar comprises a 100 laser radar, a 110 receiving mirror, a 120 transmitting and receiving assembly, a 130 transmitter, a 140 line, a 150 light homogenizing sheet, a 160 connecting piece, a 170 limiting piece, a 180 transmitting mirror, a 190 fixing piece, a 200 compression ring, a 210 shading ring, a 220 light adjusting assembly, a 230 first shell, a 240 bearing and a 250 second shell;
121 encoder, 122 main control board, 123 excitation piece, 124 receiver, 125 shielding piece, 141 first surface, 142 second surface, 171 supporting body, 172 spacing body, 221 supporting piece, 222 driving component, 223 reflector, 2221 driving piece, 2222 flexible transmission piece, 2223 dust-proof cover, 231 convex part, 251 window;
2000 robot body.
Detailed Description
In order to better understand the above technical solutions, the following detailed description of the technical solutions of the embodiments of the present application is made by using the accompanying drawings and the specific embodiments, and it should be understood that the specific features of the embodiments of the present application are detailed descriptions of the technical solutions of the embodiments of the present application, and not limit the technical solutions of the present application, and the technical features of the embodiments of the present application may be combined with each other without conflict.
As shown in fig. 1 to 10, a lidar 100 according to the first aspect of the embodiment of the present application includes a receiving mirror 110, an emitter 130, the emitter 130 for emitting light, a transceiver component 120, the transceiver component 120 for receiving the light returned via the receiving mirror 110 and/or exciting the emitter 130, and a line 140, one end of the line 140 being connected to the emitter 130, and the other end being connected to the transceiver component 120.
The laser radar 100 provided by the embodiment of the application comprises the receiving mirror 110, the receiving and transmitting assembly 120, the transmitter 130 and the circuit 140, wherein in the use process, the transmitter 130 emits laser, the laser is projected on an object to be reflected, the reflected laser is fed back to the receiving and transmitting assembly 120 after passing through the receiving mirror 110, and the distance of the object can be determined based on the emitted laser and the received laser based on the laser radar 100.
Compared with the prior art in which all transmitters and sub-devices related to the transmitters are arranged on a flexible board or an FR4 board, the laser radar 100 provided by the embodiment of the application has the advantages that the transmitters 130 are independently arranged, the transmitters 130 are separately arranged from the transceiver component 120, the sub-devices related to the transmitters 130 are separately arranged from the transmitters, and then one end of the circuit 140 is connected to the transmitters 130, and the other end is connected to the transceiver component 120, so that the width of the circuit 140 can be greatly reduced based on the arrangement.
On the basis, in the working process of the laser radar, the transmitter 130 emits laser, and then the laser is reflected by an object, passes through the receiving mirror 110 and returns to the receiving and transmitting assembly 120, a flexible board or an FR4 board in the related art is arranged on the light-emitting path of the receiving mirror in a large width mode, so that large shielding can be formed, and the application is arranged separately from the receiving and transmitting assembly 120 through the transmitter 130, and only the circuit 140 is arranged on the path between the receiving mirror 110 and the receiving and transmitting assembly 120, so that only the circuit 140 can shield the light path of the receiving mirror 110, on one hand, the shielding optical receiving area is greatly reduced, even the influence is negligible, and the measuring distance is effectively improved; on the other hand, when the laser radar 100 applied to the cleaning robot rotates to the transmitting circuit to shield the receiving mirror 110 part in the process of rotating distance measurement, the distance measurement precision is not affected, the control precision of the cleaning robot can be ensured, on the other hand, the shielding area is reduced, so that the size of a receiver can be reduced, and the size of the laser radar 100 can be further reduced.
It will be appreciated that the transceiver module 120 is configured to receive light emitted via the receiving mirror 110 and/or to excite the emitter 130, and based thereon, the emitter 130 may be separated from other modules, which may be advantageous to further reduce the width of the wiring 140.
It is understood that the emitter 130 may be a laser emitter.
As shown in fig. 3-7, in one possible embodiment, the wiring 140 comprises a flexible circuit board.
In this technical scheme, further provided the pattern of circuit 140, circuit 140 can include the flexible circuit board, through the setting of flexible circuit board for circuit 140 can buckle, can dodge receiver mirror 110 better, further reduces simultaneously and shelter from receiver mirror 110, is convenient for the wiring to circuit 140.
In one possible embodiment, as shown in fig. 5, the flexible circuit board includes a first circuit layer disposed on a first surface 141 of the flexible circuit board and a second circuit layer disposed on a second surface 142 of the flexible circuit board 140, wherein one end of the first circuit layer is connected to the transmitter 130, the other end is connected to the transceiver component 120, one end of the second circuit layer is connected to the transmitter 130, and the other end is connected to the transceiver component 120.
