Rotating mirror radar

Abstract

The utility model 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 comprises a reflecting mirror body and a driving motor used for driving the reflecting mirror body to rotate, the rotating axis of the reflecting mirror body and a driving shaft of the driving motor are coaxially arranged, and the reflecting mirror body is provided with a first signal reflecting part and a second signal reflecting part. The first signal reflection part and the second signal reflection part sequentially carry out reflection work; the first signal reflection part can reflect the measurement light emitted by the signal emission module in the horizontal direction, and the second signal reflection part can reflect the measurement light emitted by the signal emission module downwards in an inclined mode relative to the horizontal plane. The rotating axis of the reflector body and the driving shaft of the driving motor are coaxially arranged, so that the structure of the rotating mirror radar is more compact, the size of the rotating mirror radar can be reduced, and miniaturization and light weight of equipment are facilitated.

Description

Technical Field

[0001] The present application relates to the technical field of rotating distance measuring devices, and in particular to a 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 that 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 reflector body and a drive motor for driving the reflector body to rotate, wherein the rotation axis of the reflector body is coaxially arranged with the drive shaft of the drive motor, and the reflector body has a first signal reflecting portion and a second signal reflecting portion, and by rotating the reflector body, the first signal reflecting portion and the second signal reflecting portion perform reflection work in sequence;

[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 reflector body is a single reflector, and the driving motor is arranged at one end of the single reflector.

[0012] Optionally, the reflector body is a split reflector, including a first mirror body and a second mirror body, and the driving motor is arranged between the first mirror body and the second mirror body.

[0013] Optionally, the reflector body is a double-plane mirror, and the first signal reflecting part and the second signal reflecting part are respectively located on different surfaces of the reflector body, 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.

[0014] 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.

[0015] 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;

[0016] 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.

[0017] 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.

[0018] 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.

[0019] 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.

[0020] 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.

[0021] The beneficial effects of the present application are as follows: in the present application, the reflector assembly can perform distance detection in the horizontal direction by reflecting the measuring light emitted by the signal transmitting module in the horizontal direction; and can perform ground obstacle measurement or cliff detection by reflecting the measuring light emitted by the signal transmitting module at a downward angle relative to the horizontal plane. The detection of the two application scenarios 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 or cliff detection (the receiving end receives downward oblique light), and half a cycle is used for 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.

[0022] By arranging the rotation axis of the reflector body coaxially with the drive shaft of the drive motor, the structure of this solution is made more compact, the volume of the rotating mirror radar can be reduced, and the equipment is miniaturized and lightweight. 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 structural diagram of a rotating mirror radar according to an embodiment of the present application;

[0025] Figure 2 This is another structural diagram of the rotating mirror radar described in an embodiment of the present application;

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

[0027] Figure 4 This is another structural schematic diagram of a rotating mirror radar according to another embodiment of the present application;

[0028] Figure 5 This is a schematic diagram of a horizontal ranging image according to an embodiment of the present application;

[0029] Figure 6 This is a schematic diagram of a downward oblique light image according to an embodiment of the present application.

[0030] In the picture:

[0031] 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. Reflector body; 311. First signal reflecting part; 3111. First reflecting surface; 3112. First light absorbing surface; 312. Second signal reflecting part; 3121. Second reflecting surface; 3122. Second light absorbing surface; 313. First mirror body; 314. Second mirror body; 320. Drive motor; 400. Wedge-shaped double-sided reflector; 410. First surface; 420. Second surface. DETAILED DESCRIPTION

[0032] 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.

[0033] 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.

[0034] 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.

[0035] 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.

[0036] 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.

[0037] 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.

[0038] 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.

[0039] Long-range ranging facilitates global path planning, such as building an environmental map. Using long-range ranging, the robot cleaner can quickly scan the entire room and build an accurate map. This provides the foundation for subsequent path planning, enabling the robot to clean in an orderly manner. Avoiding large obstacles: Long-range ranging can detect large furniture such as sofas and tables in advance, allowing the robot to plan the optimal detour and avoid collisions.

