CN220212836U - Cleaning device, light-transmitting cover and self-moving device applied to same - Google Patents

Abstract

The application discloses a cleaning device and printing opacity cover, self-moving device of using thereof. The cleaning device includes: a device body movable on a surface to be cleaned to clean the surface to be cleaned; the laser radar module is arranged on the device main body; the light transmission cover is arranged on the device main body, the light transmission cover is defined with a first direction and a reference plane which are perpendicular to each other, the light transmission cover and the laser radar module are arranged oppositely along the first direction, the light transmission cover is further provided with a light transmission part, the light transmission part comprises a first light transmission part and a second light transmission part, laser output by the laser radar module is emitted to the external environment through the first light transmission part, and laser reflected back through the external environment is incident to the laser radar module through the second light transmission part; the first light-transmitting part is obliquely arranged relative to the reference plane, and the second light-transmitting part is obliquely arranged relative to the reference plane or is parallel to the reference plane. Through the mode, the detection precision of the laser radar module in the cleaning device can be improved.

Description

Cleaning device, light-transmitting cover and self-moving device applied to same

Technical Field

The application relates to the technical field of cleaning equipment, in particular to a cleaning device, a light-transmitting cover and a self-moving device applied to the cleaning device.

Background

The cleaning robot with the cleaning functions of cleaning, sweeping, wiping and the like can replace a user to clean the ground and the like, brings convenience to the user, and is widely applied. The cleaning robot generally realizes the navigation and obstacle avoidance functions based on the laser radar sensor so as to ensure that the cleaning robot normally performs cleaning work.

The cleaning robot is provided with a light-transmitting cover. The laser output by the laser radar sensor is emitted to the external environment through the transparent cover, and the laser reflected back by the external environment is incident to the laser radar sensor through the transparent cover. Because the restriction of printing opacity cover material, unable complete transmission when laser passes through the printing opacity cover, a portion laser can take place the reflection at printing opacity cover surface, and this partial reflection's laser probably passes through the printing opacity cover once more after many times reflection, and the laser signal that the interference sensor detected external environment required easily leads to the detection precision of present laser radar sensor lower.

Disclosure of Invention

The application provides a cleaning device and printing opacity cover, self-moving device of using thereof, can improve the detection precision of laser radar module among the cleaning device.

The application provides a cleaning device. The cleaning device includes: a device body movable on a surface to be cleaned to clean the surface to be cleaned; the laser radar module is arranged on the device main body; the light transmission cover is arranged on the device main body, the light transmission cover is defined with a first direction and a reference plane which are perpendicular to each other, the light transmission cover and the laser radar module are arranged oppositely along the first direction, the light transmission cover is further provided with a light transmission part, the light transmission part comprises a first light transmission part and a second light transmission part, laser output by the laser radar module is emitted to the external environment through the first light transmission part, and laser reflected back through the external environment is incident to the laser radar module through the second light transmission part; the first light-transmitting part is obliquely arranged relative to the reference plane, and the second light-transmitting part is obliquely arranged relative to the reference plane or is parallel to the reference plane.

In an embodiment of the present application, the light-transmitting cover further defines a second direction perpendicular to the first direction, the first light-transmitting portion and the second light-transmitting portion are sequentially distributed along the second direction, and the second light-transmitting portion is obliquely arranged relative to the reference plane; the laser radar module includes: a laser element for outputting laser light or receiving laser light reflected back through an external environment; the included angle between the transparent part and the reference plane is alpha, the length of the shortest laser propagation path between the laser element and the corresponding transparent part is L, the length of the laser element in the second direction is D, and tan2 alpha is more than or equal to D/L.

In an embodiment of the present application, an angle between the light-transmitting portion and the reference plane is 5 ° to 25 °.

In one embodiment of the present application, a lidar module includes: a laser emitter for outputting laser light; a laser receiver for receiving laser light reflected back via an external environment; the laser output by the laser transmitter is reflected to the first light transmission part through the first light reflection part and is emitted to the external environment through the first light transmission part; and the laser reflected by the external environment is incident to the second light reflecting part through the second light transmitting part and is reflected to the laser receiver through the second light reflecting part.

In an embodiment of the present application, the height of the first light reflecting portion is smaller than the height of the first light transmitting portion, and the height of the second light reflecting portion is smaller than the height of the second light transmitting portion.

In an embodiment of the present application, the height of the first light reflecting portion is 5mm to 10mm; the height of the second light reflecting part is 10mm to 20mm; the height of the first light-transmitting part and the height of the second light-transmitting part are 10mm to 20mm.

