Rotating mirror radar and cleaning robot

Abstract

The utility model discloses a rotating mirror radar and a cleaning robot, and the rotating mirror radar comprises a base which is fixedly provided with a signal transmitting module and a signal receiving module; the reflecting mirror assembly is rotatably arranged on the base and is provided with a first signal reflecting part and a second signal reflecting part; the signal transmitting module and the reflector assembly are arranged in the mode that the first signal reflecting part can reflect measuring light emitted by the signal transmitting module in the horizontal direction, and the second signal reflecting part can reflect the measuring light emitted by the signal transmitting module downwards in an inclined mode relative to the horizontal plane. The reflector assembly reflects the measurement light emitted by the signal emission module along the horizontal direction, and can carry out distance detection in the horizontal direction. The measuring light emitted by the signal emitting module is reflected downwards in an inclined mode relative to the horizontal plane, ground obstacle measurement or cliff detection can be carried out, and distance measurement work of different targets can be achieved through one set of system.

Description

Technical Field

[0001] The present application relates to the technical field of rotary distance measuring devices, and in particular to a rotating mirror radar and a cleaning robot having the rotating mirror radar. Background Art

[0002] In recent years, with the continuous development of artificial intelligence, robotics, and sensor technologies, cleaning robots have become increasingly intelligent and functional. Among them, LiDAR technology has played an important role in promoting the development of cleaning robots.

[0003] LiDAR is an active remote sensing technology that determines the distance to a target by emitting laser pulses and measuring the time it takes for the reflected light to return to the sensor. LiDAR provides highly accurate, real-time three-dimensional information about the surrounding environment, making it ideal for environmental perception and navigation in cleaning robots.

[0004] When used in cleaning robots, laser radar not only needs to measure distance, but also needs to measure obstacles when the cleaning robot avoids obstacles during walking. Existing laser ranging devices cannot achieve the above two measurement functions at the same time, or require complex structures to achieve the above functions separately. Utility Model Content

[0005] The purpose of the embodiments of the present application is to provide a rotating mirror radar and a cleaning robot, which can solve the above-mentioned problems existing in the prior art.

[0006] To achieve the above objectives, this application adopts the following technical solutions:

[0007] In one aspect, a rotating mirror radar is provided, comprising:

[0008] A base, on which a signal transmitting module and a signal receiving module are fixedly mounted;

[0009] a reflector assembly rotatably disposed on the base, comprising a first signal reflecting portion and a second signal reflecting portion;

[0010] The signal transmitting module and the reflector assembly are configured so that the first signal reflecting portion can reflect the measuring light emitted by the signal transmitting module in a horizontal direction, and the second signal reflecting portion can reflect the measuring light emitted by the signal transmitting module obliquely downward relative to a horizontal plane.

[0011] Optionally, the first signal reflecting part and the second signal reflecting part are respectively located on different surfaces of the reflector assembly, and the working state of the first signal reflecting part or the second signal reflecting part for reflection is switched by rotating the reflector assembly.

[0012] Optionally, the signal transmitting module includes a first light emitting portion and a second light emitting portion, the first light emitting portion can emit horizontal light toward the reflector assembly, and the second light emitting portion can emit downwardly inclined light toward the reflector assembly.

[0013] Optionally, the signal transmission module includes a laser diode, a transmitting lens and a spectrometer, the laser diode overlaps with the projection of the transmitting lens along the optical path direction, and the spectrometer partially overlaps with the projection of the transmitting lens along the optical path direction. In the signal transmission module, the area where the spectrometer does not overlap with the transmitting lens forms the first light emitting part, and the area where the spectrometer overlaps with the transmitting lens forms the second light emitting part.

[0014] Optionally, the first signal reflecting portion includes a first light reflecting surface and a first light absorbing surface located below the first light reflecting surface, the first light reflecting surface corresponds to the first light emitting portion, and the first light absorbing surface corresponds to the second light emitting portion;

[0015] The second signal reflecting portion includes a second light reflecting surface and a second light absorbing surface located above the second light reflecting surface, the second light reflecting surface corresponds to the second light emitting portion, and the second light absorbing surface corresponds to the first light emitting portion.

