Distance measuring device, cleaning device and cleaning system

Abstract

The utility model discloses a distance measuring device, cleaning equipment and a cleaning system, and relates to the technical field of distance measurement. The distance measuring device comprises a distance measuring assembly which is used for generating detection light; the distance measuring assembly is used for receiving and transmitting the detection light; the rotating assembly is configured to change the propagation direction of the detection light; the driving assembly is connected with the rotating assembly so as to drive the rotating assembly to rotate; and the controller is connected with the distance measuring assembly, the rotating assembly and the driving assembly. According to the invention, the detection range of the distance measurement device is improved, and the application scene of the distance measurement device is expanded.

Description

TECHNICAL FIELD

[0001] The present application relates to the distance measurement field, in particular to a distance measurement device, a cleaning device and a cleaning system. BACKGROUND

[0002] With the development of intelligent hardware technology, the intelligent cleaning device nowadays has the functions of self-navigation, path planning, obstacle avoidance, etc., and is applied in the fields of hotel meal delivery, floor cleaning, weighing and carrying, etc. The distance measurement device attached to the cleaning device can identify the distance between the obstacle and the cleaning device, but the existing distance measurement device has the technical problem of small measurement range. CONTENT OF THE UTILITY MODEL

[0003] The present application provides a distance measurement device, a cleaning device and a cleaning system, which are used to solve the technical problem of small measurement range in the prior art.

[0004] The first aspect of the present application provides a distance measurement device, comprising:

[0005] A distance measurement component is configured to receive and transmit probe light;

[0006] A rotating component is configured to change the propagation direction of the probe light;

[0007] A driving component is connected to the rotating component to drive the rotating component to rotate;

[0008] A data processing component is connected to the distance measurement component, the rotating component and the driving component. The distance measurement device in the present application improves the detection range of the distance measurement device through the rotating component, thereby expanding the application scenarios of the distance measurement device.

[0009] According to the second aspect of the present application, a cleaning device is provided, comprising: a main body structure; a distance measurement device as defined in the first aspect above, the distance measurement device being arranged in the accommodating cavity. Thus, the distance measurement device as defined in the first aspect has all the beneficial technical effects, which will not be repeated here.

[0010] According to the third aspect of the present application, a cleaning system is provided, comprising: a cleaning device as defined in the second aspect above; a cleaning base station for parking the cleaning device. Thus, the cleaning device as defined in the second aspect has all the beneficial technical effects, which will not be repeated here. BRIEF DESCRIPTION OF DRAWINGS

[0011] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the accompanying drawings needed to be used in the embodiments or prior art description will be briefly introduced as follows. Obviously, the accompanying drawings in the following description are some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained on the basis of these drawings without creative labor.

[0012] Figure 1 A schematic view of a distance measuring device provided by an embodiment of the present application;

[0013] Figure 2 A schematic view of a distance measuring device provided by an embodiment of the present application;

[0014] Figure 3 A schematic view of a distance measuring device provided by an embodiment of the present application;

[0015] Figure 4 A schematic view of a distance measuring device provided by an embodiment of the present application;

[0016] Figure 5 A schematic view of a distance measuring device provided by an embodiment of the present application;

[0017] Figure 6 A schematic view of a distance measuring device provided by an embodiment of the present application;

[0018] Figure 7 A schematic view of a distance measuring device provided by an embodiment of the present application;

[0019] Figure 8 A schematic view of a distance measuring device provided by an embodiment of the present application;

[0020] Figure 9 A schematic view of a cleaning device provided by an embodiment of the present application;

[0021] Among them, Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 , Figure 8 and Figure 9 The correspondence between the reference signs and the component names in the drawings is as follows:

[0022] 100 distance measuring device, 101 ranging assembly, 102 rotating assembly, 103 driving assembly, 104 controller, 105 fixed shaft, 106 movable shaft, 107 movable stage, 108 movable mirror, 109 light emitting source, 110 timer, 111 imaging unit, 112 lens, 113 distance data recorder, 114 spatial position recorder, 200 obstacle, 300 cleaning device, 301 main body structure, 302 upper housing, 303 lower housing. DETAILED DESCRIPTION

[0023] In order to better understand the technical solutions provided by the embodiments of the present specification, the technical solutions of the embodiments of the present specification will be described in detail below through the accompanying drawings and specific embodiments. It should be understood that the specific features in the embodiments of the present specification and the embodiments are detailed descriptions of the technical solutions of the embodiments of the present specification, and are not limitations of the technical solutions of the present specification. In the case of no conflict, the technical features in the embodiments of the present specification and the embodiments can be combined with each other.

