Rotating mirror radar and cleaning robot

Abstract

The invention discloses a rotating mirror radar, and the 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 technology, cleaning robots have become more and more 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 of a target by emitting laser pulses and measuring the time it takes for the reflected light to return to the sensor. LiDAR can provide high-precision, real-time three-dimensional information about the surrounding environment, making it ideal for environmental perception and navigation of cleaning robots.

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

[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] On the one hand, a rotating mirror radar is provided, comprising:

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

[0009] A reflector assembly is rotatably disposed on the base and comprises a first signal reflecting portion and a second signal reflecting portion;

[0010] The signal transmitting module and the reflector assembly are configured such 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 unit and a second light emitting unit, the first light emitting unit can emit horizontal light to the reflector assembly, and the second light emitting unit can emit downwardly inclined light to the reflector assembly.

[0013] Optionally, the signal transmission module includes a laser diode, a transmitting lens and a beam splitter, the laser diode overlaps with the projection of the transmitting lens along the light path direction, the beam splitter partially overlaps with the projection of the transmitting lens along the light path direction, and in the signal transmission module, the area where the beam splitter does not overlap with the transmitting lens forms the first light emitting part, and the area where the beam splitter 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 blackening, setting an optical layer or processing a microstructure surface on the surface of the reflector component.

[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, and 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 emitting 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 of the cycle is used for obstacle avoidance measurement or cliff detection (the receiving end receives downward oblique light), and half of the cycle is used for horizontal distance measurement (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 based on the drawings and embodiments.

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

[0024] Figure 2 This is another state schematic diagram of the rotating mirror radar described in the embodiment of the present application;

[0025] Figure 3 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 state schematic diagram 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 described in an embodiment of the present application;

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

[0029] In the figure:

[0030] 100, signal transmitting module; 110, laser diode; 120, transmitting lens; 130, spectroscope; 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] In order 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 described embodiments 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 creative work are within the scope of protection of this application.

[0032] In the description of this application, unless otherwise clearly specified and limited, the terms "connected", "connected", and "fixed" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

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

[0034] In the description of this article, it should be understood that the terms "upper", "lower", "left", "right", etc., and other directions or positional relationships are only for the convenience of description and simplification of operation, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as a limitation of this application. In addition, the terms "first" and "second" are only used to distinguish in the description and have no special meaning.

[0035] In the description of this specification, the description with reference to the terms "an embodiment", "example", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example.

[0036] In addition, it should be understood that although this specification is described according to 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 may also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

[0037] As an important member of smart home, the degree of perfection of the cleaning robot's functions directly affects the user experience. The combination of long-distance and short-distance ranging functions is crucial for the cleaning robot to complete the cleaning task efficiently and accurately.

[0038] Long-distance ranging function is more convenient for global path planning, such as building environmental maps: Through long-distance ranging, the cleaning robot can quickly scan the entire room and build an accurate environmental map. This provides a basis for subsequent path planning, allowing the robot to clean in an orderly manner. Avoid large obstacles: Long-distance ranging can detect large furniture such as sofas and tables in advance, so as to plan the best detour path to avoid collisions.

[0039] Measuring obstacles at close range is more convenient for refined obstacle avoidance, for example, it is more suitable for identifying small obstacles: close-range ranging can accurately detect small objects, wires, etc. on the carpet to prevent the robot from being entangled or damaged. Adapt to complex environments: In complex environments such as furniture legs and thresholds, close-range ranging can provide more accurate obstacle avoidance information to ensure the safe operation of the robot.

[0040] Specific application scenarios may include cleaning close to walls and avoiding collisions: close-range ranging allows the robot to clean close to the wall without leaving any 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.

[0041] In summary, the combination of long-distance and short-distance ranging functions can achieve complementary advantages. Long-distance ranging is responsible for global perception, and short-distance ranging is 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 long-distance and short-distance distance measurement functions is the key to the intelligent and efficient cleaning robot. Only with these two functions can the cleaning robot better adapt to the complex and changing home environment and provide users with better cleaning services.

[0043] However, the radar systems of existing cleaning robots either do not have the function of simultaneous long-distance and short-distance ranging, or require two independent ranging systems to implement, which are complex in structure, large in size and high in cost.

[0044] Based on the above, if 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 has 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 such 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 of the cycle is used for obstacle avoidance measurement (the receiving end receives downward oblique light), and half of the cycle is used for horizontal distance measurement (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 working orientation of the rotating mirror radar in a horizontal plane (such as the ground) is taken as an example. 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 opposite to the signal transmitting module 100 and the surface where the second signal reflecting part 320 is located is directly opposite to 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 to the reflector assembly 300, and the second light emitting unit can emit downwardly inclined light to the reflector assembly 300.

[0054] In this embodiment, the signal transmitting module 100 can simultaneously emit horizontal light and downwardly inclined 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 in FIG. 1 , a straight line is shown; 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 downwardly tilted, and the light is measured to be deflected downward during the rotation of the reflector assembly 300, and the light is formed as the rotation forms a Figure 6 The arc shown.