[0016] Optionally, the first light absorbing surface and the second light absorbing surface are formed by coating the surface of the reflector component with black, providing an optical layer, or processing a microstructure surface.

[0017] Optionally, the reflector assembly is a wedge-shaped double-sided reflector, including a first surface and a second surface that are opposite to each other, the normal of the first surface is parallel to the horizontal plane, the normal of the second surface is inclined downward relative to the horizontal plane, the first surface forms the first signal reflecting part, and the second surface forms the second signal reflecting part.

[0018] Optionally, the signal receiving module is arranged below the signal transmitting module, and includes a linear array CMOS and a receiving lens. The optical axis of the signal receiving module is tilted upward along the horizontal direction from the linear array CMOS to the receiving lens.

[0019] Optionally, the light-emitting surface of the portion where the beam splitter and the emission lens overlap is tilted downward, and the beam splitter is a semicircular prism, a prism group, a grating, a film beam splitter, a polarization beam splitter or a microlens array.

[0020] On the other hand, a cleaning robot is provided, which has the rotating mirror radar as described above.

[0021] The beneficial effects of the present application are as follows: in the present application, the reflector assembly can detect distance in the horizontal direction by reflecting the measuring light emitted by the signal transmitting module in the horizontal direction; and can measure ground obstacles by reflecting the measuring light emitted by the signal transmitting module at a downward angle relative to the horizontal plane. In the present application, the measurement of long and short distances is switched by the rotation of the reflector assembly. Through the time division multiplexing method, within a single mechanical rotation cycle, half a cycle is used for obstacle avoidance measurement or cliff detection (the receiving end receives downward oblique light), and half a cycle is used for horizontal ranging (the receiving end receives parallel light). The structure is simple and easy to use, and does not significantly increase the product volume and production cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The present application is further described in detail below with reference to the accompanying drawings and examples.

[0023] Figure 1 A schematic diagram of a state of the rotating mirror radar according to an embodiment of the present application;

[0024] Figure 2 This is another schematic diagram of the rotating mirror radar according to an embodiment of the present application;

[0025] Figure 3 This is a schematic diagram of the state of a rotating mirror radar according to another embodiment of the present application;

[0026] Figure 4 This is another schematic diagram of another state of the rotating mirror radar according to another embodiment of the present application;

[0027] Figure 5 This is a schematic diagram of a horizontal ranging image according to an embodiment of the present application;

[0028] Figure 6 This is a schematic diagram of a downward oblique light image according to an embodiment of the present application.

[0029] In the picture:

[0030] 100, signal transmitting module; 110, laser diode; 120, transmitting lens; 130, spectrometer; 200, signal receiving module; 210, linear array CMOS; 220, receiving lens; 300, reflector assembly; 310, first signal reflecting part; 311, first reflecting surface; 312, first light absorbing surface; 320, second signal reflecting part; 321, second reflecting surface; 322, second light absorbing surface; 400, wedge-shaped double-sided reflector; 410, first surface; 420, second surface. DETAILED DESCRIPTION

[0031] To make the technical problems solved by this application, the technical solutions adopted, and the technical effects achieved more clearly, the technical solutions of the embodiments of this application are further described in detail below. Obviously, the embodiments described are only part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without making any creative efforts shall fall within the scope of protection of this application.

[0032] In the description of this application, unless otherwise specified or limited, the terms "connected," "connected," and "fixed" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integration; mechanical connections, electrical connections; direct connections, or indirect connections through an intermediate medium; and internal connections between two components or interactions between two components. Those skilled in the art will understand the specific meanings of the above terms in this utility model based on specific circumstances.

[0033] In this application, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may include the first and second features being in direct contact, or may include the first and second features being in contact not directly but through another feature between them. Moreover, a first feature being "above," "above," and "above" a second feature may include the first feature being directly above or obliquely above the second feature, or may simply mean that the first feature is higher in level than the second feature. A first feature being "below," "below," and "below" a second feature may include the first feature being directly below or obliquely below the second feature, or may simply mean that the first feature is lower in level than the second feature.