In an embodiment of the present application, the cleaning device further includes a partition plate disposed between the first light-transmitting portion and the second light-transmitting portion; the distance between the first light-transmitting part and the second light-transmitting part is larger than the thickness of the partition board.

In an embodiment of the present application, a distance between the first light-transmitting portion and the second light-transmitting portion is 2mm to 4mm; the thickness of the separator is 1.5mm to 3mm.

Correspondingly, the application also provides a self-moving device. The self-moving device includes: a device main body movable on a moving surface; the laser radar module is arranged on the device main body; the light transmission cover is arranged on the device main body, the light transmission cover is defined with a first direction and a reference plane which are perpendicular to each other, the light transmission cover and the laser radar module are arranged oppositely along the first direction, the light transmission cover is further provided with a light transmission part, the light transmission part comprises a first light transmission part and a second light transmission part, laser output by the laser radar module is emitted to the external environment through the first light transmission part, and laser reflected back through the external environment is incident to the laser radar module through the second light transmission part; the first light-transmitting part is obliquely arranged relative to the reference plane, and the second light-transmitting part is obliquely arranged relative to the reference plane or is parallel to the reference plane.

Correspondingly, the application also provides a light-transmitting cover applied to the cleaning device. The cleaning device comprises a laser radar module; the light transmission cover is defined with a first direction and a reference plane which are perpendicular to each other, the light transmission cover can be arranged opposite to the laser radar module along the first direction, the light transmission cover is further provided with a light transmission part, the light transmission part comprises a first light transmission part and a second light transmission part, laser output by the laser radar module is emitted to the external environment through the first light transmission part, and laser reflected back through the external environment is incident to the laser radar module through the second light transmission part; the first light-transmitting part is obliquely arranged relative to the reference plane, and the second light-transmitting part is obliquely arranged relative to the reference plane or is parallel to the reference plane.

The beneficial effects of this application are: unlike the prior art, the application provides a cleaning device and a light-transmitting cover and a self-moving device applied to the cleaning device. The cleaning device comprises a laser radar module and a light-transmitting cover. The light transmission cover is also provided with a light transmission part, the light transmission part comprises a first light transmission part and a second light transmission part, laser output by the laser radar module is emitted to the external environment through the first light transmission part, and laser reflected back through the external environment is incident to the laser radar module through the second light transmission part. The first light-transmitting part is obliquely arranged relative to the reference plane, and the second light-transmitting part is obliquely arranged relative to the reference plane or is parallel to the reference plane. Therefore, the laser reflected by the inclined light transmission part deviates from the laser which normally passes through the light transmission part, and even if the reflected laser passes through the light transmission part again after being reflected for many times, the laser which normally passes through the light transmission part cannot be obviously interfered, so that the detection precision of the laser radar module in the cleaning device can be improved.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the description of the embodiments will be briefly introduced below, it being obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic diagram of an embodiment of a lidar module of the present application;

FIG. 2 is a schematic view of an embodiment of a reflector element of the present application;

FIGS. 3a-3b are schematic structural views of a first embodiment of a light-transmitting cover for a cleaning device according to the present application;

FIG. 4 is a schematic view of a second embodiment of a light-transmitting cover of the present application applied to a cleaning device;

fig. 5 is a schematic structural view of a third embodiment of a light-transmitting cover applied to a cleaning device.

Reference numerals illustrate:

10a light reflecting element; 11 a first light reflecting portion; a second light reflecting portion 12; a 30 laser radar module; 311 laser emitters; 313 laser receiver; a 40 light-transmitting cover; 41 a first light-transmitting portion; a second light-transmitting portion 42; 50 separator.

Detailed Description

The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all, of the embodiments of the present application. All other embodiments, based on the embodiments herein, which are within the scope of the protection of the present application, will be within the skill of the art without inventive effort. Furthermore, it should be understood that the detailed description is presented herein for purposes of illustration and explanation only and is not intended to limit the present application. In this application, unless otherwise indicated, terms of orientation such as "upper", "lower", "left" and "right" are generally used to refer to the directions of the drawings in which the device is actually used or in an operating state.

The application provides a cleaning device, a light-transmitting cover and a self-moving device applied to the cleaning device, and the cleaning device and the self-moving device are respectively described in detail below. It should be noted that the following description order of the embodiments is not intended to limit the preferred order of the embodiments of the present application. In the following embodiments, the descriptions of the embodiments are focused on, and for the part that is not described in detail in a certain embodiment, reference may be made to the related descriptions of other embodiments.

