CN219070084U - Cleaning device, self-moving device and control module applied to laser radar module - Google Patents

Abstract

The application discloses cleaning device, from mobile device and be applied to laser radar module's control module. The laser radar module comprises at least two groups of laser receiving and transmitting components. The control module comprises a control circuit and at least two groups of laser driving circuits, wherein each group of laser driving circuits is electrically connected with the control circuit, and each group of laser driving circuits is also electrically connected with different laser receiving and transmitting assemblies, and the control circuit is configured to be capable of controlling the different laser driving circuits to drive the corresponding laser receiving and transmitting assemblies to work in a time-sharing mode. Through the mode, the power consumption of the laser radar module can be reduced.

Description

Cleaning device, self-moving device and control module applied to laser radar module

Technical Field

The application relates to the technical field of cleaning equipment, in particular to a cleaning device, a self-moving device and a control module applied to a laser radar module.

Background

The cleaning robot with the cleaning functions of cleaning, sweeping, wiping and the like can replace a user to clean the ground and the like, brings convenience to the user, and is widely applied. The cleaning robot generally realizes path planning navigation and obstacle avoidance functions based on a laser radar so as to ensure that the cleaning robot normally performs cleaning work.

At present, at least two groups of laser transceiver components are generally arranged on the laser radar of the cleaning robot in the market, and the view angles of the at least two groups of laser transceiver components are integrated so that the view angle of the whole cleaning robot meets the requirement. The laser receiving and transmitting assembly is used for realizing the path planning navigation and obstacle avoidance functions of the cleaning robot by performing laser signal interaction with the external environment. However, the working load of the laser transceiver assembly on the cleaning robot is heavy at present, which also results in higher power consumption of the whole machine.

Disclosure of Invention

The application provides a cleaning device, from mobile device and be applied to laser radar module's control module, can reduce laser radar module's consumption.

The application provides a cleaning device. The cleaning device includes: a device body movable on a surface to be cleaned to clean the surface to be cleaned; the laser radar module is arranged on the device main body and comprises at least two groups of laser receiving and transmitting components; and a control module provided in the device main body, including: a control circuit; and at least two groups of laser driving circuits, wherein each group of laser driving circuits is electrically connected with the control circuit, and each group of laser driving circuits is also electrically connected with different laser receiving and transmitting assemblies, and the control circuit is configured to be capable of controlling the different laser driving circuits to drive the corresponding laser receiving and transmitting assemblies to work in a time-sharing manner.

In one embodiment of the present application, the control circuit includes: the control element is electrically connected with each group of laser driving circuits; the power supply is respectively and electrically connected with the control element and each group of laser driving circuits; the control element is configured to control the power supply to output electric energy to different laser driving circuits in a time sharing mode, so that each group of laser driving circuits can drive corresponding laser transceiver components to work in a time sharing mode.

In an embodiment of the present application, the laser radar module further includes: the reflectors are rotatably arranged on the device main body, and each group of laser transceiver components interact laser signals with the external environment through the reflectors which rotate to corresponding angles; the control module further includes: and the detection circuit is electrically connected with the control circuit and is used for detecting the rotation angle of the reflector, wherein the control circuit can respond to the detection of the rotation angle of the reflector by the detection circuit and control different laser driving circuits to drive the corresponding laser transceiver components to work in a time-sharing manner.

In an embodiment of the present application, the laser radar module further defines a rotation axis, the reflective mirror can rotate around the rotation axis, and an end of the reflective mirror away from the rotation axis is a target end; the at least two groups of laser receiving and transmitting assemblies comprise a first laser receiving and transmitting assembly with a first optical axis and a second laser receiving and transmitting assembly with a second optical axis, the first optical axis and the second optical axis are intersected at a rotating shaft, wherein when the reflector bisects an included angle formed by the first optical axis and the second optical axis, and the target end part is far away from the first laser receiving and transmitting assembly and the second laser receiving and transmitting assembly, the position of the reflector is a zero point position; the control circuit responds to the detection that the rotating angle of the target end part relative to the zero position is in a first angle range by the detection circuit, and controls the first laser receiving and transmitting assembly to work; and the control circuit responds to the detection that the rotating angle of the target end part relative to the zero position is in a second angle range by the detection circuit, and controls the second laser receiving and transmitting assembly to work.

In an embodiment of the present application, the first angle range is 0 ° to 180 °, and the second angle range is 180 ° to 360 °.

In one embodiment of the present application, the detection circuit includes: the code disc can synchronously rotate along with the reflector, wherein the code disc is provided with an identification structure for identifying the end part of the target; and the sensor is electrically connected with the control circuit and used for detecting the identification structure in the rotating process of the code wheel, wherein the control circuit responds to the sensor to detect the identification structure to calculate the rotating angle of the end part of the target relative to the zero position.

In one embodiment of the present application, a code wheel includes: the code disc main body can synchronously rotate along with the reflector; and at least two tooth parts which are sequentially distributed at intervals along the circumferential direction of the code wheel main body, wherein each tooth part can sequentially pass through the sensor along with the rotation of the code wheel main body; the control circuit calculates the rotating angle of the target end relative to the zero position by counting the number of the second teeth passing through the sensor after the first teeth.

In an embodiment of the present application, the laser radar module further includes: the motor is in transmission connection with the reflector and is used for driving the reflector to rotate; the motor driving circuit is respectively and electrically connected with the control circuit and the motor; the control circuit also detects the rotating speed of the reflector through the detection circuit, and adjusts the rotating speed of the motor through the motor driving circuit, so that the reflector maintains the preset rotating speed.

Correspondingly, the application also provides a self-moving device. The self-moving device includes: a device main body movable on a moving surface; the laser radar module is arranged on the device main body and comprises at least two groups of laser receiving and transmitting components; and a control module provided in the device main body, including: a control circuit; and at least two groups of laser driving circuits, wherein each group of laser driving circuits is electrically connected with the control circuit, and each group of laser driving circuits is also electrically connected with different laser receiving and transmitting assemblies, and the control circuit is configured to be capable of controlling the different laser driving circuits to drive the corresponding laser receiving and transmitting assemblies to work in a time-sharing manner.

In one embodiment of the present application, the control circuit includes: the control element is electrically connected with each group of laser driving circuits; the power supply is respectively and electrically connected with the control element and each group of laser driving circuits; the control element is configured to control the power supply to output electric energy to different laser driving circuits in a time sharing mode, so that each group of laser driving circuits can drive corresponding laser transceiver components to work in a time sharing mode.