[0034] In the description herein, it should be understood that the terms "upper," "lower," "left," "right," and other positions or relationships are used solely for ease of description and simplified operation, and are not intended to indicate or imply that the devices or components referred to must have, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on this application. Furthermore, the terms "first" and "second" are used solely for descriptive purposes and have no special meaning.

[0035] Throughout this specification, references to terms such as "one embodiment" and "example" indicate that a specific feature, structure, material, or characteristic described in conjunction with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of these terms do not necessarily refer to the same embodiment or example.

[0036] In addition, it should be understood that although the present specification is described in terms of embodiments, not every embodiment contains only one independent technical solution, and the description of the specification is only for the sake of clarity, and those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can be appropriately combined to form other embodiments that those skilled in the art can understand.

[0037] As an important member of smart home, the perfection of the function of the cleaning robot directly affects the user experience. The combination of far and near distance ranging functions is crucial for the cleaning robot to efficiently and accurately complete the cleaning task.

[0038] Far distance ranging function is more convenient for global path planning, such as building an environment map: through far distance ranging, the cleaning robot can quickly scan the entire room and build an accurate environment map. This provides a basis for subsequent path planning, enabling the robot to clean in an orderly manner. Avoid large obstacles: far distance ranging can discover sofas, tables and other large furniture in advance, so as to plan the best detour path to avoid collision.

[0039] Near distance measurement of obstacles is more convenient for fine obstacle avoidance, such as being more suitable for identifying small obstacles: near distance ranging can accurately detect small objects on the carpet, wires, etc., to avoid entanglement or damage to the robot. Adapt to complex environment: in complex environments such as furniture legs and doorsteps, near distance ranging can provide more accurate obstacle avoidance information to ensure safe operation of the robot.

[0040] Specific application scenarios can include wall cleaning and collision avoidance: near distance ranging can enable the robot to clean close to the wall, leaving no dead corners; during cleaning, the robot can adjust the motion trajectory in real time according to the near distance ranging data to avoid colliding with the wall.

[0041] In summary, the combination of far and near distance ranging functions can achieve complementary advantages, with far distance ranging responsible for global perception and near distance ranging responsible for local details. The combination of the two can achieve comprehensive perception of the environment and improve the intelligence level of the robot.

[0042] Therefore, the combination of far and near distance ranging functions is the key to the realization of intelligence and efficiency of the cleaning robot. Only with both functions, the cleaning robot can better adapt to complex and variable home environments and provide better cleaning services to users.

[0043] However, the radar system of existing cleaning robots either does not have the function of far and near distance ranging at the same time, or needs two independent ranging systems to realize, which is complex in structure, large in size and high in cost.

[0044] Based on the above, such as Figure 1-6As shown, the embodiment of the present application provides a rotating mirror radar, including:

[0045] A base on which a signal transmitting module 100 and a signal receiving module 200 are fixedly mounted;

[0046] The reflector assembly 300 is rotatably disposed on the base and comprises a first signal reflecting portion 310 and a second signal reflecting portion 320;

[0047] The signal transmitting module 100 and the reflector assembly 300 are configured so that the first signal reflecting portion 310 can reflect the measuring light emitted by the signal transmitting module 100 in a horizontal direction, and the second signal reflecting portion 320 can reflect the measuring light emitted by the signal transmitting module 100 at an angle downward relative to a horizontal plane.

[0048] In the present application, the reflector assembly 300 can perform distance detection in the horizontal direction by reflecting the measuring light emitted by the signal transmitting module 100 in the horizontal direction; by reflecting the measuring light emitted by the signal transmitting module 100 at a downward angle relative to the horizontal plane, ground obstacles or cliffs can be detected. The measurement in the two directions in the present application is switched by the rotation of the reflector assembly 300. Through the time division multiplexing method, within a single mechanical rotation cycle, half a cycle is used for obstacle avoidance measurement (the receiving end receives downward oblique light), and half a cycle is used for horizontal ranging (the receiving end receives parallel light). The structure is simple and easy to use, and does not significantly increase the product volume and production cost.

[0049] It is understandable that the above-mentioned cliff is only used for scheme description, and in actual application, it can be steps, pits and other scenes below the working surface.