[0040] Measuring obstacles at close range facilitates more refined obstacle avoidance, such as identifying small obstacles. Close-range ranging can accurately detect small objects and wires on carpets, preventing the robot from becoming entangled or damaged. Adapting to complex environments: In complex environments such as furniture legs and door thresholds, close-range ranging provides more accurate obstacle avoidance information, ensuring safe operation of the robot.

[0041] 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.

[0042] 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.

[0043] 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.

[0044] 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.

[0045] Based on the above, if Figure 1-6 As shown, a rotating mirror radar comprises:

[0046] A base on which a signal transmitting module 100 and a signal receiving module 200 are fixedly mounted;

[0047] The reflector assembly 300 is rotatably mounted on the base and includes a reflector body 310 and a drive motor 320 for driving the reflector body 310 to rotate. The rotation axis of the reflector body 310 is coaxially arranged with the drive shaft of the drive motor 320. The reflector body 310 has a first signal reflecting portion 311 and a second signal reflecting portion 312. By rotating the reflector body 310, the first signal reflecting portion 311 and the second signal reflecting portion 312 sequentially perform reflection operations.

[0048] The signal transmitting module 100 and the reflector assembly 300 are configured so that the first signal reflecting portion 311 can reflect the measuring light emitted by the signal transmitting module 100 in a horizontal direction, and the second signal reflecting portion 312 can reflect the measuring light emitted by the signal transmitting module 100 at an angle downward relative to a horizontal plane.

[0049] 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 obstacle measurement or cliff detection can be performed. The measurement of the two application scenarios 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 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.

[0050] By arranging the rotation axis of the reflector body 310 coaxially with the drive shaft of the drive motor 320, the structure of this solution is made more compact, the volume of the rotating mirror radar can be reduced, and the equipment is miniaturized and lightweight.

[0051] In the embodiment of the present application, the positional relationship between the reflector body 310 and the drive motor 320 can be adjusted according to the specific structure, for example, referring to Figure 1 、 3 As shown, in an optional embodiment, the reflector body 310 is a single reflector, and the driving motor 320 is arranged at one end of the single reflector.

[0052] For example, refer to Figure 2 、 4 As shown, in another optional embodiment, the reflector body 310 is a split reflector, including a first mirror body 313 and a second mirror body 314, and the drive motor 320 is disposed between the first mirror body 313 and the second mirror body 314. By arranging the drive motor 320 between the first mirror body 313 and the second mirror body 314, one drive motor 320 can simultaneously drive the first mirror body 313 and the second mirror body 314 to rotate synchronously, which facilitates control and reduces the number of drive motors 320, thereby saving costs.

[0053] Reference Figure 1-2 As shown, in an optional embodiment of the present application, the reflector body 310 is a double-plane mirror, and the first signal reflecting part 311 and the second signal reflecting part 312 are respectively located on different surfaces of the reflector body 310, and the working state of the first signal reflecting part 311 or the second signal reflecting part 312 for reflection is switched by rotating the reflector assembly 300.

[0054] When the surface where the first signal reflecting part 311 is located faces the signal transmitting module 100, the first signal reflecting part 311 works; when the surface where the second signal reflecting part 312 is located faces the signal transmitting module 100, the second signal reflecting part 312 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.

[0055] It should be pointed out that the surface where the first signal reflecting part 311 is located faces the signal transmitting module 100 and the surface where the second signal reflecting part 312 is located faces the signal transmitting module 100 does not mean that the surface where the first signal reflecting part 311 is located is directly facing the signal transmitting module 100 and the surface where the second signal reflecting part 312 is located is directly facing the signal transmitting module 100. As long as the first signal reflecting part 311 can receive the measuring light emitted by the signal transmitting module 100 or the second signal reflecting part 312 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.

[0056] 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.

[0057] In this embodiment, the signal transmitting module 100 can simultaneously emit horizontal light and downward-slanting light. When the first signal reflecting unit 311 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 reflecting part is working, the downward-angled light is reflected to perform close-range obstacle detection. The light propagates downward, and the light is measured to be deflected downward during the rotation of the reflector assembly 300, forming an arc as shown in the figure * as it rotates.