In this technical scheme, further provide the pattern of flexible circuit board, the flexible circuit board can include first circuit layer and second circuit layer, first circuit layer and second circuit layer distribute at two surfaces of flexible circuit board, so set up can effectively reduce the inductance effect of return circuit for the power and the pulse width performance of the laser emission of transmitter 130 are optimal, have realized the advantage that the cloth area is littleer compared with traditional scheme, can further reduce the shielding to receiver mirror 110, improve laser radar 100 performance, reduce laser radar 100 volume.
It is understood that the first circuit layer and the second circuit layer may be an anode signal of the emitter 130 and a cathode signal of the emitter 130, respectively, and may be two signals used for driving the emitter 130, and may be transmitted from the main control board to the direction of the emitter 130 through the first circuit layer and the second circuit layer.
In one possible embodiment, as shown in fig. 5, the hair extension assembly 120 includes an excitation member 123, the excitation member 123 is connected to the main control board 122, the circuit 140 is connected to the excitation member 123, the excitation member 123 is used to drive the emitter 130, and the receiver 124 is disposed on the main control board 122.
In one possible embodiment, the transceiver module 120 includes an encoder 121, one end of a line 140 is connected to the encoder 121, the encoder is used for obtaining an angle of emitted light, the other end is connected to the emitter 130, and the main control board 122, where the encoder 121 is connected to the main control board 122.
In this technical solution, there is further provided a structural component of the transceiver component 120, where the transceiver component 120 may include an encoder 121, a main control board 122, an excitation member 123 and a receiver 124, based on which, in the use process, the main control board 122 may control the opening or closing of the emitter 130 through the excitation member 123, the rotation position of the laser radar 100 may be known through the encoder 121, the light emitted through the receiving mirror 110 may be received through the receiver 124, and the distance of the object may be determined through the main control board 122 based on the emitted laser and the received laser, so as to implement ranging through the laser radar 100.
In this technical scheme, through the setting of main control board 122, carry out the interval arrangement with transmitter 130 and encoder 121, main control board 122, excitation 123 and receiver 124, circuit 140 can only play the effect of transmitter 130 and main control board 122 communication, with encoder 121 communication, need not bond other parts on the circuit 140, consequently can reduce the width of circuit 140, and then reduce the shielding to receiver 110, can improve the performance of laser radar 100, reduce the volume of laser radar 100.
It will be appreciated that the trigger 123 may comprise mosdriver and mosfet devices, mosdriver functioning to shape the control signal to the latter stage of the mosfet device functioning to drive the emitter, and that the mosfet may be over-current, modriver and the mosfet may be integrated in one device.
As shown in fig. 2 and 5, in one possible embodiment, the lidar 100 further includes a shielding member 125, the shielding member 125 being disposed between the main control board 122 and the transmitter 130, and an area of the shielding member 125 opposite to the receiver 124 being formed with a light-transmitting through hole.
In this technical solution, the lidar 100 may further include a shielding member 125, where the arrangement is that most of functional devices are arranged on the main control board 122, electromagnetic shielding can be performed by the arrangement of the shielding member 125, so that the influence of the electromagnetic on the operation and transportation of the main control board 122 is reduced, which is beneficial to improving the ranging accuracy of the lidar 100, meanwhile, a light-transmitting through hole is formed on the shielding member 125, and light emitted by the receiving mirror 110 can be projected on the receiver 124 through the light-transmitting through hole, so that the arrangement can realize the emission and the reception of laser, and form a light path for ranging.
In one possible embodiment, as shown in fig. 2 and 5, the lidar 100 further comprises a light-equalizing sheet 150 and a connector 160, wherein the light-equalizing sheet 150 is connected to the shielding member 125 through the connector 160, and the light-equalizing sheet 150 covers the light-transmitting through hole.
In this technical solution, the lidar 100 may further include a light homogenizing sheet 150 and a connecting piece 160, so that the light homogenizing sheet 150 may be fixed by using the shielding piece 125, in some examples, the connecting piece 160 may be an adhesive piece, the light homogenizing sheet 150 may be connected to the shielding piece 125 by an adhesive manner, and then light emitted by the receiving mirror 110 is projected onto the receiver 124 through the light homogenizing sheet 150, so that detection accuracy can be improved.
In one possible embodiment, as shown in fig. 6 and 7, lidar 100 further includes a stop 170, stop 170 being disposed between transmitter 130 and transceiver component 120, stop 170 being configured to support and stop line 140.