The laser radar sensor converts the measured physical quantity into an electric signal, and processes the electric signal to realize the detection function. The laser radar sensor mainly comprises a sensitive unit, a conversion circuit and an auxiliary power supply. Active and passive types can be classified according to the mode of action. The active sensor actively emits a detection signal to the detected object, and the physical quantity is measured by detecting the change of the detection signal.

The active lidar sensor consists of a transmitter and a receiver. When the laser radar sensor is applied to the cleaning robot, the transmitter transmits laser signals, the laser signals are emitted through the transparent cover in front of the robot, the laser is reflected back after striking the detection object, and the reflected laser is received by the receiver after passing through the transparent cover, so that corresponding electric signals are generated.

The traditional translucent cover is arranged vertically. The laser radar sensor emits laser, and the laser passes through a series of reflectors and other structures and then exits through the light-transmitting cover. When the laser strikes the surface of the light-transmitting cover, part of the laser is refracted, and part of the laser is reflected, so that the included angle between the reflected light and the incident light is smaller. The refracted laser directly exits through the light-transmitting cover, the reflected laser is reflected to other internal structures and is subjected to specular reflection or diffuse reflection again, the reflected laser can strike the light-transmitting cover again, and at the moment, part of the laser is refracted and exits. When the echo laser reflected by the external environment reaches the light-transmitting cover, part of the laser is incident to the laser radar sensor after being refracted by the light-transmitting cover; and part of the laser light is reflected by the light-transmitting cover, and the reflected laser light may be received again by the light-transmitting cover after being reflected by an object in the external environment.

Because the restriction of printing opacity cover material, unable complete transmission when laser passes through the printing opacity cover, a portion laser can take place the reflection at printing opacity cover surface, and this partial reflection's laser probably passes through the printing opacity cover once more after many times reflection, and the laser signal that the interference sensor detected external environment required easily leads to the detection precision of present laser radar sensor lower.

In view of this, the embodiments of the present application provide a cleaning device, a light-transmitting cover used therein, and a self-moving device, which can solve the technical problem of low detection precision of a laser radar sensor in the prior art, and are described in detail below.

Referring to fig. 1, fig. 1 is a schematic structural diagram of an embodiment of a lidar module of the present application.

In an embodiment, the cleaning device may be a cleaning robot or the like having cleaning functions of washing, sweeping, wiping, etc. Specifically, the cleaning device includes a device body. The device body, as the name implies, is the main part of the cleaning device, which is movable over the surface to be cleaned to clean the surface to be cleaned. Alternatively, the device body may be provided with a cleaning element such as a roller brush, side brush, rag or the like for moving synchronously with the device body over the surface to be cleaned to clean the area over which the device body passes.

The cleaning device further comprises a laser radar module 30, the laser radar module 30 is arranged on the device body, and the laser radar module 30 is used for achieving the path planning navigation and obstacle avoidance functions of the cleaning device. Specifically, the laser radar module 30 includes a laser element for outputting laser light or receiving laser light reflected back through an external environment, and the laser radar module 30 includes a laser transceiver 31. The laser receiving and transmitting assembly 31 can output laser to the external environment and receive the laser reflected back through the external environment, and the laser receiving and transmitting assembly 31 can interact with the external environment to realize the path planning navigation and obstacle avoidance functions of the cleaning robot. The principle of the laser transceiver component 31 performing laser interaction with the external environment to achieve path planning navigation and obstacle avoidance belongs to the understanding scope of those skilled in the art, and will not be described herein again.

Specifically, the laser radar module 30 includes at least two sets of laser transceiver components 31, and the at least two sets of laser transceiver components 31 are disposed inside the device main body, so as to avoid the laser transceiver components 31 from affecting the overall height of the cleaning device. The laser radar module 30 further includes a reflective element 10a, and the laser light output by the laser transceiver 31 is reflected to the external environment through the reflective element 10a, and the laser light reflected back through the external environment is reflected to the laser transceiver 31 through the reflective element 10 a. The at least two groups of laser transceiver components 31 are sequentially distributed at intervals around the reflecting element 10a, so that the overall structure of the laser radar module 30 is more reasonable and attractive, the risk of shielding the scanning view field of the laser radar module 30 is reduced, and the maximization of the scanning view field is realized.

The reflecting element 10a adopts a rotatable design, and each group of laser transceiver components 31 alternately performs laser interaction with the external environment through the reflecting element 10a along with the rotation action of the reflecting element 10 a. The laser radar module 30 of the embodiment can perform spatial scanning within a certain range through the reflecting element 10a, and can achieve a larger spatial scanning range through point cloud splicing, obtain a larger field angle and reduce a field blind area as much as possible. In addition, the laser radar module 30 of the embodiment has compact structure, simple assembly and low manufacturing cost.

