CN217932086U

CN217932086U - Laser radar sensor and autonomous mobile device

Info

Publication number: CN217932086U
Application number: CN202221777082.7U
Authority: CN
Inventors: 孙晓林
Original assignee: Qfeeltech Beijing Co Ltd
Current assignee: Qfeeltech Beijing Co Ltd
Priority date: 2022-07-11
Filing date: 2022-07-11
Publication date: 2022-11-29
Anticipated expiration: 2032-07-11

Abstract

The present disclosure provides a laser radar sensor and an autonomous mobile device. The angles of at least two mirror surfaces of the scanning mirror of the lidar sensor with respect to the axis of rotation thereof are different, so that the directions of extension of the scanning lines of the same laser light generated by the mirror surfaces of the scanning mirror in the vertical field of view of the lidar sensor are different. In this way, the lidar sensor of the present disclosure may achieve more scan lines in the vertical field of view with the same amount of laser light, thereby facilitating a sufficient number of laser scan lines with a relatively simple structure and at a lower cost. The autonomous mobile equipment can smoothly realize a navigation function and an anti-collision function by using enough laser scanning lines generated by the laser radar sensor.

Description

Laser radar sensor and autonomous mobile device

Technical Field

The present disclosure relates to a specific structure of an autonomous mobile device, and particularly to a laser radar sensor and an autonomous mobile device.

Background

Currently, an autonomous mobile device refers to a smart mobile device that autonomously performs a preset task, and currently, the autonomous mobile device generally includes, but is not limited to, a cleaning robot (e.g., a smart sweeper, a smart floor wiper, a window wiping robot), a companion mobile robot (e.g., a smart electronic pet, a babysitter robot), a service mobile robot (e.g., a reception robot in a hotel, a meeting place), an industrial patrol intelligent device (e.g., a power patrol robot, a smart forklift, etc.), and a security robot (e.g., a home or commercial smart guard robot).

Among these autonomous mobile devices, there are autonomous mobile devices including a lidar sensor for sensing surrounding environment parameters (including distance parameters between the autonomous mobile device and an obstacle, etc.) and transmitting the surrounding environment parameters to a control component of the autonomous mobile device, thereby enabling autonomous navigation of the autonomous mobile device and avoiding collision with the obstacle. In such an autonomous mobile apparatus, in order for the autonomous mobile apparatus to smoothly implement a navigation function and a collision avoidance function, it is necessary for the laser radar sensor to have a sufficient number of laser scanning lines to implement such a functional requirement. However, the existing laser radar sensor has a complex structure and high cost for realizing enough laser scanning lines.

SUMMERY OF THE UTILITY MODEL

Based on the above-mentioned problems of the prior art, it is an object of the present disclosure to provide a novel lidar sensor that can realize a sufficient number of laser scanning lines with a relatively simple structure and at a low cost. Another object of the present disclosure is to provide an autonomous moving apparatus including the above-mentioned lidar sensor, with which the autonomous moving apparatus can smoothly implement a navigation function and a collision avoidance function.

In order to achieve the above object, the present disclosure adopts the following technical solutions.

The present disclosure provides a lidar sensor as follows, the lidar sensor includes:

an emitting section for emitting laser light;

a scanning turn mirror including a reflective portion, the reflective portion including at least three mirror surfaces arranged about a rotation axis of the scanning turn mirror, among the at least three mirror surfaces, a first mirror surface forming a first included angle with the rotation axis and a second mirror surface forming a second included angle with the rotation axis, the first included angle and the second included angle being different such that a scan line formed after the same laser light is reflected by the first mirror surface and the second mirror surface extends in a different direction in a vertical field of view; and

a receiving component that detects reflected light of the target object received by the scanning turn mirror.

In an alternative, the first mirror face is parallel to the axis of rotation.

In another alternative, in the at least three reflecting mirror surfaces, a third included angle is formed between a third reflecting mirror surface and the rotation axis, and the third included angle is different from both the first included angle and the second included angle.

