CN215375786U - Self-moving robot and self-moving equipment - Google Patents

Abstract

The application provides a self-moving robot and self-moving equipment, wherein, self-moving robot includes: a body; the laser radar device is arranged in the body and comprises a light source, a laser receiving unit and a light guide unit; the light source is fixedly arranged and used for generating emission laser; the laser receiving unit is fixedly arranged and used for receiving reflected laser formed by irradiating the emitted laser on an object; the light guide unit comprises a rotating shaft and at least two reflecting surfaces rotating by taking the rotating shaft as a center, the light guide unit periodically reflects the emitted laser through the at least two reflecting surfaces, so that the circular scanning is carried out on a sector area in front of the body, and the laser receiving unit carries out distance detection according to the reflected laser.

Description

Self-moving robot and self-moving equipment

Technical Field

The application relates to the technical field of robots, in particular to a self-moving robot and self-moving equipment.

Background

Compared with the traditional radar, the laser radar (LDS) becomes an advanced active remote sensing tool by the characteristics of accurate time resolution, accurate spatial resolution, ultra-far detection distance and the like, can achieve accurate distance measurement, speed measurement, tracking, detection and the like by the high-precision measurement function, is commonly used in the civil and military fields, and has wide development prospect.

In the existing self-moving robot, a laser radar can cooperate with a Simultaneous Localization And Mapping (SLAM) technology when applied, so that the self-moving robot can move And gradually draw a map with complete current environment, And can also be used for obstacle avoidance of the self-moving robot. Currently, with the technical development of self-moving robots, higher requirements are put on the performance of laser radars.

SUMMERY OF THE UTILITY MODEL

The application aims to overcome the defects of the prior art and provide a self-moving robot.

In order to achieve the purpose, the following technical scheme is adopted in the application:

a self-moving robot, comprising:

a body;

the laser radar device is arranged in the body and comprises a light source, a laser receiving unit and a light guide unit;

the light source is fixedly arranged and used for generating emission laser;

the laser receiving unit is fixedly arranged and used for receiving reflected laser formed by irradiating the emitted laser on an object;

the light guide unit comprises a rotating shaft and at least two reflecting surfaces which rotate by taking the rotating shaft as a center, the light guide unit periodically reflects the emitted laser through the at least two reflecting surfaces so as to circularly scan the front of the body, and the laser receiving unit performs distance detection according to the reflected laser.

Optionally, an opening is formed on a side wall of the body;

the light guide unit is arranged corresponding to the opening part, so that the emission laser emitted by the light source is emitted to the sector area in front of the body through the opening part under the action of the light guide unit.

Optionally, the light guide unit includes:

a first light reflecting portion provided corresponding to the light source and rotating around the rotation axis;

a second light reflecting portion which is provided corresponding to the laser receiving unit and rotates around the rotation axis;

at least two reflecting surfaces are respectively arranged on the first reflecting part and the second reflecting part, and each reflecting surface is parallel or obliquely arranged corresponding to the rotating shaft.

Optionally, the robot further comprises:

one end of the partition plate is arranged between the light source and the laser receiving unit, and the other end of the partition plate is arranged between the first light reflecting part and the second light reflecting part;

the part of the emitted laser light reflected by the first light reflecting portion is shielded by the partition plate in the process of being emitted to the laser receiving unit.

Optionally, the rotation axis is used as a center, and the inclination angle corresponding to each reflecting surface changes in a stepwise manner or in a staggered manner along the rotation direction of the rotation axis.

Optionally, the at least two reflecting surfaces respectively have irradiation tracks for irradiation of the emitted laser, and the irradiation tracks of the at least two reflecting surfaces are at the same vertical distance from the rotating shaft.

Optionally, the irradiation tracks have the same track length on each of the reflecting surfaces, so as to form a regular polygonal irradiation track.

Optionally, the light source and the laser receiving unit are arranged in parallel or in a stacked manner;

the first light reflecting part and the second light reflecting part synchronously rotate under the driving of the rotating shaft, and the inclination angles of the reflecting surfaces correspondingly arranged on the first light reflecting part and the second light reflecting part are kept consistent.