The lidar module 30 of the embodiment of the present application is explained below.

In one embodiment, the laser transceiver assembly 31 includes a laser transmitter 311 and an emission lens 312. The laser transmitter 311 is configured to output laser light, specifically, the laser light output by the laser transmitter 311 exits through the transmitting lens 312 and is further reflected to the external environment through the reflecting element 10 a. Alternatively, the number of the emission lenses 312 is at least one, and the emission lenses 312 are disposed on the light-emitting path of the laser emitter 311 and are used for collimating the laser light output by the laser emitter 311, and the emission lenses 312 may be double-sided coated optical lenses or the like.

In one embodiment, the laser transceiver assembly 31 further includes a laser receiver 313 and a receive lens 314. The laser receiver 313 is configured to receive laser light reflected back through the external environment, specifically, the laser light reflected back through the external environment is reflected to the receiving lens 314 through the reflecting element 10a, and further is incident to the laser receiver 313 through the receiving lens 314. Alternatively, the laser receiver 313 may be a PD (Photon Diode), APD (Avalanche Photon Diode, avalanche photodiode), SPAD (Single Photon Avalanche Diode ), or the like. The number of the receiving lenses 314 is at least one, and the receiving lenses 314 are disposed on the return path of the laser receiver 313, and are used for converging and receiving the laser light reflected back through the external environment, and the receiving lenses 314 may be double-sided coated optical lenses or the like.

Referring to fig. 2, fig. 2 is a schematic structural diagram of an embodiment of a reflective element of the present application.

In one embodiment, the reflective element 10a may be a dielectric film mirror, a metal mirror, a prism, or the like. Of course, the reflecting element 10a may be a grating, a nano-optical device, or the like having a beam deflection function, which is not limited herein. Specifically, the light reflecting element 10a includes a first light reflecting portion 11 and a second light reflecting portion 12. The laser transmitter 311 and the laser receiver 313 are layered along a second direction (as indicated by an arrow Z in fig. 2, the same applies hereinafter) of the laser radar module 30, and the second direction is specifically a height direction of the laser radar module 30, that is, the laser transmitter 311 and the transmitting lens 312 are stacked on one side of the laser receiver 313 and the receiving lens 314 in the second direction. Correspondingly, the first light reflecting portion 11 and the second light reflecting portion 12 are layered along the second direction. The laser light output from the laser transmitter 311 is reflected to the external environment by the first reflecting portion 11, and the laser light reflected back through the external environment is reflected to the receiving lens 314 by the second reflecting portion 12, and is incident to the laser receiver 313 through the receiving lens 314.

In this embodiment, the reflective element 10a can implement laser interaction between the at least two groups of laser transceiver components 31 and the external environment, and the at least two groups of laser transceiver components 31 share the same group of reflective element 10a, so that the structure of the laser radar module 30 can be simplified, further the structural compactness and the integration level of the laser radar module 30 are improved, and the manufacturing cost of the laser radar module 30 can be effectively reduced.

Referring to fig. 3a-3b, fig. 3a-3b are schematic structural views of a first embodiment of a light-transmitting cover applied to a cleaning device in the present application.

In one embodiment, the cleaning device further comprises a light transmissive cover 40. The laser radar module 30 performs laser interaction with the external environment through the light-transmitting cover 40. Specifically, the light-transmitting cover 40 further has a light-transmitting portion, the light-transmitting portion includes a first light-transmitting portion 41 and a second light-transmitting portion 42, the laser light output by the laser radar module 30 is emitted to the external environment through the first light-transmitting portion 41, and the laser light reflected back through the external environment is incident to the laser radar module 30 through the second light-transmitting portion 42.

The transparent cover 40 defines a first direction (as indicated by arrow X in fig. 3a-3b, the same applies below), the first direction is perpendicular to the second direction, and the transparent cover 40 and the lidar module 30 are disposed opposite to each other along the first direction. The translucent cover 40 further defines a reference plane (as indicated by plane beta in fig. 3a-3b, the same applies below) which is perpendicular to the first direction. Wherein the first light-transmitting portion 41 is disposed obliquely with respect to the reference plane, the second light-transmitting portion 42 is disposed obliquely with respect to the reference plane or the second light-transmitting portion 42 is parallel to the reference plane. In this way, the laser reflected by the inclined light-transmitting portion deviates from the laser that normally passes through the light-transmitting portion (the laser that normally passes through the light-transmitting portion is the laser signal required by the laser radar module 30 to detect the external environment), and even if the reflected laser passes through the light-transmitting portion again after being reflected for multiple times, significant interference is not caused to the laser that normally passes through the light-transmitting portion, so that the system signal-to-noise ratio of the laser radar module 30 can be improved, and the detection accuracy of the laser radar module 30 in the cleaning device can be improved.