In another optional scheme, the scanning rotating mirror further comprises a receiving part, the receiving part comprises receiving mirror surfaces, each receiving mirror surface and the corresponding reflecting mirror surface are arranged in a group and are parallel to each other, the receiving mirror surfaces are used for receiving the reflected light of the target object,

a light blocking member is disposed between the reflection portion and the receiving portion in an extending direction of the rotation axis such that the reflection portion and the receiving portion are separated by the light blocking member.

In a further alternative, the light barrier element is a baffle, which extends along a plane perpendicular to the axis of rotation.

In another alternative, the emitting component includes only one laser, and the laser can emit laser light all the way; or

The emitting component comprises a plurality of lasers, and each laser can emit laser light; or alternatively

The emitting component comprises a laser and a light splitting system, and laser emitted by the laser is split into multiple paths of laser by the light splitting system.

In another alternative, the receiving means comprises the same number of receivers as the number of lasers.

The present disclosure also provides an autonomous mobile device comprising a lidar sensor according to any of the above claims, the lidar sensor being arranged at a lateral edge of the autonomous mobile device.

In an alternative, the laser emitted by the emitting component can always generate a reference scanning line for the autonomous mobile device to navigate on the travel surface during the autonomous mobile device travels on the travel surface.

In another alternative, during one rotation of the scanning rotating mirror, the same laser realizes at least three different scanning lines through different reflecting mirror surfaces of the scanning rotating mirror.

In another alternative, for the same laser, the reference scan line is parallel to the traveling surface, and the other scan lines extend obliquely toward the traveling surface with respect to the reference scan line.

By adopting the above technical scheme, this disclosure provides a novel lidar sensor, and the angle that at least two reflection mirror faces of the scanning rotating mirror of the lidar sensor make with its axis of rotation is different, and therefore the extending direction of the scanning line that the same laser produced through these mirror faces of the scanning rotating mirror in the vertical field of view of the lidar sensor is different. In this way, the lidar sensor of the present disclosure may achieve more scan lines in the vertical field of view with the same amount of laser light, thereby facilitating a sufficient number of laser scan lines with a relatively simple structure and at a lower cost. The present disclosure also provides an autonomous moving apparatus including the above laser radar sensor, which utilizes sufficient laser scanning lines generated by the laser radar sensor to enable the autonomous moving apparatus to smoothly implement a navigation function and an anti-collision function.

In addition, in an alternative scheme, the scanning rotating mirror not only comprises a reflecting mirror surface, but also comprises a receiving mirror surface, the receiving mirror surface is used for receiving the reflected light of the target object, and each receiving mirror surface and the corresponding reflecting mirror surface are arranged in a group and are parallel to each other. For each set of the receiving mirror surface and the reflecting mirror surface, the light blocking element is located between the receiving mirror surface and the reflecting mirror surface in the direction of extension of the axis of rotation of the scanning turn mirror, so that the receiving mirror surface and the reflecting mirror surface are separated by the light blocking element. That is, the light blocking member separates the reflecting portion and the receiving portion of the scanning turn mirror. Thus, constructing the reflecting mirror surface and the receiving mirror surface on the same scanning turn mirror, which are separated by the light blocking member, can reduce interference occurring between the processes of reflecting the emitted light by the reflecting mirror surface and receiving the reflected light by the receiving mirror surface. Furthermore, interference of the emitted light to the reflected light is reduced, and judgment errors of the obstacles caused by the fact that the detector receives wrong signals are avoided, so that the measuring accuracy of the laser radar sensor is improved. In a further alternative, the light barrier element takes the form of a light barrier extending along a plane perpendicular to the axis of rotation of the scanning turn mirror, the outer circumference of which can project towards the outside with respect to the mirror surface and the receiver surface, so that the interference of the reflected light by the emitted light is reduced more effectively and the measurement accuracy of the lidar sensor is improved. In addition, this form of lidar sensor may be provided at a side edge (preferably a front side edge) of the main body of an autonomous mobile device, such as an autonomous mobile cleaning device (sweeper). Compared with the design that the traditional laser radar sensor is arranged at the top of the self-moving cleaning equipment, the thickness of the self-moving cleaning equipment is reduced, and the self-moving cleaning equipment is facilitated to pass through a small gap between a low obstacle and a surface to be cleaned.