Optionally, the emitted laser is a laser beam, and includes a laser inner edge and a laser outer edge;

a fixed incident included angle a is formed between the laser inner edge or the laser outer edge and the horizontal base line;

in a case where the laser inner edge is irradiated at a vertex angle of the irradiation locus, the laser outer edge is reflected via a reflection surface of the first light reflection portion and forms first reflected laser light;

when the outer edge of the laser is irradiated at the vertex angle of the irradiation track, the outer edge of the laser is reflected by the reflecting surface of the first light reflecting part to form second reflected laser;

and a laser scanning angle b is formed between the first reflected laser and the second reflected laser.

Optionally, the angle of the incident included angle a is 15 °, and the angle of the laser scanning angle b is greater than or equal to 120 °.

The embodiment of the application also provides self-moving equipment which comprises the laser radar device.

This application is through installing the laser radar device inside the body from mobile robot, has eliminated the projection from the mobile robot top to be favorable to from the cleaning of mobile robot to complicated topography, simultaneously, because only the leaded light unit need rotate and need not the laser radar device initiative and rotate, thereby can save wireless power transmission module or limited rotatory power transmission module, has saved the cost objectively, has increased other functional module's configuration space.

Drawings

FIG. 1 is a side view of a lidar apparatus provided in an embodiment of the present application

FIG. 2 is a diagram of a reflection path of a plurality of reflection surfaces provided in an embodiment of the present application;

fig. 3 is a top view of a first light reflecting portion provided in an embodiment of the present application;

FIG. 4 is a top view of a first light reflecting portion provided in accordance with another embodiment of the present application;

FIG. 5 is a light path diagram of a regular polygon as an illumination track provided by an embodiment of the present application;

FIG. 6 is a diagram of an operating optical path of a lidar apparatus according to an embodiment of the present disclosure;

FIG. 7 is a side view of reflector block provided by embodiments of the present application;

fig. 8 is a schematic diagram illustrating a cutting process of a reflector block according to an embodiment of the present disclosure;

fig. 9 is another schematic diagram of a cutting process of the reflective material block according to an embodiment of the present application;

fig. 10 is a schematic structural diagram of a reflector block provided in an embodiment of the present application after cutting is completed;

fig. 11 is another schematic structural diagram of a reflector block provided in an embodiment of the present application after cutting is completed;

fig. 12 is a top view of a self-moving robot provided in an embodiment of the present application;

fig. 13 is a front view of a self-moving robot according to an embodiment of the present application.

Reference numerals

1-light source, 2-laser receiving unit, 3-light guiding unit, 31-first light reflecting part, 311-reflecting surface, 32-second light reflecting part, 33-rotation axis, 4-partition, 5-emitted laser, 51-incidence point, 52-irradiation locus, 53-laser outer edge, 54-first reflected laser, 55-second reflected laser, 56-laser inner edge, 6-horizontal base line, 7-light reflecting block, 71-light reflecting part main body, 72-light reflecting rim charge, 711-first reflecting inclined plane, 712-first reflecting plane, 8-light reflecting accessory, 81-second reflecting inclined plane, 82-second reflecting plane, 10-body, 11-opening part, 20-laser radar device.

Detailed Description

The following description of specific embodiments of the present application refers to the accompanying drawings.

In this document, "upper", "lower", "front", "rear", "left", "right", and the like are used only to indicate relative positional relationships between relevant portions, and do not limit absolute positions of the relevant portions.

In this document, "first", "second", and the like are used only for distinguishing one from another, and do not indicate the degree and order of importance, the premise that each other exists, and the like.

In this context, "equal", "same", etc. are not strictly mathematical and/or geometric limitations, but also include tolerances as would be understood by a person skilled in the art and allowed for manufacturing or use, etc.

Unless otherwise indicated, numerical ranges herein include not only the entire range within its two endpoints, but also several sub-ranges subsumed therein.

The application provides a laser radar device, as shown in fig. 1 and 2, including light source 1, laser receiving element 2 and leaded light unit 3, light source 1 is fixed to be set up and is used for producing emission laser 5, laser receiving element 2 is fixed to be set up and is used for receiving emission laser 5 shines the reflection laser that forms on the external object, thereby makes the laser radar device can be according to emission laser 5 and reflection laser calculate the distance between laser radar device and the external object, leaded light unit 3 include rotation axis 33 and with rotation axis 33 carries out two at least plane of reflection 311 that rotate as the center, and it is right to carry out the reflection through periodically changing plane of reflection 311 emission laser 5, thereby makes the laser radar device can carry out periodic scanning at specific angular range to external environment.