It should be noted that, as shown in fig. 3a-3b, the end of the first light-transmitting portion 41 away from the second light-transmitting portion 42 may be disposed obliquely toward the laser radar module 30, which is beneficial to reducing the overall volume of the cleaning robot using the light-transmitting cover 40 and improving the appearance of the cleaning robot. Of course, in other embodiments of the present application, the end of the first light-transmitting portion 41 away from the second light-transmitting portion 42 may also be disposed obliquely in a direction away from the lidar module 30. Similarly, the end of the second light-transmitting portion 42 away from the first light-transmitting portion 41 may be disposed obliquely toward the lidar module 30, as shown in fig. 3 a; or is inclined in a direction away from the lidar module 30; or the second light-transmitting portion 42 is parallel to the reference plane, i.e. the second light-transmitting portion 42 is not inclined with respect to the reference plane, as shown in fig. 3 b. The embodiment of the present application is described by taking the inclined arrangement of the first light-transmitting portion 41 and the second light-transmitting portion 42 with respect to the reference plane as an example, which is only needed for discussion, and is not limited thereto.

In one embodiment, the first light-transmitting portions 41 and the second light-transmitting portions 42 are sequentially distributed along the second direction. Specifically, the laser light reflected by the first light reflecting portion 11 of the light reflecting element 10a exits to the external environment through the first light transmitting portion 41, and the laser light reflected by the external environment enters the second light reflecting portion 12 through the second light transmitting portion 42.

Alternatively, a gap is provided between the first light transmitting portion 41 and the second light transmitting portion 42 and may be in the form of a slit, or a gap between the first light transmitting portion 41 and the second light transmitting portion 42 is provided with a baffle, which is not limited herein.

In one embodiment, the included angle between the transparent portion (the first transparent portion 41 is taken as an example in fig. 3 a) and the reference plane is α. Since the two surfaces of the first light-transmitting portion 41 facing and facing away from the laser element (for example, the laser emitter 311 in fig. 3 a) are parallel to each other, the laser light output by the laser emitter 311 is transmitted to the first light-transmitting portion 41 along the first direction, and the included angle between the reflected light and the incident light at the position of the first light-transmitting portion 41 can be deduced by geometric relationship to be 2α. The length of the laser element in the second direction is D, i.e., the length of the laser emitter 311 in the second direction is D. The length of the shortest laser propagation path between the laser element and the corresponding light transmitting portion is L, that is, the length of the shortest laser propagation path between the laser emitter 311 and the first light transmitting portion 41 is L. The shortest laser propagation path refers to a propagation path of laser light whose propagation direction is always perpendicular to the second direction.

The included angle α between the light transmitting portion and the reference plane, the length L of the shortest laser propagation path between the laser element and the corresponding light transmitting portion, and the length D of the laser element in the second direction satisfy the following relationship: tan2 alpha is more than or equal to D/L. That is, the included angle α between the first light-transmitting portion 41 and the reference plane, the length L of the shortest laser propagation path between the laser emitter 311 and the first light-transmitting portion 41, and the length D of the laser emitter 311 in the second direction satisfy the following relationship: tan2 alpha is more than or equal to D/L.

By the above manner, the reflected light at the position of the first light-transmitting portion 41 deviates from the incident light at the position, and meanwhile, the reflected light deviates from the laser transmitter 311, so that the reflected light is prevented from being directly reflected to the laser transmitter 311, and further, the interference of the reflected light at the position of the first light-transmitting portion 41 on the laser signal required by the laser radar module 30 for detecting the external environment can be avoided, and the detection precision of the laser radar module 30 can be further improved.

Alternatively, the angle α between the light transmitting portion and the reference plane may be 5 ° to 25 °, such as 5 °, 10 °, 15 °, 20 °, 25 °, and the like. In this way, the transparent part has a sufficient inclination degree relative to the reference plane, so that the interference of the reflected light on the laser signal required by the laser radar module 30 for detecting the external environment can be greatly reduced, meanwhile, the included angle between the transparent part and the reference plane is not too large, the obvious influence on the light transmittance of the transparent part is avoided, and the detection precision of the laser radar module 30 can be further improved.

It should be noted that, in this embodiment, the relationship between the laser transmitter 311 and the first light transmitting portion 41 is taken as an example for illustration, and it is understood that the relationship between the laser receiver 313 and the second light transmitting portion 42 is also satisfied, and will not be described herein.

