CN220525995U

CN220525995U - Laser radar module, cleaning device and self-moving device

Info

Publication number: CN220525995U
Application number: CN202321657418.0U
Authority: CN
Inventors: 韩巍
Original assignee: Ecovacs Robotics Suzhou Co Ltd
Current assignee: Ecovacs Robotics Suzhou Co Ltd
Priority date: 2023-06-27
Filing date: 2023-06-27
Publication date: 2024-02-23
Anticipated expiration: 2033-06-27

Abstract

The application discloses laser radar module, cleaning device and from mobile device. The laser radar module includes: the laser receiving and transmitting assembly comprises a laser transmitter and a transmitting lens; the laser output by the laser transmitter is emitted to the reflecting element through the transmitting lens and is reflected to the external environment through the reflecting element; wherein,the laser transceiver component has a maximum field angle omega _max The diameter of the emergent beam of the transmitting lens is d ₁ The length of the reflecting element is H, and the following conditions are satisfied:wherein k is more than 0 and less than or equal to 1. Through the mode, the sensing precision of the laser radar module can be improved.

Description

Laser radar module, cleaning device and self-moving device

Technical Field

The application relates to the technical field of laser radar sensors, in particular to a laser radar module, a cleaning device and a self-moving 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.

Laser output by the laser radar sensor is required to be reflected to the external environment through a reflector so as to perform laser interaction with the external environment, thereby realizing navigation and obstacle avoidance functions. However, the design of the current laser radar sensor is unreasonable, and the reflector easily shields the emergent laser, that is, the reflector cannot completely receive the emergent laser, so that the sensing precision of the laser radar sensor is reduced.

Disclosure of Invention

The application provides a laser radar module, cleaning device and from mobile device, can improve the sensing precision of laser radar module.

The application provides a laser radar module. The laser radar module includes: the laser receiving and transmitting assembly comprises a laser transmitter and a transmitting lens; the laser output by the laser transmitter is emitted to the reflecting element through the transmitting lens and is reflected to the external environment through the reflecting element; wherein, the laser receiving and transmitting component has a maximum angle of view omega _max The diameter of the emergent beam of the transmitting lens is d ₁ The length of the reflecting element is H, and the following conditions are satisfied:wherein k is more than 0 and less than or equal to 1.

In one embodiment of the present application, the maximum field angle ω of the laser transceiver assembly _max 50 ° to 180 °; diameter d of outgoing beam of emission lens ₁ 2mm to 10mm; the length H of the retroreflective elements is 15mm to 40mm.

In an embodiment of the present application, the laser transceiver assembly further comprises a laser receiver and a receiving lens; the light reflecting element includes: the laser output by the laser transmitter is reflected to the external environment through the first reflecting part; the laser reflected by the external environment is reflected to the receiving lens through the second reflecting part and is incident to the laser receiver through the receiving lens; wherein the height of the first reflecting part is larger than the diameter of the transmitting lens, and the height of the second reflecting part is larger than the diameter of the receiving lens.

In an embodiment of the present application, the diameter of the receiving lens is 10mm to 20mm; the height of the first light reflecting part is 5mm to 10mm; the height of the second light reflecting portion is 10mm to 20mm.

In an embodiment of the present application, the number of the groups of the laser transceiver components is at least two; the laser radar module further includes: the driving assembly is in transmission connection with the reflecting element and is used for driving the reflecting element to rotate, so that each group of laser receiving and transmitting assemblies perform laser interaction with the external environment through the reflecting element; the code disc can synchronously rotate along with the reflecting element; and the sensor can sense the rotation angle of the reflecting element through the code disc so as to control the laser receiving and transmitting assemblies of each group to alternately perform laser interaction with the external environment based on the rotation angle of the reflecting element.

Correspondingly, the application also 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; wherein, laser radar module includes: the laser receiving and transmitting assembly comprises a laser transmitter and a transmitting lens; the laser output by the laser transmitter is emitted to the reflecting element through the transmitting lens and is reflected to the external environment through the reflecting element; wherein, the laser receiving and transmitting component has a maximum angle of view omega _max The diameter of the emergent beam of the transmitting lens is d ₁ The length of the reflecting element is H, and the following conditions are satisfied:wherein k is more than 0 and less than or equal to 1.

