WO2022174479A1 - Ranging device, lidar, and mobile robot - Google Patents

Ranging device, lidar, and mobile robot Download PDF

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Publication number
WO2022174479A1
WO2022174479A1 PCT/CN2021/079765 CN2021079765W WO2022174479A1 WO 2022174479 A1 WO2022174479 A1 WO 2022174479A1 CN 2021079765 W CN2021079765 W CN 2021079765W WO 2022174479 A1 WO2022174479 A1 WO 2022174479A1
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WO
WIPO (PCT)
Prior art keywords
receiving unit
measuring device
optical axis
distance measuring
distance
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PCT/CN2021/079765
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French (fr)
Chinese (zh)
Inventor
李乐
韦晨曦
周琨
Original Assignee
深圳市欢创科技有限公司
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Publication of WO2022174479A1 publication Critical patent/WO2022174479A1/en

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/08—Systems determining position data of a target for measuring distance only
    • G01S17/10—Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements

Definitions

  • the present application relates to the technical field of ranging, and in particular, to a ranging device, a laser radar and a mobile robot having the ranging device.
  • spatial positioning technology is becoming more and more popular, and it can be applied in autonomous navigation fields such as household mobile robots, unmanned aerial vehicles, and unmanned driving.
  • optical positioning technology is widely used because of its high precision and fast response.
  • the most common ranging device basically includes a light emitting component and a light receiving component.
  • the positioning method involved in the ranging device is usually the triangulation method, which measures the distance and accuracy is moderate, the response is fast, and the hardware cost is relatively low. Therefore, triangulation is widely used in most consumer-grade optical positioning devices, such as lidars used in sweeping robots.
  • the distance measuring device 1 may be based on triangulation and mainly comprises a laser emitting component 2 and an image sensor component 3 .
  • the measurement principle of the distance measuring device 1 is that the laser emitting component 2 emits laser light, the target reflected light is captured by the image sensor component 3 through the light receiving component 4 , and a signal response is generated in a certain area of the image sensor component 3 .
  • the distance measuring device 1 may further include a module bracket 7 having a base 5 and an upper cover 6 for mounting the laser emitting component 2 , the light receiving component 4 and the image sensor component 3 on the module bracket 7 .
  • the distance measuring device using the triangulation method has high measurement accuracy for short distances, its measurement accuracy for long distances is poor; this makes it difficult for the distance measuring device using the triangulation method to be suitable for long distance measurement.
  • the main technical problem to be solved by the present application is to provide a distance measuring device, which can be suitable for precise measurement of long distances and short distances.
  • a distance measuring device comprising: a laser emitting unit, the laser emitting unit is used for emitting pulsed laser light to a target object to be ranged; a first receiving unit, the first receiving unit is used for receiving data from the target object the reflected pulsed laser light, and generate a corresponding first signal; a second receiving unit, the second receiving unit is configured to receive the pulsed laser light reflected from the target object, and generate a corresponding second signal; calculate unit, the calculation unit is used to receive the first signal and the second signal, and calculate and determine the distance according to the principle of triangulation and time of flight respectively; circuit board; the first receiving unit, the third The two receiving units, the laser emitting unit and the computing unit are all connected on the circuit board. .
  • the optical axis of the laser emitting unit and the optical axis of the second receiving unit are both perpendicular to the circuit board.
  • the distance measuring device further includes a first mirror, and the first mirror is used for the reflected pulsed laser light to pass through and project to the first receiving unit.
  • the optical axis of the first receiving unit is perpendicular to the circuit board, the optical axis of the first lens and the optical axis of the first receiving unit are parallel and offset, and the The optical axis of the first receiving unit is further away from the optical axis of the laser emitting unit than the optical axis of the first mirror.
  • the optical axis of the first receiving unit is perpendicular to the circuit board, and the optical axis of the first lens is the same as the optical axis of the first receiving unit and the light of the laser emitting unit.
  • the axes all intersect, and the optical axis of the first lens passes through the receiving surface of the first receiving unit.
  • the optical axis of the first lens intersects with the optical axis of the laser emitting unit, and the optical axis of the first lens passes through and is perpendicular to the receiving surface of the first receiving unit .
  • the focal length of the first lens is less than or equal to 16 mm.
  • the distance measuring device further includes a second mirror, the second mirror is used for the reflected pulsed laser to pass through and project to the second receiving unit.
  • the distance measuring device further includes a third lens, and the third lens is used for the emitted pulsed laser light to pass through.
