Distance measurement device, cleaning apparatus and cleaning system

Abstract

A distance measurement device, comprising: a distance measurement assembly (101), the distance measurement assembly (101) being configured to transmit and receive detection light; a rotating assembly (102), the rotating assembly (102) being configured to change a propagation direction of the detection light; a driving assembly (103), the driving assembly (103) being connected to the rotating assembly (102) so as to drive the rotating assembly (102) to rotate; and a controller (104), the controller (104) being connected to the distance measurement assembly (101), the rotating assembly (102) and the driving assembly (103), respectively.

Description

Distance measuring devices, cleaning equipment and cleaning systems

[0001] Cross-references to related applications

[0002] This application claims priority to Chinese patent application No. 202520211866.0, filed on February 10, 2025, the entire contents of which are incorporated herein by reference. Technical Field

[0003] This disclosure relates to the field of distance measurement technology, and in particular to a distance measuring device, cleaning equipment, and cleaning system. Background Technology

[0004] With the development of smart hardware technology, modern smart cleaning equipment possesses functions such as autonomous navigation, path planning, and obstacle avoidance, enabling its application in fields such as hotel food delivery, floor cleaning, and weighing and handling. The distance measurement devices attached to these cleaning devices can identify the distance between obstacles and the equipment; however, existing distance measurement devices suffer from a technical limitation: a relatively small distance measurement range. Summary of the Invention

[0005] This disclosure provides a distance measuring device, a cleaning device, and a cleaning system to address technical problems such as the small distance measuring range in related technologies.

[0006] A first aspect of this disclosure provides a distance measuring device, comprising: a ranging 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; and a data processing component connected to the ranging component, the rotating component, and the driving component. In this embodiment, the distance measuring device, through the rotating component, improves the detection range of the distance measuring device, thereby expanding its application scenarios.

[0007] According to a second aspect of this disclosure, a cleaning device is proposed, comprising: a main structure; and a distance measuring device as defined in the first aspect above, the distance measuring device being disposed in a receiving cavity. Therefore, it possesses all the beneficial technical effects of the distance measuring device as defined in the first aspect above, which will not be elaborated further here.

[0008] According to a third aspect of this disclosure, a cleaning system is proposed, comprising: a cleaning device as defined in the second aspect above; and a cleaning base station for docking the cleaning device. Therefore, it possesses all the beneficial technical effects of the cleaning device as defined in the second aspect above, which will not be elaborated further here. Attached Figure Description

[0009] To more clearly illustrate the technical solutions in the embodiments of this disclosure or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this disclosure. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0010] Figure 1 is a first schematic diagram of a distance measuring device according to some embodiments of the present disclosure;

[0011] Figure 2 is a second schematic diagram of a distance measuring device according to some embodiments of the present disclosure;

[0012] Figure 3 is a third schematic diagram of a distance measuring device according to some embodiments of the present disclosure;

[0013] Figure 4 is a fourth schematic diagram of a distance measuring device according to some embodiments of the present disclosure;

[0014] Figure 5 is a fifth schematic diagram of a distance measuring device according to some embodiments of the present disclosure;

[0015] Figure 6 is a sixth schematic diagram of a distance measuring device according to some embodiments of the present disclosure;

[0016] Figure 7 is a seventh schematic diagram of a distance measuring device according to some embodiments of the present disclosure; and

[0017] Figure 8 is an eighth schematic diagram of a distance measuring device according to some embodiments of the present disclosure.

[0018] Figure 9 is a schematic diagram of a cleaning device according to some embodiments of the present disclosure; and

[0019] Figure 10 is a schematic diagram of a cleaning system according to some embodiments of the present disclosure.

[0020] The correspondence between the reference numerals and the component names is as follows:

[0021] 100. Distance measuring device; 101. Distance measuring component; 102. Rotation component; 103. Drive component; 104. Controller; 105. Fixed axis; 106. Movable axis; 107. Movable platform; 108. Movable mirror; 109. Light source; 110. Timer; 111. Imaging unit; 112. Lens; 113. Distance data recorder; 114. Spatial position recorder; 200. Obstacle; 300. Cleaning equipment; 301. Main structure; 302. Upper shell; 303. Lower shell; 400. Cleaning base station; 1000. Cleaning system. Embodiments of the present invention

[0022] To better understand the technical solutions provided in the embodiments of this specification, the technical solutions of the embodiments of this specification will be described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the embodiments of this specification and the specific features in the embodiments are detailed descriptions of the technical solutions of the embodiments of this specification, rather than limitations on the technical solutions of this specification. In the absence of conflict, the embodiments of this specification and the technical features in the embodiments can be combined with each other.