Correspondingly, the application also provides a control module applied to the laser radar module. The laser radar module includes two at least groups of laser transceiver modules, and the control module includes: a control circuit; and at least two groups of laser driving circuits, wherein each group of laser driving circuits is electrically connected with the control circuit, and each group of laser driving circuits is also electrically connected with different laser receiving and transmitting assemblies, and the control circuit is configured to be capable of controlling the different laser driving circuits to drive the corresponding laser receiving and transmitting assemblies to work in a time-sharing manner.

In one embodiment of the present application, the control circuit includes: the control element is electrically connected with each group of laser driving circuits; the power supply is respectively and electrically connected with the control element and each group of laser driving circuits; the control element is configured to control the power supply to output electric energy to different laser driving circuits in a time sharing mode, so that each group of laser driving circuits can drive corresponding laser transceiver components to work in a time sharing mode.

The beneficial effects of this application are: in contrast to the prior art, the present application provides a cleaning device, a self-moving device and a control module applied to a laser radar module. The laser radar module comprises at least two groups of laser receiving and transmitting components. The control module comprises a control circuit and at least two groups of laser driving circuits. Each group of laser driving circuits are electrically connected with the control circuit, and each group of laser driving circuits are also electrically connected with different laser receiving and transmitting components. The control circuit is configured to be capable of controlling different laser driving circuits to drive corresponding laser receiving and transmitting assemblies to work in a time-sharing mode, so that the work load of each group of laser receiving and transmitting assemblies is reduced, and the power consumption of the laser radar module is reduced.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the description of the embodiments will be briefly introduced below, it being obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic view of an embodiment of a cleaning apparatus of the present application;

FIG. 2 is a schematic diagram of an embodiment of a lidar module of the present application;

FIG. 3 is a schematic diagram of an embodiment of a control module of the present application;

FIG. 4 is a control timing diagram of the control circuit of the present application for time-sharing controlling the operation of the first laser transceiver component and the second laser transceiver component;

FIG. 5 is a schematic diagram illustrating the structure of an embodiment of a code wheel of the present application;

FIG. 6 is a flow chart of an embodiment of a control method applied to a lidar module of the present application;

fig. 7 is a flowchart of another embodiment of a control method applied to a lidar module.

Reference numerals illustrate:

the laser radar device comprises acleaning device 10, adevice body 11, alaser radar module 20, a laser receiving and transmittingassembly 21, a first laser receiving and transmittingassembly 21a, a second laser receiving and transmittingassembly 21b, a firstoptical axis 211, a secondoptical axis 212, areflector 22, atarget end 221, amotor 23, amotor driving circuit 24, acontrol module 30, acontrol circuit 31, acontrol element 311, apower supply 312, alaser driving circuit 32, a detection circuit 33, acode wheel 331, asensor 332, acode wheel 333, acode wheel body 334, afirst tooth 334a and asecond tooth 334 b.

Detailed Description

The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all, of the embodiments of the present application. All other embodiments, based on the embodiments herein, which are within the scope of the protection of the present application, will be within the skill of the art without inventive effort. Furthermore, it should be understood that the detailed description is presented herein for purposes of illustration and explanation only and is not intended to limit the present application. In this application, unless otherwise indicated, terms of orientation such as "upper", "lower", "left" and "right" are generally used to refer to the directions of the drawings in which the device is actually used or in an operating state.

The application provides a cleaning device, a self-moving device and a control module applied to a laser radar module, and the following detailed description is respectively carried out. It should be noted that the following description order of the embodiments is not intended to limit the preferred order of the embodiments of the present application. In the following embodiments, the descriptions of the embodiments are focused on, and for the part that is not described in detail in a certain embodiment, reference may be made to the related descriptions of other embodiments.

The basis for the cleaning robot to realize the path planning navigation and obstacle avoidance functions is to construct a map of the external environment. The main flow of cleaning robots on the market is based on SLAM (Simultaneous Localization and Mapping) frame algorithm, and the necessary sensor for realizing SLAM is laser radar. The sensor scheme widely used at present is that a laser radar sensor adopts a 360-degree rotary laser radar scheme, and the main ranging scheme has three types: trigonometry, DTOF (Direct Time of Fly, direct time of flight), ITOF (Indirect Time of Fly, indirect time of flight). The laser radar system is driven to rotate through the motor, and the 360-degree range finding of the field angle is achieved, so that the advantage is that the field angle can reach 360 degrees, and the disadvantage is that the laser radar system is required to be convexly arranged above the cleaning robot, so that the body of the cleaning robot is higher. According to market research analysis of the cleaning robot, the cleaning robot cannot enter a low area such as a sofa bottom and a bed bottom to clean because the height of the body of the cleaning robot is too high, so that the cleaning coverage rate of the cleaning robot is greatly reduced.

In order to solve the problem of too high height of the cleaning robot, a cleaning robot based on a VSLAM (Visual Simultaneous Localization and Mapping) algorithm appears on the market. The VSLAM algorithm relies on cameras to acquire images of the external environment to construct a map of the external environment. The camera can be arranged inside the body of the cleaning robot, so that the height of the body of the cleaning robot can be reduced. However, the imaging accuracy of the camera is easily affected by light, so that the image construction efficiency of the VSLAM algorithm is low.

Therefore, in order to reduce the height of the cleaning robot and to ensure the efficiency of the drawing, the laser radar is disposed inside the cleaning robot so as to reduce the height of the cleaning robot. Wherein, because the laser radar is arranged in the cleaning robot, the view angle of the laser radar is limited and cannot meet the requirement. Therefore, the laser radar is provided with at least two groups of laser receiving and transmitting assemblies, and the field angles of the at least two groups of laser receiving and transmitting assemblies are integrated so that the field angle of the whole cleaning robot meets the requirement. However, the working load of the laser transceiver assembly on the cleaning robot is heavy at present, and the power consumption of the whole machine is high.

In view of the above, an embodiment of the present application provides a cleaning device, a self-moving device, and a control module and a control method applied to a laser radar module, which can reduce power consumption of the laser radar module, thereby reducing power consumption of a complete machine.

Referring to fig. 1 and 2, fig. 1 is a schematic structural diagram of an embodiment of a cleaning device of the present application, and fig. 2 is a schematic structural diagram of an embodiment of a laser radar module of the present application.