  • the third lens is mounted on a third frame, and the third frame is fixed on the circuit board.
  • the distance measuring device further includes a first mirror, the first mirror is used for the reflected pulsed laser to pass through and project to the first receiving unit, the first mirror mounted on a first frame, which is mounted on the third frame; and/or, the distance measuring device further includes a second mirror for the reflected pulses The laser light passes through and is projected to the second receiving unit, the second lens is mounted on the second frame, and the second frame is mounted on the third frame.
  • the first receiving unit includes a CMOS (Complementary Metal Oxide Semiconductor, complementary metal oxide semiconductor device) or a CCD (Charge Coupled Device, charge coupled device) optical sensor.
  • the second receiving unit includes a single photon avalanche diode (Single Photon Avalanche Diode, SPAD) or an avalanche photodiode (Avalanche Photo Diode, APD) or a fast photodiode (Fast Photo Diode).
  • the first receiving unit and the second receiving unit are arranged on both sides of the laser emitting unit; or, the first receiving unit and the second receiving unit are arranged at the same on the same side of the laser emitting unit.
  • the first signal is analyzed according to the principle of triangulation to obtain the first distance between the target object and the distance measuring device
  • the second signal is analyzed according to the principle of time of flight. Analyzing to know the second distance between the target object and the distance measuring device; and determining the distance between the target object and the distance measuring device in a weighted manner according to the first distance and the second distance.
  • the embodiments of the present application also provide the following technical solutions to solve the technical problems.
  • a laser radar comprising: any one of the above-mentioned ranging devices; and a rotating pan-tilt
  • the rotary pan-tilt comprises a base, a rotary base, a transmission mechanism and a driving device
  • the rotary base is rotatably installed on the The base
  • the driving device is installed on the base
  • the transmission mechanism is connected to the rotating base and the driving device
  • the distance measuring device is arranged on the rotating base.
  • the embodiments of the present application also provide the following technical solutions to solve the technical problems.
  • a mobile robot is characterized in that it includes the above-mentioned laser radar.
  • the time-of-flight ranging method has the characteristics of high long-distance accuracy and low short-range accuracy, while the triangular ranging method has high short-range accuracy and long-distance accuracy.
  • the distance accuracy is poor, so by combining the advantages of time-of-flight ranging and triangulation ranging, the ranging device of the present application is suitable for the measurement of long and short distances, and the measurement accuracy is high.
  • the distance measuring device provided in the embodiment of the present application can make the structure more compact while taking into account the distance measurement.
  • FIG. 1 is a schematic perspective view of a distance measuring device in the related art
  • FIG. 2 is a schematic perspective view of a distance measuring device according to an embodiment of the present application.
  • FIG. 3 is a schematic cross-sectional view of a distance measuring device according to an embodiment of the present application.
  • FIG. 4 is a schematic diagram of an optical path of the ranging device shown in FIG. 3;
  • FIG. 5 is a schematic cross-sectional view of a distance measuring device according to another embodiment of the present application.
  • FIG. 6 is a schematic cross-sectional view of a distance measuring device according to another embodiment of the present application.
  • FIG. 7 is a schematic cross-sectional view of a distance measuring device according to still another embodiment of the present application.
  • FIG. 8 is a schematic three-dimensional schematic diagram of a laser radar according to an embodiment of the present application.
  • FIG. 9 is a schematic exploded perspective view of the lidar shown in FIG. 8 .
  • FIG. 2 and FIG. 3 are a schematic perspective view and a schematic cross-sectional view of a distance measuring device 100 according to an embodiment of the present application, respectively.
  • the distance measuring device 100 may mainly include a laser emitting unit 10 , a first receiving unit 20 , a second receiving unit 30 , a computing unit 40 and a circuit board 50 .
  • the laser emitting unit 10 , the first receiving unit 20 , the second receiving unit 30 and the computing unit 40 are all connected to the circuit board 50 for realizing signal transmission, control, and the like.
  • the laser emitting unit 10 is used for emitting pulsed laser light to the target object to be ranged.
  • the laser emitting unit 10 can be designed as a laser diode, which can emit laser pulses for distance measurement.
  • the pulsed laser emitted by the laser emitting unit 10 may be a high-frequency pulsed laser, for example, a pulsed laser of more than 1 kHz.
  • the laser emitting unit 10 such as a laser diode, can be mounted on the circuit board 50 by soldering, or can be integrated on the circuit board 50 .
  • the optical axis X3 of the laser emitting unit 10 may be set perpendicular to the circuit board 50 .