[0023] In this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, without necessarily requiring or implying any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element. The term "two or more" includes two or more cases.

[0024] In some embodiments, as shown in FIG1, a distance measuring device 100 is provided according to some embodiments of the present disclosure, including:

[0025] The ranging component 101 is used to transmit and receive probe light.

[0026] Rotating component 102 is configured to change the propagation direction of the probe light;

[0027] Drive assembly 103, connected to rotating assembly 102, to drive rotating assembly to rotate; and

[0028] The controller 104 is connected to the ranging component 101, the rotating component 102 and the driving component 103 respectively.

[0029] In some embodiments, the distance measuring device 100 is a device for distance detection.

[0030] For example, the distance measuring device 100 can be installed on the robot vacuum cleaner. During the robot vacuum cleaner's sweeping operation, the distance measuring device 100 is used to measure the distance between the obstacle 200 and the robot vacuum cleaner, so that the robot vacuum cleaner can avoid the obstacle 200, thereby ensuring that the robot vacuum cleaner completes the sweeping operation.

[0031] The distance measuring device 100 includes a ranging component 101, which is capable of sending out a probe light and receiving the reflected light of the probe light to determine the distance between the distance measuring device 100 and the object being measured.

[0032] For example, the detection light can be laser or infrared light.

[0033] For example, when the distance measuring device 100 is installed on the robot vacuum cleaner, the ranging component 101 is used to send a detection light to the obstacle 200 and receive the reflected light of the detection light; the distance between the obstacle 200 and the robot vacuum cleaner is determined based on the time difference between sending and receiving the detection light.

[0034] The distance measuring device 100 also includes a rotating component 102 and a driving component 103. The rotating component 102 is mounted on the driving component 103. The rotating component 102 is used to change the propagation direction of the detection light emitted by the ranging component 101, and the driving component 103 is used to drive the rotating component 102 to rotate.

[0035] For example, the drive component 103 can drive the rotation component 102 to rotate to different positions.

[0036] For example, the measurement range of the ranging component 101 can be expanded when the driving component 103 drives the rotating component 102 to rotate to different positions.

[0037] For example, the ranging component 101 can be a ranging sensor.

[0038] For example, the drive component 103 can be rotated by a motor.

[0039] The distance measuring device 100 also includes a controller 104. The controller 104 is connected to the ranging component 101, the rotating component 102, and the driving component 103, respectively.

[0040] For example, the controller 104 may include a processor, a microprocessor, or a microcontroller.

[0041] For example, the controller 104 can be wirelessly connected to the ranging component 101, the rotation component 102 and the drive component 103, respectively.

[0042] For example, the controller 104 can receive data sent by the ranging component 101 and then complete the ranging operation based on the data sent by the ranging component 101.

[0043] For example, controller 104 can control the operation of drive component 103.

[0044] For example, the controller 104 can control the rotation angle of the rotating component 102.

[0045] It should be noted that a rotating component 102 is provided in the distance measuring device 100. By rotating the component 102, the propagation direction of the detection light emitted by the ranging component 101 is changed, thereby increasing the measurement range of the ranging component 101. The rotating component 102 reduces the number of ranging components 101 in the distance measuring device 100, and also reduces the cost of the distance measuring device 100.

[0046] According to some embodiments of the present disclosure, the distance measuring device 100 improves the detection range of the distance measuring device 100 by means of the rotating component 102, thereby expanding the application scenarios of the distance measuring device 100.

[0047] In some embodiments, the driving component 103 can drive the rotating component 102 to switch between at least a first preset position and a second preset position; when the rotating component 102 is in the first preset position, the ranging component 101 can detect obstacles 200 in the first region; when the rotating component 102 is in the second preset position, the ranging component 101 can detect obstacles 200 in the second region. The distance between the first region and the ranging component 101 is greater than the distance between the second region and the ranging component 101.

[0048] In some embodiments, the driving component 103 can drive the rotating component 102 to switch between at least a first preset position and a second preset position. The first preset position and the second preset position are preset detection positions.

[0049] For example, when the rotating component 102 is in the first preset position and the second preset position, the angle between the rotating component 102 and the horizontal line is different.