In this technical solution, considering that one end of the line 140 is connected to the transceiver component 120, and the other end is connected to the transmitter 130, the line 140 may be bent or emptied to implement interconnection, so the laser radar 100 may further include a limiting member 170, and the line 140 may be supported by the limiting member 170, so that the line 140 is fixed more reliably, thereby improving the reliability of the operation of the laser radar 100, and reducing the probability of releasing or displacing the line 140 while reducing the shielding of the line 140 from the receiving mirror 110.
In one possible embodiment, as shown in fig. 6 and 7, the limiting member 170 includes a supporting body 171, where the supporting body 171 is annular or arc-shaped, and a limiting body 172, where the limiting body 172 is connected to the supporting body 171, and the limiting body 172 is used to limit the circuit 140.
In this technical scheme, further provided the structure of locating part 170 is constituteed, and locating part 170 can include supporter 171 and locating part 172, and the assembly of locating part 170 is convenient for through the setting of supporter 171, and supporter 171 is cyclic annular or arc simultaneously, and this kind of involvement can make supporter 221 dodge receiver mirror 110, has stopped locating part 170 to produce the shielding to receiver mirror 110, and can carry out spacingly to circuit 140 through the setting of locating part 172.
In some examples, a groove may be formed above the limiting body, and the line 140 may pass through the groove, and at the same time, abut against the limiting body at the bending position of the line 140, so as to ensure the positioning reliability of the line 140.
In one possible embodiment, as shown in FIG. 2, lidar 100 further comprises a transmitter mirror 180, transmitter mirror 180 being disposed on a side of receiver mirror 110 facing away from transmitter 130.
In this embodiment, the laser radar 100 may further include a reflecting mirror 180, and the light emitted through the emitter 130 may be adjusted by setting the reflecting mirror 180, so that the light projected through the reflecting mirror 180 is parallel or approximately parallel, and thus ranging can be performed better.
In one possible embodiment, as shown in fig. 2 and 6, the laser radar 100 further includes a fixing member 190, a through part is formed at the middle of the receiving mirror 110, the fixing member 190 is disposed in the through part, the transmitting mirror 180 is connected to the fixing member 190, and a pressing ring 200, a groove is formed at a side of the fixing member 190 facing the transmitting mirror 180, and the pressing ring 200 is disposed in the groove to limit the transmitting mirror 180.
In one possible embodiment, the lidar 100 further comprises a light shielding ring 210, wherein the light shielding ring 210 is sleeved on the fixing member 190, and the fixing member 190 is made of a transparent material.
In this technical solution, the laser radar 100 may further include a fixing member 190, a compression ring 200, and a light shielding ring 210, where a penetrating portion is formed through the middle of the receiving mirror 110, and then the fixing member 190 is disposed in the penetrating portion, so that the laser radar 100 may be a coaxial laser radar 100, and the volume of the laser radar 100 may be further reduced.
In this technical scheme, fix the speculum 180 through clamping ring 200, can make the fixed more reliable of speculum 180, reduced the not hard up probability of speculum 180, make simultaneously between mounting 190, clamping ring 200 and the speculum 180 can the modularization assembly, the equipment of laser radar 100 of being convenient for.
In some examples, the contact surface of the mount 190 with the receiver mirror 110 may be curved, such that positioning of the mount 190 is facilitated while adjusting the angle between the mount 190 and the receiver mirror 110.
In this embodiment, the fixing member 190 is made of a transparent material, so arranged as to facilitate the passage of light.
In some examples, the emitter 130 and the emitter mirror 180 are respectively mounted at opposite ends of the fixing member 190, and it is understood that the inside of the fixing member 190 forms an optical path channel, and light emitted from the emitter 130 is projected from the emitter mirror 180 through the inside of the fixing member 190, that is, the fixing member 190 is disposed such that the relative positions of the emitter 130 and the emitter mirror 180 are fixed, that is, the direction in which light emitted from the emitter 130 is projected from the emitter mirror 180 through the inside of the fixing member 190 is fixed, that is, the direction in which light emitted from the emitting unit 110 is fixed with respect to the axis of the fixing member 190. The fixing piece 190 is installed inside the receiving mirror 110, and the joint surfaces of the receiving mirror 110 and the fixing piece 190 are in spherical contact, so that the fixing piece 190 and the receiving mirror 110 form a spherical joint, namely, the relative positions of the fixing piece 190 and the receiving mirror 110 are adjustable. Therefore, by adjusting the relative positions of the axis of the fixing piece 190 and the axis of the receiving mirror 110, the relative positions of the direction of the emitted light emitted by the emitting unit 110 and the axis of the receiving mirror 110 can be adjusted, so that the direction of the emitted light beam can be adjusted universally, and the requirements of different directions of the emitted light beam can be met. Meanwhile, the processing precision requirement of the laser radar 100 can be reduced, the relative position between the direction of the emitted light emitted by the emitting unit 110 and the axis of the receiving mirror 110 can be ensured, the manufacturing cost is reduced, the reject ratio of products is reduced, and the production capacity is improved.