In an embodiment of the present application, the laser transceiver assembly further comprises a laser receiver and a receiving lens; the light reflecting element includes: the laser output by the laser transmitter is reflected to the external environment through the first reflecting part; the laser reflected by the external environment is reflected to the receiving lens through the second reflecting part and is incident to the laser receiver through the receiving lens; the cleaning device further includes a light-transmitting cover including: the first light transmission part is used for emitting the laser reflected by the first light reflection part to the external environment; the laser reflected by the external environment enters the second reflecting part through the second light-transmitting part; 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.

In an embodiment of the present application, the height of the first light-transmitting portion and the height of the second light-transmitting portion are both 10mm to 20mm.

In an embodiment of the present application, the laser transceiver assembly further comprises a laser receiver and a receiving lens; the light reflecting element includes: the laser output by the laser transmitter is reflected to the external environment through the first reflecting part; the laser reflected by the external environment is reflected to the receiving lens through the second reflecting part and is incident to the laser receiver through the receiving lens; the cleaning device further includes a light-transmitting cover including: the first light transmission part is used for emitting the laser reflected by the first light reflection part to the external environment; the second light-transmitting part is spaced from the first light-transmitting part, and laser reflected by the external environment enters the second light-reflecting part through the second light-transmitting part; the cleaning device further comprises a partition plate, and the partition 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.

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; wherein, laser radar module includes: the laser receiving and transmitting assembly comprises a laser transmitter and a transmitting lens; and the laser output by the laser transmitter is emitted to the reflecting element through the transmitting lens and is reflected by the reflecting elementTo the external environment; wherein, the laser receiving and transmitting component has a maximum angle of view omega _max The diameter of the emergent beam of the transmitting lens is d ₁ The length of the reflecting element is H, and the following conditions are satisfied:wherein k is more than 0 and less than or equal to 1.

The beneficial effects of this application are: in contrast to the prior art, the application provides a laser radar module, a cleaning device and a self-moving device. The laser radar module comprises a laser receiving and transmitting assembly and a reflecting element. The laser transceiver assembly includes a laser transmitter and a transmitting lens. The laser output by the laser emitter is emitted to the reflecting element through the emitting lens and is reflected to the external environment through the reflecting element.

Wherein, the laser receiving and transmitting component has a maximum angle of view omega _max The diameter of the emergent beam of the transmitting lens is d ₁ The length of the reflecting element is H, and the following conditions are satisfied:wherein k is more than 0 and less than or equal to 1. Therefore, the reflecting element can completely receive the laser emitted by the emitting lens, so that the sensing precision of the laser radar module 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 exploded view of one embodiment of the reflector element, drive assembly, and code wheel of the present application;

FIG. 3 is a schematic diagram of an embodiment of a code wheel of the present application;

FIG. 4 is a schematic view of an embodiment of a light-transmitting cover according to the present application;

fig. 5 is a schematic diagram of an embodiment of a maximum field angle of a laser transceiver assembly of the present application.

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 laser radar module, cleaning device and from mobile device, the following respectively detailed description. 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 is used as equipment necessary for a 3D depth perception fusion algorithm, wherein the laser radar sensor has the characteristics of long detection distance, high resolution, small interference by ambient light and the like. The principle of operation of a lidar sensor is generally as follows: the laser radar sensor comprises a laser radar sensor, a sensor module, a light beam scanning device, a sensor module, a laser receiver, a sensor module and a sensor module, wherein the laser radar sensor emits laser beams, the laser beams are emitted through the light beam scanning device and are emitted to perform spatial scanning within a certain range, the laser beams return to the laser receiver after encountering an obstacle through diffuse reflection, and the sensor module can calculate the distance between the sensor and an object according to the time interval between the sending and receiving of laser. In addition to distance information, the lidar sensor may also acquire information other than distance, such as azimuth, speed, size, shape, reflectivity, and the like.

