CN212845935U

CN212845935U - Laser radar and cleaning robot

Info

Publication number: CN212845935U
Application number: CN202020447304.3U
Authority: CN
Inventors: 张无忌
Original assignee: Shenzhen Silver Star Intelligent Technology Co Ltd
Current assignee: Shenzhen Silver Star Intelligent Group Co Ltd
Priority date: 2020-03-31
Filing date: 2020-03-31
Publication date: 2021-03-30
Anticipated expiration: 2030-03-31

Abstract

The utility model discloses a laser radar, laser radar includes casing assembly, fixed connection casing assembly's drive assembly and rotation are connected casing assembly's rotating assembly, drive assembly can drive rotating assembly is rotatory, rotating assembly includes ranging module, ranging module includes laser emitter and single photon detection chip, laser emitter's transmission light path with the receiving light path perpendicular to of single photon detection chip rotating assembly's axis of rotation direction, just laser emitter's transmission light path with the receiving light path of single photon detection chip parallels. The utility model also discloses a include as above laser radar's cleaning machines people. Adopt the utility model discloses, have radar small, occupation space advantage such as little.

Description

Laser radar and cleaning robot

Technical Field

The invention relates to the technical field of laser radars, in particular to a laser radar and a cleaning robot.

Background

The robot of sweeping the floor at present uses laser radar to scan surrounding environment usually, and then realizes functions such as range finding, obstacle avoidance and building the picture, but current laser radar structure is complicated, and is bulky, need occupy a large amount of spaces of the robot of sweeping the floor, influences the arrangement of other functional modules.

Disclosure of Invention

The embodiment of the invention provides a laser radar and a cleaning robot, and aims to solve the problems that the laser radar is complex in structure, large in size and large in occupied arrangement space.

In order to solve the technical problem, the embodiment of the invention adopts the following technical scheme:

the utility model provides a laser radar, laser radar includes casing subassembly, fixed connection casing subassembly's drive assembly and rotation are connected casing subassembly's rotating assembly, drive assembly can drive rotating assembly is rotatory, rotating assembly includes the range finding module, the range finding module includes laser emitter and single photon detection chip, laser emitter's transmission light path with the receipt light path perpendicular to of single photon detection chip rotating assembly's axis of rotation direction, just laser emitter's transmission light path with the receipt light path of single photon detection chip is parallel to each other, laser emitter with the centre-to-centre spacing of single photon detection chip is 7 ~ 15 mm.

Optionally, rotating assembly includes first circuit board, swivel mount and determine module, first circuit board fixed connection bears range finding module and electricity is connected range finding module with determine module, the swivel mount with determine module all is fixed in first circuit board is kept away from range finding module one side, casing subassembly includes relatively rotating assembly pivoted code dish, the code dish is located the periphery of swivel mount makes the code dish with the swivel mount is parallel range finding module axis of rotation direction is at least partly overlapped, the code dish with determine module cooperation is in order to detect rotating assembly's slew velocity.

Optionally, an edge of the first circuit board extends beyond an edge of the rotating frame, so that a space is formed between the edge of the first circuit board and the edge of the rotating frame, and the detection assembly is located in the space.

Optionally, the swivel mount has the surface around the axis of rotation, the surface with the medial surface of code dish is adjacent, the surface part sinks and forms the recess, laser radar includes wireless power supply subassembly, wireless power supply subassembly includes receiving coil and transmitting coil, receiving coil is fixed in the recess and the electricity is connected first circuit board, transmitting coil is fixed in the code dish corresponds groove department, transmitting coil pass through the electromagnetic field to receiving coil transmission electric energy.

Optionally, a mounting groove is formed inside the encoding disk, and the mounting groove at least partially accommodates the driving assembly and the rotating frame.

Optionally, the rotating frame has an inner surface around a rotation axis, the driving assembly includes a motor rotor and a motor stator arranged opposite to the motor rotor, and a second circuit board, the motor rotor is fixed to the inner surface, the motor stator is located inside the motor rotor, and the second circuit board is electrically connected to the motor rotor and the motor stator to control the motor stator to electromagnetically drive the motor rotor so as to drive the rotating frame to rotate relative to the encoding disk.

Optionally, the casing subassembly includes base and printing opacity cover, printing opacity cover fixed connection covers the base, printing opacity cover with form the inner chamber between the base, the inner chamber is including being located first portion in the printing opacity cover, and be located second portion in the base, the range finding module is located in the first portion, in order to pass through printing opacity cover receiving and dispatching light signal, first circuit board the swivel mount detection module with drive assembly is located in the second portion.