Such as the laser radar in the related art, the detection precision requirement often exceeds the manufacturing capability, for example, the laser emission direction of the laser radar is ensured by relying on the processing precision, and therefore, the cost of the laser radar is higher and the qualification rate is lower.
In the laser radar 100 provided in this embodiment, since the fixing element 190 and the receiving mirror 110 are configured as ball joints, in the practical application scenario, the relative positions of the fixing element 190 and the transmitting mirror 180 can be adjusted first in the assembly process, so that the laser transmitting direction of the transmitting unit 110 and the optical axis of the receiving mirror 110 meet the requirement of detection precision, then the fixing element 190 and the receiving mirror 110 are fixed by using an adhesive, so that the assembly of the transmitting unit 110 and the receiving mirror 110 can be completed, and the laser radar 100 can be ensured to meet the requirement of detection precision.
Wherein the fixing member 190 is provided in a straight cylindrical shape, and the emitter 130 and the emitter mirror 180 are respectively mounted at opposite ends of the fixing member 190, a collimated light path can be formed. Specifically, the emitting mirror 180 is located on the outgoing light path of the emitter 130, and the outgoing surface of the emitting mirror 180 faces the outside of the fixing member 190, whereby the emitting mirror 180 and the laser are mounted in the same structural member, and a collimated light path can be formed.
Wherein, establish receiver mirror 110 cover in the outside of installing the mounting 190 of transmitter mirror 180 and transmitter 130, compare with the laser radar of the optical axis parallel arrangement of transmitting lens and receiving lens among the related art, can reduce the volume of laser radar greatly, and then reduce the space that laser radar 100 occupy, enlarge laser radar 100's application range, and can satisfy cleaning robot compact structure, the less design demand of volume, simultaneously, be favorable to reducing laser radar 100's manufacturing cost, and then satisfy cleaning robot low-cost design demand.
As shown in fig. 8-10, in one possible embodiment, lidar 100 further includes a light-adjustment assembly 220, light-adjustment assembly 220 for adjusting the angle of the emitted and/or returned light. This arrangement allows the lidar 100 to perform multi-angle ranging.
As shown in fig. 8 to 10, in one possible embodiment, the light adjusting assembly 220 includes a support 221, the support 221 being rotatable with respect to the receiving mirror 110, a driving assembly 222, the driving assembly 222 being configured to drive the support 221 to rotate, and a reflecting mirror 223, the reflecting mirror 223 being disposed on the support 221, for adjusting the emission and input angles of the light.
In this technical scheme, further provide the structure of light regulation subassembly 220 and constitute, light regulation subassembly 220 can include support piece 221, drive assembly 222 and speculum 223, through the setting of speculum 223, speculum 223 can reflect laser, and then can adjust the sending and the receipt angle of laser, and through the setting of drive assembly 222 and support piece 221, can drive support piece 221 through drive assembly 222 and rotate for receiver 110, and then can realize laser radar 100 and carry out 360 range finding, improved laser radar 100's application scope, especially be convenient for use laser radar 100 on cleaning robot.
In some possible embodiments of the present application, the laser radar 100 further includes a mirror 223, the mirror 223 is disposed obliquely above the transmitter 180, and the mirror 223 is configured to rotate about an optical axis of the receiver 110, wherein the light emitted by the transmitter 130 is redirected by the mirror 223 after passing through the transmitter 180 and then directed to the obstacle, and the received light returned by the obstacle is redirected by the mirror 223 and then received by the receiver 110 and then transmitted by the transceiver component 120. This can realize ranging of the laser radar 100, and the rotating mirror 223 is combined with the transmitter 130 and the transceiver module 120, so that the detection range of the transmitter 130 can be widened, and further, detection of obstacles in a plurality of directions around the cleaning robot can be realized. If the reflecting mirror 223 is configured to rotate 360 ° with the optical axis of the receiving mirror 110 as a rotation axis, then the laser detector can detect the obstacle in the direction of 360 ° around the cleaning robot, thereby being beneficial to improving the sensing precision and accuracy of the cleaning robot and improving the running precision of the cleaning robot.
The laser radar 100 may be a time-of-flight laser radar 100, in which the principle is to calculate the distance of the target object using the propagation speed of the laser beam in space and the time of the return. The time-of-flight lidar 100 has the advantages of high accuracy, high speed, high resolution, etc., and thus can meet the functional requirements of the cleaning robot.