Drawings

Fig. 1A is a schematic diagram showing a partial structure of a lidar sensor according to a first embodiment of the present disclosure.

FIG. 1B is a perspective view illustrating a scanning mirror of the lidar sensor of FIG. 1A.

Fig. 1C to 1F are schematic diagrams for explaining a process in which one mirror surface scans laser light during rotation of the scanning turn mirror.

Fig. 2A is a schematic diagram showing a partial structure of a lidar sensor according to a second embodiment of the present disclosure.

Fig. 2B is a perspective view schematically illustrating a scanning mirror of the lidar sensor of fig. 2A.

Fig. 2C is a schematic diagram showing the operation of the lidar sensor of fig. 2A.

Fig. 3A is a schematic diagram illustrating a structure of an autonomous mobile device according to an embodiment of the present disclosure.

Fig. 3B is a schematic diagram illustrating a partial structure of the autonomous mobile apparatus in fig. 3A.

Fig. 3C to 3F are schematic diagrams for explaining different operation scenarios of the autonomous mobile device in fig. 3A.

Fig. 3G is a schematic diagram for explaining an operation scenario of a modification of the autonomous mobile device in fig. 3A.

Description of the reference numerals

LA-lidar sensor; MA-body section; WH-wheel; s-surface to be cleaned (example of a traveling surface); TA-target;

1-an emitting component;

2. 2' -scanning a rotating mirror; 21 — a first mirror surface; 22 — a second mirror surface; 23 — a third mirror surface; 24-bottom surface; 25-top surface; 21' -a light barrier element; o-the axis of rotation;

3-receiving means.

Detailed Description

Embodiments of the present disclosure are described below with reference to the drawings. For ease of understanding, elements shown in the drawings may include elements whose dimensions, scales, and the like are different from actual dimensions, scales, and the like.

In this disclosure, "front (front side)", "rear (rear side)", "left (left side)", "right (right side)", "up (upper side)", "down (lower side)" are all relative to the operating state of the autonomous mobile device according to the present disclosure. Specifically, "front (front side)", "rear (rear side)" refer to the front side and the rear side in the normal advancing direction of the autonomous moving apparatus according to the present disclosure when the autonomous moving apparatus is in an operating state on the surface to be cleaned, "left (left side)", "right (right side)" refer to the left side and the right side as viewed toward the front side in the normal advancing direction, upper (upper side) "," lower (lower side) "refer to the upper side and the lower side in the height direction perpendicular to the surface to be cleaned when the autonomous moving apparatus according to the present disclosure is in an operating state on the surface to be cleaned.

According to the autonomous moving equipment disclosed by the invention, autonomous movement can be carried out according to a preset control scheme, and effective cleaning operation is carried out on a surface to be cleaned in the autonomous moving process. The surface to be cleaned may be a flat surface or a curved surface with a large radius of curvature, typically the floor in each room in a building, for example. In addition, cleaning tasks include, but are not limited to, sweeping, mopping, vacuuming, and the like.

A lidar sensor according to a first embodiment of the present disclosure will be described below with reference to the drawings of the specification.

(lidar sensor according to the first embodiment of the present disclosure)

As shown in fig. 1A, a laser radar sensor LA according to a first embodiment of the present disclosure includes a transmission part 1, a scanning turn mirror 2, and a reception part (not shown in the figure).

In the present embodiment, as shown in fig. 1A, the emitting section 1 includes a laser for emitting collimated laser light. Specifically, the emitting component 1 may include only one laser, which is capable of emitting one path of laser light; or the emitting component 1 may also include a plurality of lasers configured side by side, each laser being capable of emitting a path of laser light; or the emitting component 1 may also include only one laser and a light splitting system, and the light splitting system splits one path of laser emitted by the laser into multiple paths of laser. Thus, the transmitting section 1 of the lidar sensor LA according to the first embodiment of the present disclosure may have a suitable configuration selected as needed. Whether the transmitting part 1 comprises a plurality of lasers or performs a light splitting process on a path of laser light through a light splitting system, it is advantageous to construct the lidar sensor LA with a sufficient number of scan lines to achieve a higher angular resolution in the vertical field of view.