Optionally, the housing assembly is provided with a first positioning portion and a second positioning portion coaxial with the first positioning portion, the rotating assembly is rotatably connected between the first positioning portion and the second positioning portion, and a plane where an emission light path of the laser emitter and a receiving light path of the single photon detection chip are located is perpendicular to a line direction of the first positioning portion and the second positioning portion.

Optionally, the rotating assembly comprises a rotating frame fixedly connected with the distance measuring module, the distance measuring module is rotatably connected to the first positioning portion, the rotating frame is rotatably connected to the second positioning portion, one side, far away from the distance measuring module, of the rotating frame is provided with a rotating shaft hole and a counter bore coaxial and communicated with the rotating shaft hole, the rotating shaft hole is in running fit with the second positioning portion, and the diameter of the counter bore is larger than that of the rotating shaft hole, so that the inner side wall of the counter bore is isolated from the second positioning portion to form an accommodating space for accommodating the driving assembly.

In order to solve the above technical problem, the embodiment of the present invention further adopts the following technical solutions:

a cleaning robot comprising a lidar as described above.

Compared with the prior art, the technical scheme of the embodiment of the invention at least has the following beneficial effects: the rotating assembly can be driven to rotate through the driving assembly, the ranging module comprises a laser emitter and a single photon detection chip, the laser emitter can emit a detection light signal, the single photon detection chip can receive a reflected light signal reflected by an obstacle, and the laser radar can achieve two-dimensional ranging according to the time flight ranging principle; the detection chip or a plurality of detection chips or focusing lens that adopt great photosensitive area improve laser radar usually and survey the ability of reverberation, but can lead to laser radar's system complexity to increase and the volume increases, and this application adopts small-size single photon to survey the chip, just laser emitter's transmission light path with single photon surveys the receipt light path looks parallel of chip, laser emitter with single photon surveys the center interval of chip and is 7 ~ 15mm, has greatly compressed the space that rotating assembly occupy, and then reduces the radar volume, and wherein small-size single photon surveys the chip photoelectric gain height, obviously improves laser radar's the ability of surveying reflected light signal, need not to increase complicated circuit device and also can guarantee range finding effect.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other modifications can be obtained by those skilled in the art without creative efforts.

Fig. 1 is an exploded schematic view of a laser radar provided in an embodiment of the present application;

fig. 2 is a first schematic longitudinal cross-sectional view of a laser radar provided in an embodiment of the present application;

FIG. 3 is a schematic cross-sectional view of a lidar provided in an embodiment of the present disclosure;

FIG. 4 is a schematic longitudinal cross-sectional view of another embodiment of a lidar;

fig. 5 is a schematic longitudinal cross-sectional view of a laser radar according to an embodiment of the present disclosure;

FIG. 6 is an exploded view of the spin stand, receiver coil and first magnetically permeable sheet provided in FIG. 1;

FIG. 7 is an exploded schematic view of the rotation assembly and drive assembly provided in FIG. 1;

FIG. 8 is a first schematic structural diagram of a cleaning robot provided in an embodiment of the present application;

fig. 9 is a schematic structural diagram of a second cleaning robot according to the embodiment of the present application.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1, 2 and 3, an embodiment of the present application provides a laser radar 100, where the laser radar 100 includes a housing assembly 10, a driving assembly 20 fixedly connected to the housing assembly 10, and a rotating assembly 30 rotatably connected to the housing assembly 10, the driving assembly 20 may drive the rotating assembly 30 to rotate, the rotating assembly 30 includes a distance measuring module 23, the distance measuring module 23 includes a laser emitter 28 and a single photon detection chip 29, an emission light path of the laser emitter 28 and a receiving light path of the single photon detection chip 29 are perpendicular to a rotation axis direction of the rotating assembly 30, the emission light path of the laser emitter 28 is parallel to the receiving light path of the single photon detection chip 29, and a center distance between the laser emitter 28 and the single photon detection chip 29 is 7-15 mm.

It can be understood that the plane of the emission light path of the laser emitter 28 and the receiving light path of the single photon detection chip 29 is perpendicular to the direction of the rotation axis of the rotating component 30, or the plane of the emission light path of the laser emitter 28 and the receiving light path of the single photon detection chip 29 is disposed at an angle with the direction of the rotation axis of the rotating component 30.