In one embodiment, thecleaning device 10 may be a cleaning robot or the like having cleaning functions of washing, sweeping, mopping, etc. Specifically, thecleaning device 10 includes adevice body 11. Theapparatus body 11, as the name implies, is the main part of thecleaning apparatus 10, and theapparatus body 11 is movable over the surface to be cleaned to clean the surface to be cleaned. Alternatively, theapparatus body 11 may be provided with a cleaning member such as a roll brush, side brush, rag, or the like for synchronously moving with theapparatus body 11 over the surface to be cleaned to clean the area through which theapparatus body 11 passes.

Thecleaning device 10 further comprises alaser radar module 20, thelaser radar module 20 is arranged on the devicemain body 11, and thelaser radar module 20 is used for realizing path planning navigation and obstacle avoidance functions of thecleaning device 10. Specifically, thelaser radar module 20 includes at least two groups oflaser transceiver components 21, and each group oflaser transceiver components 21 can perform laser signal interaction with an external environment to realize path planning navigation and obstacle avoidance functions of the cleaning robot. The principle of performing laser signal interaction between thelaser transceiver 21 and the external environment to achieve path planning navigation and obstacle avoidance belongs to the understanding category of those skilled in the art, and will not be described herein again.

For example, the at least two sets oflaser transceiver components 21 are disposed inside thedevice body 11 and near the edge of thedevice body 11, so as to avoid thelaser transceiver components 21 from affecting the overall height of thecleaning device 10. And, the view angles of the at least two groups of laser receiving and transmittingcomponents 21 are integrated, so that the view angle of thewhole cleaning device 10 meets the requirement. Of course, in other embodiments of the present application, the laser signal interaction operation may be performed between the groups oflaser transceiver modules 21 independently, and the view angles of the groups oflaser transceiver modules 21 are not integrated any more, so long as the view angle of thewhole cleaning device 10 meets the requirement, which is not limited herein.

Thecleaning device 10 further includes acontrol module 30, and thecontrol module 30 is disposed on thedevice body 11. Thecontrol module 30 is configured to be able to time-share control of the operation of the differentlaser transceiver modules 21. Compared with the state that each group oflaser transceiver components 21 is always in the interaction state with the external environment, that is, each group oflaser transceiver components 21 is always in the working state, thecontrol module 30 of the embodiment controls the differentlaser transceiver components 21 to work in a time-sharing manner, that is, only part of thelaser transceiver components 21 are in the working state at the same time, and the rest of thelaser transceiver components 21 are not in the working state, so that the workload of each group oflaser transceiver components 21 is lightened, the power consumption of thelaser radar module 20 is reduced, and the power consumption of thewhole cleaning device 10 is reduced.

For example, thecontrol module 30 of the present embodiment controls the differentlaser transceiver modules 21 to operate in a time-sharing manner, specifically, controls the differentlaser transceiver modules 21 to operate one by one, that is, only one group of thelaser transceiver modules 21 is in an operating state at the same time, and none of the otherlaser transceiver modules 21 is in an operating state. In this embodiment, thelaser radar module 20 includes two sets oflaser transceiver modules 21 as an example, and thecontrol module 30 is configured to be capable of controlling the two sets oflaser transceiver modules 21 to work in a time-sharing manner, that is, the two sets oflaser transceiver modules 21 work alternately one by one, so that the view angles of the two sets oflaser transceiver modules 21 are integrated, and then the view angle of thewhole cleaning device 10 meets the requirement, and meanwhile, the workload of each set oflaser transceiver modules 21 is reduced, which is beneficial to reducing the power consumption of thelaser radar module 20.

Referring to fig. 3, fig. 3 is a schematic structural diagram of an embodiment of a control module of the present application. Thecontrol module 30 of the embodiment of the present application is described below.

In one embodiment, thecontrol module 30 includes acontrol circuit 31 and at least two sets oflaser driving circuits 32. Each set oflaser driving circuits 32 is electrically connected to thecontrol circuit 31, and each set oflaser driving circuits 32 is also electrically connected to adifferent laser transceiver 21. Thecontrol circuit 31 is configured to be capable of time-sharing controlling the differentlaser driving circuits 32 to drive the correspondinglaser transceiver modules 21 to operate.

Thecontrol circuit 31 is a control center of thecontrol module 30, and is used for controlling other circuits of thecoordination control module 30 to work cooperatively. Thelaser driving circuit 32 is used for driving thelaser transceiver component 21 electrically connected with the laser driving circuit to perform laser signal interaction with the external environment, that is, thelaser driving circuit 32 is used for driving the correspondinglaser transceiver component 21 to work. In this embodiment, thelaser driving circuits 32 and thelaser transceiver modules 21 are in one-to-one correspondence, that is, each group oflaser driving circuits 32 is electrically connected to a different group oflaser transceiver modules 21. Thecontrol circuit 31 controls the operation of the differentlaser driving circuits 32 in a time-sharing manner to drive the correspondinglaser transceiver modules 21 in a time-sharing manner.

Thelaser driving circuit 32 of the present embodiment is independent of thecontrol circuit 31. Of course, in other embodiments of the present application, thecontrol circuit 31 and thelaser driving circuit 32 may be integrated into the same element, which is not limited herein.

In one embodiment, thecontrol circuit 31 includes acontrol element 311 and apower source 312. Each group oflaser driving circuits 32 is electrically connected with thecontrol element 311, and thepower supply 312 is electrically connected with thecontrol element 311 and each group oflaser driving circuits 32. Thecontrol element 311 is configured to control thepower supply 312 to output electric power to differentlaser driving circuits 32 in a time-sharing manner, so that each group oflaser driving circuits 32 drives the correspondinglaser transceiver assembly 21 in a time-sharing manner to operate.

Thelaser transceiver modules 21 of the present embodiment share thesame power source 312, specifically, thecontrol element 311 controls thepower source 312 to output electric energy to differentlaser driving circuits 32 in a time-sharing manner, that is, to supply power to differentlaser driving circuits 32 in a time-sharing manner, so that differentlaser driving circuits 32 operate in a time-sharing manner, and further, thelaser driving circuits 32 of each group drive the correspondinglaser transceiver module 21 in a time-sharing manner. When thecontrol element 311 controls thepower supply 312 to supply power to one of the groups oflaser driving circuits 32, thelaser driving circuit 32 can operate to drive the correspondinglaser transceiver component 21 to operate, and the otherlaser driving circuits 32 are not in an operating state because they are not energized, so that the correspondinglaser transceiver component 21 cannot be driven to operate naturally.

By the above way, thelaser transceiver modules 21 of the present embodiment share thesame power supply 312, which avoids the problems of increased cost andcomplicated control module 30 caused by configuringdifferent power supplies 312 for eachlaser transceiver module 21, i.e. the present embodiment can avoid additionally providing thepower supply 312, thereby being beneficial to reducing the cost of thecontrol module 30 and simplifying thecontrol module 30, and optimizing the circuit board space.

