Detection module, cleaning equipment and cleaning system
By designing a detection module on the cleaning equipment that can drive the mirror to rotate, the detection range is increased, solving the problem of insufficient obstacle avoidance capability of the cleaning equipment and achieving a more efficient obstacle avoidance effect.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-11
- Publication Date
- 2026-03-27
AI Technical Summary
The detection modules of existing cleaning equipment have fixed detection areas, which makes it difficult for robots to detect surrounding obstacles in a timely manner during movement, resulting in poor obstacle avoidance capabilities.
Design a detection module comprising a housing, a transmitter, a receiver, and a reflector. Drive the reflector to rotate via a driving component to form a dynamic detection area and increase the detection range.
It improves the obstacle avoidance ability of cleaning equipment during movement, reduces the risk of touching obstacles, and enhances the sensitivity and obstacle avoidance ability of cleaning equipment.
Smart Images
Figure CN224039114U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The application belongs to the technical field of electrical equipment, and particularly relates to a detection module, a cleaning device and a cleaning system. BACKGROUND
[0002] With the development of science and technology, service-type robots such as cleaning devices have become increasingly popular. Such robots may move during work. In order to avoid the robots from touching obstacles during movement, a detection module is installed on the robot to detect whether there is an obstacle in the moving range of the robot. The detection area of the detection module in the related technology is fixed, which may cause the detection module to fail to timely detect obstacles around the robot during movement of the robot, so that the robot still has the risk of touching obstacles, and the obstacle avoidance capability of the robot is poor. CONTENT OF THE UTILITY MODEL
[0003] The application aims to at least solve the technical problem of poor obstacle avoidance capability of a cleaning device to some extent. To this end, the application provides a detection module, a cleaning device and a cleaning system.
[0004] In a first aspect, the application provides a detection module, comprising:
[0005] a housing having a mounting cavity;
[0006] a transmitting end and a receiving end installed in the mounting cavity;
[0007] a reflecting mirror and a driving member, both of which are installed in the mounting cavity, the driving member is in transmission connection with the reflecting mirror and can drive the reflecting mirror to rotate relative to the transmitting end and / or the receiving end.
[0008] The driving part drives the fixing part to rotate through the connecting part, and the reflecting mirror is fixed on the fixing part. During the process that the driving part drives the fixing part to rotate through the connecting part, the reflecting mirror also rotates with the fixing part, so that the reflecting mirror can rotate relative to the transmitting end and the receiving end, and further, the detection light can form a dynamic detection area, which can improve the detection range of the entire detection module, reduce the risk of the cleaning device touching obstacles during movement, and further improve the obstacle avoidance capability of the cleaning device.
[0009] In an optional embodiment of the application, the driving member comprises a driving part, a connecting part and a fixing part, the driving part is connected with the connecting part, and the fixing part is installed on the connecting part, and the reflecting mirror is fixed on the fixing part.
[0010] In an optional embodiment of the application, the fixing part has a fixing surface, and the reflecting mirror is attached to the fixing surface.
[0011] In an optional embodiment of the present application, the fixing surface comprises a plurality of fixing surfaces, the reflecting mirror comprises a plurality of reflecting mirrors, and the inclination angle of any two fixing surfaces relative to the connecting portion is different, and the plurality of reflecting mirrors are respectively fixed to the plurality of fixing surfaces.
[0012] In an optional embodiment of the present application, the reflecting mirror is bonded to the fixing surface.
[0013] In an optional embodiment of the present application, the connecting portion is integrally formed with the fixing portion.
[0014] In an optional embodiment of the present application, the reflecting mirror comprises a plurality of reflecting mirrors, and the inclination angle of any two reflecting mirrors relative to the emitting end is different.
[0015] In an optional embodiment of the present application, the emitting end and the reflecting mirror are arranged at intervals along the width direction of the shell.
[0016] In an optional embodiment of the present application, the detection module further comprises a lens mounted to the shell, and the emission direction of the emitting end is parallel to the lens.
[0017] In a second aspect, the embodiments of the present application provide a cleaning device, which comprises a main body and the detection module provided in the first aspect, and the detection module is mounted to the main body.
[0018] The cleaning device provided in the second aspect has the same beneficial effects as the detection module provided in the first aspect, and details are not repeated here.