  • a control device for controlling the laser emitting unit 10 to emit laser pulses can be installed on the circuit board 50, and this control device can be integrated in the computing unit 40, so that the computing unit 40 becomes a master control device . It can be understood that, in other embodiments, other devices capable of emitting laser light can also be used as the laser emitting unit 10 .
  • the first receiving unit 20 is configured to receive the pulsed laser light reflected from the target object and generate a corresponding first signal.
  • the first receiving unit 20 may be mounted on the circuit board 50 by soldering, or integrated on the circuit board 50 .
  • the optical axis X2 of the first receiving unit 20 can be set to be perpendicular to the circuit board 50.
  • the first receiving unit 20 senses the laser pulse reflected back by the target object, the corresponding photoelectric signal can be generated and passed through.
  • the lines on the circuit board 50 are passed to the computing unit 40 .
  • the calculation unit 40 can analyze and calculate the photoelectric signal according to the principle of triangulation to obtain the distance between the target object and the distance measuring device 100 .
  • the principle of triangular ranging is: the laser emitting unit 10 emits laser light, and after irradiating the target object, the reflected light is received by the first receiving unit 20 such as a linear CCD (Charge Coupled Device, charge coupled device).
  • the unit 10 and the first receiving unit 20 are separated by a certain distance, so according to the optical path, the target objects at different distances will be imaged at different positions on the first receiving unit 20 of the linear CCD, for example; The distance between the measured target object and the distance measuring device 100 can be deduced.
  • the second receiving unit 30 is configured to receive the pulsed laser light reflected from the target object and generate a corresponding second signal.
  • the second receiving unit 30 may be different from the first receiving unit 20; for example, the second receiving unit 30 includes a Single Photon Avalanche Diode (SPAD); SPAD is a uniquely designed Image sensors in which each pixel has an electronic component; when a single photon, called a photon, reaches a pixel, it is "multiplied" to produce a single large electrical pulse; a single photon produces multiple
  • the functionality of electronics offers many advantages, such as highly accurate distance measurement and higher sensitivity during image capture.
  • the second receiving unit 30 may be mounted on the circuit board 50 by welding, or integrally provided on the circuit board 50 .
  • the optical axis X5 of the second receiving unit 30 may be set to be perpendicular to the circuit board 50 .
  • the second receiving unit 30 senses the laser pulses reflected by the target object, it can generate a corresponding photoelectric signal and transmit it to the computing unit 40 through the circuit on the circuit board 50 .
  • the calculation unit 40 can analyze and calculate the photoelectric signal according to the principle of time of flight (English full name is Time Of Flight, TOF for short) to obtain the distance between the target object and the ranging device 100 .
  • the principle of time-of-flight is: the laser emitting unit 10 emits a laser pulse, and the timer records the outgoing time. After irradiating the target object, the reflected light is received by the second receiving unit 30 and recorded by the timer. the time of receiving; the "flight time” of light is obtained by subtracting the two times, and the speed of light is constant, so it is easy to calculate the distance between the target object and the ranging device 100 after the speed and time are known. distance.
  • the calculating unit 40 is configured to receive the first signal and the second signal, and perform distance calculation and determination according to the principle of triangulation ranging and the principle of time of flight, respectively.
  • the computing unit 40 may be configured to perform the following operations.
  • the computing unit 40 can analyze the first signal according to the principle of triangulation to obtain the first distance between the target object and the distance measuring device 100, and analyze the second signal according to the principle of time of flight to know the second distance between the target object and the distance measuring device 100; and the calculation unit 40 can determine the target object and the distance measurement in a weighted manner according to the first distance and the second distance distance between devices 100 .
  • the calculation unit 40 may mainly use the second distance as the distance between the target object and the distance measuring device 100 distance is determined.
  • the first set distance may be set to 10 meters.
  • the computing unit 40 determines the distance between the target object and the ranging device 100 as 12 meters. This is because, when the distance between the target object and the distance measuring device 100 is relatively far, the distance calculated according to the principle of time of flight is more accurate.
  • the first distance may also be considered; and the weights of the first distance and the second distance in the weighted calculation may be determined according to experiments.
  • the calculation unit 40 may mainly use the first distance as the distance between the target object and the distance measuring device 100 A distance is determined, wherein the second set distance is less than the first set distance.
  • the first set distance may be 5 meters.
  • the computing unit 40 determines the distance between the target object and the ranging device 100 as 4 meters. This is because, when the distance between the target object and the distance measuring device 100 is relatively short, the distance calculated according to the principle of triangulation is more accurate.