Meanwhile, as shown in fig. 3, the emitted laser 5 emitted from the light source 1 forms an incident point 51 on the reflecting surface 311, the incident point 51 forms an irradiation track 52 on each of the at least two reflecting surfaces 311 for irradiation by the emitted laser 5 during the rotation of the rotating shaft 33, and the irradiation tracks 52 of the at least two reflecting surfaces 311 have the same vertical distance from the rotating shaft 33, so that the center point of the rotating shaft 33 coincides with the center point of the track formed by the incident point 51, thereby ensuring that the emitted laser 5 can have the same incident state on each of the reflecting surfaces 311 during the rotation of the light guide unit 3.

It should be noted that the emission laser 5 described in the present application is a beam with a certain diameter, and therefore, in practical applications, the emission laser 5 is irradiated on each reflection surface 311 to form a spot, and for convenience of description of the present application, the incident point 51 of the present application is defined as a central point of the spot formed by the emission laser 5.

According to the laser radar device, the light guide unit 3 is used for periodically and circularly reflecting the emitted laser 5 emitted by the light source 1, and the 360-degree rotation form of the light source in the prior art is avoided, so that the whole structure and occupied space of the light source 1 are simplified, and the size of the laser radar device is reduced on the whole. Meanwhile, the irradiation tracks 52 for irradiating the emission laser 5 are formed on the at least two reflecting surfaces 311 of the light guide unit 3, and the vertical distances between the irradiation tracks 52 of the at least two reflecting surfaces 311 and the rotating shaft 33 are equal, so that the position of the incident point 51 is ensured not to generate large deviation due to the rotation of the reflecting surfaces 311, and the laser radar device forms a stable detection light spot in the space, so that the laser radar device can have a stable and effective scanning range, and a high-performance laser radar is realized.

In an embodiment of the present application, as shown in fig. 1, the light guiding unit 3 further includes a first light reflecting portion 31 and a second light reflecting portion 32, the first light reflecting portion 31 corresponds to the light source 1 and rotates with the rotation axis 33 as a center, the second light reflecting portion 32 corresponds to the laser receiving unit 2 and rotates with the rotation axis 33 as a center, and at least two reflecting surfaces 311 are respectively disposed on the first light reflecting portion 31 and the second light reflecting portion 32 and correspond to the rotation axis 33 and are parallel or inclined.

The inclination angle of each reflecting surface 311 may be set according to specific requirements, and the inclination angle refers to an included angle between the reflecting surface 311 and the rotating shaft 33, and the range of the included angle is generally between 0 and 4 °, for example, 0, 1 °, 2 °, 3 °, or 4 °, and the specific angle may be selected according to different application scenarios, which is not specifically limited herein. In the process that the first light reflecting portion 31 rotates around the rotating shaft 33, the emitted laser light 5 is reflected according to the position of the incident point 51 on each reflecting surface 311 and the inclination angle corresponding to each reflecting surface 311, so as to form a reflected laser light corresponding to each reflecting surface 311.

Specifically, as shown in fig. 2, in the case that there are three reflecting surfaces 311 and the included angle of each reflecting surface 311 is 2 °, 3 ° and 4 °, the emission laser 5 forms three beams of reflected laser with different angles according to the principle of light reflection, so as to scan the external environment at different positions during one rotation of the first light reflecting part 31.

In the above embodiment, as shown in fig. 3, the inclination angle of each reflecting surface 311 may be changed in a stepwise manner or in a staggered manner along the rotation direction of the rotating shaft 33 with the rotating shaft 33 as the center, for example, four reflecting surfaces 311 are included, and the inclination angle of each reflecting surface 311 is 0, 1 °, 2 ° and 3 ° along the rotation direction of the rotating shaft 33, so that the inclination angle of each reflecting surface 311 is changed in regular decreasing stepwise manner; or, the inclination angle corresponding to each reflecting surface 311 is 0, 2 °, 1 ° and 3 ° along the rotation direction of the rotating shaft 33, so that the inclination angle corresponding to each reflecting surface 311 changes in a staggered manner, and then the reflection angle of the reflected laser formed by the emission laser 5 changes according to a specific rule, and finally detection spots with different heights are formed on a foreign object, so that scanning and detection with different heights are performed on the external environment in the vertical direction in the process of rotating the light guide unit 3 for one circle.