Alternatively, thecontrol element 311 may be an MCU (Micro Controller Unit, micro control unit) or the like, which is not limited herein.

Of course, in other embodiments of the present application, each set oflaser transceiver modules 21 may be configured with adifferent power supply 312. Thelaser transceiver modules 21 of each group work in a time-sharing manner, so that the workload of each group oflaser transceiver modules 21 can be reduced to a certain extent, which is beneficial to reducing the power consumption of thelaser radar module 20.

In one embodiment,lidar module 20 also includes amirror 22. Thereflective mirror 22 is rotatably disposed on the devicemain body 11, wherein each group oflaser transceiver modules 21 performs laser signal interaction with the external environment through thereflective mirror 22 rotated to a corresponding angle.

Specifically, thelaser transceiver assembly 21 includes an output element and a receiving element. The output element can output laser, the laser output by the output element is output to the external environment through thereflector 22, and the laser reflected by the external environment is received by the receiving element through thereflector 22, so that the laser signal interaction between thelaser transceiver component 21 and the external environment is completed. Thereflector 22 rotates to different angles, so that thereflector 22 can realize the laser signal interaction between the correspondinglaser transceiver component 21 and the external environment. When thereflector 22 rotates to an angle corresponding to one group of thelaser transceiver assemblies 21, thelaser transceiver assemblies 21 perform laser signal interaction with the external environment through thereflector 22, and the rest of thelaser transceiver assemblies 21 do not perform laser signal interaction with the external environment temporarily through thereflector 22, so that thecontrol circuit 31 controls thelaser transceiver assemblies 21 to work at this time, and the rest of thelaser transceiver assemblies 21 are not in a working state.

Thecontrol module 30 further comprises a detection circuit 33. The detection circuit 33 is electrically connected to thecontrol circuit 31, and the detection circuit 33 is used for detecting a rotation angle of themirror 22. Thecontrol circuit 31 can time-division control differentlaser driving circuits 32 to drive the correspondinglaser transceiver components 21 to work in response to the detection of the rotation angle of thereflector 22 by the detection circuit 33. In other words, when the detecting circuit 33 detects that themirror 22 rotates to an angle corresponding to one group of thelaser transceiver modules 21, thecontrol circuit 31 controls thelaser transceiver modules 21 to interact with the external environment, and the otherlaser transceiver modules 21 are not in a working state.

Further, thelidar module 20 further defines a rotation axis (as shown by O in fig. 2, the same applies below), themirror 22 can rotate around the rotation axis, and an end of themirror 22 away from the rotation axis is atarget end 221.

For the example that thelaser radar module 20 includes two sets oflaser transceiver modules 21, the at least two sets oflaser transceiver modules 21 include a firstlaser transceiver module 21a and a secondlaser transceiver module 21b. The first laser transmitter-receiver assembly 21a has a firstoptical axis 211, and the second laser transmitter-receiver assembly 21b has a secondoptical axis 212, the firstoptical axis 211 and the secondoptical axis 212 intersecting at a rotation axis. Here, the position of themirror 22 when themirror 22 bisects the angle formed by the firstoptical axis 211 and the secondoptical axis 212 and thetarget end 221 is away from the first laser transmitting and receivingassembly 21a and the second laser transmitting and receivingassembly 21b is taken as the zero point position (as shown by S in fig. 2, the following is also true). It should be noted that, the distance between thetarget end 221 and the first laser transmitting and receivingassembly 21a and the distance between thetarget end 221 and the second laser transmitting and receivingassembly 21b should be understood as the maximum value.

Thecontrol circuit 31 controls the firstlaser transceiver module 21a to operate in response to the detection of the angle (as shown by θ in fig. 2, the same applies hereinafter) by which thetarget end 221 rotates relative to the zero position in the first angle range by the detection circuit 33; and thecontrol circuit 31 controls the secondlaser transceiver module 21b to operate in response to the detection of the rotation angle of thetarget end 221 relative to the zero point position within the second angle range by the detection circuit 33.

In other words, thecontrol circuit 31 of the present embodiment controls the operation of the different laser transmitter-receiver modules 21 in a time-sharing manner based on the rotation angle of themirror 22. When the detection circuit 33 detects that the rotation angle of thetarget end 221 relative to the zero position is within the first angle range, the firstlaser transceiver component 21a can interact with the external environment through thereflector 22, so that thecontrol circuit 31 controls the firstlaser transceiver component 21a to work. Similarly, when the detection circuit 33 detects that the rotation angle of thetarget end 221 relative to the zero position is within the second angle range, thesecond laser transceiver 21b can perform laser signal interaction with the external environment through themirror 22, so thecontrol circuit 31 controls thesecond laser transceiver 21b to operate.

Alternatively, the first angle range may be 0 ° to 180 °, and the second angle range may be 180 ° to 360 °. For example, fig. 2 shows themirror 22 in a neutral position, from which themirror 22 is rotated counterclockwise, such that the first and secondlaser transceiver assemblies 21a, 21b periodically alternate laser signal interactions with the external environment. Fig. 4 is a control timing chart of thecontrol circuit 31 for time-sharing controlling the operation of the firstlaser transceiver module 21a and the secondlaser transceiver module 21 b. Thecontrol module 30 controls the firstlaser transceiver module 21a and the secondlaser transceiver module 21b to operate in a time-sharing manner, that is, the firstlaser transceiver module 21a and the secondlaser transceiver module 21b are switched to operate. When thetarget end 221 of themirror 22 rotates by an angle of 0 ° to 180 ° with respect to the zero point position, thecontrol circuit 31 controls the firstlaser transceiver assembly 21a to operate; and thetarget end 221 of themirror 22 rotates by an angle of 180 ° to 360 ° with respect to the zero position, thecontrol circuit 31 controls the secondlaser transceiver assembly 21b to operate. In this way, in the present embodiment, the first angle range and the second angle range are reasonably set, so that thecontrol circuit 31 only needs to determine the angle corresponding to the operation of switching thefirst laser transceiver 21a or thesecond laser transceiver 21b, and the control logic of thecontrol circuit 31 can be simplified.

Moreover, thereflector 22 has a preset rotation speed, so that the first laser receiving and transmittingassembly 21a and the second laser receiving and transmittingassembly 21b work according to preset frequency switching, so that the scanning efficiency of the first laser receiving and transmittingassembly 21a and the second laser receiving and transmittingassembly 21b to the external environment meets the requirement, and the real-time performance of path planning navigation and obstacle avoidance of thecleaning device 10 is further ensured. For example, the preset rotational speed may be 900r/min or the like, meaning that the preset frequency corresponds to 15Hz.