In some possible embodiments provided by the present application, the angle of inclination of the mirror 223 with respect to the horizontal is 45 ° to 47 °, wherein the angle of inclination of the mirror 223 with respect to the horizontal is α, i.e. α ranges from 45 ° to 47 °. Therefore, the reflector 223 can be ensured to more comprehensively redirect the emitted light emitted by the emitting unit 110 and then project the redirected light out through the window 251, and more comprehensively project the returned light to the receiving and transmitting assembly 120, so as to reduce the energy loss of the emitter 130, improve the energy utilization rate of the emitter 130 and improve the ranging accuracy of the laser radar 100.
Specifically, the inclination angle α of the mirror 223 with respect to the horizontal line may range from 45 °, 45.5 °, 46 °, 47 °, or other angles.
In the above embodiment, the reflecting mirror 223 includes a reflecting surface and a substrate, where the reflecting surface is located on a side of the substrate facing the window 251, so that it can be ensured that the emitted light emitted by the emitting unit 110 is projected through the window 251 after being redirected by the reflecting surface of the reflecting mirror 223, and the reflecting surface may be a dielectric high-reflection film or a metal reflection film, and the substrate may be glass or plastic.
In some possible embodiments of the present application, the lidar 100 further includes a light shielding ring 210, where the light shielding ring 210 is sleeved outside the fixing member 190 and is located above the receiving mirror 110, and the light shielding ring 210 is configured to shield at least part of the light emitted by the emitter 130, after the direction of the light is changed by the reflecting mirror 223 through the emitting mirror 180, and then the light is directed to the receiving mirror 110. That is, the arrangement of the light shielding ring 210 can effectively prevent the problem that the ranging accuracy is affected due to the optical crosstalk caused by the stray light generated by the emitted light beam after passing through the reflecting mirror 223 returning to the receiving mirror 110, thereby being beneficial to improving the detection accuracy of the laser radar 100.
Wherein, the shading ring 210 and the fixing piece 190 can be connected through a clamping structure and/or an adhesive, the operation is simple, the installation is convenient, and the reliable connection between the shading ring 210 and the fixing piece 190 can be ensured. Specifically, the light shielding ring 210 may be connected to the fixing member 190 through a clamping structure or an adhesive, or the light shielding ring 210 may be connected to the fixing member 190 through both a clamping structure and an adhesive.
Wherein, a gap is provided between the light shielding ring 210 and the receiving mirror 110, so that the receiving mirror 110 and the fixing member 190 can move relatively, and in the assembly process, the laser emission of the transmitting unit 110 can be universally adjusted relative to the optical axis of the receiving mirror 110, so that the problem that the fixing member 190 and the receiving mirror 110 are blocked and cannot be adjusted due to seamless arrangement between the light shielding ring 210 and the receiving mirror 110 is avoided.
In some possible embodiments, during the assembly process, the relative positions of the receiving mirror 110 and the fixing element 190 are adjusted by using the configuration of the abutting surfaces of the receiving mirror 110 and the fixing element 190 in a spherical contact manner, so that the optical axis of the transmitting mirror 180 coincides with the optical axis of the receiving mirror 110, or the optical axis of the transmitting mirror 180 is perpendicular to the horizontal line, the transmitting optical axis of the transmitting unit 110 is ensured to be vertically upward, and then the positions of the receiving mirror 110 and the fixing element 190 are fixed by using an adhesive, so as to realize the assembly of the structural radar. It can be appreciated that, compared with the laser radar 100 in which the optical axis of the transmitting lens and the optical axis of the receiving lens are coaxially arranged, the volume of the laser radar 100 can be properly reduced compared with the arrangement of the optical axis of the transmitting lens and the optical axis of the receiving lens in the related art, so that the design requirements of smaller volume and compact structure of the laser radar 100 are met, the occupied space of the cleaning robot is reduced, the application range of the cleaning robot is enlarged, the storage is convenient, and meanwhile, the manufacturing cost of the laser radar 100 is saved.
In some possible embodiments provided by the present application, the outer peripheral side of the fixing element 190 is provided with a convex spherical contact surface, and the inner peripheral side of the receiving mirror 110 is provided with a concave spherical contact surface, and the convex spherical contact surface is opposite to the concave spherical contact surface and is at least partially attached to the concave spherical contact surface, so that the fixing element 190 and the receiving mirror 110 form a ball joint, so that the positions of the fixing element 190 and the receiving mirror 110 can be adjusted, and further, the universal adjustment of the direction of the emitted light beam of the emitting unit 110 can be realized. The convex spherical surface contact surface and the concave spherical surface contact surface are easy to realize, convenient to process and low in manufacturing cost.