In an embodiment, the cleaning device further comprises a partition 50, the partition 50 being disposed between the first light-transmitting portion 41 and the second light-transmitting portion 42. When the laser light reflected to the first light transmitting portion 41 via the first light reflecting portion 11 passes through the first light transmitting portion 41, a part of the laser light is refracted and emitted through the first light transmitting portion 41, a part of the laser light is reflected at the first light transmitting portion 41, and the partition 50 can block the partially reflected laser light, so that the partially reflected laser light is prevented from being incident to the laser receiver 313 to cause interference.

In an embodiment, the height of the first light reflecting portion 11 of the light reflecting element 10a is smaller than the height of the first light transmitting portion 41 of the light transmitting cover 40, so that the laser reflected by the first light reflecting portion 11 can be completely received by the first light transmitting portion 41 and further emitted to the external environment through the first light transmitting portion 41, so that the sensing precision of the laser radar module 30 can be improved, and the laser radar module 30 can reliably realize the path planning navigation and obstacle avoidance functions of the cleaning device.

In addition, the height of the second light reflecting portion 12 is smaller than that of the second light transmitting portion 42, which means that the second light transmitting portion 42 has a higher height, so that the laser reflected back through the external environment can be received as completely as possible, and the laser can be incident to the laser receiver 313 through the second light transmitting portion 42, so that the sensing accuracy of the laser radar module 30 can be improved, and the path planning navigation and obstacle avoidance functions of the cleaning device can be reliably realized by the laser radar module 30.

Alternatively, the height H of the first light reflecting portion 11 ₁ May be 5mm to 10mm, for example 5mm, 6mm, 7mm, 8mm, 9mm, 10mm, etc.; height H of the second light reflecting portion 12 ₂ May be 10mm to 20mm, for example 10mm, 15mm, 20mm, etc.; height h of the first light-transmitting portion 41 ₁ May be 10mm to 20mm, for example 10mm, 15mm, 20mm, etc.; height h of the second light-transmitting portion 42 ₂ May be 10mm to 20mm, for example 10mm, 15mm, 20mm, etc.

In an embodiment, the interval between the first light-transmitting portion 41 and the second light-transmitting portion 42 is larger than the thickness of the partition 50, so that the partition 50 can be easily fitted to the gap between the first light-transmitting portion 41 and the second light-transmitting portion 42, and further, the light-transmitting cover 40 and the partition 50 can be well connected.

Alternatively, the distance d between the first light transmitting portion 41 and the second light transmitting portion 42 may be 2mm to 4mm, for example, 2mm, 3mm, 4mm, or the like; the thickness w of the separator 50 may be 1.5mm to 3mm, for example 1.5mm, 2mm, 2.5mm, 3mm, etc. In this way, the distance between the first light-transmitting portion 41 and the second light-transmitting portion 42 and the thickness of the partition 50 are reasonably set, so that the difference between the distance between the first light-transmitting portion 41 and the second light-transmitting portion 42 and the thickness of the partition 50 is within a reasonable range, and the partition 50 can be conveniently assembled into the gap between the first light-transmitting portion 41 and the second light-transmitting portion 42, and the light-transmitting cover 40 and the partition 50 can be well connected.

In one embodiment, a self-moving device includes a device body that is movable on a moving surface. The self-moving device further comprises a laser radar module 30, and the laser radar module 30 is arranged on the device body. The self-moving device further comprises a light-transmitting cover 40, and the light-transmitting cover 40 is arranged on the device body. The transparent cover 40 defines a first direction and a reference plane perpendicular to each other, the transparent cover 40 and the laser radar module 30 are disposed opposite to each other along the first direction, the transparent cover 40 further has a transparent portion, the transparent portion includes a first transparent portion 41 and a second transparent portion 42, the laser output by the laser radar module 30 is emitted to the external environment through the first transparent portion 41, and the laser reflected by the external environment is incident to the laser radar module 30 through the second transparent portion 42. Wherein the first light-transmitting portion 41 is disposed obliquely with respect to the reference plane, the second light-transmitting portion 42 is disposed obliquely with respect to the reference plane or the second light-transmitting portion 42 is parallel to the reference plane.

It should be noted that the self-moving device may be applied to the field of cleaning apparatuses, that is, the self-moving device may be a cleaning device such as a cleaning robot, and the moving surface is a corresponding surface to be cleaned. Of course, the self-moving device can also be applied to other fields, such as logistics and the like. The laser radar module 30 is described in detail in the above embodiments, and will not be described herein.

