Distance measuring device, cleaning device and cleaning system
By using a rotating base design for the sensor and light-emitting components, the problems of large space occupation and high cost of existing cleaning equipment are solved, enabling efficient navigation and obstacle avoidance functions for the cleaning equipment, improving space utilization and reducing costs.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- BEIJING ROCKROBO TECH CO LTD
- Filing Date
- 2025-06-19
- Publication Date
- 2026-06-02
Smart Images
Figure CN224307281U_ABST
Abstract
Description
Technical Field
[0001] This disclosure relates to the field of smart home technology, and more specifically, to a ranging device, cleaning equipment, and cleaning system. Background Technology
[0002] With the development of modern society, in order to save time and maintain household hygiene, more and more people are buying cleaning equipment to clean their homes promptly and conveniently. These cleaning devices, equipped with a degree of artificial intelligence, can automatically move around the room to clean the floors.
[0003] Existing cleaning equipment typically uses optical detection devices to collect information such as location and contour to achieve functions such as environmental map construction, positioning and navigation. At the same time, it is equipped with obstacle avoidance modules to achieve functions such as obstacle recognition and obstacle avoidance.
[0004] However, the optical detection devices and obstacle avoidance modules used in existing cleaning equipment occupy a large space and are costly, making it difficult to meet the market demand for miniaturization and lightweighting of sweeping machines to suit the consumer market.
[0005] It should be noted that the information disclosed in the background section above is only used to enhance the understanding of the background of this disclosure, and therefore may include information that does not constitute prior art known to those skilled in the art. Utility Model Content
[0006] The purpose of this disclosure is to provide a ranging device, cleaning equipment, and cleaning system that can detect different areas along the axis by using a sensor assembly and a light-emitting assembly, thereby improving the space utilization of the cleaning equipment using the ranging device and reducing the cost of the cleaning equipment.
[0007] According to one aspect of this disclosure, a ranging device is provided, the ranging device comprising:
[0008] A sensor assembly, comprising a transmitting module and a receiving module, wherein the transmitting module is capable of emitting detection light;
[0009] A rotating base, wherein the sensor assembly is mounted on the rotating base, and the rotating base is configured to rotate about a preset axis;
[0010] The light-emitting assembly includes a first light-emitting structure and a second light-emitting structure. The first light-emitting structure and the second light-emitting structure are configured to emit the probe light in a time-division manner when the rotating seat rotates. The probe light is emitted along a first direction through the first light-emitting structure and along a second direction through the second light-emitting structure. The first direction and the second direction are at different angles to the preset axis along the axial direction of the preset axis.
[0011] In one exemplary embodiment of this disclosure, the light-emitting component further includes:
[0012] A third light-emitting structure is disposed on the rotating base. The detection light emitted by the sensor assembly is guided by the third light-emitting structure and then incident on the first light-emitting structure or the second light-emitting structure.
[0013] In one exemplary embodiment of this disclosure, at least one of the first light-emitting structure, the second light-emitting structure, and the third light-emitting structure is a reflector.
[0014] In one exemplary embodiment of this disclosure, the ranging device further includes:
[0015] A first drive assembly is configured to drive the rotary seat to rotate about the preset axis.
[0016] In one exemplary embodiment of this disclosure, the ranging device further includes:
[0017] A rotating component is configured to rotate about the preset axis, and the second light-emitting structure is disposed on the rotating component.
[0018] In one exemplary embodiment of this disclosure, the first driving component can simultaneously drive the rotating seat and the rotating member to rotate around the preset axis, and the rotating seat and the rotating member rotate at different speeds.
[0019] In one exemplary embodiment of this disclosure, the ranging device further includes:
[0020] A second drive assembly is configured to drive the rotating member to rotate about the preset axis.
[0021] In one exemplary embodiment of this disclosure, during one acquisition cycle of the ranging device, the rotating base and the second light-emitting structure each rotate at least one revolution.
[0022] In one exemplary embodiment of this disclosure, the ranging device further includes:
[0023] The mounting component is fixedly installed, and the second light-emitting structure is disposed on the mounting component;
[0024] During one acquisition cycle of the ranging device, the rotating base rotates at least one revolution.