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

[0056] By overlapping part of the spectrometer 130 with the laser diode 110 and the emitting lens 120, the non-overlapping area forms a first light emitting part, and the overlapping area forms a second light emitting part. Through a combination of a group of laser diodes 110, emitting lens 120 and spectrometer 130, two light outputs are formed. The structure is simple and can realize more abundant functions.

[0057] Specifically, refer to Figure 1 As shown, the first signal reflecting portion 310 includes 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;

[0058] Reference Figure 2 As shown, the second signal reflecting portion 320 includes a second light reflecting surface 321 and a second light absorbing surface 322 located above the second light reflecting surface 321 , 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.

[0059] 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 on the light-absorbing surface, so no measurement data can be 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.

[0060] Specifically, when the first signal reflecting unit 310 is working, the measuring light in the horizontal direction is irradiated to the first reflecting surface 311, and is reflected in the horizontal direction to perform ranging. The measuring light inclined downward is irradiated to the first light absorbing surface 312 and is absorbed. Therefore, the signal receiving module 200 will 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 measuring light in the horizontal direction is irradiated to the second light absorbing surface 322 and is absorbed. The signal receiving module 200 will not obtain the reflected light of the measuring light. The measuring light inclined downward is irradiated to the second reflecting surface 321 and is reflected toward the ground. After encountering an obstacle, the measuring light is reflected back to the signal receiving module 200 and is acquired, thereby obtaining the distance data of the obstacle.

[0061] 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.

[0062] Black pasting simply means pasting black material to make the surface of an object have 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 a light-absorbing surface by black pasting 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, 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 inclined 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, including a linear array CMOS210 and a receiving lens 220, and the optical axis of the signal receiving module 200 is tilted upward along the horizontal direction from the linear array CMOS210 to the receiving lens 220.

[0067] Linear array CMOS210 refers to a linear array image sensor. In this application, the linear array CMOS210 and a lens are used to capture the stripes generated by the measurement light on the surface of the object. The linear array CMOS210 is only responsible for capturing information in the vertical direction, while the information in the horizontal direction is obtained through a rotating mirror and image stacking. By acquiring laser stripe images at different angles and combining the principle of triangulation, 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 to illuminate the surface of the object.

[0070] Linear array CMOS210 imaging: Linear array CMOS210 uses a lens to image the stripes generated by the measuring light on the surface of the object onto the sensor. Since the linear array CMOS210 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: Stack the fringe images at different angles to form a complete two-dimensional image.

[0073] 3D reconstruction: Based on the principle of triangulation, the camera's intrinsic parameters, laser plane equations and other information are used to calculate the stacked images and reconstruct the 3D point cloud data of the object.

[0074] The above method has the following advantages:

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

[0076] Reduce costs: Compared with area array CMOS, linear array CMOS210 has lower costs.

[0077] Simplified system: Through 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 different measurement scenarios can be adapted by adjusting laser parameters and camera parameters.

[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 light emission level is measured, and the receiving unit is tilted upward to form an angle. When the measuring light is irradiated on the ground obstacle and reflected back, due to the angle, the signal receiving module 200 will receive a reflected light with a certain angle to the horizontal direction. By measuring this angle and measuring the light flight time, the distance from the obstacle to the rotating mirror radar can be calculated more accurately, especially for closer obstacles, with higher accuracy.

[0081] Reduce the impact of uneven ground: The ground is often uneven, and the traditional vertical transmission and reception method is easily affected by the ups and downs of the ground, resulting in measurement errors. The tilt 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 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] Reduce interference with the chassis: The signal transmission module 100 is arranged 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 result.

[0085] The application of triangulation principle in it

[0086] The method of measuring the time of light flight: 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, the trigonometric function relationship is used to calculate the distance and height from the obstacle to the laser radar.

[0087] The specific process is as follows:

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

[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 a rotating mirror radar as described above. By adopting the above rotating mirror radar, the cleaning robot can simultaneously realize long-distance ranging function and short-distance obstacle detection function. It has a simple structure, small size and low production cost.

[0092] The technical principles of the present application are described above in conjunction with specific embodiments. These descriptions are only for explaining the principles of the present application and cannot be interpreted as limiting the scope of protection of the present application in any way. Based on the explanations herein, those skilled in the art can think of other specific implementation methods of the present application without creative work, and these methods 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 arranged; 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 working 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 unit and a second light emitting unit, wherein the first light emitting unit is capable of emitting horizontal light to the reflector assembly (300), and the second light emitting unit is capable of emitting downwardly inclined light to the reflector assembly (300).

4. The rotating mirror radar according to claim 3, characterized in that: The signal transmission module (100) comprises a laser diode (110), a transmission lens (120) and a beam splitter (130); the laser diode (110) overlaps with the projection of the transmission lens (120) along the optical path direction; the beam splitter (130) partially overlaps with the projection of the transmission lens (120) along the optical path direction; in the signal transmission module (100), the area where the beam splitter (130) does not overlap with the transmission lens (120) forms the first light emitting portion, and the area where the beam splitter (130) overlaps with the transmission 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), 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 microstructure 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, the normal of the first surface (410) being parallel to a horizontal plane, the normal of the second surface (420) being inclined downward relative to the horizontal plane, the first surface (410) forming the first signal reflecting portion (310), and the second surface (420) forming 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 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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