Specifically, the middle part of the receiving mirror 110 is provided with a hollow structure, and the fixing member 190 is disposed through the hollow structure and connected with the receiving mirror 110, and a space surrounded by the inner peripheral side of the receiving mirror 110 is a hollow structure.
In some possible embodiments provided by the application, laser radar 100 further comprises a press ring 200, wherein a first mounting hole for accommodating emitter mirror 180 is formed at an end of fixing member 190 away from emitter 130, press ring 200 is positioned at a side of emitter mirror 180 away from emitter 130, and press ring 200 is bonded to a side wall of the first mounting hole to fix emitter mirror 180 at the first mounting hole.
In the assembly process, the emitter 180 may be first installed at the first installation opening, then the emitter 180 is clamped at the first installation opening by using the compression ring 200, and the compression ring 200 is bonded with the side wall of the first installation opening, so that the emitter 180 may be reliably and stably fixed on the fixing member 190.
Since the size of the emitter 180 of the laser radar 100 provided by the embodiment of the application is smaller, the gram weight is light, if the emitter lens is fixed on the fixing member 140 by directly using the adhesive in the related art, the problem that the focal length of the emitter 180 deviates from the design value due to the floating of the emitter 180 caused by the injection of the adhesive, and poor measurement precision is caused can be caused, and meanwhile, if the emitter 180 is fixed on the mounting cylinder by dispensing around the emitter 180 with smaller size, the adhesive is easy to remain on the surface of the lens, so that the light spot energy is blocked. Therefore, the application uses the compression ring 200 to clamp the emitter 180 at the first mounting opening of the fixing piece 190, and glue is dispensed around the compression ring 200 to bond the compression ring 200 with the side wall of the first mounting opening, so that the design value of the focal length of the emitter 180 can be ensured to be accurate, and further, good measurement precision is ensured, meanwhile, the glue dispensing difficulty of the emitter 180 can be reduced, the assembly is convenient, and the problem that the adhesive shields the light spot energy can be reduced or avoided.
As shown in fig. 2 and 8 to 10, in one possible embodiment, the laser radar 100 further includes a first housing 230, a protrusion 231 formed on the first housing 230, the receiving mirror 110 disposed in the protrusion 231, the transceiver component 120 connected to the first housing 230, a bearing 240, the bearing 240 sleeved on the protrusion 231, the support 221 connected to the bearing 240, and a second housing 250 for covering the support 221, wherein a window 251 is formed on the second housing 250, and the emitted light is emitted through the window 251.
In this technical solution, the lidar 100 may further include a first housing 230, an upward protruding portion 231 of the first housing 230, where the protruding portion 231 may house the receiving mirror 110, and meanwhile, the first housing 230 may further provide an installation position for the transceiver component 120, and by arranging a bearing 240 at an outer side of the protruding portion 231 and connecting the supporting piece 221 to the bearing 240, an installation position for the supporting piece 221 may be provided by the first housing 230, so that assembly of the supporting piece 221 is facilitated, and meanwhile, rotation of the supporting piece 221 relative to the first housing 230 is driven by the driving component 222 is facilitated.
In this technical solution, the supporting member 221 is covered by the second housing 250, and meanwhile, a window 251 is formed above the second housing 250, so as to facilitate the projection and collection of laser, and meanwhile, the laser radar 100 can be packaged by the first housing 230 and the second housing 250.
As shown in fig. 2 and 8 to 10, in one possible embodiment, the driving assembly 222 includes a driving member 2221 and a dust cover 2223, the driving member 2221 is disposed in the first housing 230, the dust cover 2223 is connected to the first housing 230 to cover the driving member 2221, and the flexible driving member 2222, the driving member 2221 is connected to the supporting member 221 through the flexible driving member 2222.
In this technical scheme, further provided the structure constitution of drive assembly 222, drive assembly 222 can include driver 2221 and shield 2223, is connected with first casing 230 through shield 2223, and shield 2223 and first casing 230 can seal driver 2221, reduce the probability that the dust invaded driver 2221, have ensured the reliability of driver 2221 work.
In this embodiment, the driving element 2221 is connected to the flexible transmission element 2222, and the flexible transmission element 2222 may be sleeved on the supporting element 221 and the output shaft of the driving element 2221, so that the supporting element 221 can be driven to rotate by opening the driving element 2221.