[0025] In one exemplary embodiment of this disclosure, the ranging device includes a plurality of second light-emitting structures, which are distributed along the rotation direction of the rotating base; the plurality of second light-emitting structures have different included angles with the preset axis along the axial direction of the preset axis.
[0026] In one exemplary embodiment of this disclosure, the angle between the second light-emitting structure and the preset axis is adjustable along the axial direction of the preset axis.
[0027] According to another aspect of this disclosure, a cleaning apparatus is provided, the cleaning apparatus comprising:
[0028] Equipment body;
[0029] The ranging device described above is located on the main body of the device.
[0030] In one exemplary embodiment of this disclosure, the detection light is emitted along the first direction for navigation detection, and the detection light is emitted along the second direction for obstacle avoidance detection.
[0031] In one exemplary embodiment of this disclosure, the first direction is perpendicular to the preset axis.
[0032] In one exemplary embodiment of this disclosure, the detection light emitted along the second direction is located below the detection light emitted along the first direction in the axial direction of the preset axis, and the angle between the second direction and the first direction is greater than or equal to 10°.
[0033] According to another aspect of this disclosure, a cleaning system is provided, the cleaning system comprising:
[0034] The aforementioned cleaning equipment;
[0035] A base station, which is used to dock the cleaning equipment.
[0036] The ranging device provided in this disclosure, by setting a first light-emitting structure and a second light-emitting structure, allows the sensor assembly to emit detection light along a first direction or along a second direction in a time-division manner through the first light-emitting structure and the second light-emitting structure when the rotating seat rotates, so as to detect the target area in the first direction or the target area in the second direction. This enables the detection of multiple areas along the axial direction of the cleaning equipment. In other words, a single sensor assembly can detect different areas in the height direction of the cleaning equipment, thereby improving the space utilization of the cleaning equipment and reducing the cost of the device.
[0037] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this disclosure. Attached Figure Description
[0038] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure. It is obvious that the drawings described below are merely some embodiments of this disclosure, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort.
[0039] Figure 1 A schematic diagram of a cleaning system provided in one embodiment of this disclosure.
[0040] Figure 2 This is a front view of a cleaning device provided in one embodiment of the present disclosure.
[0041] Figure 3 This is a schematic diagram of a ranging device provided in one embodiment of the present disclosure.
[0042] Figure 4 This is a schematic diagram of a probe light emitted along a first direction, provided as an embodiment of the present disclosure.
[0043] Figure 5 This is a schematic diagram of the optical path of the probe light emitted along a first direction, according to an embodiment of the present disclosure.
[0044] Figure 6 This is a schematic diagram of the detection light emitted along a second direction, according to one embodiment of the present disclosure.
[0045] Figure 7 This is a schematic diagram of the optical path of the probe light emitted along a second direction, according to an embodiment of the present disclosure.
[0046] Explanation of reference numerals in the attached figures:
[0047] 10. Cleaning equipment; 11. Equipment body; 12. Ranging device; 120. Sensor assembly; 121. Transmitting module; 122. Receiving module; 123. Second light-emitting structure; 124. Third light-emitting structure; 125. Rotating base; 126. Rotating component; 127. First drive assembly;
[0048] 20. Base station. Detailed Implementation
[0049] Exemplary embodiments will now be described more fully with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in many forms and should not be construed as limited to the embodiments set forth herein; rather, they are provided so that this disclosure will be thorough and complete, and will fully convey the concept of the exemplary embodiments to those skilled in the art. The same reference numerals in the drawings denote the same or similar structures, and therefore their detailed description will be omitted.
[0050] Although relative terms such as "up" and "down" are used in this specification to describe the relative relationship of one component of an icon to another, these terms are used only for convenience, such as according to the orientation of the examples shown in the accompanying drawings. It is understood that if the device of the icon is flipped upside down, the component described as "up" will become the component described as "down." When a structure is "up" of another structure, it may mean that the structure is integrally formed on the other structure, or that the structure is "directly" mounted on the other structure, or that the structure is "indirectly" mounted on the other structure through another structure.
[0051] The terms “a,” “one,” “the,” “the,” and “at least one” are used to indicate the presence of one or more elements / components / etc.; the terms “including” and “having” are used to indicate an open-ended inclusion and to mean that there may be other elements / components / etc. in addition to the listed elements / components / etc.; the terms “first,” “second,” and “third,” etc., are used only as markers and are not a limitation on the number of objects.