  • the second distance may also be considered; and the weights of the first distance and the second distance in the weighted calculation may be determined according to experiments.
  • the calculation unit 40 may associate the target object with the distance measuring device The distance between 100 is weighted and averaged using the first distance and the second distance, so as to determine the final result. For example, when the first distance is 8 meters and the second distance is 9 meters, the calculation unit 40 determines the distance between the target object and the distance measuring device 100 as the average of 9 plus 8, That is 8.5 meters. This is because, when the distance between the target object and the ranging device 100 is in the middle distance, the two distances calculated according to the triangulation ranging principle and the flight time principle are weighted and averaged to obtain a more accurate distance. In the weighted calculation, the weights of the first distance and the second distance in the weighted calculation can be determined according to experiments.
  • the distance measuring device 100 may further include a first mirror 21, and the first mirror 21 is used for the pulsed laser reflected by the target object to pass through and project to the target object.
  • the first receiving unit 20 is described.
  • the first lens 21 can be mounted on the first frame 22 , the first frame 22 can be fixed on the circuit board 50 , and the first lens 21 is located substantially above the first receiving unit 20 .
  • the laser pulses reflected back by the target object can be focused and collimated by the first mirror 21 before being sensed by the first receiving unit 20.
  • the optical axis X1 of the first lens 21 and the optical axis X2 of the first receiving unit 20 may be arranged in parallel and offset, that is, the first receiving unit 20 is opposite to each other.
  • the first lens 21 is offset.
  • the optical axis X2 of the first receiving unit 20 is farther from the optical axis X3 of the laser emitting unit 10 than the optical axis X1 of the first mirror 21 .
  • the optical axis X1 of the first lens 21 may be its central axis
  • the optical axis X2 of the first receiving unit 20 may be an axis passing through the center point of the first receiving unit 20 and perpendicular to it, so
  • the optical axis X3 of the laser emitting unit 10 may be its central axis.
  • the optical axis X2 of the first receiving unit 20 and the optical axis X1 of the first lens 21 are both on the left side of the optical axis X3 of the laser emitting unit 10, And the optical axis X2 of the first receiving unit 20 is more leftward than the optical axis X1 of the first lens 21 .
  • the first receiving unit 20 and the first lens 21 may also be located on the right side of the laser emitting unit 10; at this time, the optical axis X2 of the first receiving unit 20 and the first lens 21
  • the optical axis X1 of the laser emitting unit 10 is on the right side of the optical axis X3 of the laser emitting unit 10
  • the optical axis X2 of the first receiving unit 20 is further shifted to the right than the optical axis X1 of the first lens 21 .
  • FIG. 4 in the short-range measurement range, after the laser light L emitted by the laser emitting unit 10 is irradiated to the target object, most of the reflected lights L1 , L2 , L3 , etc.
  • a direction of the receiving unit 20 away from the laser emitting unit 10 so offsetting the first receiving unit 20 to the side away from the laser emitting unit 10 can maximize the utilization of the sensor target surface of the first receiving unit 20 .
  • the distance measuring device 100 may further include a second mirror 31, and the second mirror 31 is used for the pulsed laser reflected by the target object to pass through and project to the target object.
  • the second receiving unit 30 is described.
  • the second lens 31 can be mounted on the second frame 32 , the second frame 32 can be fixed on the circuit board 50 , and the second lens 31 is positioned above the second receiving unit 30 .
  • the optical axis X6 of the second lens 31 may be set perpendicular to the circuit board 50 and coincide with the optical axis X5 of the second receiving unit 30 .
  • the laser pulses reflected back by the target object can be focused and collimated by the second mirror 31 before being sensed by the second receiving unit 30 .
  • the optical axis X6 of the second lens 31 may be its central axis
  • the optical axis X5 of the second receiving unit 30 may be an axis passing through the center point of the second receiving unit 30 and perpendicular thereto.
  • the distance measuring device 100 may further include a third lens 11 , and the third lens 11 is used for the emitted pulsed laser to pass through and then project to the target object.
  • the third mirror 11 can be mounted on the third frame 12 , the third frame 12 can be fixed on the circuit board 50 , and the third mirror 11 is positioned above the laser emitting unit 10 .
  • the optical axis X4 of the third lens 11 can be set to be perpendicular to the circuit board 50 and coincide with the optical axis X3 of the laser emitting unit 10 .