In the present embodiment, as shown in fig. 1A to 1C, the scanning turn mirror 2 is used to scan the laser light emitted by the emission part 1. The scanning turn mirror 2 is rotatable about its axis of rotation O and is formed as a pentahedron. The scanning turn mirror comprises three

mirror surfaces

21, 22, 23 arranged around its axis of rotation O, which axis of rotation O passes through the top surface 24 and the bottom surface 25, the three

mirror surfaces

21, 22, 23 constituting the reflecting part of the scanning turn mirror 2, and the top surface 24 and the bottom surface 25, the axis of rotation O forming different angles with the three

mirror surfaces

21, 22, 23. During the rotation of the scanning mirror 2 about the axis of rotation O, the same laser light via one of the mirror surfaces 21, 22, 23 can generate a scanning line in the vertical field of view of the lidar sensor LA which is located at the same position and which, with the rotation of the scanning mirror 2, can be scanned in the horizontal field of view of the lidar sensor LA. Referring to fig. 1D to fig. 1E, the scanning position of the scanning line generated by the first mirror surface 21 of the scanning turn mirror 2 is changed in the horizontal field of view by one laser. In these figures, the shape and position of the target TA are not changed, and the scanning line can be driven to scan different positions of the target TA in the horizontal field of view by the rotation of the scanning rotating mirror 2. It can be understood that, during the rotation of the scanning rotating mirror, one scanning line obtained by one path of laser through the same reflecting mirror surface can obtain a so-called scanning light curtain in the horizontal field of view (see fig. 1C to 1F), so that different scanning light curtains can be obtained through different reflecting mirror surfaces.

Further, as shown in fig. 1B, among the three reflecting mirror surfaces 21, 22, 23, the first reflecting mirror surface 21 forms a first included angle with the rotation axis O, the second reflecting mirror surface 22 forms a second included angle with the rotation axis O, and the third reflecting mirror surface 23 forms a third included angle with the rotation axis O, wherein the first reflecting mirror surface 21 may be parallel to the rotation axis (that is, the first included angle is 0 degree). The first angle, the second angle, and the third angle are different from each other, so that the extending directions of the scanning lines formed after the same laser light emitted by the emitting part 1 is reflected by the first reflecting mirror surface 21 and the second reflecting mirror surface 22 in the vertical field of view are different (see fig. 3B to 3F).

In this embodiment, the scanning mirror 2 is also used to receive the reflected light of the target TA. Further, the receiving means detects the reflected light of the target TA received by the scanning turn mirror 2 (the reflected light is diffuse reflected light reflected by the target TA after the laser light emitted by the laser radar sensor is incident on the target TA). The receiving means may comprise the same number of receivers as the number of lasers. The corresponding laser light is detected and received by the corresponding receiver, so that the interference of the reflected light of the detection and reception can be reduced. It will be appreciated that the receiving means may comprise detectors in a one-to-one correspondence with the lasers of the transmitting means 1, each detector being arranged on the optical path of the corresponding reflected light. Since the mirror surfaces 21, 22, 23 also function as receiving mirror surfaces that receive the reflected light in the present embodiment, the three

mirror surfaces

21, 22, 23 of the scanning turn mirror 2 also function as receiving portions of the scanning turn mirror.

By adopting the above-described arrangement, the angles between the three

mirror surfaces

21, 22, 23 of the scanning turning mirror and the rotation axis O are different, so that the same laser light reflected by these mirror surfaces 21, 22, 23 forms three different scanning lines in the vertical field of view, whereby the lidar sensor LA can form a sufficient number of scanning lines with fewer lasers and with a relatively simple configuration, which is advantageous for improving the angular resolution (i.e., vertical angular resolution) of the lidar sensor LA in the vertical field of view.

A lidar sensor according to a second embodiment of the present disclosure will be described below with reference to the drawings.