Meanwhile, it should be noted that, in order to ensure that the scanning range is not narrowed due to reflection shift when the emission laser 5 is reflected on the reflection surface 311 having an inclination angle, it should be ensured that the irradiation tracks 52 are formed on each of the reflection surfaces 311 in the same length, so that irradiation tracks 52 of a regular polygon, such as a square, a regular pentagon, a regular hexagon, or the like, are formed, depending on the number of reflection surfaces 311, and in the case that the inclination angle of each of the reflection surfaces 311 is the same, the irradiation tracks 52 of the regular polygon are located on the same horizontal plane.

In the above embodiment, as shown in fig. 1, the light source 1 and the laser receiving unit 2 are arranged in parallel or stacked, for example, the light source 1 is located above the laser receiving unit 2, or the light source 1 is located below the laser receiving unit 2, or the light source 1 and the laser receiving unit 2 are arranged in parallel. The first light reflecting portion 31 and the second light reflecting portion 32 rotate synchronously under the driving of the rotating shaft 33, and the inclination angles of the reflecting surfaces 311 correspondingly arranged on the first light reflecting portion 31 and the second light reflecting portion 32 are kept consistent, so that in the synchronous rotation process, the angles of the reflecting angles of the first light reflecting portion 31 and the second light reflecting portion 32 corresponding to the emitted laser 5 are kept consistent, and the laser receiving unit 2 can accurately receive the reflected laser.

In a specific embodiment of the present application, as shown in fig. 3, four reflecting surfaces 311 are disposed on the sidewalls of the first light reflecting part 31 and the second light reflecting part 32, taking the first light reflecting part 31 as an example, and the four reflecting surfaces 311 are connected end to end and inclined or vertical at different inclination angles, in the case of being exhaustible, after adjusting the inclination angle and the side length of each reflecting surface 311, the irradiation tracks 52 are formed on each reflecting surface 311 with the same track length and form a square, and the irradiation tracks 52 of each reflecting surface 311 are at the same vertical distance from the rotating shaft 33. In the process of one rotation of the first light reflecting part 31 and the second light reflecting part 32, the four reflecting surfaces 311 respectively reflect the emitted laser 5, and the irradiation tracks 52 formed by the incident points 51 have the same length and are located on the same horizontal plane, so that each reflecting surface 311 has the same scanning range.

In another specific embodiment of the present application, as shown in fig. 4, three reflecting surfaces 311 are disposed on the sidewalls of the first light reflecting part 31 and the second light reflecting part 32, taking the first light reflecting part 31 as an example, the three reflecting surfaces 311 are connected end to end and inclined or vertical at different inclination angles, and in the case of being exhaustive, after adjusting the forming position of each reflecting surface 311 according to a determined inclination angle, the track lengths formed by the irradiation tracks 52 on each reflecting surface 311 are the same, and the perpendicular distance between the irradiation track 52 of each reflecting surface 311 and the rotating shaft 33 is the same. During one rotation of the first light reflecting part 31 and the second light reflecting part 32, the three reflecting surfaces 311 respectively reflect the emitted laser 5, and the track lengths of the irradiation tracks 52 formed by the incident points 51 are the same, so that each reflecting surface 311 has the same scanning range.

This application uses polyhedral structure's reflection of light portion to carry out the rotation reflection for the laser radar device of this application can gather a plurality of effective range internal scan data in rotatory a week, has improved the collection efficiency of data.

In the above embodiment, as shown in fig. 1, the lidar device further includes a partition plate 4 for blocking light, one end of the partition plate 4 is disposed between the light source 1 and the laser receiving unit 2, and the other end is disposed between the first light reflecting portion 31 and the second light reflecting portion 32, a part of the emitted laser 5 reflected by the first light reflecting portion 31 is directly emitted to the laser receiving unit 2 to form stray light interference, whereas a part of the emitted laser 5 reflected by the first light reflecting portion 31 is blocked by the partition plate 4 in the process of being emitted to the laser receiving unit 2, that is, the partition plate 4 divides the emission of the emitted laser 5 and the reception of the emitted laser 5, so as to minimize the influence of the stray light.

In one embodiment of the present application, as shown in fig. 5, in the case that the emission laser 5 is a beam with a specific diameter, the emission laser 5 includes a laser inner edge 56 and a laser outer edge 53, and in the case that the light source 1 is at a fixed position, the laser inner edge 56 or the laser outer edge 53 forms a fixed incident angle a with the horizontal base line 6.