In some examples, the driving assembly 222 of the laser radar 100 further includes a driving member 2221 and a flexible transmission member 2222, the driving member 2221 is connected to the first housing 230, and the driving member 2221 is connected to the supporting member 221 through the flexible transmission member 2222 to drive the supporting member 221 to rotate relative to the first housing 230. Thereby, the reflecting mirror 223 on the supporting member 221 can rotate around the optical axis of the receiving mirror 110 to expand the detection range of the laser radar 100, for example, the driving member 2221 can drive the supporting member 221 to rotate 360 ° relative to the first housing 230, so that the laser radar 100 can detect the obstacle in the direction of 360 ° around the cleaning robot, thereby being beneficial to improving the perception precision and the perception accuracy of the cleaning robot and improving the operation precision of the cleaning robot
The flexible transmission member 2222 is a transmission belt, the driving member 2221 is connected with the supporting member 221 through the transmission belt, for example, the driving member 2221 is a motor, and an output shaft of the motor is connected with the supporting member 221 through the transmission belt, so as to drive the supporting member 221 to rotate relative to the first housing 230.
As shown in fig. 11, a cleaning robot according to a second aspect of the embodiment of the present application includes a robot body 2000, and a lidar 100 according to any of the above-mentioned aspects, wherein the lidar 100 is connected to the robot body 2000.
The cleaning robot provided by the embodiment of the application comprises the laser radar 100 according to any one of the above technical schemes, so that the cover cleaning robot has all the beneficial effects of the laser radar 100 according to the above technical scheme.
In the cleaning robot provided by the embodiment of the application, the laser radar 100 includes the receiving mirror 110, the receiving and transmitting assembly 120, the transmitter 130 and the circuit 140, in the use process, the transmitter 130 emits laser, the laser is projected on the object to be reflected, the reflected laser is fed back to the receiving and transmitting assembly 120 after passing through the receiving mirror 110, and based on the laser radar 100, the distance of the object can be determined based on the emitted laser and the received laser. Compared with the prior art, the laser radar 100 provided by the embodiment of the application has the advantages that all the transmitting and receiving devices 124 are arranged on the flexible board or the FR4 board, the transmitter 130 is independently arranged, the transmitter 130 and the receiving assembly 120 are separately arranged, one end of the circuit 140 is connected to the transmitter 130, and the other end of the circuit is connected to the receiving assembly 120, so that the width of the circuit 140 can be greatly reduced, only the circuit 140 can shade the light path of the receiving mirror 110, on one hand, the optical receiving area is greatly reduced, even the influence is negligible, so that the measuring distance is effectively improved, on the other hand, the cleaning robot can not influence the ranging precision when rotating to the transmitting circuit shielding receiving mirror 110 part in the ranging process, and the control precision of the cleaning robot can be ensured.
In the present utility model, the terms "first," "second," "third," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance, the term "plurality" then referring to two or more unless explicitly defined otherwise. The terms "mounted," "connected," "secured," and the like are to be construed broadly, as they are used in a fixed or removable connection, or as they are integral with one another, as they are directly or indirectly connected through intervening media. The specific meaning of the above terms in the present utility model can be understood by those of ordinary skill in the art according to the specific circumstances.
In the description of the present utility model, it should be understood that the directions or positional relationships indicated by the terms "upper", "lower", "left", "right", "front", "rear", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present utility model and simplifying the description, and do not indicate or imply that the devices or units referred to must have a specific direction, be constructed and operated in a specific direction, and thus should not be construed as limiting the present utility model.
In the description of the present specification, the terms "one embodiment," "some embodiments," "particular embodiments," and the like, mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present utility model. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The above is only a preferred embodiment of the present utility model, and is not intended to limit the present utility model, but various modifications and variations can be made to the present utility model by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present utility model should be included in the protection scope of the present utility model.
Claims (16)
1. A laser radar which comprises a laser beam source, characterized by comprising the following steps:
A receiving mirror;
An emitter for emitting light;
a transceiver assembly for receiving light returned via a receiving mirror and/or exciting the emitter;
And one end of the circuit is connected with the transmitter, and the other end of the circuit is connected with the hair extension assembly.
2. The lidar of claim 1, wherein the laser radar is configured to,
The circuit includes a flexible circuit board.
3. The lidar of claim 2, wherein the laser radar is configured to,
The flexible circuit board comprises a first circuit layer distributed on the first surface of the flexible circuit board and a second circuit layer distributed on the second surface of the flexible circuit board;
One end of the first circuit layer is connected with the emitter, the other end of the first circuit layer is connected with the hair extension assembly, one end of the second circuit layer is connected with the emitter, and the other end of the second circuit layer is connected with the hair extension assembly.