A traditional mechanical rotary laser radar sensor is characterized in that a motor drives a reflecting mirror to rotate to scan a space within a certain range. This often requires a layered offset of the transmitter and receiver from the rotating parts, resulting in a higher overall height and larger volume of the lidar sensor. The other is that the motor drives the measuring head (the emitter and the receiver) to integrally rotate, and at the moment, the load of the motor is larger, so that the measuring head is difficult to ensure to rotate at a higher speed, the sensor cannot obtain a very high angular resolution, and the sensor is complex in structure and high in manufacturing cost.

Semi-solid laser radar sensors generally use vibrating mirrors, wedge mirrors, polyhedral rotating mirrors and the like, and the scanning range of the sensor is limited due to the influence of laser incidence and receiving positions and the limitation of motor rotation speed, so that the sensor cannot reach a sufficient field angle, and the sensor is complex in structure and high in manufacturing cost.

In view of the above, an implementation of the present application provides a laser radar module, a cleaning device and a self-moving device, which can solve the technical problems in the prior art. As will be 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 lidar module 30 includes a laser transceiver component 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 diagram illustrating an exploded view of an embodiment of the reflective element, the driving assembly and the code wheel.

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 in the height direction of the laser radar module 30 (as indicated by arrow X in fig. 2, the same applies hereinafter), i.e., the laser transmitter 311 and the transmitting lens 312 are laminated on one side of the laser receiver 313 and the receiving lens 314 in the height direction. Correspondingly, the first light reflecting portion 11 and the second light reflecting portion 12 are layered in the height 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.

In an embodiment, the laser radar module 30 further includes a driving component 32, where the driving component 32 is in transmission connection with the light reflecting element 10a and is used for driving the light reflecting element 10a to rotate, so that each group of laser transceiver components 31 performs laser interaction with the external environment through the light reflecting element 10 a. The lidar module 30 further comprises a code wheel 33, and the code wheel 33 can rotate synchronously with the reflecting element 10 a. The lidar module 30 further comprises a sensor capable of sensing the rotation angle of the reflective element 10a through the code wheel 33 to control the respective sets of laser transceiver components 31 to alternately perform laser interaction with the external environment based on the rotation angle of the reflective element 10 a.

Optionally, the driving assembly 32 includes a driving member in driving connection with the reflective element 10a and the code wheel 33 to drive the reflective element 10a and the code wheel 33 to rotate synchronously. The driving member may be a power element such as a motor, and is not limited herein.

For example, referring to fig. 3, the code wheel 33 includes a code wheel body 331 and at least two teeth (including a first tooth 332 and a second tooth 333). The code wheel main body 331 is in transmission connection with the reflecting element 10a, and the code wheel main body 331 can synchronously rotate along with the reflecting element 10 a. The at least two teeth are sequentially spaced apart along the circumference of the code wheel body 331. With the rotation of the code wheel body 331, each tooth passes through the sensor in turn. The at least two teeth have a first tooth 332 and the remaining teeth are second teeth 333. The first teeth 332 are different from the second teeth 333. The present embodiment calculates the rotation angle of the reflecting element 10a by counting the number of second teeth 333 passing through the sensor after the first teeth 332.

The sensor may be an optocoupler, and each tooth portion can rotate along with the code wheel main body 331 to sequentially shield the optical signals of the sensor, so that the sensor generates a corresponding pulse signal, and the pulse signal indicates the sensor to detect the action of each tooth portion passing through the sensor. The at least two teeth are uniformly spaced along the circumferential direction of the code wheel main body 331, and the central angles corresponding to each tooth are the same. The tooth width of the first tooth 332 is different from the tooth width of the second tooth 333, and fig. 3 illustrates an exemplary case where the tooth width of the first tooth 332 is smaller than the tooth width of the second tooth 333. The degree of shielding of the first tooth 332 from the optical signal of the sensor is different from the degree of shielding of the second tooth 333 from the optical signal of the sensor, so that the sensor generates different pulse signals corresponding to the first tooth 332 and the second tooth 333, and therefore it can be judged that the sensor detects the first tooth 332, and then the rotation angle of the reflecting element 10a is measured by counting the number of the second tooth 333 passing through the sensor after the first tooth 332.