In the above-described embodiment, as shown in fig. 5, in the case where the laser inner edge 56 is irradiated at the apex angle of the irradiation locus 52, the laser inner edge 56 is located at one extreme position of the reflection surface 311, and the laser outer edge 53 is reflected via the reflection surface 311 of the first light reflecting portion 31 and forms the first reflected laser light 54;

in the case where the laser outer edge 53 is irradiated at the vertex angle of the irradiation track 52, the laser outer edge 53 is located at the other limit position of the reflection surface 311, the laser outer edge 53 is reflected by the reflection surface 311 of the first light reflecting portion 31 to form the second reflected laser light 55, and the included angle formed between the first reflected laser light 54 and the second reflected laser light 55 can be regarded as the scanning range of each reflection surface 311, that is, the laser scanning angle b.

Preferably, the diameter of the emitted laser 5 is 10 mm, the incident angle a is 15 °, and the angle of the laser scanning angle b is greater than or equal to 120 °.

Although the detection scanning range is reduced from 360 degrees in the prior art to about 120 degrees, the polyhedral light reflecting mode has higher detection efficiency under the condition of less than 180 degrees of detection requirements.

It should be noted that the angle of the laser scanning angle b is affected by three factors, namely, the side length of the reflecting surface 311, the diameter of the emitted laser 5 as a light beam, and the angle of the incident angle a, wherein the side length of the reflecting surface 311 will affect the length of the irradiation track 52, and thus the angle of the laser scanning angle b; the diameter of the emitted laser light 5 will influence the limit position of the reflection of the emitted laser light 5 impinging on the reflecting surface 311, and thus the angle of the laser scanning angle b; the angle of the incident angle a directly affects the angle between the normal of the reflecting surface 311 and the emitted laser 5, and thus the angle of the laser scanning angle b.

It should be noted that the structure of the second light reflecting portion 32 is the same as that of the first light reflecting portion 31, so that for the structure of the second light reflecting portion 32, reference may be made to the above description about the structure of the first light reflecting portion 31, and details of the application are not repeated here.

As shown in fig. 6, the laser radar device of the present application works in such a manner that the transmission laser 5 emitted from the light source 1 forms a light spot (a solid line portion in fig. 6) in a scanning range after being reflected by the first reflection portion 31, and when the light spot is located in a visual field range (a dotted line portion in fig. 6) of the laser radar device, the transmission laser 5 enters the laser receiving unit 2 after being reflected by a foreign object through the second reflection portion 32, and the laser radar device calculates a distance between the laser radar device and the foreign object based on a time-of-flight ranging method.

The facula that the detection mode among the prior art formed is compared to the facula that this application formed is littleer, consequently can wholly reduce laser radar device's volume provides extra space for other functional modules.

The present application also provides a method for cutting reflector blocks, as shown in fig. 7 to 11, applied to a plurality of reflective surfaces of a reflector block 7, comprising the steps of:

step 101: the incident point 51 of the emitted laser light 5 formed on the reflecting surface and the required inclination angle c of the reflecting surface are determined.

In the above embodiment, the length of the track line formed by the irradiation track 52 on the reflection surface is determined by determining the incident point 51 formed by the emitted laser 5 on the reflection surface, and the inclination angle c is the included angle between the reflection surface after cutting and the vertical plane, and the range of the inclination angle c is generally between 0 ° and 4 °, for example, 0 °, 1 °, 2 °, 3 °, or 4 °, and the specific angle thereof may be selected according to different application scenarios, which is not specifically limited herein.

Step 102: and cutting the end part of the reflecting material block 7 along the inclination angle required by the reflecting surface by taking the position of the incident point 51 as a starting point to obtain a reflecting main body 71.

In the cutting process of the above embodiment, the position of the incident point 51 is used as a starting point, and the cutting is performed along the inclination angle required by the reflection surface to the bottom or the top of the reflection material block 7 according to the irradiation track 52 formed on the reflection surface by the emitted laser 5, so as to obtain a reflection main body 71 and a cut reflection rim charge 72, wherein the size of the reflection rim charge 72 is obtained by measuring and calculating the inclination angle c of each reflection surface and the length of the track line formed on the reflection surface for a limited number of times according to the specific application.