[0024] In this document, relational terms such as first and second and the like can be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises", "comprising", or any other variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element preceded by "comprises... " does not, without more constraints, foreclose the existence of additional identical elements in the process, method, article, or apparatus that comprises the recited element. The term "two or more" includes two or more than two.

[0025] In some embodiments, as shown in FIG. 1, a distance measuring device 100 is provided in the embodiments of the present application, comprising: Figure 1

[0026] The ranging assembly 101 is used for transmitting and receiving probe light;

[0027] The rotating assembly 102 is configured to change the propagation direction of the probe light;

[0028] The driving assembly 103 is connected with the rotating assembly 102 to drive the rotating assembly to rotate;

[0029] The controller 104 is connected with the ranging assembly 101, the rotating assembly 102 and the driving assembly 103, respectively.

[0030] ​In this embodiment, a distance measuring device 100 is provided, wherein the distance measuring device 100 is a device for distance detection.

[0031] Exemplarily, the distance measuring device 100 can be arranged on a sweeping robot, and during the sweeping operation of the sweeping robot, the distance measuring device 100 is used to measure the distance between the sweeping robot and the obstacle 200, so that the sweeping robot can avoid the obstacle 200, thereby ensuring the completion of the sweeping operation of the sweeping robot.

[0032] The distance measuring device 100 comprises a ranging component 101, which is capable of sending a probe light, and determining the distance between the distance measuring device 100 and the measured object by receiving the reflection of the probe light.

[0033] Exemplarily, the probe light can be laser or infrared light.

[0034] Exemplarily, in the case that the distance measuring device 100 is arranged on the sweeping robot, the ranging component 101 is used to send the probe light to the obstacle 200, and receive the reflection of the probe light, and according to the time difference between the sending and receiving of the probe light, the distance between the sweeping robot and the obstacle 200 is determined.

[0035] The distance measuring device 100 further comprises a rotating component 102 and a driving component 103, the rotating component 102 is arranged on the driving component 103, wherein the rotating component 102 is used to change the propagation direction of the probe light emitted by the ranging component 101, and the driving component 103 is used to drive the rotating component 102 to rotate.

[0036] Exemplarily, the driving component 103 can drive the rotating component 102 to rotate to different positions.

[0037] Exemplarily, in the case that the driving component 103 drives the rotating component 102 to rotate to different positions, the measurement range of the ranging component 101 can be expanded.

[0038] Exemplarily, the ranging component 101 can be a ranging sensor.

[0039] Exemplarily, the driving component 103 can be driven to rotate by a motor.

[0040] The distance measuring device 100 further comprises a controller 104, which is connected with the ranging component 101, the rotating component 102 and the driving component 103 respectively.

[0041] Exemplarily, the controller 104 can comprise a processor, a microprocessor, a single-chip microcomputer or the like.

[0042] Exemplarily, the controller 104 can be wirelessly connected in communication with the ranging assembly 101, the rotating assembly 102, and the driving assembly 103, respectively.

[0043] Exemplarily, the controller 104 can receive data sent by the ranging assembly 101, and complete ranging work according to the data sent by the ranging assembly 101.

[0044] Exemplarily, the controller 104 can control the driving assembly 103 to work.

[0045] Exemplarily, the controller 104 can control the rotating angle of the rotating assembly 102.

[0046] It should be noted that the rotating assembly 102 is arranged in the distance measuring device 100, the propagation direction of the probe light emitted by the ranging assembly 101 is changed through the rotating assembly 102, thereby improving the measurement range of the ranging assembly 101, and at the same time, the number of the ranging assembly 101 in the distance measuring device 100 is reduced through the rotating assembly 102, thereby reducing the cost of the distance measuring device 100.

[0047] The distance measuring device 100 in the embodiment improves the detection range of the distance measuring device 100 through the rotating assembly 102, thereby expanding the application scenarios of the distance measuring device 100.