[0019] In a third aspect, the embodiments of the present application provide a cleaning system, which comprises a cleaning base station and the cleaning device provided in the second aspect.
[0020] The cleaning system provided in the third aspect has the same beneficial effects as the cleaning device provided in the second aspect, and details are not repeated here. BRIEF DESCRIPTION OF DRAWINGS
[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.
[0022] Figure 1 A structure schematic diagram of the detection module provided in the embodiments of the present application is shown from a first perspective without a lens.
[0023] Figure 2 A structure schematic diagram of the detection module provided in the embodiments of the present application is shown from a second perspective without a lens.
[0024] Figure 3 A structure schematic diagram of the driving member and the reflecting mirror of the detection module is shown.
[0025] Figure 4 A structure schematic diagram of the driving member of the detection module is shown.
[0026] Figure 5 A structure schematic diagram of the detection module is shown.
[0027] Figure 6 A structure schematic diagram of the cleaning device is shown.
[0028] Label: 100-detection module, 110-housing, 112-mounting cavity, 120-emitting end, 130-receiving end, 140-reflecting mirror, 150-driving member, 151-driving part, 152-connecting part, 153-fixing part, 154-fixing surface, 160-lens, X-width direction, Y-thickness direction, Z-height direction, 10-cleaning device, 11-main body. DETAILED DESCRIPTION
[0029] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.
[0030] It should be noted that all directional indications in the embodiments of the present application are only used to explain the relative positional relationship, movement condition and the like between components in a certain specific posture, and if the specific posture changes, the directional indications also change accordingly.
[0031] In the present application, unless otherwise explicitly specified and limited, the terms "connection", "fixing" and the like should be understood in a broad sense, for example, "fixing" can be fixed connection, or detachable connection, or integral; can be mechanical connection, or electrical connection; can be direct connection, or indirect connection through an intermediate medium; can be internal communication of two elements or interaction relationship between two elements, unless otherwise explicitly limited. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.
[0032] In addition, the description of "first", "second" and the like in the utility model is only for the purpose of description, and cannot be understood as indicating or implying the relative importance of the indicated technical features or implicitly indicating the number of the indicated technical features. Therefore, the features limited by "first" and "second" can be explicitly or implicitly included at least one of the features. In addition, the technical solutions of each embodiment can be combined with each other, but it must be based on the realization of ordinary skilled in the art, when the combination of technical solutions appears contradictory or unachievable, it should be considered that the combination of technical solutions does not exist, and is not within the protection scope required by the utility model.
[0033] With the development of science and technology, service robots such as cleaning equipment have become more and more popular. Such robots will move during work. In order to avoid the robot from touching obstacles during movement, a detection module is installed on the robot to detect whether there are obstacles in the movement range of the robot. The detection area of the detection module in the related art is fixed, which may cause the detection module to fail to timely detect the obstacles around the robot during movement of the robot, so that the robot still has the risk of touching the obstacles, resulting in poor obstacle avoidance capability of the robot. The detection module, cleaning equipment and cleaning system provided in the embodiments of the present application can improve the above problems. The detection module, cleaning equipment and cleaning system provided in the embodiments of the present application can increase the detection range of the detection module, reduce the possibility of the cleaning equipment touching obstacles during work, and thus improve the obstacle avoidance capability of the cleaning equipment.
[0034] The present application will be described below in conjunction with the drawings and specific embodiments:
[0035] The present application provides a detection module 100, as shown in Figure 1 and Figure 2 , as shown, Figure 1 and Figure 2 show the structure diagram of different view angles of the detection module 100. The detection module 100 provided in the present application can be applied to cleaning equipment 10, service robot, toy robot, mechanical arm and the like. In order to facilitate description, the detection module 100 is applied to the cleaning equipment 10 in the embodiments of the present application. When the detection module 100 is applied to other equipment, it can be inferred by analogy. The detection module 100 provided in the embodiments of the present application increases the detection range of the detection module 100, reduces the possibility of the cleaning equipment 10 touching obstacles during work, and thus improves the obstacle avoidance capability of the cleaning equipment 10.
[0036] In the embodiment of the present application, the detection module 100 comprises a shell 110, a transmitting end 120, a receiving end 130, a reflector 140 and a driving member 150, the shell 110 has a mounting cavity 112; the transmitting end 120, the receiving end 130, the reflector 140 and the driving member 150 are all mounted in the mounting cavity 112; the driving member 150 is in transmission connection with the reflector 140, and can drive the reflector 140 to rotate relative to the transmitting end 120 and / or the receiving end 130.