(lidar sensor according to a second embodiment of the present disclosure)

The structure of the lidar sensor according to the second embodiment of the present disclosure is substantially the same as that of the lidar sensor according to the first embodiment of the present disclosure, and the difference therebetween is mainly described below.

In the present embodiment, as shown in fig. 2A to 2C, the laser radar sensor LA according to the second embodiment of the present disclosure includes a scanning turn mirror 2', which includes a reflecting mirror surface for scanning the laser light emitted by the reflective emission part 1 and a receiving mirror surface for receiving the reflected light of the target TA, spaced apart from each other. Each receiver mirror surface is arranged in groups with and parallel to the corresponding reflector mirror surface. For each set of receiver mirror surfaces and reflector mirror surfaces, a light blocking element 21 'is arranged between the receiver mirror surfaces and the reflector mirror surfaces in the extension direction of the axis of rotation O, whereby the receiver mirror surfaces and the reflector mirror surfaces are separated by the light blocking element 21'. Since in the present embodiment the mirror surface is separated from the receiving mirror surface by a light blocking element on the scanning mirror 2'. Moreover, the laser of the transmitting component 1 and the detector of the receiving component 3 can be arranged side by side in pairs, and in practice, the laser and the detector are arranged at positions and in relative relation with other components as long as the laser of the laser can be reflected to a predetermined area by the reflecting mirror surface of the scanning rotating mirror 2 'and the detector can detect the reflected light of the receiving mirror surface of the scanning rotating mirror 2'. In addition, as shown in fig. 2A and 2B, in the present embodiment, the light blocking member 21 'takes the form of a light blocking plate extending along a plane perpendicular to the rotational axis of the scanning turn mirror 2'. The outer periphery of the light barrier can protrude towards the outside by a certain size relative to the reflecting mirror surface and the receiving mirror surface, so that the interference of the emitted light to the reflected light is effectively reduced, and the measurement accuracy of the laser radar sensor is improved.

In this way, the lidar sensor LA according to the second embodiment of the present disclosure can exert the same action as that explained in the first embodiment, and moreover, configuring the reflecting mirror surface and the receiving mirror surface separated by the light blocking member 21 'on the same scanning turn mirror 2', the interference between the emitted light and the reflected light can be reduced. Furthermore, by reducing the interference of the reflected light by the emitted light, the judgment error of the obstacle caused by the fact that the detector receives the wrong signal is avoided, which is beneficial to improving the measurement accuracy of the laser radar sensor. Of course, the form of the light blocking member provided in the laser radar sensor LA of the present application is not limited to the above-described light blocking plate, and other forms of light blocking members may be employed.

An autonomous mobile device according to an embodiment of the present disclosure is described below with reference to the accompanying drawings.

(autonomous mobile device according to an embodiment of the present disclosure)

In the present embodiment, as shown in fig. 3A to 3F, an autonomous moving apparatus according to an embodiment of the present disclosure is a self-moving cleaning apparatus including a main body portion MA, a wheel WH, and a lidar sensor LA assembled together. Specifically, the main body portion MA may have a substantially circular disk shape as a whole. When the autonomous moving apparatus according to an embodiment of the present disclosure is in a normal operation state, the bottom surface of the main body portion MA is opposite to the surface to be cleaned S. The main body MA further comprises a control assembly, a drive assembly and a cleaning assembly. The control component can receive the parameters obtained from the lidar sensor LA and other sensing devices and can perform relevant control on the autonomous mobile device through a preset program stored in the control chip. The drive assembly is used to drive the wheels WH under the control of the control assembly such that the autonomous mobile device travels over the surface S to be cleaned. The cleaning assembly may include a dust suction assembly housed in the main body MA, and a cleaning brush or the like provided at the bottom of the main body MA, and is used for cleaning the surface to be cleaned under the control of the control assembly. Further, the wheels WH may include a drive wheel and a universal wheel located at a front side of the drive wheel. The main body MA can be driven to perform linear motion in the normal forward direction by rotating the driving wheels in the same direction at the same speed (for example, simultaneously rotating clockwise or simultaneously rotating counterclockwise); by rotating the wheels at different speeds and/or in different directions (e.g. one wheel rotating clockwise and the other wheel rotating counterclockwise), the body portion MA can be driven in a steering movement in a different direction with respect to the normal direction of travel. Further, the laser radar sensor LA is disposed at a front side portion of the main body portion MA for implementing a navigation function and a collision avoidance function of the autonomous moving apparatus. The lidar sensor LA is arranged at a side edge (preferably a front side edge, which may be a front outer edge or a side front outer edge) of the main body MA of an autonomous mobile device, such as an autonomous mobile cleaning device (sweeper). Like this, compare in the design of traditional laser radar sensor setting at the top from removing cleaning device, reduced the thickness from removing cleaning device, be favorable to from removing cleaning device through short barrier and wait to clean less clearance between the face.