Referring to fig. 4, fig. 4 is a schematic structural diagram of an embodiment of a light-transmitting cover of the present application.

In one embodiment, the cleaning device further comprises a light transmissive cover 40. The laser transceiver assembly 31 is in laser interaction with the external environment through the light transmissive cover 40. Specifically, the laser output by the laser transceiver 31 is reflected to the translucent cover 40 by the reflective element 10a, and further exits to the external environment through the translucent cover 40; the laser light reflected back through the external environment is incident to the reflecting element 10a through the light-transmitting cover 40, and is further reflected to the laser transceiver component 31 through the reflecting element 10 a.

Specifically, the light-transmitting cover 40 includes a first light-transmitting portion 41 and a second light-transmitting portion 42 spaced apart from each other, specifically the first light-transmitting portion 41 and the second light-transmitting portion 42 are spaced apart from each other in the height direction described above. The laser light reflected by the first light reflecting portion 11 of the light reflecting element 10a is emitted to the external environment through the first light transmitting portion 41, and the laser light reflected by the external environment is incident to the second light reflecting portion 12 through the second light transmitting portion 42.

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

The cleaning device further includes a partition 50, and the partition 50 is 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, taking the lidar module 30 as an example, two sets of laser transceiver components 31 are included, when the reflecting element 10a rotates within a certain angle range, one set of laser transceiver components 31 works, and the angle of view of the set of laser transceiver components 31 is ω ₁ The method comprises the steps of carrying out a first treatment on the surface of the While another group of the laser transceiver modules 31 is operated when the reflecting element 10a rotates in other angular ranges, the angle of view of the group of the laser transceiver modules 31 is ω ₂ . The fields of view of the two groups of laser transceiver components 31 overlap, and the angle of view corresponding to the overlapping fields of view between the two groups of laser transceiver components 31 is ω ₃ . Therefore, the view angle ω of the entire lidar module 30 _{Total (S)} ＝ω ₁ +ω ₂ -ω ₃ 。

Referring to fig. 5, each group of the laser transceiver modules 31 has a maximum angle of view ω _max . Based on the laser output from the laser transmitter 311, when the reflective element 10a does not divide and block the laser output from the laser transmitter 311, the laser transceiver 31 has a maximum scan field, and the corresponding field angle is the maximum field angle ω _max . The emission beam diameter of the emission lens 312 is d ₁ The length of the retroreflective elements 10a is H. It should be noted that, in this embodiment, it is preferable that the first light reflecting portion 11 and the second light reflecting portion 12 of the light reflecting element 10a have the same length and thickness.

The method meets the following conditions:wherein k is more than 0 and less than or equal to 1. In the foregoing manner, the present embodiment can ensure that the reflective element 10a can completely receive the laser emitted by the emission lens 312, and avoid the reflective element 10a from shielding the emitted laser, so as to improve the sensing accuracy of the laser radar module 30, so as to ensure that the laser radar module 30 can reliably implement the path gauge of the cleaning deviceAnd (5) a navigation and obstacle avoidance function. The value of k is related to the energy distribution of the light beam, for example, when the energy of the light beam is uniformly distributed, the value of k is 1, when the energy distribution of the light beam conforms to gaussian distribution, the value of k is 0.85, and the like.

Optionally, the maximum field angle ω of the laser transceiver assembly 31 _max May be 50 ° to 180 °, such as 50 °, 70 °, 90 °, 110 °, 130 °, 150 °, 180 °, etc.; diameter d of outgoing beam from emission lens 312 ₁ May be 2mm to 10mm, for example 2mm, 3mm, 4mm, 5mm, 6mm, 7mm, 8mm, 9mm, 10mm, etc.; the length H of the retroreflective elements 10a may be 15mm to 40mm, such as 15mm, 20mm, 25mm, 30mm, 35mm, 40mm, etc.; the thickness W of the retroreflective elements 10a may be 0.5mm to 3mm, such as 0.5mm, 1mm, 1.5mm, 2mm, 2.5mm, 3mm, etc.