4. The lidar of claim 1, wherein the transceiver component comprises:
The excitation piece is connected with one end of the circuit, the other end of the circuit is connected with the emitter, and the excitation piece is used for driving the emitter;
And a receiver for receiving the returned light.
5. The lidar of claim 4, wherein the transceiver component further comprises:
An encoder, one end of the line is connected to the encoder, the other end is connected with the emitter, and the encoder is used for acquiring the angle of emitted light;
The main control board, the encoder connect in the main control board, the excitation piece connect in the main control board, the receiver sets up on the main control board, the main control board is used for carrying out range finding based on the light that sends out and return light.
6. The lidar of claim 5, further comprising:
and the shielding piece is arranged between the main control board and the transmitter, and a light-transmitting through hole is formed in the area of the shielding piece opposite to the receiver.
7. The lidar of claim 6, further comprising:
The light-equalizing piece is connected to the shielding piece through the connecting piece, and the light-equalizing piece covers the light-transmitting through hole.
8. The lidar according to any of claims 1 to 7, further comprising:
The limiting piece is arranged between the emitter and the hair extension assembly and is used for supporting and limiting the circuit.
9. The lidar of claim 8, wherein the stop comprises:
The support body is annular or arc-shaped;
The limiting body is connected to the supporting body and used for limiting the circuit.
10. The lidar according to any of claims 1 to 7, further comprising:
and the transmitting mirror is arranged on one side of the receiving mirror, which is away from the transmitter.
11. The lidar of claim 10, further comprising:
The fixing piece is formed in the middle of the receiving mirror, the fixing piece is arranged in the penetrating part, and the transmitting mirror is connected to the fixing piece;
The clamping ring is arranged in the groove, and the clamping ring is arranged in the groove so as to limit the transmitting mirror.
12. The lidar of claim 11, further comprising:
the shading ring is sleeved on the fixing piece.
13. The lidar according to any of claims 1 to 7, further comprising a light adjustment assembly for adjusting the angle of the emitted and/or returned light, the light adjustment assembly comprising:
A support rotatable relative to the receiver mirror;
the driving assembly is used for driving the supporting piece to rotate;
And a reflecting mirror provided on the support for adjusting the emission and return angles of the light.
14. The lidar of claim 13, further comprising:
A first housing having a protrusion formed thereon, the receiving mirror being disposed in the protrusion, the hair extension assembly being connected to the first housing;
the bearing is sleeved on the convex part, and the supporting piece is connected with the bearing;
The second shell is used for being covered on the supporting piece, a window is formed on the second shell, and emitted light is emitted out through the window.
15. The lidar of claim 14, wherein the drive assembly comprises:
The driving piece is arranged in the first shell, and the dustproof cover is connected to the first shell so as to cover the driving piece;
And the driving piece is connected with the supporting piece through the flexible transmission piece.
16. A cleaning robot, comprising:
a robot body;
The lidar of any of claims 1 to 15, which is connected to the robot body.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202420039006.9U CN222653107U (en) | 2024-01-05 | 2024-01-05 | Cleaning robot and laser radar |
| PCT/CN2025/070513 WO2025146150A1 (en) | 2024-01-05 | 2025-01-03 | Cleaning robot and lidar |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202420039006.9U CN222653107U (en) | 2024-01-05 | 2024-01-05 | Cleaning robot and laser radar |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN222653107U true CN222653107U (en) | 2025-03-21 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202420039006.9U Active CN222653107U (en) | 2024-01-05 | 2024-01-05 | Cleaning robot and laser radar |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN222653107U (en) |
| WO (1) | WO2025146150A1 (en) |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107561551B (en) * | 2017-09-19 | 2024-12-27 | 深圳市镭神智能系统有限公司 | An optical path system based on multi-line laser radar |
| DE102018207293A1 (en) * | 2018-05-09 | 2019-11-14 | Ibeo Automotive Systems GmbH | LIDAR measuring system and method for mounting a LIDAR measuring system |
| CN108828563B (en) * | 2018-06-08 | 2021-03-05 | 上海禾赛科技股份有限公司 | Laser emitting device |
| CN218458054U (en) * | 2022-08-16 | 2023-02-10 | 深圳越登智能技术有限公司 | Laser radar mounting structure and robot of sweeping floor |
| CN218455796U (en) * | 2022-08-16 | 2023-02-07 | 深圳越登智能技术有限公司 | Laser radar and robot of sweeping floor |
-
2024
- 2024-01-05 CN CN202420039006.9U patent/CN222653107U/en active Active
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- 2025-01-03 WO PCT/CN2025/070513 patent/WO2025146150A1/en unknown
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| WO2025146150A1 (en) | 2025-07-10 |
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