Further, as shown in fig. 3B to 3F, while the autonomous moving apparatus can travel on the surface S to be cleaned, the laser light emitted by the emitting part 1 can always generate a reference scan line for the autonomous moving apparatus to navigate on the surface S to be cleaned and other scan lines for detecting obstacles. Specifically, in this embodiment, taking the laser radar sensor LA according to the first embodiment of the present disclosure as an example, for the same laser, during one rotation of the scanning rotating mirror 2, the same laser realizes three different scanning lines through different reflecting mirror surfaces 21, 22, 23 of the scanning rotating mirror 2. A reference scanning line formed via the first mirror surface 21 of the scanning turn mirror 2 is parallel to the surface S to be cleaned, and the other two scanning lines formed via the second mirror surface 22 and the third mirror surface 23 of the scanning turn mirror 2 extend obliquely with respect to the reference scanning line toward the surface S to be cleaned. The reference scanning line is mainly used for the navigation function of the autonomous mobile device, and other scanning lines are mainly used for detecting obstacles with different shapes and different distances on the traveling route of the autonomous mobile device. In the other scan lines, angles formed between different scan lines and the reference scan line are different, so that obstacles of different heights on the front side of the autonomous moving apparatus can be detected.

In addition, as shown in fig. 3G, in a modification of the above embodiment, for the same laser light, the same laser light also realizes three different scanning lines by different mirror surfaces 21, 22, 23 of the scanning turn mirror 2 during one rotation of the scanning turn mirror 2. Specifically, a reference scanning line formed via the first mirror surface 21 of the scanning turn mirror 2 is parallel to the surface S to be cleaned, a scanning line formed via the second mirror surface 22 of the scanning turn mirror 2 extends obliquely upward with respect to the reference scanning line, and a scanning line formed via the third mirror surface 23 of the scanning turn mirror 2 extends obliquely downward with respect to the reference scanning line. In this modification, the reference scan line is still mainly used for the navigation function of the autonomous moving apparatus, while the scan line extending obliquely upward is mainly used for detecting a parameter related to an obstacle having a high height (for example, the size of a gap between a suspended article and the surface S to be cleaned), and the scan line extending obliquely downward is mainly used for detecting a parameter related to an obstacle having a low height on the travel route of the autonomous moving apparatus (for example, a concave-convex structure on the surface S to be cleaned).

The collimated laser emitted by the emitting component 1 is reflected to a target position through one of the reflecting mirror surfaces of the reflecting part of the scanning rotating mirror 2, the collimated laser forms a light beam with basically unchanged diameter in the transmission process (the light beam forms a light spot at the target position), the light of the light beam after being diffusely reflected by a target object at the target position is reflected to the receiving component through the receiving mirror surface of the receiving part in the scanning rotating mirror 2, and the receiving component receives a light signal to finish the detection of the target position. When the scanning rotating mirror 2 rotates to the next angle, the mirror surface angle of the reflecting part and the receiving part at the current working position is different from the mirror surface angle at the previous working position, so that another light beam with different angles can be reflected, and the target objects with different heights can be detected.