[0052] Embodiments of this disclosure provide a cleaning system, such as Figure 1 and Figure 2 As shown, the cleaning system includes a cleaning device 10 and a base station 20. The cleaning device 10 can be, for example, a mopping robot or a sweeping and mopping robot; the cleaning device 10 may include a device body 11, a drive module, a sensing module, a control module, a cleaning module, an energy module, and a human-machine interaction module. The base station 20 is used to dock with the cleaning device 10, allowing it to be parked. The cleaning device 10 can perform functions such as charging, self-cleaning, docking, sewage discharge, water replenishment, and dust collection on the base station 20.
[0053] In one embodiment, the device body 11 is configured to automatically move along a target direction on a travel surface, which can be the surface to be cleaned by the cleaning device 10. If the cleaning device 10 is a sweeping and mopping robot, then the cleaning device 10 operates on the ground.
[0054] In one embodiment, the drive module may include a drive wheel assembly. The drive module can simultaneously control the left and right wheels. For more precise control of the machine's movement, the drive module preferably includes a left drive wheel assembly and a right drive wheel assembly. The left and right drive wheel assemblies are symmetrically arranged along a transverse axis defined by the device body 11. In one embodiment, to enable the cleaning device 10 to move more stably or with greater mobility on the ground, the cleaning device 10 may include one or more steering wheels. These steering wheels may be driven wheels or drive wheels, and their structural forms include, but are not limited to, casters. The steering wheels may be located in front of the drive wheel assembly. A drive motor provides power to the drive wheel assembly and / or the steering wheels.
[0055] In one embodiment, the sensing module may include a ranging device 12 located above the device body 11, a buffer located in the forward portion of the device body 11, and a cliff sensor and ultrasonic sensor, infrared sensor, magnetometer, accelerometer, gyroscope, odometer, and other sensing devices located at the bottom of the device body 11, providing the control module with various position and motion state information of the device body 11. For example, the forward portion of the device body 11 is provided with a buffer. During the cleaning process, when the drive wheel assembly propels the cleaning device 10 to walk on the ground, the buffer detects one or more objects in the travel path of the cleaning device 10 via a sensor module, such as a collision sensor. The cleaning device 10 can pass through the objects detected by the collision sensor, such as steps, obstacles, or walls, and the control drive structure makes the cleaning device 10 respond to the objects, such as stepping over steps.
[0056] In one embodiment, the control module can combine distance and speed information fed back from sensors such as buffers, cliff sensors, ultrasonic sensors, infrared sensors, magnetometers, accelerometers, gyroscopes, and odometers to comprehensively determine the current working state of the robot vacuum cleaner, such as climbing stairs, crossing thresholds, walking on carpets, being on a cliff, stuck above or below, having a full dustbin, or being picked up. It will also provide specific next action strategies for different situations, making the cleaning device 10 work more in line with the user's requirements and providing a better user experience. Furthermore, the control module can plan the most efficient and reasonable cleaning path and cleaning method based on real-time map information drawn using SLAM (Simultaneous Localization and Mapping), which can improve the cleaning efficiency of the cleaning device 10.
[0057] In one embodiment, the energy module may include a rechargeable battery, such as a nickel-metal hydride battery or a lithium battery. The rechargeable battery may be connected to a charging control circuit, a battery pack charging temperature detection circuit, and a battery undervoltage monitoring circuit. These circuits are then connected to a microcontroller control circuit. The main unit is charged by connecting to a charging station via charging electrodes located on the side or bottom of the unit.
[0058] In one embodiment, the human-machine interaction module may include buttons on the main unit panel for users to select functions; it may also include a display screen and / or indicator lights and / or a speaker, which display the current status of the machine or the available functions to the user; and it may also include a mobile client application. For path navigation cleaning equipment, the mobile client can display a map of the environment where the equipment is located, as well as the machine's position, providing users with richer and more user-friendly functions.
[0059] In one embodiment, the cleaning module may include a dry cleaning module, or a dry and wet cleaning module. The dry cleaning module may include a roller brush assembly, side brushes, etc., while the wet cleaning module may include a cleaning head, a water tank, etc.
[0060] Currently, the cleaning equipment 10 typically uses a combination of two sensors, LDS (laser rangefinder) and structured light, for mapping and navigation. The LDS is usually positioned above or in front of the cleaning equipment 10, while the structured light is usually positioned in front of the cleaning equipment 10. The LDS is used to collect distance information above or equal to the height of the cleaning equipment 10 for navigation, while the structured light is used to collect distance information below and in front of the cleaning equipment 10 for obstacle identification and obstacle avoidance.
[0061] However, using two sensors and installing them separately takes up too much space in the current trend of miniaturization of self-moving cleaning equipment 10, resulting in low space utilization of the cleaning equipment 10, and the cost of setting up two sensors is relatively high.
[0062] In response, embodiments of this disclosure provide a ranging device, such as... Figures 3-7 As shown, the ranging device 12 includes: a sensor assembly 120, a rotating base 125, and a light-emitting assembly. The sensor assembly 120 is used to emit detection light. The sensor assembly 120 is disposed on the rotating base 125, which is configured to rotate around a preset axis. The light-emitting assembly includes a first light-emitting structure and a second light-emitting structure 123. The first light-emitting structure and the second light-emitting structure 123 are configured to emit detection light in a time-division manner when the rotating base 125 rotates. The detection light is emitted along a first direction X through the first light-emitting structure and along a second direction Y through the second light-emitting structure 123. On the axial direction Z of the preset axis, the angles between the first direction X and the second direction Y and the preset axis are different, that is, the angles emitted in the height direction are different.
[0063] The ranging device 12 provided in this disclosure, due to the provision of a first light-emitting structure and a second light-emitting structure 123, allows the sensor assembly 120 to emit detection light along the first direction X or along the second direction Y in a time-division manner through the first light-emitting structure and the second light-emitting structure 123 when the rotating base 125 rotates. This enables the detection of target areas in the first direction X or the second direction Y, thus achieving the detection of multiple areas along the axial Z of the cleaning equipment 10. In other words, a single sensor assembly 120 can detect different areas in the height direction of the cleaning equipment 10, thereby improving the space utilization of the cleaning equipment 10 and reducing the cost of the device.
[0064] In one embodiment, during the movement of the cleaning equipment 10, a ranging device can emit a detection light along the first direction X for navigation detection, and a ranging device can emit a detection light along the second direction Y for navigation detection. Thus, by cooperating with a sensor assembly 120 and a light-emitting assembly, navigation and obstacle avoidance are realized during the movement of the cleaning equipment 10.
[0065] In this design, the first direction X is perpendicular to the preset axis, meaning the first direction X can be horizontal. When the cleaning device 10 is on a horizontal surface, the first direction X is parallel to the horizontal surface. It is understood that when the ground where the cleaning device 10, equipped with the ranging device 12, is located is not horizontal, the first direction X also tilts along with the device body 11 of the cleaning device 10. In this case, the first direction X is parallel to the ground where the cleaning device 10 is located, so that during the autonomous driving process of the cleaning device 10, it can detect areas parallel to the ground it is driving on and collect distance information above or equal to the height of the cleaning device 10 for navigation. Of course, the first direction X may not be perpendicular to the preset axis, meaning the included angle may be acute or obtuse, to collect distance information of the target area at the height of the cleaning device 10 for navigation. This disclosure does not impose any limitations on this.
[0066] In this configuration, the detection light emitted along the second direction Y on the axial Z of the preset axis is located below the detection light emitted along the first direction X. That is, after the detection light passes through the second light-emitting structure 123 and changes its optical path, it can be emitted along the axial Z towards the lower part of the cleaning device 10 to detect the area below in front of the cleaning device 10 and collect distance information below the height of the cleaning device 10 for the purpose of identifying obstacles and avoiding them.
[0067] Wherein, the angle between the second direction Y and the first direction X is greater than or equal to 10°, that is, the angle at which the probe light deflects downward after passing through the second light-emitting structure 123 is greater than 10°, such as 10°, 11°, 12°, 13°, 14°, 15°, etc., which will not be listed here. Of course, the angle between the second direction Y and the first direction X may also be less than 10°, and this disclosure does not impose any restrictions on this.
[0068] In one embodiment, such as Figure 5 As shown, the sensor assembly 120 includes a transmitting module 121 and a receiving module 122, which are mounted on a rotating base 125. The detection light is configured to emit detection light, and the receiving module 122 is configured to receive the reflected detection light. The transmitting module 121, driven by the rotating base 125, enables the detection light to be incident on the second light-emitting structure 123 along the first direction X. The second light-emitting structure 123 is configured to emit the incident detection light along the second direction Y.
[0069] When measuring distance using the transmitting module 121 and the receiving module 122, either laser triangulation or laser echo analysis can be employed. In laser triangulation, the transmitting module 121 emits a probe beam (laser beam) that illuminates the surface of the object being measured. The beam is reflected back, and the reflected light is imaged onto a photodetector by the optical system of the receiving module 122. By measuring the changes in the position of the emitted and received light spots, the distance between the cleaning device 10 and the object being measured can be calculated. In laser echo analysis, the transmitting module 121 emits a probe beam that illuminates the surface of the object being measured. The reflected light is received by the receiving module 122, and the distance between the cleaning device 10 and the object being measured can be calculated by measuring the time difference between the emission and reception of the probe beam. Because of the second light-emitting structure 123, when the transmitting module 121, driven by the rotating base 125, causes the detection light to be emitted directly through the first light guide structure along the first direction X without being incident on the second light-emitting structure 123, the area in the first direction X can be detected. When the transmitting module 121, driven by the rotating base 125, causes the detection light to be incident on the second light-emitting structure 123, the detection light changes its optical path through the reflection of the second light-emitting structure 123, and after being reflected by the second light-emitting structure 123, it is emitted along the second direction Y to detect the area in the second direction Y. This achieves the detection of multiple areas in the axial direction Z of the cleaning equipment 10, that is, the detection of different areas in the height direction of the cleaning equipment 10 is achieved through one sensor, which can improve the space utilization of the cleaning equipment 10 and reduce the cost of the device.
[0070] In one embodiment, within one acquisition cycle of the ranging device 12, the rotating base 125 and the second light-emitting structure 123 each rotate at least one revolution. That is, within one acquisition cycle, the detection light can be emitted 360° through the first light-emitting structure, that is, the detection light can be emitted 360° without blind spots in the first direction X to collect distance information of a ring area around the cleaning device 10, thereby assisting the cleaning device 10 in performing operations such as moving forward, backward, and turning. Navigation detection is achieved by emitting detection light in the first direction X. Similarly, within one acquisition cycle, the detection light can be emitted 360° through the second light-emitting structure 123, that is, the detection light can be emitted 360° without blind spots in the second direction Y to collect distance information of a ring area around the cleaning device 10, thereby assisting the cleaning device 10 in identifying obstacles and avoiding obstacles. Navigation obstacle avoidance is achieved by emitting detection light in the second direction Y.
[0071] In one embodiment, such as Figure 3As shown, the ranging device 12 also includes a first driving component 127, which is configured to drive the rotating base 125 to rotate around a preset axis. By setting the first driving component 127, the rotating base 125 is driven, thereby driving the sensor component 120 to rotate around the preset axis. When it is necessary to detect an area in the first direction X, the first driving component 127 drives the rotating base 125 to rotate, so that the transmitting module 121, driven by the rotating base 125, emits detection light through the first light guide structure along the first direction X to collect distance information in the first direction X. When it is necessary to detect an area in the second direction Y, the first driving component 127 drives the rotating base 125 to rotate, so that the detection light is incident on the second light emitting structure 123 to change the light path and emit along the second direction Y, thereby collecting distance information in the second direction Y, realizing the detection of multiple areas along the axial Z of the cleaning device 10.
[0072] The first drive assembly 127 drives the rotating base 125 to rotate the ranging device 12 360° around a preset axis to obtain distance information of a surrounding area of the cleaning equipment 10, thereby assisting the cleaning equipment 10 in performing operations such as moving forward, backward, and turning. When the ranging device 12 acquires distance information around the preset axis by rotating 360°, the first drive assembly 127 can directly drive the rotating base 125 to rotate continuously to achieve a 360° rotation around the preset axis; alternatively, the first drive assembly 127 can drive the rotating base 125 to rotate 180° around the preset axis in the opposite direction, thereby achieving a 360° rotation around the preset axis.
[0073] In one embodiment, such as Figure 3 , Figure 4 and Figure 6 As shown, the ranging device 12 also includes a rotating member 126, which is configured to rotate around a preset axis. The second light-emitting structure 123 is disposed on the rotating member 126. By rotating the rotating member 126 around the preset axis, the second light-emitting structure 123 is driven to rotate around the preset axis, thereby allowing the relative position between the second light-emitting structure 123 and the transmitting module 121 to be adjusted from both sides. This ensures that when collecting distance information of a region surrounding the cleaning device 10 along the first direction X, the transmitting module 121 can emit detection light 360° without blind spots, avoiding interference from the second light-emitting structure 123 to the transmitting module 121. Simultaneously, by rotating the second light-emitting structure 123 along the second direction Y, distance information of a partial or complete region surrounding the cleaning device 10 can be collected.
[0074] The rotating component 126 can be the housing of the position ranging device 12, forming an accommodating space. The transmitting module 121, the receiving module 122, and the second light-emitting structure 123 can be located in this accommodating space. The transmitting module 121 and the receiving module 122 then transmit and receive light through the openings or light-transmitting areas on the housing. It is understood that the housing of the ranging device 12 can also be fixed relative to the device body 11, that is, the second light-emitting structure 123 is fixedly arranged axially around a preset axis.
[0075] The second light-emitting structure 123 can be a reflector. The reflector is set in the housing. After being reflected by the reflector, the detection light is emitted along the second direction Y through the window or light-transmitting area on the housing. The reflection of the detection light by the reflector results in less loss of the detection light and can better obtain the distance information of the target area.
[0076] The first light-emitting structure can be a light-emitting hole or a light-transmitting element provided on the outer casing. The direction of the probe light entering the first light-emitting structure is the first direction X, and the probe light continues to exit directly along the first direction X after passing through the first light-emitting structure. The light-emitting hole or light-transmitting element provided on the outer casing can also be an existing window or light-transmitting area on the outer casing, reducing the need for independent light-emitting structures and lowering device costs. By rotating the rotating base 125 relative to the outer casing, the probe light can be incident on the first light-emitting structure formed by the light-emitting hole or light-transmitting element provided on the outer casing, or on the second light-emitting structure 123 formed by the reflector. It can be understood that the first light-emitting structure can also be a reflector, meaning that the probe light entering the first light-emitting structure changes direction after passing through the first light-emitting structure and exits along the first direction X.
[0077] In one embodiment, such as Figure 3 As shown, the first driving component 127 can simultaneously drive the rotating base 125 and the rotating member 126 to rotate around a preset axis, and the rotating base 125 and the rotating member 126 rotate at different speeds, that is, the first driving component 127 drives the rotating base 125 and the rotating member 126 to rotate at different speeds around the preset axis. Through a single power source, the rotating base 125 and the rotating member 126 can rotate at different speeds. When the ranging device 12 collects distance information of a ring area around the cleaning device 10 along the first direction X, the transmitting module 121 can emit detection light 360° without blind spots, avoiding interference from the second light-emitting structure 123. Simultaneously, by rotating the second light-emitting structure 123, driven by the rotating member 126, the ranging device 12 can collect distance information of a partial or complete ring area around the cleaning device 10 along the second direction Y.
[0078] The first driving assembly 127 may include a drive motor, a first belt, and a second belt. The drive motor is connected to the rotating base 125 via the first belt, and to the rotating component 126 via the second belt. The rotating base 125 and the rotating component 126 have different diameters, so when the drive motor rotates the first and second belts, their rotational speeds are different. This ensures that within one acquisition cycle of the ranging device 12, both the rotating base 125 and the second light-emitting structure 123 rotate at least one revolution. It is understood that the first driving assembly 127 may also consist of a drive motor and a gear set. The drive motor is connected to the rotating base 125 and the rotating component 126 via gear sets with different transmission ratios, so that the rotational speeds of the rotating base 125 and the rotating component 126 are different.
[0079] In one embodiment, the ranging device 12 includes a rotating member 126, a first driving assembly, and a second driving assembly. The rotating member 126 is configured to rotate about a preset axis. The first driving assembly is configured to drive a rotating base 125 to rotate about the preset axis, and the second driving assembly is configured to drive the rotating member 126 to rotate about the preset axis, so that the rotating base 125 and the second light-emitting structure 123 can each rotate at least one revolution within one acquisition cycle of the ranging device 12. Two power sources drive the rotating base 125 and the rotating member 126 respectively, enabling the ranging device 12 to collect distance information about a region surrounding the cleaning device 10 along a first direction X and a second direction Y.
[0080] The first drive assembly and the second drive assembly can be a drive motor working with a gear set to achieve the driving effect, or a drive motor working with a belt, chain, etc. This disclosure does not limit the specific selection of the drive assembly, as long as it can drive the rotating seat 125 and the rotating part 126.
[0081] In one embodiment, the ranging device 12 includes a plurality of second light-emitting structures 123, which are distributed along the rotation direction of the rotating base 125. The angles between the plurality of second light-emitting structures 123 and the preset axis are different along the Z-axis of the preset axis. By setting a plurality of second light-emitting structures 123 and making the angles between them different, when the transmitting module 121 corresponds to different second light-emitting structures 123, and the detection light is incident on different second light-emitting structures 123, the emission angles of the detection light after reflection by the different second light-emitting structures 123 are different. Therefore, by adjusting the second light-emitting structure 123 corresponding to the transmitting module 121, the deflection angle of the emitted light can be adjusted, thereby enabling the collection of distance information of multiple areas of the cleaning device 10 in the height direction, in order to better identify obstacles and perform obstacle avoidance.
[0082] When multiple second light-emitting structures 123 are provided, the multiple second light-emitting structures 123 can rotate around the axis of the rotating seat 125 under the drive of the rotating member 126.
[0083] In one embodiment, the angle between the second light-emitting structure 123 and the preset axis is adjustable along the Z-axis of the preset axis. After the second light-emitting structure 123 is assembled onto the rotating member 126, a rotating structure can be provided between the second light-emitting structure 123 and the rotating member 126 to allow relative rotation between them, thereby achieving an adjustable angle between the second light-emitting structure 123 and the preset axis. Because the angle between the second light-emitting structure 123 and the preset axis is adjustable, the detection light can form different emission angles after being refracted by the second light-emitting structure 123 at different pitch angles. The deflection angle of the emitted light can be adjusted using only one second light-emitting structure 123, thereby enabling the collection of distance information from multiple areas in the height direction of the cleaning device 10, and thus better obstacle identification and avoidance.
[0084] An electrically operated rotating structure can be provided between the second light-emitting structure 123 and the rotating component 126, meaning that the pitch angle between the second light-emitting structure 123 and the rotating component 126 can be adjusted electrically. The second light-emitting structure 123 can be movably connected to the rotating component 126 via a rotating shaft, and a micro motor can drive the rotating shaft to rotate via a transmission component such as a gear or belt, thereby achieving electric adjustment of the pitch angle of the second light-emitting structure 123.
[0085] Specifically, when the first direction X is horizontal, the acute angle between the second light-emitting structure 123 and the horizontal direction is greater than or equal to 10°, which is the same as the angle between the second direction Y and the first direction X. In other words, by adjusting the angle set on the rotating member 126 of the second light-emitting structure 123, the emission angle of the probe light after reflection by the second light-emitting structure 123 can be adjusted.
[0086] In one embodiment, the ranging device 12 further includes a third light guide structure 124, which is disposed on the rotating base 125. The detection light emitted by the transmitting module 121 is guided by the third light guide structure 124 before being emitted. The third light guide structure 124 facilitates the placement of the transmitting module 121, thereby optimizing the utilization of the installation space. Meanwhile, since there are usually assembly tolerances during the assembly process of the transmitting module 121, the emission angle of the detection light emitted by the transmitting module 121 may deviate. By reflecting the detection light emitted by the transmitting module 121 through the third light guide structure 124 before being emitted, the emission angle of the detection light can be corrected by adjusting the angle of the third light guide structure 124. For example, the detection light emitted by the transmitting module 121 can be reflected by the third light guide structure 124 and emitted along the first direction X. The light emitted along the first direction X does not need to pass through the first light guide structure again to change its emission direction, thus improving the accuracy of the emission angle of the detection light.
[0087] The third light guide structure 124 can be a reflector, which reflects the probe light, resulting in less light loss and better acquisition of distance information of the target area. The third light guide structure 124 can be the same as the second light-emitting structure 123, which can reduce the cost of setting up the light guide component.
[0088] Specifically, the angle between the third light guide structure 124 and the preset axis along the Z-axis is adjustable. After the third light guide structure 124 is assembled onto the rotating base 125, a rotating structure can be provided between the third light guide structure 124 and the rotating base 125 to allow relative rotation between them, thereby achieving an adjustable angle between the third light guide structure 124 and the preset axis. Because the angle between the third light guide structure 124 and the preset axis is adjustable, the probe light, after being refracted by the third light guide structure 124 at different pitch angles, can form different emission angles. This allows the probe light emitted by the emitting module 121 to be emitted more accurately along a preset direction, such as along the first direction X.
[0089] Other embodiments of this disclosure will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this disclosure are indicated by the appended claims.
Claims
1. A ranging device, characterized in that, include: A sensor assembly, comprising a transmitting module and a receiving module, wherein the transmitting module is capable of emitting detection light; A rotating base, wherein the sensor assembly is mounted on the rotating base, and the rotating base is configured to rotate about a preset axis; The light-emitting assembly includes a first light-emitting structure and a second light-emitting structure. The first light-emitting structure and the second light-emitting structure are configured to emit the probe light in a time-division manner when the rotating seat rotates. The probe light is emitted along a first direction through the first light-emitting structure and along a second direction through the second light-emitting structure. The first direction and the second direction are at different angles to the preset axis along the axial direction of the preset axis.
2. The ranging device according to claim 1, characterized in that, The light-emitting component also includes: A third light-emitting structure is disposed on the rotating base. The detection light emitted by the sensor assembly is guided by the third light-emitting structure and then incident on the first light-emitting structure or the second light-emitting structure.
3. The ranging device according to claim 2, characterized in that, At least one of the first light-emitting structure, the second light-emitting structure, and the third light-emitting structure is a reflector.
4. The ranging device according to claim 1, characterized in that, The ranging device further includes: A first drive assembly is configured to drive the rotary seat to rotate about the preset axis.
5. The ranging device according to claim 4, characterized in that, The ranging device further includes: A rotating component is configured to rotate about the preset axis, and the second light-emitting structure is disposed on the rotating component.
6. The ranging device according to claim 5, characterized in that, The first driving component can simultaneously drive the rotating seat and the rotating member to rotate around the preset axis, and the rotating seat and the rotating member rotate at different speeds.
7. The ranging device according to claim 5, characterized in that, The ranging device further includes: A second drive assembly is configured to drive the rotating member to rotate about the preset axis.
8. The ranging device according to claim 6 or 7, characterized in that, During one acquisition cycle of the ranging device, the rotating base and the second light-emitting structure each rotate at least one revolution.
9. The ranging device according to claim 4, characterized in that, The ranging device further includes: The mounting component is fixedly installed, and the second light-emitting structure is disposed on the mounting component; During one acquisition cycle of the ranging device, the rotating base rotates at least one revolution.
10. The ranging device according to claim 1, characterized in that, The ranging device includes a plurality of second light-emitting structures, which are distributed along the rotation direction of the rotating base; the plurality of second light-emitting structures have different included angles with the preset axis along the axial direction of the preset axis.
11. The ranging device according to claim 1, characterized in that, Along the axial direction of the preset axis, the angle between the second light-emitting structure and the preset axis is adjustable.
12. A cleaning device, characterized in that, include: Equipment body; The ranging device according to any one of claims 1 to 11, wherein the ranging device is located on the device body.
13. The cleaning equipment according to claim 12, characterized in that, The detection light is emitted along the first direction for navigation detection, and the detection light is emitted along the second direction for obstacle avoidance detection.
14. The cleaning equipment according to claim 12 or 13, characterized in that, The first direction is perpendicular to the preset axis.
15. The cleaning equipment according to claim 14, characterized in that, Along the axial direction of the preset axis, the detection light emitted along the second direction is located below the detection light emitted along the first direction, and the angle between the second direction and the first direction is greater than or equal to 10°.
16. A cleaning system, characterized in that, include: The cleaning equipment according to any one of claims 12 to 15; A base station, which is used to dock the cleaning equipment.