It should be noted that, considering that when themirror 22 rotates by a part of angle, the laser light output from the firstlaser transceiver component 21a and the secondlaser transceiver component 21b to themirror 22 cannot be normally transmitted to the outside, but is reflected to the inside of thecleaning device 10, at this time, the firstlaser transceiver component 21a and the secondlaser transceiver component 21b cannot function to scan the external environment, so the firstlaser transceiver component 21a and the secondlaser transceiver component 21b can be controlled to stop working, so as to further reduce the power consumption of thelaser radar module 20. Correspondingly, the first and second angular ranges no longer cover an angular span of 180 °, for example the first angular range may be 0 ° to 150 °, and the second angular range may be 210 ° to 360 °, without limitation.

Referring to fig. 5, fig. 5 is a schematic structural diagram of an embodiment of a code wheel of the present application.

In one embodiment, the detection circuit 33 includes acode wheel 331, and thecode wheel 331 can rotate synchronously with themirror 22. Wherein thecode wheel 331 has an identification structure for identifying thetarget end 221. The detection circuit 33 further includes asensor 332, thesensor 332 is electrically connected to thecontrol circuit 31, and thesensor 332 is configured to detect the identification structure during rotation of thecode wheel 331. Wherein thecontrol circuit 31 calculates an angle of rotation of thetarget end 221 relative to the zero position in response to thesensor 332 detecting the identification structure.

Specifically, thecode wheel 331 includes acode wheel body 333 and at least twoteeth 334. The code wheelmain body 333 can rotate synchronously with themirror 22. The at least twoteeth 334 are sequentially spaced apart from each other in the circumferential direction of thecode wheel body 333, and eachtooth 334 is capable of sequentially passing through thesensor 332 as thecode wheel body 333 rotates.

The at least twoteeth 334 have afirst tooth 334a, and the remainingteeth 334 aresecond teeth 334b. Thefirst tooth 334a is different from thesecond tooth 334b, and thefirst tooth 334a is used for marking thetarget end 221, that is, thefirst tooth 334a is the marking structure described above. Thecontrol circuit 31 calculates the angle of rotation of thetarget end 221 with respect to the zero point position by counting the number ofsecond teeth 334b passing through thesensor 332 after thefirst teeth 334 a.

For example, thesensor 332 may be an optocoupler, and eachtooth 334 can sequentially block the optical signal of thesensor 332 along with the rotation of the code wheelmain body 333, so that thesensor 332 generates a corresponding pulse signal, which indicates that thesensor 332 detects the motion of eachtooth 334 passing through thesensor 332. The at least twoteeth 334 are uniformly spaced along the circumference of the code wheelmain body 333, and the central angles corresponding to eachtooth 334 are the same. Thefirst tooth 334a has a different tooth width than thesecond tooth 334b, and fig. 5 illustrates an exemplary case where thefirst tooth 334a has a smaller tooth width than thesecond tooth 334 b. The degree of shielding of the optical signal of thesensor 332 by thefirst tooth portion 334a is different from the degree of shielding of the optical signal of thesensor 332 by thesecond tooth portion 334b, so that thesensor 332 generates different pulse signals corresponding to thefirst tooth portion 334a and thesecond tooth portion 334b, and thecontrol circuit 31 can judge that thesensor 332 detects thefirst tooth portion 334a (i.e. the identification structure), and then calculate the rotation angle of thetarget end 221 relative to the zero position by counting the number of thesecond tooth portions 334b passing through thesensor 332 after thefirst tooth portion 334 a.

Thefirst tooth 334a may be disposed opposite thetarget end 221 to identify thetarget end 221. When thesensor 332 detects that thefirst tooth 334a passes thesensor 332, it means that thetarget end 221 passes thesensor 332. Also, thesensor 332 may be disposed corresponding to the zero point position, which means that thetarget end 221 is rotated by 0 ° with respect to the zero point position when thetarget end 221 passes thesensor 332. Of course, in other embodiments of the present application, thesensor 332 may also be offset from the zero position, and the angle between thesensor 332 and the zero position is the angle at which thetarget end 221 rotates relative to the zero position as thetarget end 221 passes thesensor 332.

It should be noted that, in other embodiments of the present application, the design of thefirst tooth portion 334a and thesecond tooth portion 334b is not limited to the above, for example, only thetooth portion 334 for identifying thetarget end 221 may be provided on thecode wheel 331, and since the rotation speed of themirror 22 is known, the rotation angle of thetarget end 221 relative to the zero position may be directly measured according to the time difference from the moment when thetarget end 221 passes thesensor 332, which is not limited herein. The detection circuit 33 according to the embodiment of the present invention is not limited to detecting the rotation angle of themirror 22 by thecode wheel 331, and is not limited thereto.

In one embodiment, thelidar module 20 further includes amotor 23 and amotor driving circuit 24. Themotor 23 is in transmission connection with thereflector 22 and is used for driving thereflector 22 to rotate. Themotor driving circuit 24 is electrically connected to thecontrol circuit 31 and themotor 23, respectively. Thecontrol circuit 31 also detects the rotation speed of themirror 22 through the detection circuit 33, and adjusts the rotation speed of themotor 23 through themotor driving circuit 24, so that themirror 22 maintains the above-mentioned preset rotation speed.

In other words, the presentembodiment control circuit 31 adjusts the rotation speed of themotor 23 through themotor drive circuit 24 to stabilize the rotation speed of themirror 22 at the preset rotation speed. Especially, for the above embodiment, thecode wheel 331 and thesensor 332 cooperate to detect the rotation angle of themirror 22, so that the rotation speed of themirror 22 is stable, which is beneficial to ensuring that thecontrol circuit 31 accurately calculates the rotation angle of thetarget end 221 relative to the zero position, that is, accurately calculates the rotation angle of themirror 22.

Specifically, themotor 23, thecode wheel 331 and thereflective mirror 22 are coaxially arranged, and themotor 23 drives thecode wheel 331 and thereflective mirror 22 to synchronously rotate. The rotation speeds of themotor 23, thecode wheel 331 and thereflector 22 are consistent, thesensor 332 detects the rotation speed of thecode wheel 331 and feeds back to thecontrol circuit 31, and thecontrol circuit 31 can acquire the current rotation speed of themotor 23, and then themotor drive circuit 24 adjusts the rotation speed of themotor 23 so as to stabilize the rotation speed of thereflector 22.