[0050] Specifically, refer to Figure 1-2 As shown, in the embodiment of the present application, the first signal reflecting part 310 and the second signal reflecting part 320 are respectively located on different surfaces of the reflector assembly 300, and the working state of the reflection of the first signal reflecting part 310 or the second signal reflecting part 320 is switched by rotating the reflector assembly 300.

[0051] When the surface where the first signal reflecting part 310 is located faces the signal transmitting module 100, the first signal reflecting part 310 works; when the surface where the second signal reflecting part 320 is located faces the signal transmitting module 100, the second signal reflecting part 320 works. In the embodiment of the present application, the rotating mirror radar works in a horizontal plane (such as the ground) as an example, and the rotation axis of the reflector assembly 300 is perpendicular to the ground.

[0052] It should be pointed out that the surface where the first signal reflecting part 310 is located faces the signal transmitting module 100 and the surface where the second signal reflecting part 320 is located faces the signal transmitting module 100 does not mean that the surface where the first signal reflecting part 310 is located is directly facing the signal transmitting module 100 and the surface where the second signal reflecting part 320 is located is directly facing the signal transmitting module 100. As long as the first signal reflecting part 310 can receive the measuring light emitted by the signal transmitting module 100 or the second signal reflecting part 320 can receive the measuring light emitted by the signal transmitting module 100, it can be considered that the surface where the signal reflecting part is located is facing the signal transmitting module 100.

[0053] As a preferred technical solution, the signal transmitting module 100 in the embodiment of the present application includes a first light emitting unit and a second light emitting unit, wherein the first light emitting unit can emit horizontal light toward the reflector assembly 300, and the second light emitting unit can emit downward-inclined light toward the reflector assembly 300.

[0054] In this embodiment, the signal transmitting module 100 can simultaneously emit horizontal light and downward-slanting light. When the first signal reflecting unit 310 is working, the horizontal light is reflected to perform horizontal distance measurement. Since the light propagates in the horizontal direction, the horizontal distance measurement image obtained by measurement is shown in FIG. Figure 5 As shown, it is a straight line; when the second reflector is working, the downward tilted light is reflected, and the obstacle detection work is performed at a close distance. The light is propagated downward, and the light is deflected downward during the rotation of the reflector assembly 300, forming a line as shown in FIG. Figure 6 The arc shown.

[0055] Specifically, in an optional embodiment of the present application, referring to Figure 1-4 As shown, the signal transmitting module 100 includes a laser diode 110, a transmitting lens 120 and a spectrometer 130. The laser diode 110 overlaps with the projection of the transmitting lens 120 along the optical path direction, and the spectrometer 130 partially overlaps with the projection of the transmitting lens 120 along the optical path direction. In the signal transmitting module 100, the area where the spectrometer 130 does not overlap with the transmitting lens 120 forms the first light emitting portion, and the area where the spectrometer 130 overlaps with the transmitting lens 120 forms the second light emitting portion.

[0056] By overlapping part of the beam splitter 130 with the laser diode 110 and the emission lens 120, the non-overlapping area forms the first light emission part, and the overlapping area forms the second light emission part, and the combination of the laser diode 110, the emission lens 120 and the beam splitter 130 forms the output of two kinds of light, which is simple in structure and can realize more rich functions.

[0057] Specifically, referring to Figure 1 As shown in the figure, the first signal reflection part 310 includes a first light reflection surface 311 and a first light absorption surface 312 below the first light reflection surface 311, the first light reflection surface 311 corresponds to the first light emission part, and the first light absorption surface 312 corresponds to the second light emission part.

[0058] Referring to Figure 2 As shown in the figure, the second signal reflection part 320 includes a second light reflection surface 321 and a second light absorption surface 322 above the second light reflection surface 321, the second light reflection surface 321 corresponds to the second light emission part, and the second light absorption surface 322 corresponds to the first light emission part.

[0059] In the working process, the light reflection surface has high light reflection efficiency and can reflect the measurement light emitted by the signal emission module 100 for distance measurement, the light absorption surface has low light reflection efficiency or even no light reflection, and the measurement light emitted by the signal emission module 100 is rarely reflected after irradiating the light absorption surface, so no measurement data is obtained, so that the orientation of the reflector assembly 300 can distinguish whether the measurement result is a distance measurement or a near distance obstacle measurement.

[0060] Specifically, when the first signal reflection part 310 works, the horizontal measurement light irradiates the first light reflection surface 311 and is reflected in the horizontal direction, and the downward inclined measurement light irradiates the first light absorption surface 312 and is absorbed, so that the signal receiving module 200 cannot obtain the reflected light of the measurement light, and only horizontal distance measurement is performed; when the second signal reflection part 320 works, the horizontal measurement light irradiates the second light absorption surface 322 and is absorbed, and the signal receiving module 200 cannot obtain the reflected light of the measurement light, and the downward inclined measurement light irradiates the second light reflection surface 321 and is reflected to the ground, and after encountering an obstacle, the measurement light is reflected back to the signal receiving module 200 and is obtained, so as to obtain the distance data of the obstacle.

[0061] In the present application, the specific forming method of the first light absorption surface 312 and the second light absorption surface 322 is also provided, and in a preferred embodiment, the first light absorption surface 312 and the second light absorption surface 322 are respectively formed by pasting black on the surface of the reflector assembly 300.

[0062] Black pasting simply means pasting black material to make the surface of an object have extremely strong light absorption ability. In the process of black pasting, you first need to select a suitable black material, and then form the black material on the surface of the reflector assembly 300 by pasting, spraying, electroplating, etc.

[0063] It should be pointed out that the above-mentioned method of forming the light-absorbing surface by blackening is not a limitation of the present application. In other embodiments, the light-absorbing surface can be formed by setting an optical layer or processing a microstructure surface, and the processing method of the first light-absorbing surface 312 and the second light-absorbing surface 322 can be the same or different.

[0064] In another optional embodiment of the present application, another method can be used to realize that the first signal reflecting unit 310 can reflect the measuring light emitted by the signal transmitting module 100 in the horizontal direction, and the second signal reflecting unit 320 can reflect the measuring light emitted by the signal transmitting module 100 at an angle downward relative to the horizontal plane. Figure 3-4 As shown, the reflector assembly 300 is a wedge-shaped double-sided reflector 400, including a first surface 410 and a second surface 420 that are opposite to each other. The normal of the first surface 410 is parallel to the horizontal plane, and the normal of the second surface 420 is inclined downward relative to the horizontal plane. The first surface 410 forms the first signal reflecting portion 310, and the second surface 420 forms the second signal reflecting portion 320.

[0065] The normal of the first surface 410 is parallel to the horizontal plane, so that it can reflect the measuring light emitted by the signal transmitting module 100 in the horizontal direction, thereby performing horizontal ranging. The normal of the second surface 420 is tilted downward relative to the horizontal plane, so that it can reflect the measuring light emitted by the signal transmitting module 100 downward, thereby detecting ground obstacles. In this way, there is no need to make structural improvements to the signal transmitting module 100, thereby making the product structure simpler.

[0066] Specifically, refer to Figure 1-4 As shown, in this embodiment, the signal receiving module 200 is arranged below the signal transmitting module 100, and includes a linear array CMOS 210 and a receiving lens 220. The optical axis of the signal receiving module 200 is tilted upward in the horizontal direction from the linear array CMOS 210 to the receiving lens 220.

[0067] The linear array CMOS 210 is a linear array image sensor. In this application, the linear array CMOS 210 and a lens are used to capture the stripes produced by the measurement light on the surface of an object. The linear array CMOS 210 only captures vertical information, while horizontal information is obtained through a rotating mirror and image stacking. By acquiring laser stripe images at different angles and combining them with triangulation principles, a three-dimensional model of the object is reconstructed.

[0068] The specific process is as follows:

[0069] Laser projection: The signal transmitting module 100 emits a measuring light and illuminates the surface of the object.

[0070] Linear CMOS 210 Imaging: The linear CMOS 210 uses a lens to image the stripes produced by the measurement light on the surface of the object onto the sensor. Since the linear CMOS 210 can only capture one-dimensional information, it can only obtain vertical stripe information.

[0071] Rotating mirror scanning: By rotating the mirror, the irradiation angle of the measuring light is changed, so that the measuring light scans the surface of the object, thereby obtaining fringe images at different angles.