[0048] In some embodiments, the distance measuring device 100 provided in the embodiment of the present application can be used to drive the rotating assembly 102 to switch between at least a first preset position and a second preset position; when the rotating assembly 102 is at the first preset position, the ranging assembly 101 can detect the obstacle 200 in a first region; when the rotating assembly 102 is at the second preset position, the ranging assembly 101 can detect the obstacle 200 in a second region; wherein the distance between the first region and the ranging assembly 101 is greater than the distance between the second region and the ranging assembly 101.

[0049] In the embodiment, the driving assembly 103 can drive the rotating assembly 102 to switch between at least a first preset position and a second preset position, wherein the first preset position and the second preset position are pre-set detection positions.

[0050] Exemplarily, the angle between the rotating assembly 102 and the horizontal line is different when the rotating assembly 102 is at the first preset position and the second preset position.

[0051] When the rotating assembly 102 is at the first preset position, the ranging assembly 101 can detect the obstacle 200 in a first region, and when the rotating assembly 102 is at the second preset position, the ranging assembly 101 can detect the obstacle 200 in a second region, and the first region and the second region are both detection regions of the ranging assembly 101.

[0052] Exemplarily, the first region and the second region can be independent detection regions, which enlarges the detection area of the distance measuring assembly 101.

[0053] The distance between the first region and the distance measuring assembly 101 is greater than the distance between the second region and the distance measuring assembly 101, so that the distance measuring assembly 101 can detect a farther region.

[0054] In some embodiments, the distance measuring device 100 provided in the embodiments of the present application comprises a driving assembly 103, a rotating assembly 102 and a distance measuring assembly 101.

[0055] In this embodiment, the driving assembly 103 comprises a rotating shaft, and the rotating assembly 102 is fixed on the rotating shaft.

[0056] Exemplarily, the rotating assembly 102 can rotate with the rotating shaft.

[0057] The distance measuring assembly 101 can emit a linear laser, and the rotating shaft is parallel to the linear laser.

[0058] In some embodiments, the distance measuring device 100 provided in the embodiments of the present application comprises a rotating shaft, which comprises a fixed shaft 105 and a movable shaft 106.

[0059] In this embodiment, the rotating shaft comprises a fixed shaft 105 and a movable shaft 106, wherein the fixed shaft 105 is a fixed shaft, and the movable shaft 106 is nested on the outer surface of the fixed shaft 105 and can rotate around the fixed shaft 105.

[0060] Exemplarily, the movable shaft 106 can rotate around the fixed shaft 105 and can stop at a fixed angle position.

[0061] Exemplarily, the movable shaft 106 rotates around the fixed shaft 105, so that the rotating assembly 102 rotates to a first preset position, the irradiation distance of the detection light is farther, and the navigation path planning can be performed.

[0062] Exemplarily, the movable shaft 106 rotates around the fixed shaft 105, so that the rotating assembly 102 rotates to a second preset position, the irradiation distance of the detection light is closer, and the nearby obstacle 200 can be detected at this time, so as to realize accurate obstacle avoidance for the obstacle 200.

[0063] Exemplarily, the probe light can be a line laser, the line laser can be parallel to the rotation axis, and when the laser plane of the line laser is parallel to the ground, this corresponds to the first preset position, and the navigation path planning can be realized; when the laser plane of the line laser intersects with the ground, this corresponds to the second preset position, and the accurate positioning of the obstacle 200 can be realized.

[0064] In some embodiments, the distance measuring device 100 provided in the embodiments of the present application is provided with a movable stage 107 when the rotating assembly 102 is the movable stage 107.

[0065] In this embodiment, the distance measuring assembly 101 is arranged on the movable stage 107 when the rotating assembly 102 is the movable stage 107, wherein the movable stage 107 is a rotatable stage.

[0066] Exemplarily, the movable stage 107 can drive the distance measuring assembly 101 to rotate during the rotation of the movable stage 107.

[0067] Exemplarily, the movable stage 107 can drive the distance measuring assembly 101 to rotate to different measurement positions, so that one distance measuring assembly 101 can play the role of multiple assemblies, thereby expanding the measurement range of the distance measuring assembly 101.

[0068] In some embodiments, the distance measuring device 100 provided in the embodiments of the present application is provided with a movable stage 107 connected with a movable shaft 106, and the movable shaft 106 can drive the movable stage 107 to rotate.