Step 103: the corresponding light reflecting fitting 8 is arranged on the reflecting surface according to the shape of the reflecting surface after cutting, so that the reflecting surface has an inclination angle c, and an irradiation track 52 formed on the reflecting surface by the emitted laser 5 is kept unchanged compared with that before cutting.

In the above embodiment, in the case of cutting the plurality of reflection surfaces of the reflector block 7, it should be ensured that the irradiation tracks 52 formed by the emission laser 5 on each of the reflection surfaces form a regular polygon structure, that is, the length of the track line formed on each of the reflection surfaces is the same, so that the scanning range of each reflection surface is kept stable and consistent and is not changed greatly due to the change of the inclination angle c.

Specifically, the light reflecting portion main body 71 includes a first reflecting slope 711 and a first reflecting plane 712, and the light reflecting fitting 8 includes a second reflecting slope 81 and a second reflecting plane 82;

step 103: configuring a corresponding light-reflecting accessory 8 on the reflecting surface according to the shape of the cut reflecting surface, specifically comprising:

the first reflecting plane 712 and the second reflecting plane 82 are butted and fixedly connected, so that the first reflecting inclined plane 711 and the second reflecting inclined plane 81 are butted end to form a flat reflecting surface.

Optionally, the first reflecting plane 712 and the second reflecting plane 82 are fixedly connected by gluing or snapping.

Optionally, the reflective fitting 8 is not limited to a mirror structure, and any material or structure capable of reflecting light may be used, and the application is not limited herein.

Alternatively, a similar relationship may be formed between the reflective trim 72 cut by the cutting method of the present application and the reflective trim 8. As shown in fig. 11, under the special condition that the irradiation track 52 formed on each of the reflecting surfaces by the emitted laser 5 is located on the median line of the reflecting surface, the cut reflective rim charge 72 can just complete the first reflecting plane 712, and at this time, the reflective rim charge 72 can be directly used as the reflective fitting 8, that is, the reflective rim charge 72 only needs to be rotated clockwise by 180 ° around the acute end point thereof and spliced, so that the inclined plane of the reflective rim charge 72 and the first reflecting inclined plane 711 of the reflective portion main body 71 form a coplanar surface.

This application confirms cutting direction according to transmission laser 5 incident point 51 and inclination on the plane of reflection, then splices through reflection of light accessory 8 and forms the complete plane of reflection that has this inclination to make transmission laser 5 shine the problem that offset or be difficult to shine can not appear when reflecting material piece 7 is last, and then avoids forming the condition that laser scanning angle is less than normal scope after the reflection.

The present application further provides a self-moving robot, as shown in fig. 12 to 13, including a body 10 and a laser radar device 20, the laser radar device 20 is installed in the body 10, wherein the laser radar device 20 includes a light source 1, a laser receiving unit 2 and a light guiding unit 3, the light source 1 is fixedly disposed and used for generating a transmitting laser 5, the laser receiving unit 2 is fixedly disposed and used for receiving a reflected laser formed by the transmitting laser 5 irradiating an object, the light guiding unit 3 includes a rotating shaft 33 and at least two reflecting surfaces 311 rotating around the rotating shaft 33, the light guiding unit 3 periodically reflects the transmitting laser 5 through the at least two reflecting surfaces 311 to cyclically scan the front of the body 10, the laser receiving unit 2 performs distance detection according to the reflected laser, the self-moving robot moves according to the result of the distance detection to complete the cleaning operation.

In the above embodiment, as shown in fig. 13, an opening 11 for allowing the emission laser 5 to pass therethrough is formed in a side wall of the main body 10, and the light guide unit 3 is provided in correspondence with the opening 11, so that the emission laser 5 emitted from the light source 1 is emitted to a fan-shaped region in front of the main body 10 through the opening 11 by the light guide unit 3.

This application is through the light source 1 cooperation rotatable and the leaded light unit 3 of reflection laser of fixed setting, realizes carrying out periodic scanning to the external environment to laser radar needs 360 rotatory problems among the prior art has been replaced, thereby saves the great rotation space that originally needs, has reduced the required space of laser radar device, has improved laser radar device's utilization efficiency.