[0058] Specifically, refer to Figure 1 As shown, the first signal reflecting portion 311 includes a first light reflecting surface 3111 and a first light absorbing surface 3112 located below the first light reflecting surface 3111, the first light reflecting surface 3111 corresponds to the first light emitting portion, and the first light absorbing surface 3112 corresponds to the second light emitting portion;

[0059] Reference Figure 2 As shown, the second signal reflecting portion 312 includes a second light reflecting surface 3121 and a second light absorbing surface 3122 located above the second light reflecting surface 3121 , the second light reflecting surface 3121 corresponds to the second light emitting portion, and the second light absorbing surface 3122 corresponds to the first light emitting portion.

[0060] 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.

[0061] Specifically, when the first signal reflecting unit 311 is working, the measuring light in the horizontal direction is irradiated on the first reflecting surface 3111 and is reflected in the horizontal direction to perform ranging. The measuring light inclined downward is irradiated on the first light absorbing surface 3112 and is absorbed. Therefore, the signal receiving module 200 will not obtain the reflected light of the measuring light, and only horizontal ranging is performed at this time; when the second signal reflecting unit 312 is working, the measuring light in the horizontal direction is irradiated on the second light absorbing surface 3122 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 on the second reflecting surface 3121 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.

[0062] The present application also provides a specific method for forming the first light absorbing surface 3112 and the second light absorbing surface 3122. In a preferred embodiment, the first light absorbing surface 3112 and the second light absorbing surface 3122 are formed by pasting black on the surface of the reflector assembly 300.

[0063] 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.

[0064] 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 3112 and the second light-absorbing surface 3122 can be the same or different.

[0065] The present application also provides a specific method for forming the first light absorbing surface 3112 and the second light absorbing surface 3122. In a preferred embodiment, the first light absorbing surface 3112 and the second light absorbing surface 3122 are formed by pasting black on the surface of the reflector assembly 300.

[0066] 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.

[0067] 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 3112 and the second light-absorbing surface 3122 can be the same or different.

[0068] 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.

[0069] 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 portion, and the overlapping area forms a second light emitting portion. The output of two light beams is formed by a combination of a group of laser diodes 110, emitting lenses 120 and spectrometers 130. The structure is simple and can achieve more abundant functions.

[0070] In the embodiment of the present application, the beam splitter 130 is a semicircular prism, a prism group, a grating, a thin film beam splitter 130 , a polarization beam splitter 130 or a microlens array.

[0071] Further, refer to Figure 1-4 As shown, 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 along the horizontal direction from the linear array CMOS 210 to the receiving lens 220.

[0072] 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.

[0073] The specific process is as follows:

[0074] Laser projection: The signal emission module 100 emits a measurement light, which irradiates the object surface.

[0075] Line array CMOS 210 imaging: The line array CMOS 210 images the fringes generated on the object surface by the measurement light onto the sensor through the lens. Since the line array CMOS 210 can only capture one-dimensional information, it can only obtain the vertical direction fringe information.

[0076] Rotating mirror scanning: By rotating the mirror, the irradiation angle of the measurement light is changed, so that the measurement light scans on the object surface, thereby obtaining fringe images at different angles.

[0077] Image stacking: The fringe images at different angles are stacked to form a complete two-dimensional image.

[0078] Three-dimensional reconstruction: Based on the principle of triangulation, using camera internal parameters, laser plane equation and other information, the stacked images are calculated to reconstruct the three-dimensional point cloud data of the object.

[0079] The above-mentioned method has the following advantages:

[0080] Improving the scanning speed, the scanning speed of the line array CMOS 210 is much higher than that of the area array CMOS, which can quickly obtain a large amount of data and improve the efficiency of the system.

[0081] Reducing the cost: Compared with the area array CMOS, the cost of the line array CMOS 210 is lower.

[0082] Simplifying the system: Through rotating mirror scanning, a large range of coverage can be achieved without using complex mechanical structures.

[0083] Based on the above advantages, the present scheme is more suitable for the measurement of dynamic objects, and through precise calibration and algorithms, high-precision three-dimensional data can be obtained, and different measurement scenes can be adapted by adjusting the laser parameters and camera parameters.