[0037] The shell 110 is the basic component of the entire detection module 100, and can provide a basis for mounting the transmitting end 120, the receiving end 130, the reflector 140 and the driving member 150, so that the transmitting end 120, the receiving end 130, the reflector 140 and the driving member 150 can be mounted inside the shell 110 and form an integral whole, facilitating the assembly and transportation of the entire detection module 100. The shape of the shell 110 can be a columnar body or a cuboid. Regardless of the shape of the shell 110, the shell 110 can have a thickness direction Y, a height direction Z and a width direction X. The direction from the mounting cavity 112 to the lens 160 is defined as the thickness direction Y of the shell 110. In the case of being mounted on the cleaning device 10, the vertical direction is the height direction Z of the shell 110, and the width direction X is perpendicular to the height direction Z and the thickness direction Y.
[0038] The transmitting end 120 is mainly used for transmitting detection light. If the detection light encounters an obstacle, the detection light will be reflected by the obstacle to form reflected light, which will be received by the receiving end 130. The time difference between the emission of the detection light by the transmitting end 120 and the reception of the reflected light by the receiving end 130 and the speed of light can be used to calculate the distance between the cleaning device 10 and the obstacle, so that the cleaning device 10 can re-plan the action path and avoid the obstacle in advance, reducing the possibility of the cleaning device 10 encountering the obstacle during the working process, thereby reducing the risk of damage to the cleaning device 10 during the working process and improving the sensitivity of the cleaning device 10 during the working process.
[0039] During the working process of the cleaning device 10, the position of the cleaning device 10 can change at any time, i.e. the cleaning device 10 can move while cleaning the to-be-cleaned surface. The detection area formed by the detection light emitted by the transmitting end 120 is fixed, which will make the detection area of the entire detection module 100 fixed. In the case that the position of the cleaning device 10 moves during the working process, the detection module 100 cannot timely detect the environment around the cleaning device 10, and cannot timely detect whether there is an obstacle in the to-be-cleaned range of the cleaning device 10.
[0040] In the embodiment of the present application, the mirror 140 and the driving member 150 are arranged in the detection module 100. The mirror 140 can reflect the detection light emitted by the emission end 120. The path of the detection light can be changed through the reflection of the mirror 140. The driving member 150 drives the mirror 140 to rotate relative to the emission end 120 and / or the receiving end 130. During the rotation of the mirror 140 relative to the emission end 120, the normal direction of the mirror 140 changes, so that the emission direction of the detection light reflected by the mirror 140 also changes. Due to the continuous rotation of the mirror 140 driven by the driving member 150, the detection light emitted by the emission end 120 can form a dynamic detection area through the reflection of the rotating mirror 140. This arrangement can increase the detection range of the detection module 100, reduce the risk of the cleaning equipment 10 touching the obstacles during the movement, and thus improve the obstacle avoidance capability of the cleaning equipment 10.
[0041] As shown in Figure 3 and Figure 4 shown, Figure 3 The structure of the driving member 150 and the mirror 140 of the detection module 100 provided by the embodiment of the present application is shown. Figure 4 The structure of the driving member 150 of the detection module 100 provided by the embodiment of the present application is shown. In some embodiments, the driving member 150 includes a driving part 151, a connecting part 152, and a fixing part 153. The driving part 151 is connected with the connecting part 152, and the fixing part 153 is mounted on the connecting part 152. The mirror 140 is fixed on the fixing part 153.
[0042] The driving part 151 drives the fixing part 153 to rotate through the connecting part 152. The mirror 140 is fixed on the fixing part 153. When the driving part 151 drives the fixing part 153 to rotate through the connecting part 152, the mirror 140 also rotates with the fixing part 153, so that the mirror 140 can rotate relative to the emission end 120 and the receiving end 130. Thus, the detection light can form a dynamic detection area, which can improve the detection range of the entire detection module 100, reduce the risk of the cleaning equipment 10 touching the obstacles during the movement, and thus improve the obstacle avoidance capability of the cleaning equipment 10.