In an embodiment, the height of the first light reflecting portion 11 is greater than the diameter of the transmitting lens 312, so that the laser emitted through the transmitting lens 312 can be completely received by the first light reflecting portion 11 and further reflected to the external environment via the first light reflecting portion 11, so as to improve the sensing accuracy of the laser radar module 30, and ensure that 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 greater than the diameter of the receiving lens 314, which means that the second light reflecting portion 12 has a higher height, and can receive the laser light reflected back from the external environment as completely as possible, and reflect the laser light to the receiving lens 314 to be incident to the laser receiver 313, so as to improve the sensing accuracy of the laser radar module 30, and ensure that the laser radar module 30 can reliably realize the path planning navigation and obstacle avoidance functions of the cleaning device.

Optionally, a diameter d of the receiving lens 314 ₂ May be 10mm to 20mm, for example 10mm, 15mm, 20mm, etc.; 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.

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 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 laser radar module 30 includes a laser transceiver component 31, and the laser transceiver component 31 includes a laser transmitter 311 and a transmitting lens 312. The laser radar module 30 further includes a reflecting element 10a, and the laser light output by the laser transmitter 311 is emitted to the reflecting element 10a through the transmitting lens 312 and reflected to the external environment through the reflecting element 10 a.

Wherein the laser transceiver component 31 has a maximum angle of view ω _max The emission beam diameter of the emission lens 312 is d ₁ The length of the reflecting element 10a is H, satisfying:wherein k is more than 0 and less than or equal to 1.

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:

the laser radar module 30 includes two sets of laser transceiver components 31. One set of the laser light transceiving assemblies 31 operates when the reflecting element 10a rotates in a certain angular range, and the other set of the laser light transceiving assemblies 31 operates when the reflecting element 10a rotates in other angular ranges.

The laser transceiver component 31 has a maximum field angle ω _max The emission beam diameter of the emission lens 312 is d ₁ The length of the reflecting element 10a is H, satisfying:wherein k is more than 0 and less than or equal to 1. The retroreflective element 10a includes a first retroreflective portion 11 and a second retroreflective portion 12. The height of the first light reflecting portion 11 is larger than the diameter of the emission lens 312The height of the second light reflecting portion 12 is greater than the diameter of the receiving lens 314.

Maximum angle of view ω of laser transceiver module 31 _max May be 50 ° to 180 °; diameter d of outgoing beam from emission lens 312 ₁ May be 2mm to 10mm; the length H of the retroreflective elements 10a may be 15mm to 40mm; the thickness W of the retroreflective elements 10a may be 0.5mm to 3mm; diameter d of receiving lens 314 ₂ May be 10mm to 20mm; height H of the first light reflecting portion 11 ₁ May be 5mm to 10mm; height H of the second light reflecting portion 12 ₂ May be 10mm to 20mm.

And (2) an application scene II:

the cleaning robot includes a device body movable on the floor to clean the floor. The cleaning robot further comprises a laser radar module 30, wherein the laser radar module 30 is arranged on the device main body and used for achieving the path planning navigation and obstacle avoidance functions of the cleaning robot. The laser radar module 30 includes two sets of laser transceiver components 31. One set of the laser light transceiving assemblies 31 operates when the reflecting element 10a rotates in a certain angular range, and the other set of the laser light transceiving assemblies 31 operates when the reflecting element 10a rotates in other angular ranges.

The laser transceiver component 31 has a maximum field angle ω _max The emission beam diameter of the emission lens 312 is d ₁ The length of the reflecting element 10a is H, satisfying:wherein k is more than 0 and less than or equal to 1. The retroreflective element 10a includes a first retroreflective portion 11 and a second retroreflective portion 12. The first light reflecting portion 11 has a height greater than the diameter of the emission lens 312, and the second light reflecting portion 12 has a height greater than the diameter of the receiving lens 314. The cleaning robot further includes a light-transmitting cover 40, and the light-transmitting cover 40 includes a first light-transmitting portion 41 and a second light-transmitting portion 42 spaced apart from each other. The cleaning robot further includes a partition 50, and the partition 50 is disposed between the first light-transmitting portion 41 and the second light-transmitting portion 42.