In one embodiment, the self-moving device includes adevice body 11, and thedevice body 11 is capable of moving on a moving surface. The self-moving device further comprises alaser radar module 20, thelaser radar module 20 is arranged on the devicemain body 11, and thelaser radar module 20 comprises at least two groups oflaser transceiver components 21. The self-moving device further comprises acontrol module 30, wherein thecontrol module 30 is arranged on thedevice body 11. Thecontrol module 30 includes acontrol circuit 31 and at least two sets oflaser driving circuits 32. Each group oflaser driving circuits 32 is electrically connected with thecontrol circuit 31, and each group oflaser driving circuits 32 is further electrically connected with differentlaser transceiver components 21, wherein thecontrol circuit 31 is configured to be capable of controlling the differentlaser driving circuits 32 to drive the correspondinglaser transceiver components 21 to work in a time-sharing manner.

The self-moving device can be applied to the field of cleaning equipment, namely, the self-moving device can be thecleaning device 10 such as a cleaning robot, and the moving surface is the corresponding surface to be cleaned. Of course, the self-moving device can also be applied to other fields, such as logistics and the like. Thecontrol module 30 is described in detail in the above embodiments, and will not be described herein.

In one embodiment, the present embodiment provides acontrol module 30 applied to thelaser radar module 20. Thelaser radar module 20 includes at least two sets oflaser transceiver components 21. Thecontrol module 30 includes acontrol circuit 31 and at least two sets oflaser driving circuits 32. Each group oflaser driving circuits 32 is electrically connected with thecontrol circuit 31, and each group oflaser driving circuits 32 is further electrically connected with differentlaser transceiver components 21, wherein thecontrol circuit 31 is configured to be capable of controlling the differentlaser driving circuits 32 to drive the correspondinglaser transceiver components 21 to work in a time-sharing manner.

It should be noted that, thecontrol module 30 is described in detail in the above embodiments, and will not be described herein again.

Referring to fig. 6, fig. 6 is a flowchart illustrating an embodiment of a control method applied to a lidar module. The control method applied to thelidar module 20 according to the present embodiment is based on thecontrol module 30 according to the above embodiment. Thelaser radar module 20 includes at least two groups oflaser transceiver components 21.

S101: and receiving a preset switching instruction.

In this embodiment, the work of the differentlaser transceiver modules 21 is controlled by time sharing, so as to reduce the workload of each group oflaser transceiver modules 21, and further facilitate reducing the power consumption of thelaser radar module 20. The preset switching instruction is used for indicating the time for switching the operation of the differentlaser transceiver modules 21.

S102: and responding to a preset switching instruction, and controlling different laser transceiver components to work in a time-sharing mode.

In this embodiment, after receiving the preset switching command, the differentlaser transceiver modules 21 are time-division controlled to operate in response to the preset switching command. Compared with the situation that each group oflaser transceiver components 21 is always in the working state, the time-sharing control device in the embodiment controls the differentlaser transceiver components 21 to work, namely, only part of thelaser transceiver components 21 are in the working state at the same time, and the rest of thelaser transceiver components 21 are not in the working state, so that the working load of each group oflaser transceiver components 21 is lightened, and the power consumption of thelaser radar module 20 is reduced.

Referring to fig. 7, fig. 7 is a flowchart illustrating another embodiment of a control method applied to a lidar module. The control method applied to thelidar module 20 according to the present embodiment is based on thecontrol module 30 according to the above embodiment. Thelaser radar module 20 includes at least two groups oflaser transceiver components 21.

S201: the reflector is driven to rotate.

In this embodiment, thelidar module 20 also includes amirror 22. By driving thereflector 22 to rotate, thereflector 22 rotates to different angles, and then thereflector 22 can realize the laser signal interaction between the correspondinglaser transceiver component 21 and the external environment.

S202: and adjusting the rotating speed of the motor to enable the reflector to maintain the preset rotating speed.

In this embodiment, the rotation speed of themotor 23 is adjusted to maintain the preset rotation speed of themirror 22, that is, the rotation speed of themirror 22 is stabilized at the preset rotation speed, wherein the rotation speed of themirror 22 is stabilized, which is beneficial to accurately measuring the rotation angle of themirror 22.

Specifically, thecontrol circuit 31 enables themotor drive circuit 24 to drive themotor 23 to rotate themirror 22 by themotor 23. Since the rotation speeds of themotor 23, thecode wheel 331 and thereflector 22 are consistent, thesensor 332 can measure the rotation speed of themotor 23 by detecting the rotation speed of thecode wheel 331. Thesensor 332 feeds back the measured rotation speed information to thecontrol circuit 31, and thecontrol circuit 31 can acquire the current rotation speed of themotor 23, and then adjust the rotation speed of themotor 23 through themotor driving circuit 24 so as to stabilize the rotation speed of thereflector 22.

S203: and detecting the rotation angle of the reflector.

In this embodiment, after the rotation speed of themirror 22 is stable, the rotation angle of themirror 22 is detected to determine the time when the operation of the differentlaser transceiver modules 21 needs to be switched.

S204: and generating a preset switching instruction in response to the rotation of the reflector to the corresponding angle.

In the present embodiment, the preset switching instruction is generated in response to themirror 22 rotating to the corresponding angle by detecting the rotation angle of themirror 22.

Specifically, thesensor 332 detects the rotation angle of thecode wheel 331 and feeds back the rotation angle to thecontrol circuit 31, and thecontrol circuit 31 obtains the rotation angle of thereflector 22 according to the angle information fed back by thesensor 332, so that differentlaser transceiver modules 21 are enabled, and differentlaser transceiver modules 21 work in a time-sharing manner.

The at least two groups oflaser transceiver modules 21 include a firstlaser transceiver module 21a and a secondlaser transceiver module 21b. The first laser transmitter-receiver assembly 21a has a firstoptical axis 211, and the second laser transmitter-receiver assembly 21b has a secondoptical axis 212, the firstoptical axis 211 and the secondoptical axis 212 intersecting at the rotation axis of themirror 22. The position of themirror 22 is set to the zero point position when themirror 22 bisects the angle formed by the firstoptical axis 211 and the secondoptical axis 212 and thetarget end 221 of themirror 22 is away from the first laser transmitter-receiver assembly 21a and the second laser transmitter-receiver assembly 21b. The angle by which thetarget end 221 rotates with respect to the zero point position is detected. If the rotation angle of thetarget end 221 relative to the zero position is detected to be in the first angle range, a first switching instruction is generated to control the firstlaser transceiver component 21a to work in response to the first switching instruction; similarly, if it is detected that the rotation angle of thetarget end 221 relative to the zero position is within the second angle range, a second switching command is generated to control the secondlaser transceiver module 21b to operate in response to the second switching command.