[0043] The driving part 151 can be a motor, and a driving shaft of the motor is matched with the connecting part 152, so that the connecting part 152 drives the fixing part 153 to rotate. The fixing part 153 can be arranged along the height direction Z of the shell 110, so that the reflecting mirror 140 can also be arranged along the height direction Z of the shell 110, so that the same reflecting mirror 140 can reflect the detection light emitted by the emitting end 120 and the reflected light reflected by the obstacle, thereby reducing the number of components of the detection module 100 and enabling the detection module 100 to be arranged compactly.
[0044] The connecting part 152 can be disc-shaped. During the driving of the connecting part 152 by the driving part 151, the space occupied by the disc-shaped connecting part 152 during rotation basically does not change, so that the space occupied by the connecting part 152 is reduced as much as possible, and the volume of the detection module 100 is reduced as much as possible.
[0045] In some embodiments, the fixing part 153 has a fixing surface 154, and the reflecting mirror 140 is attached to the fixing surface 154. Since the driver drives the reflecting mirror 140 to rotate at a certain speed, a certain centrifugal force is generated during rotation. By attaching the reflecting mirror 140 to the fixing surface 154, the contact area between the reflecting mirror 140 and the fixing part 153 can be increased, the fixing effect between the reflecting mirror 140 and the fixing part 153 can be improved, the possibility of the reflecting mirror 140 and the fixing part 153 being separated during rotation can be reduced, and the stability of the reflecting mirror 140 during operation can be improved.
[0046] As for the connection mode of the reflecting mirror 140 and the fixing surface 154, the reflecting mirror 140 and the fixing surface 154 can be fixedly connected by adhesion. Since the reflecting mirror 140 is generally in a sheet shape, the adhesion of the reflecting mirror 140 to the fixing surface 154 can enable the entire reflecting mirror 140 to be in contact with the fixing surface 154, further increase the contact area between the reflecting mirror 140 and the fixing surface 154, improve the fixing effect between the reflecting mirror 140 and the fixing part 153, reduce the possibility of the reflecting mirror 140 and the fixing part 153 being separated during rotation, and improve the stability of the reflecting mirror 140 during operation.
[0047] In addition, the reflecting mirror 140 can be fixedly connected to the fixing surface 154 by clamping. The fixing surface 154 can be provided with a clamping member around the periphery thereof, the clamping member is arranged around the periphery of the reflecting mirror 140, and the reflecting mirror 140 is fixed from the periphery of the reflecting mirror 140. Of course, in addition to adhesion and clamping, the reflecting mirror 140 and the fixing part 153 can also be fixed by other modes, which are not limited in specific, and the reflecting mirror 140 can be fixed to the fixing surface 154.
[0048] In some embodiments, the fixed surface 154 includes multiple surfaces, and the reflector 140 includes multiple reflectors. Any two fixed surfaces 154 have different tilt angles relative to the connecting portion 152, and the multiple reflectors 140 are respectively fixed to the multiple fixed surfaces 154. Since the fixed surfaces 154 have different tilt angles relative to the connecting portion 152, and the reflectors 140 are fixed to the fixed surfaces 154, the normal directions of the multiple reflectors 140 are different. The different normal directions of the reflectors 140 will cause the detection light emitted by the transmitter 120 to exit the housing 110 in different directions after being reflected by the reflectors 140. The detection light emitted from the housing 110 by the reflectors 140 with different tilt angles can have different detection capabilities, thereby further increasing the detection range of the entire detection module 100 and improving the obstacle avoidance capability of the cleaning device 10.
[0049] For example, when there are two reflectors 140, there can also be two fixing surfaces 154. The two fixing surfaces 154 have different tilt angles relative to the connecting part 152, which makes the tilt angles of the two reflectors 140 different. For ease of description, the tilt angle of the reflector 140 is described with the height direction Z of the housing 110 as the reference direction.
[0050] When the angle between the reflecting surface of the reflector 140 and the height direction Z is larger, and the reflecting surface is set downwards, the normal direction of the reflector 140 is more downwards compared to the horizontal direction. This causes the detection light emitted from the housing 110 to be more downwards, enabling the detection module 100 to detect obstacles below. In other words, when the reflecting surface is downwards, the larger the tilt angle between the reflector 140 and the height direction Z, the lower the direction of the detection light emission, allowing the entire detection module 100 to detect areas closer to the bottom.