[0069] In this embodiment, the movable stage 107 is connected with the movable shaft 106, and the movable shaft 106 can drive the movable stage 107 to rotate, thereby driving the distance measuring assembly 101 on the movable stage 107 to rotate.

[0070] Exemplarily, since the movable stage 107 switches between two (or multiple) states, the data processing module can obtain distance data from two obstacles 200 at different times. The angle between the first emission plane and the second emission plane of the probe light is designed as follows: the first emission plane is parallel to the ground, and the second emission plane forms a certain angle with the ground, and the extension direction gradually inclines downward from the emission end to the ground. The angle between the first emission plane and the second emission plane is controlled to be between 10 degrees and 30 degrees.

[0071] Since the first emission plane is parallel to the ground and can irradiate a very far position, it is used for the navigation path planning function; since the second emission plane forms a certain angle with the ground and is emitted downward, it can irradiate a very close position, and is used for the accurate avoidance function of the near obstacle 200.

[0072] When the size of the obstacle 200 is measured by the first and second light emitting surfaces at the same time, the shape information of the obstacle 200 at two different heights can be obtained, and the data richness that cannot be collected by a conventional single-point rotating ranging sensor can be achieved.

[0073] Additionally, when the number of stop positions of the movable platform 107 is expanded from two to multiple, the number of different light surfaces that can be emitted can be more, and the information collection of the measured object can be richer. When the number of stop positions of the movable platform 107 is sufficient, the multi-line array time-of-flight ranging sensor of the module can be approximately equivalent to a rolling shutter area array time-of-flight ranging sensor.

[0074] In some embodiments, the distance measuring device 100 provided in the embodiments of the present application is configured such that the movable mirror 108 can rotate relative to the ranging assembly 101 to change the direction of the probe light emitted by the ranging assembly.

[0075] In this embodiment, the ranging assembly 101 is arranged at a fixed position, and the movable mirror 108 can rotate relative to the ranging assembly 101 when the rotating assembly 102 is the movable mirror 108.

[0076] For example, the movable mirror 108 is a rotatable mirror that can reflect the probe light to change the propagation direction of the probe light.

[0077] In some embodiments, the distance measuring device 100 provided in the embodiments of the present application is configured such that the movable mirror 108 is connected to the movable shaft 106, and the movable shaft 106 can drive the movable mirror 108 to rotate.

[0078] In this embodiment, the movable mirror 108 is connected to the movable shaft 106, and the movable shaft 106 can drive the movable mirror 108 to rotate when the movable shaft 106 rotates.

[0079] For example, the movable shaft 106 can drive the movable mirror 108 to rotate to multiple different positions, and the probe light emitted by the ranging assembly 101 can be reflected at different angles by the movable mirror 108 in different positions, so as to expand the detection range of the ranging assembly 101.

[0080] For example, since the movable mirror 108 switches between two (or multiple) states, the data processing module can obtain distance data from two obstacles 200 at different times. Here, the included angle between the first and second light emitting surfaces of the probe light is designed as follows: the first light emitting surface is parallel to the ground, and the second light emitting surface forms an included angle with the ground, and the extension direction gradually inclines downward toward the ground from the emission end. The included angle between the first and second light emitting surfaces is controlled to be between 10 degrees and 30 degrees.

[0081] Since the first light emitting surface is parallel to the ground, it can illuminate a very far position, and thus be used for navigation path planning function; since the second light emitting surface is at a certain angle with the ground and is downward, it can illuminate a very close position, and thus be used for precise avoidance function of close obstacles 200.

[0082] When the size of the obstacle 200 is measured by both the first light emitting surface and the second light emitting surface, the shape information of the obstacle 200 at two different heights can be obtained, and thus the data richness that cannot be collected by a conventional single-point rotating range sensor can be realized.

[0083] In addition, when the stay positions of the movable mirror 108 are expanded from two to multiple, the number of different light surfaces that can be emitted can be more, and the information collection of the measured object can be more abundant. When the stay positions of the movable mirror 108 are sufficient, the multi-line array time-of-flight range sensor of the module can be approximately equivalent to a rolling shutter area array time-of-flight range sensor.

[0084] In some embodiments, the distance measuring device 100 provided in the embodiments of the present application includes a range measuring assembly 101, which includes a light source 109, a timer 110, an imaging unit 111, and a lens 112.