[0050] When the rotating component 102 is in the first preset position, the ranging component 101 can detect the obstacle 200 in the first area; when the rotating component 102 is in the second preset position, the ranging component 101 can detect the obstacle 200 in the second area. Both the first area and the second area are the detection areas of the ranging component 101.

[0051] For example, the first region and the second region can be independent detection regions, thereby expanding the detection area of ​​the ranging component 101.

[0052] In some implementations, the distance between the first region and the ranging component 101 is greater than the distance between the second region and the ranging component 101, enabling the ranging component 101 to detect a more distant region.

[0053] In some embodiments, the drive assembly 103 includes a rotation shaft, and the rotation assembly 102 is connected to the rotation shaft so that the rotation assembly 102 can rotate about the rotation shaft; the ranging assembly 101 can emit a line laser, and the rotation shaft and the line laser are parallel.

[0054] In some embodiments, the drive assembly 103 includes a rotating shaft, and the rotating assembly 102 is fixed to the rotating shaft.

[0055] For example, when the rotating shaft rotates, the rotating component 102 can rotate with the rotating shaft.

[0056] The ranging component 101 is capable of emitting a line laser. The rotation axis is parallel to the line laser.

[0057] In some embodiments, the rotating shaft includes a fixed shaft 105 and a movable shaft 106, with the movable shaft 106 nested on the outer surface of the fixed shaft 105.

[0058] In some embodiments, the rotating shaft includes a fixed shaft 105 and a movable shaft 106. The fixed shaft 105 is a shaft with a fixed position, and the movable shaft 106 is nested on the outer surface of the fixed shaft 105 and can rotate around the fixed shaft 105.

[0059] For example, the movable shaft 106 can rotate about the fixed shaft 105 and can stop at a fixed angular position.

[0060] For example, the movable shaft 106 rotates around the fixed shaft 105, causing the rotating assembly 102 to rotate to a first preset position. This allows the detection light to travel a longer distance, enabling navigation path planning.

[0061] For example, the movable shaft 106 rotates around the fixed shaft 105, causing the rotating component 102 to rotate to a second preset position, where the illumination distance of the detection light is relatively short. At this time, it is possible to detect nearby obstacles 200, thereby achieving precise obstacle avoidance of obstacles 200.

[0062] For example, the detection light can be a line laser, which can be parallel to the rotation axis. When the laser surface of the line laser is parallel to the ground, it corresponds to the first preset position, which can realize navigation path planning. When the line laser surface intersects with the ground, it corresponds to the second preset position, which can realize the accurate positioning of the obstacle 200.

[0063] In some embodiments, when the rotating component 102 is a movable platform 107, the ranging component 101 is disposed on the movable platform 107.

[0064] In some embodiments, when the rotating component 102 is a movable stage 107, the ranging component 101 is disposed on the movable stage 107. The movable stage 107 is a rotatable platform.

[0065] For example, during the rotation of the movable platform 107, the movable platform 107 can drive the ranging component 101 to rotate.

[0066] For example, the movable stage 107 can drive the ranging component 101 to rotate to different measurement positions, so that one ranging component 101 can perform the function of multiple components, thereby expanding the measurement range of the ranging component 101.

[0067] In some embodiments, the movable stage 107 is connected to the movable shaft 106, and the movable shaft 106 can drive the movable stage 107 to rotate.

[0068] In some embodiments, the movable stage 107 is connected to the movable shaft 106, which can drive the movable stage 107 to rotate, thereby causing the ranging component 101 on the movable stage 107 to rotate.

[0069] For example, since the movable platform 107 switches between two (or more) states, the data processing module can acquire distance data from the two obstacles 200 in a time-division manner. The angle between the first and second emitting light surfaces of the detection beam is designed such that the first emitting light surface is parallel to the ground plane, and the second emitting light surface forms a certain angle with the ground, extending downwards from the emitting end towards the ground. The angle between the first and second emitting light surfaces is controlled between 10 and 30 degrees.

[0070] Since the first emitting light surface emits light parallel to the ground, it can illuminate a very far location, so it is used for navigation path planning; since the second emitting light surface is at a certain angle to the ground and emits light downwards, it can illuminate a very close location, so it is used for precise obstacle avoidance at close range.

[0071] When the size of the obstacle 200 is simultaneously measured by both the first and second light-emitting surfaces, the shape information of the obstacle 200 at two different heights can be acquired, thereby achieving a level of data richness that conventional single-point rotating rangefinders cannot collect.