Maximum angle of view ω of laser transceiver module 31 _max May be 50 ° to 180 °; diameter d of outgoing beam from emission lens 312 ₁ May be 2mm to 10mm; the length H of the retroreflective elements 10a can be15mm to 40mm; the thickness W of the retroreflective elements 10a may be 0.5mm to 3mm; diameter d of receiving lens 314 ₂ May be 10mm to 20mm; height H of the first light reflecting portion 11 ₁ May be 5mm to 10mm; height H of the second light reflecting portion 12 ₂ May be 10mm to 20mm; height h of the first light-transmitting portion 41 ₁ May be 10mm to 20mm; height h of the second light-transmitting portion 42 ₂ May be 10mm to 20mm; the interval d between the first light-transmitting portion 41 and the second light-transmitting portion 42 may be 2mm to 4mm; the thickness w of the separator 50 may be 1.5mm to 3mm.

The laser radar module, the cleaning device and the self-moving device provided by the application are described in detail, and specific examples are applied to the description of the principle and the implementation of the application, and the description of the examples is only used for helping to understand the method and the core idea of the application; 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

1. A lidar module, comprising:

the laser receiving and transmitting assembly comprises a laser transmitter and a transmitting lens; and

the laser output by the laser transmitter is emitted to the reflecting element through the transmitting lens and is reflected to the external environment through the reflecting element;

wherein the laser receiving and transmitting component has a maximum field angle omega _max The diameter of the emergent beam of the emission lens is d ₁ The length of the reflecting element is H, and the following conditions are satisfied:wherein k is more than 0 and less than or equal to 1.

2. The lidar module of claim 1, wherein the laser radar module comprises a plurality of laser sensors,

maximum angle of view of the laser transceiver componentω _max 50 ° to 180 °;

the diameter d of the outgoing beam of the emitting lens ₁ 2mm to 10mm;

the length H of the light reflecting element is 15mm to 40mm.

3. The lidar module according to claim 1 or 2, wherein,

the laser receiving and transmitting assembly further comprises a laser receiver and a receiving lens;

the retroreflective element includes:

the laser output by the laser transmitter is reflected to the external environment through the first reflecting part; and

the laser reflected by the external environment is reflected to the receiving lens through the second reflecting part and is incident to the laser receiver through the receiving lens;

the height of the first reflecting part is larger than the diameter of the transmitting lens, and the height of the second reflecting part is larger than the diameter of the receiving lens.

4. The lidar module of claim 3, wherein the laser radar module is configured to,

the diameter of the receiving lens is 10mm to 20mm;

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

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

5. The lidar module according to claim 1 or 2, wherein,

the number of the laser receiving and transmitting components is at least two;

the laser radar module further includes:

the driving assembly is in transmission connection with the reflecting element and is used for driving the reflecting element to rotate, so that each group of laser receiving and transmitting assemblies interact with the external environment through the reflecting element;

the code disc can synchronously rotate along with the reflecting element; and

the sensor can sense the rotation angle of the reflecting element through the code disc so as to control each group of laser receiving and transmitting assemblies to alternately perform laser interaction with the external environment based on the rotation angle of the reflecting element.

6. A cleaning device, comprising:

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

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

wherein, laser radar module includes:

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

the retroreflective element includes:

the cleaning device further includes a light-transmitting cover including:

the laser reflected by the first reflecting part is emitted to the external environment through the first light-transmitting part; and

the laser reflected by the external environment enters the second reflecting part through the second light-transmitting part;

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.

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

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

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

the retroreflective element includes:

the cleaning device further includes a light-transmitting cover including:

a second light transmitting portion spaced apart from the first light transmitting portion, and through which the laser light reflected back through the external environment is incident to the second light reflecting portion;

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.

10. The cleaning apparatus of claim 9, 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.

11. A self-moving device, comprising:

a device main body movable on a moving surface; and

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

wherein, laser radar module includes: