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 can transmit a first laser beam and a second laser beam, the signal transmitting module is arranged to be capable of transmitting the first laser beam emitted in the horizontal direction and the second laser beam inclining downwards relative to the horizontal plane, and the reflector assembly reflects the first laser beam in the horizontal direction. Distance detection can be carried out in the horizontal direction; the second laser beam is obliquely reflected downwards relative to the horizontal plane, close-range ground obstacle or cliff detection can be carried out, and detection of the two scenes is switched through rotation of the reflector assembly.

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 is capable of emitting a first laser beam and a second laser beam, wherein the first laser beam is emitted in a horizontal direction, and the second laser beam is emitted at an angle downward relative to the horizontal plane; the first laser beam corresponds to the first signal reflecting portion, and the second laser beam corresponds to the second signal reflecting portion;

[0011] The signal transmitting module and the reflector assembly are configured such that the first signal reflecting portion can reflect the first laser beam in a horizontal direction, and the second signal reflecting portion can reflect the second laser beam in a downwardly inclined manner relative to a horizontal plane.

[0012] 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.

[0013] Optionally, the signal transmitting module includes a first transmitting module and a second transmitting module, the first transmitting module transmits the first laser beam, and the second transmitting module transmits the second laser beam.

[0014] Optionally, the first transmitting module is arranged parallel to a horizontal plane, and the second transmitting module is arranged tilted downward relative to the horizontal plane.

[0015] Optionally, the signal transmission module is a vertical cavity surface emitting laser encapsulated with a collimating mirror and a built-in beam splitter.

[0016] Optionally, the signal transmission module is a vertical cavity surface emitting laser encapsulated with a microlens array, and the microlens array has at least two microlenses of different shapes or at least two microlenses of different arrangements.

[0017] 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 laser beam, and the first light absorbing surface corresponds to the second laser beam;

[0018] 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 laser beam, and the second light absorbing surface corresponds to the first laser beam.

[0019] 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.

[0020] 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.

[0021] On the other hand, a cleaning robot is provided, which has the rotating mirror radar as described above.

[0022] The beneficial effects of the present application are as follows: the signal transmitting module of the present application is configured to emit a first laser beam emitted in a horizontal direction and a second laser beam inclined downward relative to the horizontal plane. The reflector assembly can perform distance detection in the horizontal direction by reflecting the first laser beam in the horizontal direction; and can perform ground obstacle or cliff detection by reflecting the second laser beam inclined downward relative to the horizontal plane. The measurement of the two scenes in the present application 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 (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

[0023] The present application is further described in detail below with reference to the accompanying drawings and examples.

[0024] Figure 1 A schematic diagram of a rotating mirror radar according to an embodiment of the present application;

[0025] Figure 2 This is another schematic diagram of a rotating mirror radar according to an embodiment of the present application;

[0026] Figure 3 This is a schematic diagram of a state of a rotating mirror radar according to another embodiment of the present application.

[0027] In the picture:

[0028] 100, signal transmitting module; 110, first transmitting module; 120, second transmitting module; 130, microlens array; 140, vertical cavity surface emitting laser; 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. DETAILED DESCRIPTION

[0029] 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.

[0030] 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.

[0031] 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.

[0032] 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.

[0033] 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.

[0034] In addition, it should be understood that although this specification is described in terms of implementation methods, not every implementation method contains only one independent technical solution. This narrative method of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment can also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

[0035] As a key component of smart homes, the functionality of cleaning robots directly impacts the user experience. The integration of long- and short-range distance measurement is crucial for cleaning robots to efficiently and accurately complete cleaning tasks.

[0036] Specific application scenarios may include wall cleaning and collision avoidance: close-range ranging allows the robot to clean close to the wall, leaving no blind spots; during the cleaning process, the robot can adjust its motion trajectory in real time based on the close-range ranging data to avoid colliding with the wall.

[0037] In summary, the combination of long-range and short-range ranging functions can achieve complementary advantages. Long-range ranging is responsible for global perception, while short-range ranging is responsible for local details. The combination of the two can achieve comprehensive perception of the environment and improve the robot's intelligence level.

[0038] Therefore, the combination of long-range and short-range distance measurement is the key to achieving intelligent and efficient cleaning robots. Only with these two functions can cleaning robots better adapt to complex and changing home environments and provide users with better cleaning services.

[0039] However, the radar systems of existing cleaning robots either do not have the ability to measure long and short distances simultaneously, or require two independent ranging systems to implement them, which are complex in structure, large in size, and high in cost.

[0040] Based on the above, if Figure 1-3 As shown, the embodiment of the present application provides a rotating mirror radar, including:

[0041] A base on which a signal transmitting module 100 and a signal receiving module 200 are fixedly mounted;

[0042] 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;

[0043] The signal transmitting module 100 is capable of emitting a first laser beam and a second laser beam. The first laser beam is emitted horizontally, and the second laser beam is emitted obliquely downward relative to the horizontal plane. The first laser beam corresponds to the first signal reflecting portion 310, and the second laser beam corresponds to the second signal reflecting portion 320.

[0044] The signal transmitting module 100 and the reflector assembly 300 are configured such that the first signal reflecting portion 310 can reflect the first laser beam in a horizontal direction, and the second signal reflecting portion 320 can reflect the second laser beam in a downwardly inclined direction relative to a horizontal plane.

[0045] In the present application, the signal transmitting module 100 is configured to emit a first laser beam emitted in a horizontal direction and a second laser beam inclined downward relative to the horizontal plane. The reflector assembly 300 can perform long-distance detection in the horizontal direction by reflecting the first laser beam in the horizontal direction; by reflecting the second laser beam at a downward angle relative to the horizontal plane, it can perform close-range ground obstacle measurement. In the present application, the measurement of long and short distances 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 long-distance 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.

[0046] 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.

[0047] 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.

[0048] 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.

[0049] Specifically, refer to Figure 1-2 As shown, in this embodiment, the specific solution for realizing that the signal transmitting module 100 can emit the first laser beam and the second laser beam is that the signal transmitting module 100 includes a first transmitting module 110 and a second transmitting module 120, the first transmitting module 110 emits the first laser beam, and the second transmitting module 120 emits the second laser beam.

[0050] By adopting two independent first transmitting modules 110 and second transmitting modules 120, when no work is required, the corresponding transmitting modules do not need to emit measuring light, thereby reducing energy consumption and avoiding the waste caused by constantly emitting measuring light to the first signal reflecting part 310 and the second signal reflecting part 320 of the reflector assembly 300.

[0051] Further, continue to refer to Figure 1-2 As shown, the orientation of the transmitting module determines the direction of movement of the measuring light it transmits. Therefore, in this solution, the first transmitting module 110 is arranged parallel to the horizontal plane, and the second transmitting module 120 is arranged tilted downward relative to the horizontal plane.

[0052] It should be pointed out that the above-mentioned independent arrangement of the first transmitting module 110 and the second transmitting module 120 to emit the first laser beam and the second laser beam in different directions does not serve as a limitation to the present application. In another optional embodiment of the present application, the signal transmitting module 100 is a vertical cavity surface emitting laser encapsulated with a collimating mirror and a built-in spectrometer.

[0053] A vertical cavity surface emitting laser (VCSEL) is a special type of semiconductor laser whose light beam is emitted perpendicular to the chip surface. VCSEL chips are very fragile and require packaging to protect the chip and provide electrical connections and optical coupling. A collimator is an optical component that can convert a divergent light beam into a parallel light beam. The light beam emitted by a VCSEL has a certain divergence angle. The collimator can collimate the divergent light beam into parallel light, improving the transmission efficiency and focusing ability of the light beam. A beam splitter is an optical component that can split an incident light beam into two or more beams. In this embodiment, the beam splitter can split the light beam emitted by the VCSEL into different parts. The module in which the VCSEL, collimator, and beam splitter are packaged together can use the beam splitter to split the laser beam emitted by the VCSEL into two beams with different directions. One beam is irradiated as the first laser beam to the first signal reflecting portion 310, and the other beam is irradiated as the second laser beam to the second signal reflecting portion 320.

[0054] This setup can improve system integration, beam quality, and functionality. Specifically, integrating the beam splitting function into the package simplifies the optical system, reduces the number of components, and reduces system cost and size. By carefully designing the beam splitter's coating and angle, high-quality beams with specific polarization states can be obtained. Multiple beams can enable more complex optical functions, such as simultaneous ranging and imaging.

[0055] The VCSEL 140 is packaged with a collimator and a built-in beamsplitter, typically a coated beamsplitter. By coating one side of the collimator with dielectric films of varying thicknesses, the reflection and transmittance of light of different wavelengths can be precisely controlled. When the laser beam emitted by the VCSEL strikes the beamsplitter, part of the beam is reflected, while another part is transmitted, generating multiple beams.

[0056] In another optional embodiment of the present application, referring to Figure 3 As shown, the signal transmission module 100 is a vertical cavity surface emitting laser 140 encapsulated with a micro lens array 130 , and the micro lens array 130 has at least two different features.

[0057] In the embodiment of the present application, the microlens array 130 having at least two different features refers to using microlenses of two different shapes or using microlenses of different arrangements.

[0058] Specifically, the microlens array 130 is a group of tiny lenses integrated on a chip in a specific arrangement. Each microlens can focus or diverge the incident light beam. A plurality of VCSEL units are integrated on the VCSEL chip, and each unit can independently emit laser light. The microlens array 130 is covered on the VCSEL array. Each microlens corresponds to a VCSEL unit, and the shape and arrangement of the lens can realize the shaping and direction control of the laser beam. By designing two microlenses of different shapes or using microlenses with different arrangements, the laser beams emitted by adjacent VCSEL units can produce a certain angle difference. For example, a convex lens and a concave lens can make the corresponding VCSEL units emit laser beams in different directions, thereby realizing the emission of the first laser beam and the second laser beam.

[0059] By designing the microlens array 130, Ling can precisely control the shape, size, and direction of the laser beam. Multiple laser beams can be emitted within a limited chip area, improving space utilization. Integrating multiple optical components onto a single chip simplifies the design of the optical system. This solution enables multi-line laser scanning, improving ranging accuracy and imaging quality.

[0060] Preferably, refer to Figure 1-3 As shown, in the embodiment of the present application, the first signal reflecting portion 310 includes a first light reflecting surface and a first light absorbing surface 312 located below the first light reflecting surface. The first light reflecting surface corresponds to the first laser beam, and the first light absorbing surface 312 corresponds to the second laser beam.

[0061] The second signal reflecting portion 320 includes a second light reflecting surface and a second light absorbing surface 322 located above the second light reflecting surface. The second light reflecting surface corresponds to the second laser beam, and the second light absorbing surface 322 corresponds to the first laser beam.

[0062] During operation, the reflective surface has a high reflective efficiency and can reflect the measuring light emitted by the signal transmitting module 100 for distance measurement. The light-absorbing surface has a low reflective efficiency or even no reflectiveness. The measuring light emitted by the signal transmitting module 100 is rarely reflected after being irradiated by the light-absorbing surface, so no measurement data is obtained. In this way, the direction of the reflector assembly 300 can be used to distinguish whether the measurement result is a long-distance distance measurement or a short-distance obstacle measurement.

[0063] Specifically, when the first signal reflecting unit 310 is working, the first laser beam is irradiated onto the first light-reflecting surface and is reflected in the horizontal direction to perform ranging. The second laser beam is irradiated onto the first light-absorbing surface 312 and is absorbed. Therefore, the signal receiving module 200 does not obtain the reflected light of the measuring light. At this time, only horizontal ranging is performed. When the second signal reflecting unit 320 is working, the first laser beam is irradiated onto the second light-absorbing surface 322 and is absorbed. The signal receiving module 200 does not obtain the reflected light of the measuring light. The second laser beam is irradiated onto the second light-reflecting surface and is reflected toward the ground. After encountering an obstacle, the measuring light is reflected back to the signal receiving module 200 and obtained, thereby obtaining the distance data of the obstacle.

[0064] The present application also provides a specific method for forming the first light absorbing surface 312 and the second light absorbing surface 322. In a preferred embodiment, the first light absorbing surface 312 and the second light absorbing surface 322 are formed by pasting black on the surface of the reflector assembly 300.

[0065] 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.

[0066] It should be pointed out that the above-mentioned method of forming a light-absorbing surface by blackening is not a limitation of the present application. In other embodiments, an optical layer or a microstructure surface can be processed to form a light-absorbing 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.

[0067] Specifically, refer to Figure 1-3As 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.

[0068] 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.

[0069] The specific process is as follows:

[0070] Laser projection: The signal transmitting module 100 emits a measuring light and illuminates the surface of the object.

[0071] 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.

[0072] 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.

[0073] Image stacking: Stacking fringe images at different angles to form a complete two-dimensional image.

[0074] 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.

[0075] The above method has the following advantages:

[0076] 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.

[0077] Reduced cost: Compared with area array CMOS, linear array CMOS210 has lower cost.

[0078] Simplified system: By rotating mirror scanning, a wide range of coverage can be achieved without the use of complex mechanical structures.

[0079] 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.

[0080] 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:

[0081] 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.

[0082] 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.

[0083] Detecting obstacles farther away: Since the signal receiving module 200 is tilted upward, the measuring light sweeps over a larger area on the ground, and obstacles farther away can be detected.

[0084] 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.

[0085] 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.

[0086] The application of triangulation principle in it

[0087] 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.

[0088] The specific process is as follows:

[0089] 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.

[0090] 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.

[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 should not 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 transmitting module (100) is capable of emitting a first laser beam and a second laser beam, wherein the first laser beam is emitted in a horizontal direction, and the second laser beam is emitted at an angle downward relative to a horizontal plane; the first laser beam corresponds to the first signal reflecting portion (310), and the second laser beam corresponds to the second signal reflecting portion (320); The signal transmitting module (100) and the reflector assembly (300) are configured such that the first signal reflecting portion (310) can reflect the first laser beam in a horizontal direction, and the second signal reflecting portion (320) can reflect the second laser beam 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 transmitting module (110) and a second transmitting module (120), wherein the first transmitting module (110) transmits the first laser beam, and the second transmitting module (120) transmits the second laser beam.

4. The rotating mirror radar according to claim 3, characterized in that: The first transmitting module (110) is arranged parallel to a horizontal plane, and the second transmitting module (120) is arranged tilted downward relative to the horizontal plane.

5. The rotating mirror radar according to claim 1, characterized in that: The signal transmission module (100) is a vertical cavity surface emitting laser (140) encapsulated with a collimating mirror and a built-in beam splitter.

6. The rotating mirror radar according to claim 1, characterized in that: The signal transmission module (100) is a vertical cavity surface emitting laser (140) encapsulated with a microlens array (130), wherein the microlens array (130) has at least two microlenses of different shapes or at least two microlenses of different arrangements.

7. The rotating mirror radar according to claim 1, characterized in that: The first signal reflecting portion (310) comprises a first light reflecting surface and a first light absorbing surface (312) located below the first light reflecting surface, the first light reflecting surface corresponds to the first laser beam, and the first light absorbing surface (312) corresponds to the second laser beam; The second signal reflecting portion (320) comprises a second light reflecting surface and a second light absorbing surface (322) located above the second light reflecting surface, the second light reflecting surface corresponds to the second laser beam, and the second light absorbing surface (322) corresponds to the first laser beam.

8. The rotating mirror radar according to claim 7, 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).

9. The rotating mirror radar according to claim 1, 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).

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

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