[0072] In some implementations, when the dwelling positions of the movable stage 107 are expanded from two to multiple as shown in the figure, the number of different light surfaces that can be emitted can be increased, and the information collected on the measured object can be richer. When the dwelling positions of the movable stage 107 are sufficient, the multi-linear array time-of-flight ranging sensor of this module can be approximately equivalent to a roll-up area array time-of-flight distance sensor.

[0073] In some embodiments, when the rotating component 102 is a movable mirror 108, the movable mirror 108 can rotate relative to the ranging component 101 to change the direction of the detection light emitted and received by the ranging component.

[0074] In some embodiments, when the rotating component 102 is a movable mirror 108, the ranging component 101 is set in a fixed position, and the movable mirror 108 can rotate relative to the ranging component 101.

[0075] For example, the movable mirror 108 is a rotatable reflector that can reflect the probe light to change the propagation direction of the probe light.

[0076] In some embodiments, the movable mirror 108 is connected to the movable shaft 106, and the movable shaft 106 can drive the movable mirror 108 to rotate.

[0077] In some embodiments, the movable mirror 108 is connected to the movable shaft 106, and when the movable shaft 106 rotates, the movable shaft 106 can drive the movable mirror 108 to rotate.

[0078] For example, the movable shaft 106 can drive the movable mirror 108 to rotate to multiple different positions. By using the movable mirror 108 in different positions, the detection light emitted by the ranging component 101 is reflected at different angles to expand the detection range of the ranging component 101.

[0079] For example, since the movable mirror 108 switches between two (or more) states, the data processing module can obtain distance data from the two obstacles 200 in a time-division manner. The angle between the first and second emitting light surfaces of the detection light is designed such that the first emitting light surface is parallel to the ground plane, and the second emitting light surface forms a certain angle with the ground, extending downwards from the emitting end towards the ground. The angle between the first and second emitting light surfaces is controlled between 10 and 30 degrees.

[0080] Since the first emitting light surface emits light parallel to the ground, it can illuminate a very far location, so it is used for navigation path planning; since the second emitting light surface is at a certain angle to the ground and emits light downwards, it can illuminate a very close location, so it is used for precise obstacle avoidance at close range.

[0081] When the size of the obstacle 200 is simultaneously measured by both the first and second light-emitting surfaces, the shape information of the obstacle 200 at two different heights can be acquired, thereby achieving a level of data richness that conventional single-point rotating rangefinders cannot collect.

[0082] In some implementations, when the dwell positions of the movable mirror 108 are expanded from two to multiple as shown in the figure, the number of different light surfaces that can be emitted can be increased, and the information collected on the measured object can be richer. When there are enough dwell positions for the movable mirror 108, the multi-line array time-of-flight ranging sensor of this module can be approximately equivalent to a roll-up area array time-of-flight distance sensor.

[0083] In some embodiments, the ranging component 101 includes a light source 109, a timer 110, an imaging unit 111, and a lens 112;

[0084] Timer 110 is connected to light source 109 and imaging unit 111 respectively; and

[0085] The imaging unit 111 and the light source 109 are disposed on the same plane, and the lens 112 is disposed parallel to the imaging unit 111.

[0086] In some embodiments, the ranging component 101 includes a light source 109, a timer 110, an imaging unit 111, and a lens 112.

[0087] In some embodiments, the timer 110 is disposed between the light source 109 and the imaging unit 111, and the timer 110 is connected to both the light source 109 and the imaging unit 111.

[0088] The imaging unit 111 and the light source 109 are disposed on the same plane, and the lens 112 is disposed parallel to the imaging unit 111.

[0089] For example, the imaging unit 111 can be a photoelectric imaging pixel. The light source 109 emits light outwards, and simultaneously, the timer 110 starts timing. After being reflected by the object under test, the light returns to the photoelectric imaging pixel via the lens 112. Reflected light from different locations on the object under test enters different imaging pixels. When a single imaging pixel receives light, the timer 110 stops timing for that pixel. After all pixels have received reflected light, the timer 110 obtains a series of time intervals. Using the speed of light in air and the obtained time intervals, the distances relative to the ranging sensor at different locations on the object under test can be calculated.

[0090] In some embodiments, the ranging component 101 includes a dot matrix laser source for forming a probe beam by rotating the dot matrix laser source.

[0091] In some embodiments, the ranging component 101 includes a dot matrix laser source, and the ranging component 101 can form a detection beam by rotating the dot matrix laser source.

[0092] For example, the ranging component 101 can control the angle of the dot matrix laser source. By changing the angle of the dot matrix laser source, the ranging component 101 can control the dot matrix laser source to emit dot matrix laser at different angles to form a detection ray.

[0093] In some embodiments, the distance measuring device 100 further includes:

[0094] Distance data logger 113, one end of which is connected to the ranging component 101 and the other end of which is connected to the controller 104.

[0095] In some embodiments, the distance measuring device 100 further includes a distance data logger 113. The distance data logger 113 is used to store distance data transmitted by the ranging component 101.

[0096] Distance data logger 113 is disposed between ranging component 101 and controller 104. One end of distance data logger 113 is connected to ranging component 101, and the other end is connected to controller 104.

[0097] For example, the distance data logger 113 can send distance data to the controller 104 so that the controller 104 can process the distance data collected by the ranging component 101.

[0098] In some embodiments, the distance measuring device 100 further includes:

[0099] The spatial position recorder 114 is connected at one end to the rotating assembly 102 and at the other end to the controller 104.

[0100] In some embodiments, the distance measuring device 100 further includes a spatial position recorder 114. The spatial position recorder 114 is used to record position data transmitted by the rotating component 102.

[0101] 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.

[0102] 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.

[0103] In some embodiments, when the ranging component 101 is a time-of-flight sensor, the time-of-flight sensor is used to transmit and receive infrared light.

[0104] In some embodiments, the ranging component 101 may be a time-of-flight sensor. A time-of-flight sensor is a sensor that measures distance by transmitting and receiving infrared light.

[0105] For example, the time-of-flight sensor can be a multi-linear array time-of-flight ranging sensor.

[0106] 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.

[0107] In some embodiments, a cleaning device is provided. The cleaning device 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 described in detail here.

[0108] For example, cleaning equipment can be a robot vacuum cleaner, a food delivery robot, or a handling robot.

[0109] For example, as shown in FIG9, the cleaning device 300 includes a distance measuring device 100 as described in any of the above embodiments. The main body structure 301 may include an upper housing 302 and a lower housing 303. The upper housing 302 and the lower housing 303 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 body structure 301 corresponding to the receiving cavity, through which the detection light transmitted and received by the distance measuring device 100 can pass.

[0110] In this embodiment, the distance measuring device is embedded in the accommodating cavity of the cleaning device, which can reduce the height of the cleaning device and facilitate the cleaning of low-lying areas.

[0111] In some embodiments, a cleaning device is provided, wherein the main structure is movable on the operating surface; the rotating component is switchable between at least a first preset position and a second preset position; when the rotating component is in the first preset position, the detection light is parallel to the operating surface; and when the rotating component is in the second preset position, the detection light intersects with the operating surface.

[0112] In some embodiments, the main structure is movable on the operating surface.

[0113] For example, the main structure may include a wheeled structure for movement.

[0114] The rotating component can switch between at least a first preset position and a second preset position. The first preset position and the second preset position are independent detection positions.

[0115] When the rotating component is in the first preset position, the detection light is parallel to the operating surface; when the rotating component is in the second preset position, the detection light intersects with the operating surface.

[0116] In some embodiments, a cleaning device is provided in which a rotating component can switch between multiple second preset positions; when the rotating component is in different second preset positions, the angle between the detection light and the operating surface is different, thereby enabling the device to detect and clean obstacles at different distances.

[0117] In some embodiments, there are multiple different second preset positions, and the rotating component can switch between multiple second preset positions.

[0118] When the rotating component is in the second preset position, there is an angle between the detection light and the operating surface. When the rotating component is in different second preset positions, the angle between the detection light and the operating surface is different.

[0119] For example, when the rotating component in the distance measuring device is in a first preset position, the illumination distance of the detection light is relatively far, enabling navigation path planning.

[0120] For example, when the rotating component in the distance measuring device is in the second preset position, the illumination distance of the detection light is relatively short, and at this time, it is possible to detect nearby obstacles, thereby achieving accurate obstacle avoidance.

[0121] By changing the position of the rotating component, navigation path planning and obstacle detection can be achieved through a distance measuring device, which can save internal space of the cleaning equipment, facilitate the thinning of the cleaning equipment, and save costs.

[0122] When the cleaning device is a robotic vacuum cleaner, it may further include a cleaning component for cleaning the operating surface as the device moves across it. For example, the cleaning component may include a dry cleaning element and / or a wet cleaning element. The dry cleaning element may include a roller brush, side brushes, a fan, and a dustbin. The side brushes are located at the edges of the cleaning device, the roller brush is located at the dustbin inlet, and the fan and dustbin are in airflow communication to create a negative pressure within the dustbin, thereby drawing the debris collected by the roller brush into the dustbin. The wet cleaning element may include a mop and a water tank, which are in fluid communication.