In one embodiment of the present application, the light guide unit 3 further includes:

a first light reflecting portion 31 provided corresponding to the light source 1 and rotating around the rotation axis 33;

a second light reflecting portion 32, the second light reflecting portion 32 being provided corresponding to the laser receiving unit 2 and rotating around the rotation axis 33;

at least two reflecting surfaces 311 are respectively disposed on the first reflecting portion 31 and the second reflecting portion 32, and each reflecting surface 311 is disposed in parallel or inclined with respect to the rotating shaft 33.

Optionally, the self-moving robot further includes:

a partition plate 4, one end of the partition plate 4 being disposed between the light source 1 and the laser receiving unit 2, and the other end being disposed between the first light reflecting portion 31 and the second light reflecting portion 32;

the part of the emitted laser light 5 reflected by the first light reflecting section 31 is blocked by the partition plate 4 in the process of being emitted to the laser light receiving unit 2.

Optionally, the inclination angle of each reflecting surface 311 changes stepwise or in a staggered manner along the rotating shaft 33 with the rotating shaft 33 as a center.

Optionally, the at least two reflection surfaces 311 have irradiation tracks 52 for irradiation of the emission laser 5, respectively, and the irradiation tracks 52 of the at least two reflection surfaces 311 are at the same vertical distance from the rotation axis 33.

Alternatively, the irradiation tracks 52 may have the same track length on each of the reflecting surfaces 311, so as to form irradiation tracks 52 in a regular polygon shape.

Optionally, the light source 1 and the laser receiving unit 2 are arranged in parallel or in a stacked manner;

the first light reflecting part 31 and the second light reflecting part 32 rotate synchronously under the driving of the rotating shaft 33, and the inclination angles of the reflecting surfaces 311 correspondingly arranged on the first light reflecting part 31 and the second light reflecting part 32 are kept consistent.

Optionally, the emission laser 5 is a laser beam, and includes a laser inner edge 56 and a laser outer edge 53;

the laser inner edge 56 or the laser outer edge 53 forms a fixed incidence angle a with the horizontal base line 6;

in the case where the laser inner edge 56 is irradiated at the vertex angle of the irradiation locus 52, the laser outer edge 53 reflects via the reflection surface 311 of the first light reflecting section 31 and forms first reflected laser light 54;

in the case where the laser outer edge 53 is irradiated at the vertex angle of the irradiation locus 52, the laser outer edge 53 reflects and forms second reflected laser light 55 via the reflection surface 311 of the first light reflecting section 31;

the first reflected laser light 54 and the second reflected laser light 55 form a laser scanning angle b therebetween.

Optionally, the angle of the incident included angle a is 20 °, and the angle of the laser scanning angle b is greater than or equal to 120 °.

This application is through installing laser radar device 20 inside body 10 from mobile robot, has eliminated the projection from the mobile robot top to be favorable to from the cleaning of mobile robot to complicated topography, simultaneously, because only light guide unit 3 need rotate and need not laser radar device 20 initiative and rotate, thereby can save wireless power supply transmission module or limited rotation power supply transmission module, has saved the cost on objectively, has increased the configuration space of other functional modules.

The embodiment of the present application further provides a self-moving device, which includes the laser radar apparatus 20.

The application scene one:

a specific application scenario is described below by taking a self-moving robot as a sweeping robot as an example, and the application scenario is a home location. The robot of sweeping the floor carries out cleaning operation along predetermined removal route in the domestic place, and the laser radar device of the robot of sweeping the floor is in operating condition, the light source of laser radar device passes through the leaded light unit, to sweeping the floor the fan-shaped scanning range inner loop emission scanning light of robot the place ahead at least 120, and under the cooperation of laser receiving unit of laser radar device, accomplish the distance detection of the fan-shaped scanning range inner different positions of at least 120.

Application scenario two:

the following describes a specific application scenario by taking a self-moving robot as a window-cleaning robot, where the application scenario is an outer wall glass of an office building. The window cleaning robot carries out cleaning operation on the surface of glass in the outer wall glass along a preset moving path, a laser radar device of the window cleaning robot is in a working state, a light source of the laser radar device circularly emits scanning light rays to a fan-shaped scanning range of at least 120 degrees in front of the window cleaning robot through a light guide unit, and distance detection of different positions in the fan-shaped scanning range of at least 120 degrees is completed under the cooperation of a laser receiving unit of the laser radar device.

The preferred embodiments and examples of the present application have been described in detail with reference to the accompanying drawings, but the present application is not limited to the embodiments and examples described above, and various changes can be made within the knowledge of those skilled in the art without departing from the concept of the present application.