[0085] The timer 110 is connected to the light source 109 and the imaging unit 111, respectively.

[0086] The imaging unit 111 and the light source 109 are arranged on the same plane, and the lens 112 is arranged parallel to the imaging unit 111.

[0087] In this embodiment, the range measuring assembly 101 includes a light source 109, a timer 110, an imaging unit 111, and a lens 112.

[0088] The timer 110 is arranged between the light source 109 and the imaging unit 111, and the timer 110 is connected to the light source 109 and the imaging unit 111, respectively.

[0089] The imaging unit 111 and the light source 109 are arranged on the same plane, and the lens 112 is arranged parallel to the imaging unit 111.

[0090] The imaging unit 111 can be a photoelectric imaging pixel unit. The light emitting source 109 emits light outwardly, while the timer 110 starts timing. After the light is reflected by the measured object, it returns to the photoelectric imaging pixel unit via the lens 112. The reflected light from different positions on the measured object enters different imaging pixel units. When a single imaging pixel unit receives light, the timer 110 stops timing for the pixel unit. After all pixel units receive reflected light, the timer 110 obtains a series of time interval information. Using the propagation speed of light in air and the obtained time interval, the distances of different positions on the measured object relative to the distance measuring sensor can be calculated.

[0091] In some embodiments, the distance measuring device 100 provided in the embodiments of the present application further comprises a distance data recorder 113.

[0092] In this embodiment, the distance measuring device 100 further comprises a distance data recorder 113.

[0093] In this embodiment, the distance measuring device 100 further comprises a distance data recorder 113.

[0094] In some embodiments, the distance measuring device 100 provided in the embodiments of the present application further comprises a distance data recorder 113.

[0095] The distance data recorder 113 is connected to the distance measuring assembly 101 at one end and to the controller 104 at the other end.

[0096] In this embodiment, the distance measuring device 100 further comprises a distance data recorder 113.

[0097] The distance data recorder 113 is arranged between the distance measuring assembly 101 and the controller 104, and is connected to the distance measuring assembly 101 at one end and to the controller 104 at the other end.

[0098] In this embodiment, the distance data recorder 113 is arranged between the distance measuring assembly 101 and the controller 104, and is connected to the distance measuring assembly 101 at one end and to the controller 104 at the other end.

[0099] In some embodiments, the distance measuring device 100 provided in the embodiments of the present application further comprises a distance data recorder 113.

[0100] The spatial position recorder 114 is connected at one end to the rotating assembly 102 and at the other end to the controller 104.

[0101] In this embodiment, the distance measuring device 100 further includes a spatial position recorder 114, wherein the spatial position recorder 114 is used to record position data sent by the rotating component 102.

[0102] A spatial position recorder 114 is disposed between the rotating assembly 102 and the controller 104. One end of the spatial position recorder 114 is connected to the rotating assembly 102, and the other end is connected to the controller 104.

[0103] For example, the spatial position recorder 114 can send position data to the controller 104 so that the controller 104 can process the position data of the rotating component 102.

[0104] In some embodiments of this application, a distance measuring device 100 is provided. When the ranging component 101 is a time-of-flight sensor, the time-of-flight sensor is used to transmit and receive infrared light.

[0105] In this embodiment, the ranging component 101 can be a time-of-flight sensor, wherein the time-of-flight sensor is a sensor that measures distance by transmitting and receiving infrared light.

[0106] For example, the time-of-flight sensor can be a multi-linear array time-of-flight ranging sensor.

[0107] In some embodiments, a cleaning device is provided, including: a main structure; and a distance measuring device 100 as in any of the above embodiments, the distance measuring device being disposed on the main structure.

[0108] In this embodiment, a cleaning device is proposed, which includes the distance measuring device 100 as in any of the above embodiments, and thus has all the beneficial technical effects of the distance measuring device 100 in any of the above embodiments, which will not be elaborated further here.

[0109] For example, cleaning equipment can be a robot vacuum cleaner, a food delivery robot, or a handling robot.