The technical scheme provided by the embodiment of the application is explained below in combination with a specific application scene.

Application scenario one:

referring to fig. 3a and fig. 4, the first transparent portion 41 and the second transparent portion 42 of the transparent cover 40 are both flat plates inclined with respect to the reference plane. The end of the first light-transmitting portion 41 away from the second light-transmitting portion 42 is disposed obliquely toward the laser radar module 30, and the end of the second light-transmitting portion 42 away from the first light-transmitting portion 41 is disposed obliquely toward the laser radar module 30. The first light-transmitting portion 41 and the second light-transmitting portion 42 have an angle of 12 ° with respect to the reference plane. The first light-transmitting portion 41 and the second light-transmitting portion 42 are separated by a partition 50 to reduce interference of the laser light output from the laser transmitter 311 to the laser receiver 313 inside the laser radar module 30. The laser light is output from the laser emitter 311 and exits through the light-transmitting cover 40. At the position of the light-transmitting cover 40, part of laser is directly emitted through the light-transmitting cover 40 after being refracted, the emergent light is refracted through the two surfaces of the first light-transmitting part 41, and the propagation angle of the emergent light is not changed; part of the laser light is reflected at the surface of the first light transmitting portion 41, and the reflected light is reflected onto the partition 50 between the first light transmitting portion 41 and the second light transmitting portion 42, and is further absorbed or reflected. There is a large deviation between the reflected laser light and the laser light output from the laser transmitter 311, and the reflected laser light does not cause significant interference with the laser signal required for the laser radar module 30 to detect the external environment.

And (2) an application scene II:

referring to fig. 3b, the end of the first transparent portion 41 of the transparent cover 40 away from the second transparent portion 42 is disposed obliquely toward the laser radar module 30, and the second transparent portion 42 is parallel to the reference plane. The first light-transmitting portion 41 forms an angle of 12 ° with the reference plane. The first light-transmitting portion 41 and the second light-transmitting portion 42 are separated by a partition 50 to reduce interference of the laser light output from the laser transmitter 311 to the laser receiver 313 inside the laser radar module 30. The laser light is output from the laser emitter 311 and exits through the light-transmitting cover 40. At the position of the light-transmitting cover 40, part of laser is directly emitted through the light-transmitting cover 40 after being refracted, the emergent light is refracted through the two surfaces of the first light-transmitting part 41, and the propagation angle of the emergent light is not changed; part of the laser light is reflected at the surface of the first light transmitting portion 41, and the reflected light is reflected onto the partition 50 between the first light transmitting portion 41 and the second light transmitting portion 42, and is further absorbed or reflected. There is a large deviation between the reflected laser light and the laser light output from the laser transmitter 311, and the reflected laser light does not cause significant interference with the laser signal required for the laser radar module 30 to detect the external environment.

And (3) an application scene III:

referring to fig. 5, the first transparent portion 41 and the second transparent portion 42 of the transparent cover 40 are disposed obliquely with respect to the reference plane. The end of the first light-transmitting portion 41 away from the second light-transmitting portion 42 is disposed obliquely toward the laser radar module 30, and the end of the second light-transmitting portion 42 away from the first light-transmitting portion 41 is disposed obliquely toward the laser radar module 30. The first light-transmitting portion 41 and the second light-transmitting portion 42 are each arc-shaped. The first light-transmitting portion 41 and the second light-transmitting portion 42 are separated by a partition 50 to reduce interference of the laser light output from the laser transmitter 311 to the laser receiver 313 inside the laser radar module 30. The laser light is output from the laser emitter 311 and exits through the light-transmitting cover 40. At the position of the light-transmitting cover 40, part of laser is directly emitted through the light-transmitting cover 40 after being refracted, the emergent light is refracted through the two surfaces of the first light-transmitting part 41, and the propagation angle of the emergent light is not changed; part of the laser light is reflected at the surface of the first light transmitting portion 41, and the reflected light is reflected onto the partition 50 between the first light transmitting portion 41 and the second light transmitting portion 42, and is further absorbed or reflected. There is a large deviation between the reflected laser light and the laser light output from the laser transmitter 311, and the reflected laser light does not cause significant interference with the laser signal required for the laser radar module 30 to detect the external environment.

The cleaning device, the light-transmitting cover and the self-moving device which are used by the cleaning device are described in detail, and specific examples are used herein to illustrate the principles and the implementation modes of the cleaning device, the light-transmitting cover and the self-moving device, and the description of the examples is only used for helping to understand the method and the core idea of the cleaning device; meanwhile, as those skilled in the art will have modifications in the specific embodiments and application scope in accordance with the ideas of the present application, the present description should not be construed as limiting the present application in view of the above.