S205: and receiving a preset switching instruction.

In this embodiment, the work of the differentlaser transceiver modules 21 is controlled by time sharing, so as to reduce the workload of each group oflaser transceiver modules 21, and further facilitate reducing the power consumption of thelaser radar module 20. The preset switching instruction is used for indicating the time for switching the operation of the differentlaser transceiver modules 21.

S206: and responding to a preset switching instruction, and controlling different laser transceiver components to work in a time-sharing mode.

In this embodiment, after receiving the preset switching command, the differentlaser transceiver modules 21 are time-division controlled to operate in response to the preset switching command. Compared with the situation that each group oflaser transceiver components 21 is always in the working state, the time-sharing control device in the embodiment controls the differentlaser transceiver components 21 to work, namely, only part of thelaser transceiver components 21 are in the working state at the same time, and the rest of thelaser transceiver components 21 are not in the working state, so that the working load of each group oflaser transceiver components 21 is lightened, and the power consumption of thelaser radar module 20 is reduced.

Further, thelaser transceiver modules 21 of the present embodiment share thesame power source 312, specifically, thepower source 312 is controlled to output electric energy to differentlaser transceiver modules 21 in a time sharing manner, that is, power is supplied to differentlaser transceiver modules 21 in a time sharing manner. Thelaser transceiver modules 21 of the present embodiment share thesame power supply 312, so that the problems of increased cost andcomplicated control module 30 caused by configuringdifferent power supplies 312 for eachlaser transceiver module 21 are avoided, i.e. the present embodiment can avoid additionally providing thepower supply 312, thereby being beneficial to reducing the cost of thecontrol module 30 and simplifying thecontrol module 30, and optimizing the circuit board space.

The technical scheme provided by the embodiment of the application is explained below in combination with a specific application scene.

Application scenario one:

thecleaning device 10 is a cleaning robot. Thecleaning device 10 includes adevice body 11. Thecleaning device 10 further includes alaser radar module 20, and thelaser radar module 20 is disposed on thedevice body 11. Thelaser radar module 20 comprises at least two groups oflaser transceiver components 21, and each group oflaser transceiver components 21 can interact with an external environment by laser signals so as to realize the path planning navigation and obstacle avoidance functions of the cleaning robot. Thecleaning device 10 further includes acontrol module 30, and thecontrol module 30 is disposed on thedevice body 11. Thecontrol module 30 is configured to be able to time-share control of the operation of the differentlaser transceiver modules 21.

Thecontrol module 30 includes acontrol circuit 31 and at least two sets oflaser driving circuits 32. Each set oflaser driving circuits 32 is electrically connected to thecontrol circuit 31, and each set oflaser driving circuits 32 is also electrically connected to adifferent laser transceiver 21. Thecontrol circuit 31 includes acontrol element 311 and apower supply 312. Each group oflaser driving circuits 32 is electrically connected with thecontrol element 311, and thepower supply 312 is electrically connected with thecontrol element 311 and each group oflaser driving circuits 32. Thecontrol element 311 is configured to control thepower supply 312 to output electric power to differentlaser driving circuits 32 in a time-sharing manner, so that each group oflaser driving circuits 32 drives the correspondinglaser transceiver assembly 21 in a time-sharing manner to operate.

Thecontrol element 311 enables thepower supply 312. Thecontrol element 311 enables themotor drive circuit 24 to drive themotor 23 to rotate thecode wheel 331 and themirror 22 by themotor 23. After thecode wheel 331 rotates, thesensor 332 detects the rotation speed of thecode wheel 331, so as to measure the rotation speed of themotor 23. Thesensor 332 feeds back the measured rotation speed information to thecontrol element 311, and thecontrol element 311 can acquire the current rotation speed of themotor 23, and then adjust the rotation speed of themotor 23 through themotor driving circuit 24 so as to stabilize the rotation speed of thereflector 22. After the rotation speed of thereflector 22 is stable, thesensor 332 detects the rotation angle of thecode wheel 331 and feeds back the rotation angle to thecontrol element 311, and thecontrol element 311 obtains the rotation angle of thereflector 22 according to the angle information fed back by thesensor 332, so that differentlaser transceiver components 21 can work in a time-sharing manner. Specifically, when thetarget end 221 of themirror 22 rotates by an angle of 0 ° to 180 ° with respect to the zero point position, thecontrol element 311 controls the first laser transmitter-receiver assembly 21a to operate; and thecontrol element 311 controls the second laser transmitter-receiver assembly 21b to operate when thetarget end 221 of themirror 22 is rotated by an angle of 180 ° to 360 ° with respect to the zero position.

And (2) an application scene II:

thelaser radar module 20 comprises at least two groups oflaser transceiver components 21, and each group oflaser transceiver components 21 can interact with an external environment by laser signals so as to realize the path planning navigation and obstacle avoidance functions of the cleaning robot. Thecontrol module 30 is configured to be able to time-share control of the operation of the differentlaser transceiver modules 21.

Thecontrol module 30 includes acontrol circuit 31 and at least two sets oflaser driving circuits 32. Each set oflaser driving circuits 32 is electrically connected to thecontrol circuit 31, and each set oflaser driving circuits 32 is also electrically connected to adifferent laser transceiver 21. Thecontrol circuit 31 includes acontrol element 311 and apower supply 312. Each group oflaser driving circuits 32 is electrically connected with thecontrol element 311, and thepower supply 312 is electrically connected with thecontrol element 311 and each group oflaser driving circuits 32. Thecontrol element 311 is configured to control thepower supply 312 to output electric power to differentlaser driving circuits 32 in a time-sharing manner, so that each group oflaser driving circuits 32 drives the correspondinglaser transceiver assembly 21 in a time-sharing manner to operate.