[0110] For example, such as Figure 9 As shown, the cleaning device 300 includes a distance measuring device 100 as described in any of the above embodiments. The main structure 301 may include an upper housing 302 and a lower housing 303, which are connected. A receiving cavity is formed between the upper housing 302 and the lower housing 303. A light-transmitting portion is provided on the side wall of the main structure 301 corresponding to the receiving cavity, through which the detection light emitted and received by the distance measuring device 100 can pass.

[0111] The cleaning device in the embodiment has the distance measuring device embedded in the accommodating cavity, so that the height of the cleaning device can be reduced, and the cleaning device is beneficial to cleaning low areas.

[0112] In some embodiments, a cleaning device is provided, the main body structure is capable of moving on the operation surface; the rotating assembly is capable of switching between at least a first preset position and a second preset position; when the rotating assembly is in the first preset position, the detection light is parallel to the operation surface; when the rotating assembly is in the second preset position, the detection light intersects the operation surface.

[0113] In the embodiment, the main body structure is capable of moving on the operation surface.

[0114] Exemplarily, the main body structure can include a wheeled structure, and the moving is achieved through the wheeled structure.

[0115] The rotating assembly is capable of switching between at least a first preset position and a second preset position, wherein the first preset position and the second preset position are independent detection positions.

[0116] When the rotating assembly is in the first preset position, the detection light is parallel to the operation surface; when the rotating assembly is in the second preset position, the detection light intersects the operation surface.

[0117] In some embodiments, a cleaning device is provided, the rotating assembly is capable of switching between a plurality of second preset positions; when the rotating assembly is in different second preset positions, the included angle between the detection light and the operation surface is different, so as to detect and clean obstacles with different distances from the cleaning device.

[0118] In the embodiment, there are a plurality of different second preset positions, and the rotating assembly is capable of switching between the plurality of second preset positions.

[0119] When the rotating assembly is in the second preset position, the detection light and the operation surface form an included angle, and when the rotating assembly is in different second preset positions, the included angle between the detection light and the operation surface is different.

[0120] Exemplarily, when the rotating assembly in the distance measuring device is in the first preset position, the irradiation distance of the detection light is far, and the navigation path planning can be achieved.

[0121] Exemplarily, when the rotating assembly in the distance measuring device is in the second preset position, the irradiation distance of the detection light is close, and at this time, the obstacles close to the cleaning device can be detected, so as to achieve accurate obstacle avoidance.

[0122] By changing the position of the rotating assembly, the navigation path planning and the detection of obstacles can be achieved through one distance measuring device, which can save the internal space of the cleaning device, is beneficial to the thinning of the cleaning device, and can save costs.

[0123] When the cleaning device is a robot cleaner, the cleaning device can further comprise a cleaning assembly for cleaning the operating surface as the cleaning device moves on the operating surface. For example, the cleaning assembly can comprise a dry cleaning member and / or a wet cleaning member. The dry cleaning member can comprise a roller brush, an edge brush, a fan and a dust bin, the edge brush is arranged at the edge of the cleaning device, the roller brush is arranged at the inlet of the dust bin, and the fan and the dust bin are in airflow communication to form a negative pressure in the dust bin so as to suck the garbage collected by the roller brush into the dust bin. The wet cleaning member can comprise a mop and a water tank, and the mop and the water tank are in fluid communication.

[0124] In some embodiments, a cleaning device is provided, wherein a receiving cavity is arranged on the main body structure, and the distance measuring device is arranged in the receiving cavity.

[0125] In some embodiments, a cleaning system is provided, comprising: the cleaning device according to any one of the above embodiments; and a cleaning base station for docking the cleaning device.

[0126] In this embodiment, the cleaning system comprises the cleaning base station which can cooperate with the cleaning device. The cleaning base station has at least one function of charging, dust collecting and cleaning the mop, for example, when the cleaning device is docked on the cleaning base station, the cleaning base station can charge the cleaning device, collect the garbage in the dust bin of the cleaning device, and clean the cleaning mop in the cleaning device.

[0127] In addition, the cleaning system comprises the cleaning device according to any one of the above embodiments, and thus has all the beneficial technical effects of the cleaning device according to any one of the above embodiments, which will not be described in detail here.

[0128] It should be noted that in the above embodiments, the description of each embodiment has its own focus, and the parts not described in detail in a certain embodiment can be referred to the related description of other embodiments.