Claims (10)

1. A cleaning device, comprising:

a device body movable on a surface to be cleaned to clean the surface to be cleaned;

the laser radar module is arranged on the device main body; and

the light transmission cover is arranged on the device main body, the light transmission cover is defined with a first direction and a reference plane which are perpendicular to each other, the light transmission cover and the laser radar module are arranged oppositely along the first direction, the light transmission cover further comprises a light transmission part, the light transmission part comprises a first light transmission part and a second light transmission part, laser output by the laser radar module is emitted to the external environment through the first light transmission part, and laser reflected by the external environment is incident to the laser radar module through the second light transmission part;

the first light-transmitting part is obliquely arranged relative to the reference plane, and the second light-transmitting part is obliquely arranged relative to the reference plane or is parallel to the reference plane.

2. A cleaning apparatus as claimed in claim 1, wherein,

the light-transmitting cover is further defined with a second direction perpendicular to the first direction, the first light-transmitting parts and the second light-transmitting parts are distributed in sequence along the second direction, and the second light-transmitting parts are obliquely arranged relative to the reference plane;

the laser radar module includes:

a laser element for outputting laser light or receiving laser light reflected back through an external environment;

the included angle between the light-transmitting part and the reference plane is alpha, the length of the shortest laser propagation path between the laser element and the corresponding light-transmitting part is L, the length of the laser element in the second direction is D, and tan2 alpha is more than or equal to D/L.

3. A cleaning device according to claim 1 or 2, characterized in that,

the included angle between the light-transmitting part and the reference plane is 5-25 degrees.

4. A cleaning apparatus as claimed in claim 1, wherein,

the laser radar module includes:

a laser emitter for outputting laser light;

a laser receiver for receiving laser light reflected back via an external environment;

the laser output by the laser transmitter is reflected to the first light transmission part through the first light reflection part and is emitted to the external environment through the first light transmission part; and

and the laser reflected by the external environment enters the second reflecting part through the second light transmitting part and is reflected to the laser receiver through the second reflecting part.

5. The cleaning apparatus of claim 4, wherein the cleaning device comprises a cleaning device,

the height of the first light reflecting part is smaller than that of the first light transmitting part, and the height of the second light reflecting part is smaller than that of the second light transmitting part.

6. The cleaning apparatus of claim 5, wherein the cleaning device comprises a cleaning device,

the height of the first light reflecting part is 5mm to 10mm;

the height of the second light reflecting part is 10mm to 20mm;

the height of the first light-transmitting part and the height of the second light-transmitting part are 10mm to 20mm.

7. The cleaning apparatus of claim 4, wherein the cleaning device comprises a cleaning device,

the cleaning device further comprises a baffle plate, wherein the baffle plate is arranged between the first light-transmitting part and the second light-transmitting part;

the distance between the first light-transmitting part and the second light-transmitting part is larger than the thickness of the partition board.

8. The cleaning apparatus of claim 7, wherein the cleaning apparatus comprises a cleaning device,

the distance between the first light-transmitting part and the second light-transmitting part is 2mm to 4mm;

the thickness of the separator is 1.5mm to 3mm.

9. A self-moving device, comprising:

a device main body movable on a moving surface;

the laser radar module is arranged on the device main body; and

the light transmission cover is arranged on the device main body, the light transmission cover is defined with a first direction and a reference plane which are perpendicular to each other, the light transmission cover and the laser radar module are arranged oppositely along the first direction, the light transmission cover further comprises a light transmission part, the light transmission part comprises a first light transmission part and a second light transmission part, laser output by the laser radar module is emitted to the external environment through the first light transmission part, and laser reflected by the external environment is incident to the laser radar module through the second light transmission part;

the first light-transmitting part is obliquely arranged relative to the reference plane, and the second light-transmitting part is obliquely arranged relative to the reference plane or is parallel to the reference plane.

10. A translucent cover for a cleaning device, the cleaning device comprising a laser radar module;

the light transmission cover is defined with a first direction and a reference plane which are perpendicular to each other, the light transmission cover can be arranged opposite to the laser radar module along the first direction, the light transmission cover is further provided with a light transmission part, the light transmission part comprises a first light transmission part and a second light transmission part, laser output by the laser radar module is emitted to the external environment through the first light transmission part, and laser reflected back through the external environment is incident to the laser radar module through the second light transmission part;

the first light-transmitting part is obliquely arranged relative to the reference plane, and the second light-transmitting part is obliquely arranged relative to the reference plane or is parallel to the reference plane.