[0123] In some embodiments, a cleaning device is provided, wherein a receiving cavity is provided on the main structure, and a distance measuring device is disposed in the receiving cavity.

[0124] As shown in Figure 10, in some embodiments a cleaning system 1000 is provided, including: a cleaning device 300 as in any of the above embodiments; and a cleaning base station 400, which is used to dock the cleaning device.

[0125] In some embodiments, the cleaning system includes a cleaning base station. The cleaning base station can work in conjunction with cleaning equipment. The cleaning base station has at least one of the functions of charging, dust collection, and mop cleaning. For example, when the cleaning equipment is docked at the cleaning base station, the cleaning base station can charge the cleaning equipment, collect debris from the cleaning equipment's dustbin, and clean the cleaning mop in the cleaning equipment.

[0126] In addition, the cleaning system includes the cleaning equipment as described in any of the above embodiments, and thus has all the beneficial technical effects of the cleaning equipment in any of the above embodiments, which will not be elaborated further here.

[0127] It should be noted that the descriptions of each embodiment in the above embodiments have different focuses. For parts that are not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0128] The above embodiments are only used to illustrate the technical solutions of this disclosure, and are not intended to limit it. Although this disclosure has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this disclosure.

[0129] Although preferred embodiments have been described in this specification, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of this specification.

[0130] Obviously, those skilled in the art can make various modifications and variations to this specification without departing from its spirit and scope. Therefore, if such modifications and variations fall within the scope of the claims and their equivalents, this specification is also intended to include such modifications and variations.

Claims

1. A distance measuring device, comprising: A ranging component, which is used to transmit and receive probe light; A rotating component configured to change the propagation direction of the probe light; A drive assembly connected to the rotating assembly to drive the rotating assembly to rotate; as well as The controller is connected to the ranging component, the rotating component, and the driving component, respectively.

2. The distance measuring device as described in 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 ranging component is able to detect obstacles in the first area; When the rotating component is in the second preset position, the ranging component is able to detect obstacles in the second area; The distance between the first region and the ranging component is greater than the distance between the second region and the ranging component.

3. The distance measuring device according to claim 1, wherein, The drive assembly includes a rotating shaft, and the rotating assembly is connected to the rotating shaft so that the rotating assembly can rotate about the rotating shaft. The ranging component is capable of emitting a line laser, and the rotation axis is parallel to the line laser.

4. The distance measuring device according to claim 3, wherein, The rotating shaft includes a fixed shaft and a movable shaft, with the movable shaft 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 ranging component is disposed on the movable platform.

6. The distance measuring device according to claim 5, wherein, The movable platform is connected to the movable shaft, and the movable shaft can drive 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 can rotate relative to the ranging component to change the direction of the detection light emitted and received by the ranging component.

8. The distance measuring device according to claim 7, wherein, The movable mirror is connected to the movable shaft, and the movable shaft can drive the movable mirror to rotate.

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

10. The distance measuring device according to any one of claims 1 to 8, wherein, The ranging component includes a dot matrix laser source, which is used to form the detection beam by rotation.

11. The distance measuring device according to any one of claims 1 to 8, further comprising: A distance data logger, one end of which is connected to the ranging 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, further comprising: A spatial position recorder, one end of which is connected to the rotating component and the other end of which is connected to the controller.

13. The distance measuring device according to any one of claims 1 to 8, wherein, The ranging component is a time-of-flight sensor.

14. A cleaning device, comprising: Main structure; The distance measuring device as described in any one of claims 1 to 13, wherein the distance measuring device is disposed on the main structure.

15. The cleaning equipment according to claim 14, wherein, The main structure is movable on the operating surface; The rotating component can switch between at least a first preset position and a second preset position; When the rotating component is in the first preset position, the detection light is parallel to the operating surface; When the rotating component is in the second preset position, the probe light and the operating surface intersect.

16. The cleaning equipment according to claim 15, wherein, The rotating component can switch between multiple second preset positions; When the rotating component is in different second preset positions, the angle between the probe light and the operating surface is different.

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

18. A cleaning system, comprising: The cleaning equipment as described in any one of claims 14 to 17; A cleaning base station, which is used to dock the cleaning equipment.

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