[0129] The above embodiments are only used to illustrate the technical solutions of the present application, but not limit it; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for some technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

[0130] Although the preferred embodiments of the present application have been described, those skilled in the art can make further changes and modifications to these embodiments once they know the basic creative concept. Therefore, the appended claims are intended to be interpreted as including all the preferred embodiments and all the changes and modifications falling within the scope of the present application.

[0131] Obviously, many modifications and variations of the present teachings are possible in light of the above teachings. It is, therefore, to be understood that within the scope of the appended claims and their equivalents, the present teachings can be practiced otherwise than as specifically described.

Claims

1. A distance measuring device, characterized in that, The distance measuring device comprises: a distance measuring component for transmitting and receiving probe light; a rotating component configured to change the propagation direction of the probe light; a driving component connected to the rotating component to drive the rotating component to rotate; a controller connected to the distance measuring component, the rotating component and the driving component respectively.

2. The distance measuring device according to claim 1, wherein: the driving component is capable of driving the rotating component to switch between at least a first preset position and a second preset position; when the rotating component is in the first preset position, the distance measuring component is capable of detecting obstacles in a first area; when the rotating component is in the second preset position, the distance measuring component is capable of detecting obstacles in a second area; wherein the distance between the first area and the distance measuring component is greater than the distance between the second area and the distance measuring component.

3. The distance measuring device according to claim 1, wherein: the driving component comprises a rotating shaft, the rotating component is connected to the rotating shaft to enable the rotating component to rotate around the rotating shaft; the distance measuring component is capable of emitting linear laser light, the rotating shaft is parallel to the linear laser light.

4. The distance measuring device according to claim 3, wherein: the rotating shaft comprises a fixed shaft and a movable shaft, the movable shaft is nested on the outer surface of the fixed shaft.

5. The distance measuring device according to claim 4, wherein: when the rotating component is a movable platform, the distance measuring component is arranged on the movable platform.

6. The distance measuring device according to claim 5, wherein: the movable platform is connected to the movable shaft, the movable shaft is capable of driving the movable platform to rotate.

7. The distance measuring device according to claim 4, wherein: when the rotating component is a movable mirror, the movable mirror is capable of rotating relative to the distance measuring component to change the direction of the probe light transmitted and received by the distance measuring component.

8. The distance measuring device according to claim 7, wherein: the movable mirror is connected to the movable shaft, the movable shaft is capable of driving the movable mirror to rotate.

9. The distance measuring device according to any one of claims 1 to 8, wherein: the distance measuring component comprises a light emitting source, a timer, an imaging unit and a lens; the timer is connected to the light emitting source and the imaging unit respectively; the imaging unit and the light emitting source are arranged on the same plane, and the lens is arranged parallel to the imaging unit.

10. The distance measuring device according to any one of claims 1 to 8, wherein: the distance measuring component comprises a dot matrix laser source for forming the probe light by rotation.

11. The distance measuring device according to any one of claims 1 to 8, characterized in that, The distance measuring device further comprises: a distance data recorder, one end of which is connected to the distance measuring component, and the other end of which is connected to the controller.

12. The distance measuring device according to any one of claims 1 to 8, characterized in that, The distance measuring device further comprises: A spatial position recorder, one end of which is connected with the rotating assembly and the other end of which is connected with the controller.

13. The distance measuring device according to any one of claims 1 to 8, characterized in that, The distance measuring assembly is a time-of-flight sensor.

14. A cleaning apparatus, characterized by The distance measuring device comprises: a main body structure; The distance measuring device is arranged on the main body structure.

15. The cleaning device according to claim 14, wherein, The main body structure is movable on an operation surface; The rotating assembly is switchable between at least a first preset position and a second preset position; When the rotating assembly is in the first preset position, the detection light is parallel to the operation surface; When the rotating assembly is in the second preset position, the detection light intersects the operation surface.

16. The cleaning device according to claim 15, wherein, The rotating assembly is switchable between a plurality of second preset positions; When the rotating assembly is in different second preset positions, the detection light and the operation surface form different angles.

17. A cleaning apparatus as claimed in any one of claims 14 to 16, wherein, The main body structure is provided with a receiving cavity, and the distance measuring device is arranged in the receiving cavity.

18. A cleaning system characterized by, The distance measuring device comprises: The cleaning device according to any one of claims 14 to 17; A cleaning base station for docking the cleaning device.

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