It should be understood that the above embodiments are exemplary only, and are not intended to limit the present disclosure. Various modifications and alterations of the above-described embodiments may be made by those skilled in the art in light of the teachings of this disclosure without departing from the scope thereof. The technical solution of the present disclosure is supplementarily explained as follows.

i. The lidar sensor of the present disclosure may also be applied in other autonomous mobile devices. The autonomous mobile device generally refers to a smart mobile device that autonomously performs a predetermined task, and includes a two-dimensional planar mobile robot having a wheel set or a crawler as a driving unit, such as a cleaning robot (e.g., a smart sweeper, a smart floor cleaner, a window cleaning robot), an accompanying mobile robot (e.g., a smart electronic pet, a babysitter robot), a service mobile robot (e.g., a hotel, a reception robot in a meeting place), an industrial patrol smart device (e.g., a power patrol robot, a smart forklift), a security robot (e.g., a home or commercial smart security robot), and the like, in which the autonomous mobile device described in the above embodiments implements a similar function. Of course, the laser ranging device of the present disclosure may also be applied to other fields, which is not exhaustive.

in the present disclosure, the autonomous mobile device may transmit the driving force (and torque) from the motor to the lidar sensor LA via a transmission mechanism to drive the scanning turn mirror to rotate.

in the present disclosure, the number of mirror surfaces of the laser radar sensor LA is not limited to three described in the above embodiments, but a required number of mirror surfaces may be provided according to actual needs. By adjusting the included angles between the different mirror surfaces and the rotation axis O of the scanning turning mirror, the same laser can obtain scan lines extending in different directions in the vertical field of view of the lidar sensor LA. Even if one laser is provided, a sufficient number of scanning lines can be obtained by using different reflecting mirror surfaces of the scanning turn mirror. Also, with the use of the other scan lines than the reference scan line parallel to the surface S to be cleaned, it is possible to effectively acquire distance information from a short obstacle or even a dent or step in the traveling direction of the autonomous moving apparatus.

Claims

1. A lidar sensor, wherein the lidar sensor comprises:

an emitting section for emitting laser light;

2. The lidar sensor of claim 1, wherein the first mirror surface is parallel to the axis of rotation.

3. The lidar sensor of claim 2, wherein a third included angle formed between a third mirror surface of the at least three mirror surfaces and the axis of rotation is different from both the first included angle and the second included angle.

4. The LiDAR sensor of any of claims 1-3, wherein the scanning mirror further comprises a receiving portion comprising receiving mirror surfaces, each receiving mirror surface being arranged in a group with a corresponding reflecting mirror surface and being parallel to each other, the receiving mirror surfaces being configured to receive reflected light of the target,

in the extending direction of the rotation axis, a light blocking member is disposed between the reflection portion and the receiving portion such that the reflection portion and the receiving portion are separated by the light blocking member.

5. Lidar sensor according to claim 4, wherein the light blocking element is a baffle extending along a plane perpendicular to the axis of rotation.

6. Lidar sensor according to any of claims 1 to 3,

the emitting component comprises only one laser, and the laser can emit laser light all the way; or

The transmitting component comprises a plurality of lasers, and each laser can transmit a path of laser; or

The emitting component comprises a laser and a light splitting system, and laser emitted by the laser is split into multiple paths of laser through the light splitting system.

7. The lidar sensor of claim 6, wherein the receiving component comprises a same number of receivers as the lasers.

8. An autonomous mobile device characterized in that it comprises a lidar sensor according to any of claims 1 to 7, which is arranged at a lateral edge of the autonomous mobile device.

9. The autonomous mobile apparatus of claim 8, wherein the laser emitted by the emitting component is capable of always generating a reference scan line for the autonomous mobile apparatus to navigate on the travel surface during travel of the autonomous mobile apparatus on the travel surface.

10. The autonomous mobile apparatus of claim 9 wherein during one revolution of the scanning mirror, the same laser implements at least three different scan lines through different mirror surfaces of the scanning mirror.

11. The autonomous mobile apparatus of claim 10, wherein for the same laser, the reference scan line is parallel to the travel surface, and the other scan lines extend obliquely toward the travel surface with respect to the reference scan line.