[0051] The two reflectors 140 have different tilt angles relative to the height direction Z, so that when the drive unit 150 drives the two reflectors 140 to rotate, there are two directions of detection light emission. This allows the detection module 100 to detect areas at two different heights, further increasing the detection range of the entire detection module 100 and improving the obstacle avoidance capability of the cleaning equipment 10.
[0052] When there are two reflectors 140, the two reflectors 140 can be set back to back. This arrangement can increase the area of the reflective surface of each reflector 140, so that the dynamic detection area formed by a single reflector 140 can be as large as possible, thereby improving the detection range of the detection module 100.
[0053] The number of the mirrors 140 can also be other numbers. When the number of the mirrors 140 is three, four or five, the inclination angles of each mirror 140 can be different, so that the emitted probe light can have multiple different heights, and multiple different areas can be detected, further increasing the detection range of the detection module 100.
[0054] In some embodiments, the inclination angles of any two mirrors 140 relative to the emitting end 120 are different by the fixed surfaces 154 with different inclination angles. Of course, the inclination angles of any two mirrors 140 relative to the emitting end 120 can also be different by clamping or other means. As long as the inclination angles of any two mirrors 140 relative to the emitting end 120 are different by any means, no specific limitation is made.
[0055] In some embodiments, the connecting part 152 and the fixed part 153 are integrally formed. The integrally formed connecting part 152 and fixed part 153 can become a whole, and during assembly, the mirrors 140 only need to be assembled to the fixed part 153, without the need to assemble the connecting part 152 and the fixed part 153, which can reduce the assembly steps of the entire detection module 100 and is simple and convenient to operate.
[0056] As for the arrangement position of the emitting end 120 and the reflecting end, in some embodiments, the emitting end 120 and the mirrors 140 are arranged along the width direction X of the shell 110. When the detection module 100 is installed on the cleaning device 10, the thickness direction Y is the forward direction of the cleaning device 10, the height direction Z is the vertical direction, and the width direction X is the horizontal direction perpendicular to the forward direction.
[0057] The emitting end 120 and the mirrors 140 are arranged along the width direction X of the shell 110, so that the emitting end 120 and the mirrors 140 do not occupy the size in the thickness direction Y, and the probe light reflected by the mirrors 140 can be emitted from the lens 160, so that the probe light can pass through the front of the shell 110 and detect the area in front of the cleaning device 10.
[0058] As to the arrangement positions of the emitting end 120 and the receiving end 130, the emitting end 120 and the receiving end 130 can be arranged in the height direction Z of the shell 110, and the emitting end 120 can be arranged above the receiving end 130 or the receiving end 130 can be arranged above the emitting end 120, and the specific position is not limited. That is, the emitting end 120 and the receiving end 130 are arranged on the same side of the reflector 140, and the emitting end 120 and the receiving end 130 are arranged along the width direction X of the shell 110, and the emitting end 120 and the receiving end 130 are arranged along the height direction Z of the shell 110. This arrangement mode can make the internal structure of the detection module 100 more compact, so that the internal structure of the detection module 100 can be as compact as possible, and thus the detection module 100 can be miniaturized.
[0059] Figure 5 A structural schematic diagram of the detection module 100 provided by the embodiment of the present application is shown. As shown in the figure, Figure 5 In some embodiments, the detection module 100 further comprises a lens 160 mounted on the shell 110, and the emission direction of the emitting end 120 is parallel to the lens 160.
[0060] It should be noted that the emission direction of the emitting end 120 is parallel to the lens 160, which does not mean absolute parallelism. There can be a certain installation error. If the included angle between the emission direction and the lens 160 is within 10°, it can be considered that the emission direction is parallel to the lens 160.
[0061] The detection light emitted by the emitting end 120 can pass through the lens after being reflected by the reflector 140 and be emitted to the outside of the shell 110. The emission direction of the emitting end 120 is parallel to the lens 160, which makes the detection light be emitted to the outside of the shell 110 through the lens during the rotation of the reflector 140, and facilitates the arrangement of the reflector 140 and the emitting end 120.
[0062] In summary, the detection module 100 provided by the embodiment of the present application, the driving part 151 drives the fixing part 153 to rotate through the connecting part 152, the reflector 140 is fixed on the fixing part 153, and when the driving part 151 drives the fixing part 153 to rotate through the connecting part 152, the reflector 140 also rotates with the fixing part 153, so that the reflector 140 can rotate relative to the emitting end 120 and the receiving end 130, and thus the detection light can form a dynamic detection area, which can improve the detection range of the entire detection module 100, reduce the risk of the cleaning equipment 10 touching the obstacles during the movement, and thus improve the obstacle avoidance ability of the cleaning equipment 10.
[0063] Figure 6 A structural schematic diagram of the cleaning equipment 10 provided by the embodiment of the present application is shown. As shown in the figure, Figure 6As shown, based on the same inventive concept, the embodiment of the present application further provides a cleaning device 10, comprising a main body 11 and the above-mentioned detection module 100, the detection module 100 being installed on the main body 11. The cleaning device 10 can be a scrubber, a sweeping robot, a vacuum cleaner, etc. When the detection module 100 is applied to the cleaning device 10, the detection module 100 can serve as a forward sensor of the cleaning device 10, and can also serve as a backward sensor of the cleaning device 10.
[0064] Based on the same inventive concept, the embodiment of the present application further provides a cleaning system, comprising a cleaning base station and the above-mentioned cleaning device 10. The cleaning base station can have the functions of charging the cleaning device 10, cleaning the cleaning device 10, collecting impurities of the cleaning device 10, etc.
[0065] In the description of the present specification, the description of the terms "one embodiment", "some embodiments", "an example", "a specific example", or "some examples" and the like means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present specification, the illustrative description of the above-mentioned terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and integrate different embodiments or examples described in the present specification.
[0066] In addition, the technical solutions of each embodiment can be combined with each other, but it must be based on the fact that a person skilled in the art can realize it, when the combination of technical solutions appears contradictory or unachievable, it should be considered that the combination of technical solutions does not exist, nor is it within the scope of protection required by the present application.
[0067] Although the embodiments of the present application have been shown and described, those skilled in the art can understand that various changes, modifications, replacements and variations can be made to these embodiments without departing from the principles and purposes of the present application, the scope of the present application is defined by the claims and their equivalents.
Claims
1. A probe module, characterized by The application relates to a detection module (100) comprising: a shell (110) having a mounting cavity (112); a transmitting end (120) and a receiving end (130) both mounted in the mounting cavity (112); a reflecting mirror (140) and a driving member (150) both mounted in the mounting cavity (112), the driving member (150) being in transmission connection with the reflecting mirror (140) and capable of driving the reflecting mirror (140) to rotate relative to the transmitting end (120) and / or the receiving end (130).
2. The probe module of claim 1, wherein, The driving member (150) comprises a driving part (151), a connecting part (152) and a fixing part (153), the driving part (151) being connected with the connecting part (152), the fixing part (153) being mounted on the connecting part (152), and the reflecting mirror (140) being fixed on the fixing part (153).
3. The probe module of claim 2, wherein, The fixing part (153) has a fixing surface (154), and the reflecting mirror (140) is attached to the fixing surface (154).
4. The probe module of claim 3, wherein, The fixing surface (154) comprises a plurality of fixing surfaces, the reflecting mirror (140) comprises a plurality of reflecting mirrors, the inclination angles of any two fixing surfaces (154) relative to the connecting part (152) are different, and the plurality of reflecting mirrors (140) are respectively fixed on the plurality of fixing surfaces (154).
5. The probe module of claim 3, wherein, The reflecting mirror (140) is bonded to the fixing surface (154).
6. The probe module of claim 2, wherein, The connecting part (152) and the fixing part (153) are integrally formed.
7. The probe module of any one of claims 1-6, wherein, The reflecting mirror (140) is a plurality of reflecting mirrors, and the inclination angles of any two reflecting mirrors (140) relative to the transmitting end (120) are different.
8. The probe module of any one of claims 1-6, wherein, The transmitting end (120) and the reflecting mirror (140) are arranged at intervals along the width direction (X) of the shell (110).
9. The probe module of claim 7, wherein, The detection module (100) further comprises a lens (160) mounted on the shell (110), and the transmitting direction of the transmitting end (120) is parallel to the lens (160).
10. A cleaning apparatus, characterized by The application further relates to a cleaning device (10) comprising a main body (11) and the detection module (100) as claimed in any one of claims 1-9, and the detection module (100) is mounted on the main body (11).
11. A cleaning system characterized by, The application further relates to a cleaning device (10) comprising a cleaning base station and the detection module (100) as claimed in claim 10.