[0084] The optical axis of the signal receiving module 200 in the embodiment of the present application is inclined upward along the horizontal direction from the line array CMOS 210 to the receiving lens 220, which has the following advantages:

[0085] More accurate distance measurement: The measurement light is emitted horizontally, and the receiving unit is inclined upward, forming an included angle. When the measurement light is reflected back after irradiating on the ground obstacle, due to the angle relationship, the signal receiving module 200 will receive a reflected light with a certain included angle with the horizontal direction. By measuring the included angle and the flight time of the measurement light, the distance from the obstacle to the rotating mirror radar can be more accurately calculated, especially for closer obstacles, the accuracy is higher.

[0086] 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.

[0087] 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.

[0088] 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.

[0089] 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.

[0090] The application of triangulation principle in it

[0091] 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.

[0092] The specific process is as follows:

[0093] 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.

[0094] 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.

[0095] In another optional embodiment of the present application, another method can be used to realize that the first signal reflecting unit 311 can reflect the measuring light emitted by the signal transmitting module 100 in the horizontal direction, and the second signal reflecting unit 312 can reflect the measuring light emitted by the signal transmitting module 100 downwardly relative to the horizontal plane. Figure 3-4As 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 311, and the second surface 420 forms the second signal reflecting portion 312.

[0096] 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.

[0097] 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 arranged on the base, comprising a reflector body (310) and a drive motor (320) for driving the reflector body (310) to rotate, wherein the rotation axis of the reflector body (310) and the drive shaft of the drive motor (320) are coaxially arranged, and the reflector body (310) has a first signal reflecting portion (311) and a second signal reflecting portion (312). By rotating the reflector body (310), the first signal reflecting portion (311) and the second signal reflecting portion (312) perform reflection work in sequence; The signal transmission module (100) and the reflector assembly (300) are configured such that the first signal reflection portion (311) can reflect the measurement light emitted by the signal transmission module (100) in a horizontal direction, and the second signal reflection portion (312) 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 reflector body (310) is a single reflector, and the driving motor (320) is arranged at one end of the single reflector.

3. The rotating mirror radar according to claim 1, characterized in that: The reflector body (310) is a split reflector, comprising a first mirror body (313) and a second mirror body (314); the driving motor (320) is arranged between the first mirror body (313) and the second mirror body (314).

4. The rotating mirror radar according to claim 2 or 3, characterized in that: The reflector body (310) is a double-plane mirror, the first signal reflecting portion (311) and the second signal reflecting portion (312) are respectively located on different surfaces of the reflector body (310), and the operating state of the first signal reflecting portion (311) or the second signal reflecting portion (312) performing reflection is switched by rotating the reflector assembly (300).

5. The rotating mirror radar according to claim 4, 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).

6. The rotating mirror radar according to claim 5, characterized in that: The first signal reflecting portion (311) comprises a first light reflecting surface (3111) and a first light absorbing surface (3112) located below the first light reflecting surface (3111), the first light reflecting surface (3111) corresponds to the first light emitting portion, and the first light absorbing surface (3112) corresponds to the second light emitting portion; The second signal reflecting portion (312) includes a second light reflecting surface (3121) and a second light absorbing surface (3122) located above the second light reflecting surface (3121), the second light reflecting surface (3121) corresponds to the second light emitting portion, and the second light absorbing surface (3122) corresponds to the first light emitting portion.

7. The rotating mirror radar according to claim 6, characterized in that: The first light absorbing surface (3112) and the second light absorbing surface (3122) are respectively formed by blackening, setting an optical layer, or processing a microstructure surface on the surface of the reflector component (300).

8. The rotating mirror radar according to claim 6, 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.

9. The rotating mirror radar according to claim 4, 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. The rotating mirror radar according to claim 2 or 3, 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 line of the first surface (410) is parallel to a horizontal plane, and the normal line of the second surface (420) is inclined downward relative to the horizontal plane, the first surface (410) forms the first signal reflecting portion (311), and the second surface (420) forms the second signal reflecting portion (312).

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