Claims (11)

1. A self-moving robot, comprising:

a body (10);

a lidar device (20), the lidar device (20) being mounted within the body (10), wherein the lidar device (20) comprises a light source (1), a laser receiving unit (2) and a light guiding unit (3);

the light source (1) is fixedly arranged and used for generating emission laser (5);

the laser receiving unit (2) is fixedly arranged and used for receiving reflected laser formed by irradiating the emitted laser (5) on an object;

the light guide unit (3) comprises a rotating shaft (33) and at least two reflecting surfaces (311) rotating around the rotating shaft (33), the light guide unit (3) periodically reflects the emitted laser (5) through the at least two reflecting surfaces (311) so as to circularly scan the front of the body (10), and the laser receiving unit (2) performs distance detection according to the reflected laser.

2. The self-moving robot according to claim 1, wherein an opening (11) is formed on a side wall of the body (10);

the light guide unit (3) is arranged corresponding to the opening part (11), so that the emission laser (5) emitted by the light source (1) is emitted to the sector area in front of the body (10) through the opening part (11) under the action of the light guide unit (3).

3. The self-moving robot according to claim 1, wherein the light guide unit (3) comprises:

a first light reflecting section (31), the first light reflecting section (31) being provided in correspondence with the light source (1) and rotating around the rotating shaft (33);

a second light reflecting section (32), the second light reflecting section (32) being provided in correspondence with the laser receiving unit (2) and rotating around the rotating shaft (33);

at least two reflecting surfaces (311) are respectively arranged on the first reflecting part (31) and the second reflecting part (32), and each reflecting surface (311) is parallel or inclined corresponding to the rotating shaft (33).

4. The self-moving robot according to claim 3, further comprising:

a partition plate (4), one end of the partition plate (4) is arranged between the light source (1) and the laser receiving unit (2), and the other end of the partition plate is arranged between the first light reflecting part (31) and the second light reflecting part (32);

the part of the emitted laser light (5) reflected by the first light reflecting section (31) is shielded by the partition plate (4) during the emission thereof to the laser light receiving unit (2).

5. The self-propelled robot as recited in claim 3, wherein the inclination angle of each reflecting surface (311) changes stepwise or in a staggered manner in the rotational direction of the rotating shaft (33) with respect to the rotating shaft (33).

6. The self-moving robot according to claim 1, wherein the at least two reflecting surfaces (311) respectively have irradiation trajectories (52) to which the emitted laser light (5) is irradiated, and the irradiation trajectories (52) of the at least two reflecting surfaces (311) are equally distant from the rotation axis (33) in a perpendicular direction.

7. A self-moving robot according to claim 6, characterized in that the irradiation tracks (52) are formed with the same track length on each of the reflecting surfaces (311), thereby forming irradiation tracks (52) of a regular polygon.

8. A self-moving robot according to claim 3, characterized in that said light source (1) and said laser receiving unit (2) are arranged side by side or stacked;

the first light reflecting part (31) and the second light reflecting part (32) rotate synchronously under the driving of the rotating shaft (33), and the inclination angles of the reflecting surfaces (311) correspondingly arranged on the first light reflecting part (31) and the second light reflecting part (32) are kept consistent.

9. The self-moving robot according to claim 6, further comprising a first light reflecting portion (31), the emission laser (5) being a laser beam including a laser inner edge (56) and a laser outer edge (53);

the laser inner edge (56) or the laser outer edge (53) forms a fixed incidence angle a with the horizontal base line (6);

the laser outer edge (53) reflects via a reflection surface (311) of the first light reflection section (31) and forms a first reflected laser light (54) in a case where the laser inner edge (56) is irradiated at a vertex angle of the irradiation locus (52);

in the case where the laser outer edge (53) is irradiated at a vertex angle of the irradiation locus (52), the laser outer edge (53) reflects via a reflection surface (311) of the first light reflection section (31) and forms second reflected laser light (55);

the first reflected laser light (54) and the second reflected laser light (55) form a laser scanning angle b therebetween.

10. The self-moving robot according to claim 9, wherein the angle of the incident angle a is 15 °, and the angle of the laser scanning angle b is 120 ° or more.

11. An autonomous mobile device, comprising: lidar device (20) according to any of claims 1 to 10.

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