[0072] Image stacking: Stacking fringe images at different angles to form a complete two-dimensional image.

[0073] 3D reconstruction: Based on the principle of triangulation, the stacked images are calculated using information such as camera intrinsic parameters and laser plane equations to reconstruct the 3D point cloud data of the object.

[0074] The above method has the following advantages:

[0075] Improve scanning speed. The scanning speed of linear array CMOS210 is much higher than that of area array CMOS, which can quickly acquire large amounts of data and improve system efficiency.

[0076] Reduced cost: Compared with area array CMOS, linear array CMOS210 has lower cost.

[0077] Simplified system: By rotating mirror scanning, a wide range of coverage can be achieved without the use of complex mechanical structures.

[0078] Based on the above advantages, this solution is more suitable for the measurement of dynamic objects. Through precise calibration and algorithms, high-precision three-dimensional data can be obtained, and the laser parameters and camera parameters can be adjusted to adapt to different measurement scenarios.

[0079] In the embodiment of the present application, the optical axis of the signal receiving module 200 is tilted upward along the horizontal direction from the linear array CMOS 210 to the receiving lens 220, which has the following advantages:

[0080] More accurate distance measurement: The measuring light is transmitted horizontally, and the receiving unit is tilted upward, forming an angle. When the measuring light is reflected by a ground obstacle, the signal receiving module 200 receives the reflected light at a certain angle to the horizontal. By measuring this angle and the light's time of flight, the distance from the obstacle to the rotating mirror radar can be more accurately calculated, achieving higher accuracy, especially for closer obstacles.

[0081] Reduce the impact of uneven ground: The ground is often uneven, and traditional vertical transmission and reception methods are easily affected by ground undulations, resulting in measurement errors. The tilted design can reduce this impact to a certain extent and improve measurement stability.

[0082] Detecting obstacles farther away: Since the signal receiving module 200 is tilted upward, the measuring light sweeps over a larger range on the ground, and obstacles farther away can be detected.

[0083] Reduce blind spots: For some low obstacles, the traditional vertical launch method may have blind spots, while the inclined design can better cover these areas.

[0084] Reducing interference to the chassis: The signal transmitting module 100 is set horizontally, which can prevent the measurement light from directly irradiating the rotating mirror radar or the chassis of the robot installed with the rotating mirror radar, thereby reducing the interference of reflected light on the measurement results.

[0085] The application of triangulation principle in it

[0086] Method of measuring the time of flight of light: The rotating mirror radar measures the time from the emission to the return of the measuring light, combines it with the speed of light, and calculates the round-trip distance of the measuring light. By measuring the laser emission angle, receiving angle and laser flight time, and using the trigonometric function relationship, the distance and height of the obstacle to the lidar are calculated.

[0087] The specific process is as follows:

[0088] The signal transmitting module 100 emits a beam of measuring light, which is reflected by a ground obstacle. After receiving the reflected measuring light signal, the signal receiving module 200 uses the triangulation principle to calculate the distance and height from the obstacle to the rotating mirror radar based on the flight time of the measuring light and the transmission and reception angles.

[0089] Therefore, by setting the signal transmitting module 100 of the rotating mirror radar horizontally and tilting the signal receiving module 200 upward, combined with the principle of triangulation, the rotating mirror radar can more accurately detect ground obstacles, expand the detection range, and improve the reliability of navigation and obstacle avoidance.

[0090] Reference Figure 1-4As shown, the light-emitting surface of the portion where the beam splitter 130 overlaps with the emitting lens 120 in the embodiment of the present application is tilted downward, and is preferably a semicircular prism. It should be noted that the use of a semicircular prism for the beam splitter 130 is not a limitation of the present application, and in other embodiments, a prism group, a grating, a thin film beam splitter, a polarization beam splitter or a microlens array can also be used as the beam splitter 130.

[0091] At the same time, an embodiment of the present application also provides a cleaning robot having the rotating mirror radar as described above. By adopting the above-mentioned rotating mirror radar, the cleaning robot can simultaneously realize the long-distance ranging function and the short-distance obstacle detection function. It has a simple structure, small size and low production cost.