Compared with the prior art, the technical scheme of the embodiment of the invention at least has the following beneficial effects: the rotating assembly 30 can be driven to rotate by the driving assembly 20, wherein the ranging module 23 includes a laser emitter 28 and a single photon detection chip 29, the laser emitter 28 can emit a detection light signal, the single photon detection chip 29 can receive a reflected light signal reflected by an obstacle, and the laser radar 100 can implement two-dimensional ranging according to the time-of-flight ranging principle; the detection chip or the detection chips or the focusing lenses with large light sensing area are usually adopted to improve the capacity of the laser radar 100 for detecting the reflected light, but the system complexity and the volume of the laser radar 100 are increased, the small-sized single photon detection chip 29 is adopted in the method, the transmitting light path of the laser emitter 28 is parallel to the receiving light path of the single photon detection chip 29, the center distance between the laser emitter 28 and the single photon detection chip 29 is 7-15 mm, the space occupied by the rotating component 30 is greatly reduced, the radar volume is further reduced, the photoelectric gain of the small-sized single photon detection chip 29 is high, the capacity of the laser radar 100 for detecting the reflected light signal is obviously improved, and the distance measurement effect can be ensured without increasing complex circuit devices.

The housing assembly 10 includes a base 12 and a light-transmitting cover 13 covering the base 12. The light transmissive cover 13 may be fixed relative to the base 12 or the light transmissive cover 13 may be rotatable relative to the base 12. Under the condition that the light-transmitting cover 13 is fixed relative to the base 12, the light-transmitting cover 13 can be fixedly connected with the base 12 in a screw connection mode, a glue bonding mode or a threaded connection mode, and the light-transmitting cover 13 can be hermetically connected with the base 12. The probe light beam emitted and the reflected light beam received by the ranging module 23 may pass through the light-transmissive cover 13.

An inner cavity 21 is formed between the base 12 and the light-transmitting cover 13, and the inner cavity 21 can provide an installation space and a movement space for the rotating assembly 30 and the driving assembly 20 of the laser radar 100. The driving assembly 20 is mounted on the base 12 and is in driving connection with the rotating assembly 30.

In this embodiment, the drive assembly 20 includes a motor stator 26 and a motor rotor 22. The motor stator 26 and the motor rotor 22 can form a brushless motor with a compact structure, and the occupied space is small. The motor stator 26 is fixedly mounted on the base 12, and the motor rotor 22 is fixedly mounted on the rotating assembly 30. The central axis of the motor stator 26, the central axis of the motor rotor 22 and the rotation axis of the rotating assembly 30 coincide with each other. The motor stator 26 can drive the motor rotor 22 to rotate relative to the base 12 through electromagnetic force, and further drive the rotating assembly 30 to rotate relative to the base 12.

The motor stator 26 and the motor rotor 22 may be arranged in various ways, for example, the motor stator 26 and the motor rotor 22 are arranged side by side in a direction parallel to the rotation axis of the rotating assembly 30, or the motor stator 26 is disposed around the motor rotor 22, or the motor rotor 22 is disposed around the motor stator 26.

Referring to fig. 4, in other embodiments, the driving assembly 20 may include a motor 27 and a transmission member 28, the motor 27 is fixed on the base 12, the transmission member 28 is connected between the rotating assembly 30 and a driving shaft of the motor 27, and the transmission member 28 may be a belt or a gear, so that the motor 27 can drive the rotating assembly 30 to rotate via the transmission member 28.

The distance measuring module 23 includes a package seat 231, a control circuit board 232, a first optical lens 233, a second optical lens 234, an optical filter 235 and a light-blocking member 236. The package base 231 is provided with an emission cavity 237 and a receiving cavity 238 which are arranged side by side, and both the emission cavity 237 and the receiving cavity 238 are through hole structures. The control circuit board 232 is fixedly connected to the package base 231 and covers the emission cavity 237 and the receiving cavity 238. The laser emitter 28 is disposed in the emitting cavity 237, and the laser emitter 28 is fixedly connected and electrically connected to the control circuit board 232; the single photon detector is located in the receiving cavity 238 and is fixedly connected and electrically connected to the control circuit board 232. The first optical lens 233 is fixed at the opening end of the emitting cavity 237 far away from the control circuit board 232, and the second optical lens 234 is fixed at the opening end of the receiving cavity 238 far away from the control circuit board 232. The optical filter 235 is disposed in the receiving cavity 238 and located between the single photon detector and the second optical lens 234, and the optical filter 235 functions to filter the interference light with a specific wavelength, so as to eliminate the interference of the ambient light. The light-blocking member 236 separates the emission light path of the laser emitter 28 and the receiving light path of the single photon detection chip 29, so as to prevent the laser emitter 28 from generating return light interference on the single photon detection chip 29.

The laser radar 100 may measure a distance to the measured object based on a time-of-flight ranging principle, that is, the laser emitter 28 and the single photon detection chip 29 are parallel to each other, and the control circuit board 232 may calculate a distance d ═ c ×/2 between the laser radar 100 and the measured object by recording a time difference t between the emission of the detection light beam by the laser emitter 28 and the reception of the reflected light beam by the single photon detection chip 29, where c is an optical speed. The distance measuring module 23 can perform two-dimensional distance measurement to obtain two-dimensional map profile data of the surrounding environment in the process of rotating around the rotation axis of the rotating assembly 30.

Referring to fig. 1 and fig. 2, optionally, the rotating assembly 30 includes a first circuit board 31, a rotating frame 32 and a detecting assembly 33, the first circuit board 31 is fixedly connected to and carries the distance measuring module 23 and is electrically connected to the distance measuring module 23 and the detecting assembly 33, the rotating frame 32 and the detecting assembly 33 are both fixed to a side of the first circuit board 31 away from the distance measuring module 23, the housing assembly 10 includes an encoding disk 11 that can rotate relative to the rotating assembly 30, the encoding disk 11 is located on an outer periphery of the rotating frame 32, so that the encoding disk 11 and the rotating frame 32 at least partially overlap in a direction parallel to a rotation axis of the distance measuring module 23, and the encoding disk 11 cooperates with the detecting assembly 33 to detect a rotation speed of the rotating assembly 30.

The central distance between the laser emitter 28 and the single photon detection chip 29 is 7-15 mm, so that the arrangement space occupied by the ranging module 23 on the first circuit board 31 is reduced, and the area of the first circuit board 31 is reduced. The first circuit board 31 electrically connects the control circuit board 232 and the detection assembly 33.

The rotating frame 32 is rotatably connected to the base 12, and the distance measuring module 23, the first circuit board 31 and the detecting component 33 can rotate with the rotating frame 32 relative to the housing component 10. The rotating frame 32 is annular, the central axis of the rotating frame 32 coincides with the central axis of the code disc 11, and the diameter of the rotating frame 32 is smaller than that of the code disc 11, so that the rotating frame 32 is located in the inner cavity of the code disc 11, the matching structure of the rotating frame 32 and the code disc 11 is compact, and the occupied space is small. Due to the fact that the coding disc 11 and the rotating frame 32 are at least partially overlapped in the direction parallel to the rotation axis of the ranging module 23, the overlapping area of the coding disc 11 and the rotating frame 32 is increased, and the height of the laser radar 100 is reduced.

The encoding disk 11 is provided with a plurality of tooth blocks 111 arranged at intervals on the periphery, and the tooth blocks 111 are distributed annularly. The plurality of tooth blocks 111 includes a plurality of equidistant teeth (not shown) and at least one zero tooth (not shown) for identifying a starting position of the rotating frame 32. The detection assembly 33 includes a photo-emitter (not shown) and a photo-receiver (not shown) disposed opposite the photo-emitter (not shown), a spacing is provided between the photoemitter (not shown) and the photoreceiver (not shown), the photoemitter (not shown) can transmit a detection signal through the pitch toward the photoreceiver (not shown), during the rotation of the detecting assembly 33 with the rotating frame 32 relative to the code wheel 11, the plurality of tooth blocks 111 sequentially pass through the pitch, so that the photo receiver (not shown) generates a periodically varying level signal, when the zero tooth is blocked between the photoemitter (not shown) and the photoelectric receiver (not shown), the photoelectric receiver (not shown) generates a zero identification signal, the rotational speed of the turret 32 may be calculated based on the number of occurrences of the zero position identification signal per unit time.

Referring to fig. 1 and 2, optionally, the edge of the first circuit board 31 extends beyond the edge of the rotating frame 32, so that a gap is formed between the edge of the first circuit board 31 and the edge of the rotating frame 32, and the detecting component 33 is located in the gap.

Wherein the lateral dimension of the first circuit board 31 is larger than the diameter of the rotating frame 32, so that the edge of the first circuit board 31 exceeds the edge of the rotating frame 32. In the present embodiment, the first circuit board 31 has a disc shape, and the diameter of the first circuit board 31 is larger than the diameter of the rotating frame 32. The portion of the first circuit board 31 beyond the rotating frame 32 may provide an additional arrangement space for the detecting assembly 33, and may avoid forming a hole on the rotating frame 32, which is beneficial to reducing the structural complexity and further reducing the cost. Of course, in other embodiments, the shape of the first circuit board 31 is not limited to the above example.

Referring to fig. 1, 5 and 6, optionally, the rotating frame 32 has an outer surface 34 surrounding the rotation axis, the outer surface 34 is adjacent to an inner side surface of the code disc 11, a portion of the outer surface 34 is sunk to form a groove 341, the lidar 100 includes a wireless power supply assembly 40, the wireless power supply assembly 40 includes a receiving coil 41 and a transmitting coil 42, the receiving coil 41 is fixed in the groove 341 and electrically connected to the first circuit board 31, the transmitting coil 42 is fixed at a position of the code disc 11 corresponding to the groove 341, and the transmitting coil 42 transmits electric energy to the receiving coil 41 through an electromagnetic field.

In this embodiment, the groove 341 is an annular groove, and the groove 341 provides an additional installation space for the receiving coil 41, so that the increase of the gap between the rotating frame 32 and the code disc 11 to provide an installation space can be avoided, and the reduction of the transverse dimension of the laser radar 100 is facilitated. The groove 341 has a height dimension in the direction of the rotation axis of the rotating frame 32. The receiving coil 41 is fixed in the groove 341, and the receiving coil 41 is disposed around the rotating frame 32. Similarly, the encoding disc 11 is provided with a groove on the outer circumferential side surface, which may provide an additional installation space for the transmitting coil 42, and may avoid increasing the gap between the rotating frame 32 and the encoding disc 11 to provide an installation space, which is beneficial to reducing the transverse dimension of the laser radar 100. The transmitting coil 42 is fixed in a groove on the outer side of the encoding disk 11, the transmitting coil 42 is arranged around the encoding disk 11, and the transmitting coil 42 and the receiving coil 41 are at least partially overlapped in the direction of the rotation axis of the rotating frame 32.

The lidar 100 further comprises a second circuit board 27. The second circuit board 27 is fixed to the base 12. The second circuit board 27 electrically connects the transmitting coil 42 and the motor stator 26. The second circuit board 27 may control the transmitting coil 42 to generate an electromagnetic field, such that the transmitting coil 42 and the receiving coil 41 generate an inductive coupling, and the receiving coil 41 may convert electromagnetic energy into electric energy and provide the electric energy to the ranging module 23.

The wireless power supply assembly 40 further includes a first magnetism isolating sheet 43 and a second magnetism isolating sheet 44. First magnetism isolating sheet 43 is fixed in receiving coil 41 deviates from transmitting coil 42 one side, second magnetism isolating sheet 44 is fixed in transmitting coil 42 deviates from receiving coil 41 one side, first magnetism isolating sheet 43 with second magnetism isolating sheet 44 blocks electromagnetic signal's leakage jointly, and guides the electromagnetic signal that transmitting coil 42 transmitted aligns receiving coil 41 to guarantee power supply efficiency, can reduce transmitting coil 42 with receiving coil 41's height dimension requires, and then be favorable to reducing laser radar 100's height dimension.

Referring to fig. 1, 5 and 6, optionally, a mounting groove 14 is formed inside the code wheel 11, and the mounting groove 14 at least partially accommodates the driving assembly 20 and the rotating frame 32.

In this embodiment, the mounting groove 14 may provide a receiving space for the driving assembly 20 and the rotating frame 32, so that the laser radar 100 is compact. Wherein, the housing assembly 10 includes a fixing shaft 50 disposed in the mounting groove 14, the fixing shaft 50 may be disposed integrally with the code wheel 11, or the fixing shaft 50 and the code wheel 11 are designed as a separate component. The driving assembly 20 is mounted on the circumferential side of the fixed shaft 50.

Wherein the motor stator 26 is fixed to the peripheral side of the fixed shaft 50. The rotating frame 32 has an inner surface 35 surrounding the axis of rotation, the inner surface 35 being disposed opposite the outer surface 34, the inner surface 35 being disposed about the fixed axis 50. The motor rotor 22 is fixed to the inner surface 35, and the motor rotor 22 is located outside the motor stator 26. It can be seen that the rotating frame 32 is located between the transmitting coil 42 and the motor stator 26, the receiving coil 41 is fixed to the outer surface 34 of the rotating frame 32 close to the transmitting coil 42, the motor rotor 22 is fixed to the inner surface 35 of the rotating frame 32 close to the motor stator 26, and the transmitting coil 42, the receiving coil, the motor rotor 22 and the motor stator 26 at least partially overlap in the direction of the rotation axis of the rotating assembly 30, so that the height dimension of the laser radar 100 can be further reduced. The second circuit board 27 is electrically connected to the motor rotor 22 and the motor stator 26, so as to control the motor stator 26 to electromagnetically drive the motor rotor 22, so as to drive the rotating frame 32 to rotate relative to the encoding disk 11.

The fixed shaft 50 is provided with a through hole at the center, the first circuit board 31 is provided with a first signal transmission component 311 corresponding to the through hole, the second circuit board 27 is provided with a second signal transmission component 271 corresponding to the through hole, the first signal transmission component 311 can transmit wireless signals through the through hole and the second signal transmission component 271, and therefore signal interaction between the first circuit board 31 and the second circuit board 27 is achieved.

Referring to fig. 1, 5 and 6, optionally, the housing assembly 10 includes a base 12 and a light-transmitting cover 13, the light-transmitting cover 13 is fixedly connected to and covers the base 12, an inner cavity 21 is formed between the light-transmitting cover 13 and the base 12, the inner cavity 21 includes a first portion 24 located in the light-transmitting cover 13 and a second portion 25 located in the base 12, the distance measuring module 23 is located in the first portion 24 to transmit and receive light signals through the light-transmitting cover 13, and the first circuit board 31, the rotating frame 32, the detecting assembly 33 and the driving assembly 20 are located in the second portion 25.

In the present embodiment, the light-transmitting cover 13 has a top plate 131, and the base 12 has a bottom plate 132 provided to face the top plate 131. The inner cavity 21 is located between the top plate 131 and the bottom plate 132. The first circuit board 31 is located between the top plate 131 and the bottom plate 132, the distance measuring module 23 is fixed on one side of the first circuit board 31 close to the top plate 131, and the rotating frame 32 is fixed on one side of the first circuit board 31 close to the bottom plate 132. Since the rotating frame 32 is located between the transmitting coil 42 and the motor stator 26, the receiving coil 41 is fixed to the outer surface 34 of the rotating frame 32 near the transmitting coil 42, the motor rotor 22 is secured to the rotating frame 32 adjacent the inner surface 35 of the motor stator 26, the transmitter coil 42, the receiver coil 41, the motor rotor 22 and the motor stator 26 at least partially overlap in the direction of the rotation axis of the rotating assembly 30, which facilitates reducing the distance between the first circuit board 31 and the base plate 132, the first circuit board 31 and the ranging module 23 are brought closer to the base plate 132, the first circuit board 31, the rotating frame 32, the detecting assembly 33 and the driving assembly 20 are located in the second portion 25, so that the height dimension of the light-transmissive cover 13 can be reduced.

Referring to fig. 5 and 7, optionally, the housing assembly 10 is provided with a first positioning portion 16 and a second positioning portion 15 coaxially disposed with the first positioning portion 16, the rotating assembly 30 is rotatably connected between the first positioning portion 16 and the second positioning portion 15, and a plane where an emission light path of the laser emitter 28 and a receiving light path of the single photon detection chip 29 are located is perpendicular to a connection direction of the first positioning portion 16 and the second positioning portion 15.

In the present embodiment, the first positioning portion 16 is formed by a first fixed shaft provided on the light-transmitting cover 13. The distance measuring module 23 may be provided with a bearing hole corresponding to the position of the first positioning portion 16, the bearing hole is used for installing a bearing, and the first positioning portion 16 may be rotatably connected to the distance measuring module 23 through the bearing. The second positioning portion 15 is formed by a second fixing shaft provided on the base 12. The second positioning portion 15 may be rotatably coupled to the rotating frame 32 by a bearing. The first positioning portion 16 and the second positioning portion 15 can jointly position the rotating assembly 30, and ensure that the rotating assembly 30 rotates smoothly. The plane of the emission light path of the laser emitter 28 and the plane of the receiving light path of the single photon detection chip 29 are perpendicular to the direction of the connection line of the first positioning part 16 and the second positioning part 15, so that the scanning plane of the distance measurement module 23 in the rotation process is always kept perpendicular to the direction of the rotation axis, the scanning plane of the distance measurement module 23 in the rotation process is kept horizontal, and the construction accuracy is improved.

Referring to fig. 5 and 7, optionally, the rotating assembly 30 includes a rotating frame 32 fixedly connected to the distance measuring module 23, the distance measuring module 23 is rotatably connected to the first positioning portion 16, the rotating frame 32 is rotatably connected to the second positioning portion 15, a rotating shaft hole 36 and a counter bore 37 coaxial with and communicated with the rotating shaft hole 36 are disposed on one side of the rotating frame 32 away from the distance measuring module 23, the rotating shaft hole 36 is rotatably matched with the second positioning portion 15, and a diameter of the counter bore 37 is greater than a diameter of the rotating shaft hole 36, so that an inner side wall of the counter bore 37 is spaced from the second positioning portion 15, and a receiving space for receiving the driving assembly 20 is formed.

In this embodiment, a rotating shaft hole 36 and a counter bore 37 coaxial and communicated with the rotating shaft hole 36 are arranged on one side of the rotating frame 32, which is far away from the ranging module 23, so that the diameter of the counter bore 37 is larger than that of the rotating shaft hole 36, and the rotating shaft hole 36 and the counter bore 37 form a stepped hole structure, which can provide a suitable installation space for the bearing and the driving assembly 20, thereby facilitating improvement of the structural compactness of the laser radar 100 and reduction of the volume of the laser radar 100.

A bearing can be installed in the rotating shaft hole 36, and the rotating frame 32 is rotatably connected with the second positioning portion 15 through the bearing. The driving assembly 20 has a larger volume than that of the bearing, the counterbore 37 can provide a larger space, the driving assembly 20 comprises a motor stator 26 and a motor rotor 22, and the motor stator 26 is fixedly connected with the second positioning part 15 and is at least partially accommodated in the counterbore 37; the motor rotor 22 is fixedly connected to the rotating frame 32 and at least partially accommodated in the counter bore 37.

Referring to fig. 8 and 9, the present invention also discloses a cleaning robot 200 including the laser radar 100 as described above. The cleaning robot 200 may be any one of a sweeping robot, a mopping robot, a dust collecting robot, or the like, and is not limited herein.

The cleaning robot 200 includes a body, which may include a chassis 110 and an upper cover 120, the upper cover 120 being detachably mounted on the chassis 110 to protect various functional components inside the cleaning robot 200 from being damaged by violent impacts or unintentionally dripped liquid during use; the chassis 110 and/or the upper cover 120 are used to carry and support various functional components. In an alternative embodiment, the body of the cleaning robot 200 may also have other design configurations, for example, the body is an integrally molded structure, and a structure disposed separately from the left and right, and the material, shape, structure, etc. of the body are not limited in the embodiment of the present invention.

Laser radar 100 may be installed on chassis 110, laser radar 100 may be hidden between chassis 110 and upper cover 120, and upper cover 120 is provided with a light-transmitting window corresponding to laser radar 100, laser radar 100 may emit ranging laser towards the light-transmitting window, or laser radar 100 may also protrude from upper cover 120 to directly emit ranging laser to the external environment.

The cleaning robot 200 includes a drive system coupled to the body and configured to drive the cleaning robot 200 to move across the floor surface, for example, the cleaning robot 200 may be designed to autonomously plan a path across the floor surface and may also be designed to move across the floor surface in response to remote control commands. In the embodiment of the present invention, the driving system includes two wheels 210, at least one universal wheel 220, and a motor for driving the wheels 210 to rotate, the wheels 210 and the universal wheel 220 at least partially protrude out of the bottom of the chassis 110, for example, the two wheels 210 may be partially hidden in the chassis 110 under the self-weight of the cleaning robot 200. In an alternative embodiment, the drive system may further include any one of a track triangle wheel, a Mecanum wheel, or the like.

The cleaning robot 200 may further include a cleaning system, for example, the cleaning system includes one or two of a middle brush and a middle glue brush, the middle brush and the middle glue brush are suitable to be disposed in a receiving groove formed at the bottom of the chassis 110, and a dust suction opening is formed in the receiving groove and is communicated with the dust collecting box and the dust suction fan, so that when the middle brush rotates, the dust and garbage on the ground are stirred up, and the dust and garbage are sucked into the dust collecting box from the dust suction opening by using a suction force generated by the dust suction fan. In addition to providing the middle sweeping brush and/or the middle sweeping glue brush, the cleaning robot 200 may further include a side sweeping, wherein a sweeping coverage area of the side sweeping extends out of an outer contour range of the body, which is beneficial to effectively sweeping the wall side, the corner and the obstacle edge.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example" or "some examples" or the like are intended to 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 invention. In this specification, the schematic representations of the terms used above 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-described embodiments do not limit the scope of the present invention. Any modification, equivalent replacement, and improvement made within the spirit and principle of the above-described embodiments should be included in the protection scope of the technical solution.

Claims

1. The laser radar is characterized by comprising a shell assembly, a driving assembly fixedly connected with the shell assembly and a rotating assembly rotatably connected with the shell assembly, wherein the driving assembly can drive the rotating assembly to rotate, the rotating assembly comprises a ranging module, the ranging module comprises a laser emitter and a single photon detection chip, a transmitting light path of the laser emitter and a receiving light path of the single photon detection chip are perpendicular to the direction of the rotating axis of the rotating assembly, the transmitting light path of the laser emitter is parallel to the receiving light path of the single photon detection chip, and the center distance between the laser emitter and the single photon detection chip is 7-15 mm.

2. The lidar of claim 1, wherein the rotating assembly comprises a first circuit board, a rotating frame, and a detecting assembly, the first circuit board is fixedly connected to and carries the ranging module and electrically connects the ranging module and the detecting assembly, the rotating frame and the detecting assembly are both fixed to a side of the first circuit board away from the ranging module, the housing assembly comprises an encoding disk rotatable relative to the rotating assembly, the encoding disk is located on an outer periphery of the rotating frame such that the encoding disk and the rotating frame at least partially overlap in a direction parallel to an axis of rotation of the ranging module, and the encoding disk cooperates with the detecting assembly to detect a rotational speed of the rotating assembly.

3. The lidar of claim 2, wherein an edge of the first circuit board extends beyond an edge of the turret such that a space is formed between the edge of the first circuit board and the edge of the turret, the detection assembly being located within the space.

4. The lidar of claim 2, wherein the turret has an outer surface surrounding an axis of rotation, the outer surface being adjacent to an inner side of the code disk, the outer surface being partially recessed to form a recess, the lidar comprising a wireless power supply assembly including a receiving coil and a transmitting coil, the receiving coil being secured within the recess and electrically connected to the first circuit board, the transmitting coil being secured to the code disk at a location corresponding to the recess, the transmitting coil transmitting electrical energy to the receiving coil via an electromagnetic field.

5. The lidar of claim 2, wherein the encoder disk defines a mounting slot therein, the mounting slot at least partially receiving the drive assembly and the swivel mount.

6. The lidar of claim 2, wherein the turret has an inner surface surrounding an axis of rotation, the drive assembly includes a motor rotor and a motor stator disposed opposite the motor rotor, the motor rotor is fixed to the inner surface, the motor stator is disposed inside the motor rotor, and the second circuit board is electrically connected to the motor rotor and the motor stator for controlling the motor stator to electromagnetically drive the motor rotor to rotate the turret relative to the encoder disk.

7. The lidar of claim 2, wherein the housing assembly includes a base and a light transmissive cover fixedly coupled to and covering the base, an interior cavity being defined between the light transmissive cover and the base, the interior cavity including a first portion positioned within the light transmissive cover and a second portion positioned within the base, the ranging module being positioned within the first portion to transmit and receive optical signals through the light transmissive cover, the first circuit board, the rotating frame, the detection assembly, and the drive assembly being positioned within the second portion.

8. The lidar of claim 1, wherein the housing assembly has a first positioning portion and a second positioning portion disposed coaxially with the first positioning portion, the rotating assembly is rotatably connected between the first positioning portion and the second positioning portion, and a plane of a transmitting optical path of the laser transmitter and a receiving optical path of the single photon detection chip is perpendicular to a connecting direction of the first positioning portion and the second positioning portion.

9. The lidar of claim 8, wherein the rotating assembly comprises a rotating frame fixedly connected to the distance measuring module, the distance measuring module is rotatably connected to the first positioning portion, the rotating frame is rotatably connected to the second positioning portion, a rotating shaft hole and a counter bore coaxial with and communicated with the rotating shaft hole are formed in one side of the rotating frame away from the distance measuring module, the rotating shaft hole is rotatably matched with the second positioning portion, and the diameter of the counter bore is larger than that of the rotating shaft hole, so that the inner side wall of the counter bore is separated from the second positioning portion, and a receiving space for receiving the driving assembly is formed.

10. A cleaning robot, characterized in that it comprises a lidar according to any of claims 1 to 9.