Thecontrol element 311 enables thepower supply 312. Thecontrol element 311 enables themotor drive circuit 24 to drive themotor 23 to rotate thecode wheel 331 and themirror 22 by themotor 23. After thecode wheel 331 rotates, thesensor 332 detects the rotation speed of thecode wheel 331, so as to measure the rotation speed of themotor 23. Thesensor 332 feeds back the measured rotation speed information to thecontrol element 311, and thecontrol element 311 can acquire the current rotation speed of themotor 23, and then adjust the rotation speed of themotor 23 through themotor driving circuit 24 so as to stabilize the rotation speed of thereflector 22. After the rotation speed of thereflector 22 is stable, thesensor 332 detects the rotation angle of thecode wheel 331 and feeds back the rotation angle to thecontrol element 311, and thecontrol element 311 obtains the rotation angle of thereflector 22 according to the angle information fed back by thesensor 332, so that differentlaser transceiver components 21 can work in a time-sharing manner. Specifically, when thetarget end 221 of themirror 22 rotates by an angle of 0 ° to 180 ° with respect to the zero point position, thecontrol element 311 controls the first laser transmitter-receiver assembly 21a to operate; and thecontrol element 311 controls the second laser transmitter-receiver assembly 21b to operate when thetarget end 221 of themirror 22 is rotated by an angle of 180 ° to 360 ° with respect to the zero position.

The cleaning device, the self-moving device and the control module applied to the laser radar module provided by the application are described in detail, and specific examples are applied to illustrate the principles and the implementation modes of the application, and the description of the above examples is only used for helping to understand the method and the core idea of the application; meanwhile, as those skilled in the art will have modifications in the specific embodiments and application scope in accordance with the ideas of the present application, the present description should not be construed as limiting the present application in view of the above.

Claims (12)

1. A cleaning device, comprising:

a device body movable on a surface to be cleaned to clean the surface to be cleaned;

the laser radar module is arranged on the device main body and comprises at least two groups of laser receiving and transmitting components; and

the control module is located the device main part, includes:

a control circuit; and

and the control circuit is configured to be capable of controlling the different laser driving circuits to drive the corresponding laser transceiver components to work in a time-sharing manner.

2. A cleaning apparatus as claimed in claim 1, wherein,

the control circuit includes:

the laser driving circuits are electrically connected with the control element; and

the power supply is respectively and electrically connected with the control element and each group of laser driving circuits;

the control element is configured to control the power supply to output electric energy to different laser driving circuits in a time sharing mode, so that each group of the laser driving circuits can drive the corresponding laser transceiver component to work in a time sharing mode.

3. A cleaning device according to claim 1 or 2, characterized in that,

the laser radar module further includes:

the reflectors are rotatably arranged on the device main body, and each group of laser transceiver components interact laser signals with the external environment through the reflectors which rotate to corresponding angles;

the control module further comprises:

and the detection circuit is electrically connected with the control circuit and is used for detecting the rotation angle of the reflector, wherein the control circuit can respond to the detection of the rotation angle of the reflector by the detection circuit and control different laser driving circuits to drive the corresponding laser transceiver components to work in a time-sharing manner.

4. A cleaning device according to claim 3, wherein,

the laser radar module is also defined with a rotating shaft, the reflector can rotate around the rotating shaft, and one end of the reflector, which is far away from the rotating shaft, is a target end;

the at least two groups of laser receiving and transmitting assemblies comprise a first laser receiving and transmitting assembly with a first optical axis and a second laser receiving and transmitting assembly with a second optical axis, the first optical axis and the second optical axis are intersected with the rotating shaft, wherein when the reflector bisects an included angle formed by the first optical axis and the second optical axis, and the target end part is far away from the first laser receiving and transmitting assembly and the second laser receiving and transmitting assembly, the position of the reflector is a zero point position;

the control circuit responds to the detection that the rotating angle of the target end part relative to the zero position is in a first angle range through the detection circuit, and controls the first laser receiving and transmitting assembly to work; and the control circuit controls the second laser receiving and transmitting assembly to work in response to the fact that the detection circuit detects that the rotating angle of the target end part relative to the zero point position is in a second angle range.

5. The cleaning apparatus of claim 4, wherein the cleaning device comprises a cleaning device,

the first angle range is 0 ° to 180 °, and the second angle range is 180 ° to 360 °.

6. The cleaning apparatus of claim 4, wherein the cleaning device comprises a cleaning device,

the detection circuit includes:

the code disc can synchronously rotate along with the reflector, wherein the code disc is provided with an identification structure for identifying the target end part; and

and the sensor is electrically connected with the control circuit and used for detecting the identification structure in the rotating process of the code wheel, wherein the control circuit responds to the sensor to detect the identification structure and calculates the rotating angle of the target end part relative to the zero position.

7. The cleaning apparatus of claim 6, wherein the cleaning device comprises a cleaning device,

the code wheel includes:

the code disc main body can synchronously rotate along with the reflector; and

at least two tooth parts are sequentially distributed at intervals along the circumferential direction of the code wheel main body, and each tooth part can sequentially pass through the sensor along with the rotation of the code wheel main body;

the control circuit calculates the rotation angle of the target end relative to the zero position by counting the number of the second teeth passing through the sensor after the first teeth.

8. A cleaning device according to claim 3, wherein,

the laser radar module further includes:

the motor is in transmission connection with the reflector and is used for driving the reflector to rotate; and

the motor driving circuit is respectively and electrically connected with the control circuit and the motor;

the control circuit also detects the rotating speed of the reflector through the detection circuit, and adjusts the rotating speed of the motor through the motor driving circuit, so that the reflector maintains the preset rotating speed.

9. A self-moving device, comprising:

a device main body movable on a moving surface;

the laser radar module is arranged on the device main body and comprises at least two groups of laser receiving and transmitting components; and

the control module is located the device main part, includes:

a control circuit; and

and the control circuit is configured to be capable of controlling the different laser driving circuits to drive the corresponding laser transceiver components to work in a time-sharing manner.

10. The self-moving device according to claim 9, wherein the self-moving device comprises,

the control circuit includes:

the laser driving circuits are electrically connected with the control element; and

the power supply is respectively and electrically connected with the control element and each group of laser driving circuits;

the control element is configured to control the power supply to output electric energy to different laser driving circuits in a time sharing mode, so that each group of the laser driving circuits can drive the corresponding laser transceiver component to work in a time sharing mode.

11. Be applied to laser radar module's control module, its characterized in that, laser radar module includes two at least groups of laser transceiver module, control module includes:

a control circuit; and

and the control circuit is configured to be capable of controlling the different laser driving circuits to drive the corresponding laser transceiver components to work in a time-sharing manner.

12. The control module of claim 11, wherein the control module comprises a controller,

The control circuit includes:

the laser driving circuits are electrically connected with the control element; and

the power supply is respectively and electrically connected with the control element and each group of laser driving circuits;

the control element is configured to control the power supply to output electric energy to different laser driving circuits in a time sharing mode, so that each group of the laser driving circuits can drive the corresponding laser transceiver component to work in a time sharing mode.

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