[0092] The technical principles of the present application have been described above in conjunction with specific embodiments. These descriptions are intended solely to explain the principles of the present application and are not to be construed in any way as limiting the scope of protection of the present application. Based on the explanations herein, those skilled in the art will be able to devise other specific implementations of the present application without inventive effort, and such implementations will fall within the scope of protection of the present application.

Claims

1. A rotating mirror radar, characterized in that: include: a base on which a signal transmitting module (100) and a signal receiving module (200) are fixedly mounted; A reflector assembly (300) is rotatably disposed on the base and comprises a first signal reflecting portion (310) and a second signal reflecting portion (320); The signal transmission module (100) and the reflector assembly (300) are configured such that the first signal reflection portion (310) can reflect the measurement light emitted by the signal transmission module (100) in a horizontal direction, and the second signal reflection portion (320) can reflect the measurement light emitted by the signal transmission module (100) in a downwardly inclined manner relative to a horizontal plane.

2. The rotating mirror radar according to claim 1, characterized in that: The first signal reflecting part (310) and the second signal reflecting part (320) are respectively located on different surfaces of the reflector assembly (300), and the operating state of the first signal reflecting part (310) or the second signal reflecting part (320) for reflection is switched by rotating the reflector assembly (300).

3. The rotating mirror radar according to claim 1, characterized in that: The signal transmitting module (100) comprises a first light emitting portion and a second light emitting portion, wherein the first light emitting portion is capable of emitting horizontal light toward the reflector assembly (300), and the second light emitting portion is capable of emitting downwardly inclined light toward the reflector assembly (300).

4. The rotating mirror radar according to claim 3, characterized in that: The signal transmitting module (100) comprises a laser diode (110), a transmitting lens (120) and a spectroscope (130), wherein the laser diode (110) overlaps with the projection of the transmitting lens (120) along the optical path, and the spectroscope (130) partially overlaps with the projection of the transmitting lens (120) along the optical path. In the signal transmitting module (100), the area where the spectroscope (130) does not overlap with the transmitting lens (120) forms the first light emitting portion, and the area where the spectroscope (130) overlaps with the transmitting lens (120) forms the second light emitting portion.

5. The rotating mirror radar according to claim 3, characterized in that: The first signal reflecting portion (310) comprises a first light reflecting surface (311) and a first light absorbing surface (312) located below the first light reflecting surface (311), the first light reflecting surface (311) corresponds to the first light emitting portion, and the first light absorbing surface (312) corresponds to the second light emitting portion; The second signal reflecting portion (320) comprises a second light reflecting surface (321) and a second light absorbing surface (322) located above the second light reflecting surface (321), wherein the second light reflecting surface (321) corresponds to the second light emitting portion, and the second light absorbing surface (322) corresponds to the first light emitting portion.

6. The rotating mirror radar according to claim 5, characterized in that: The first light absorbing surface (312) and the second light absorbing surface (322) are respectively formed by blackening, setting an optical layer, or processing a microstructured surface on the surface of the reflector component (300).

7. The rotating mirror radar according to claim 2, characterized in that: The reflector assembly (300) is a wedge-shaped double-sided reflector (400), comprising a first surface (410) and a second surface (420) that are separated from each other, wherein the normal of the first surface (410) is parallel to a horizontal plane, and the normal of the second surface (420) is inclined downward relative to the horizontal plane, the first surface (410) forms the first signal reflecting portion (310), and the second surface (420) forms the second signal reflecting portion (320).

8. The rotating mirror radar according to any one of claims 1 to 7, characterized in that: The signal receiving module (200) is arranged below the signal transmitting module (100), and comprises a linear array CMOS (210) and a receiving lens (220); the optical axis of the signal receiving module (200) is tilted upward in a horizontal direction from the linear array CMOS (210) to the receiving lens (220).

9. The rotating mirror radar according to claim 4, characterized in that: The light-emitting surface of the portion where the beam splitter (130) overlaps with the emission lens (120) is tilted downward, and the beam splitter (130) is a semicircular prism, a prism group, a grating, a thin film beam splitter, a polarization beam splitter, or a microlens array.

10. A cleaning robot, characterized in that: A rotating mirror radar according to any one of claims 1 to 9.

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