  • the laser pulses emitted by the laser emitting unit 10 can be transmitted to the outside through the third mirror 11, and the third mirror 11 can focus and collimate the laser pulses passing therethrough.
  • the optical axis X4 of the third lens 11 may be its central axis.
  • the above-mentioned first mirror 21 , second mirror 31 and third mirror 11 can be lenses, and can also be combined with more mirrors.
  • the third mirror 11 can also be combined with one or more mirrors to form a mirror group, so as to focus and collimate the laser pulses emitted by the laser emitting unit 10 and then transmit them to the outside;
  • the second mirror 31 can also be combined with a mirror Or a plurality of mirrors are combined into a mirror group to focus and collimate the laser pulses reflected back by the target object before being sensed by the second receiving unit 30 .
  • a single first lens 21 may be disposed above the first receiving unit 20;
  • the focal length of the first lens 21 may be less than or equal to 16 mm, such as 16 mm, 14 mm, 12 mm, 10 mm, 9 mm, 8 mm, 7.5 mm, 7 mm, 6 mm or 5 mm.
  • first frame 22 , second frame 32 and third frame 12 may be components independent of each other.
  • the second frame 32 and the third frame 12 may be integrally formed members and form a space for accommodating the first frame 22 ; thus, the first frame 22 may Mounted on this integrally formed member, the integrally formed member is then mounted on the circuit board 50 .
  • the first receiving unit 20 may include a CMOS (Complementary Metal Oxide Semiconductor Device) optical sensor or a CCD optical sensor; in addition, the second receiving unit may include an avalanche photodiode (Avalanche Photo Diode, APD) or fast photodiode (Fast Photo Diode).
  • APD avalanche photodiode
  • Fast Photo Diode Fast photodiode
  • the surface of the first receiving unit 20 is generally perpendicular to the optical axis of the first lens 21; the reflected light signal will generate a projection point on the surface of the first receiving unit 20; the first receiving unit 20 converts the photoelectric signal to obtain the projection The point is located at the position coordinates of the imaging surface of the first receiving unit 20 .
  • the CMOS or CCD optical sensor can convert the light image on the photosensitive surface into an electrical signal that is proportional to the light image through the photoelectric conversion function of the photoelectric device.
  • the first receiving unit 20 may be disposed on the circuit board 50 by means of conductive connection such as welding, welding, etc. Of course, the first receiving unit may also be connected to the circuit board 50 by any type of conductive connection, for example, Conductive adhesive, conductive rubber, spring contacts, flexible printed circuit boards, bond wires or plug-in connections (THT), etc., or combinations thereof.
  • the first receiving unit 20 and the second receiving unit 30 may be disposed on both sides of the laser emitting unit 10 ; correspondingly, the above-mentioned first frame 22 and the second frame 32 are also provided on both sides of the third frame 12 .
  • the arrangement positions of the first receiving unit 20 and the second receiving unit 30 and the laser emitting unit 10 can be changed; for example, the first receiving unit 20 and the second receiving unit 20
  • the unit 30 may be arranged on the same side of the laser emitting unit 10 .
  • the circuit board 50 may be a printed circuit board, which may include a substrate, which may be fabricated from the following materials: Cu alloys such as brass and bronze; stainless steel , in particular low alloy stainless steel; magnesium alloys; aluminium; aluminium alloys, in particular wrought aluminium alloys, such as for example EN AW-6061, and the like.
  • the substrate of the circuit board 50 can also be made of materials such as glass, glass ceramics or ceramics.
  • FIG. 5 is a schematic cross-sectional view of a distance measuring device 100 according to another embodiment of the present application.
  • the distance measuring device 100 in this embodiment can be substantially the same as the distance measuring device 100 shown in FIGS. 2 to 4 , the difference is that the direction of the optical axis X1 of the first lens 21 in FIG. 5 is changed.
  • the first lens 21 is arranged to be inclined relative to the circuit board 50 , so that the optical axis X1 of the first lens 21 is the same as the optical axis X2 of the first receiving unit 20 and the optical axis X3 of the laser emitting unit 10 intersect, and the optical axis X1 of the first lens 21 passes through the receiving surface of the first receiving unit 20 .
  • the optical axis X1 of the first lens 21 and the optical axis X2 of the first receiving unit 20 may intersect on the receiving surface of the first receiving unit 20; the optical axis X1 of the first lens 21 and the first
  • the angle at which the optical axis X2 of the receiving unit 20 and the optical axis X3 of the laser emitting unit 10 intersect can be, for example, in the range of 3 degrees to 30 degrees, such as 3 degrees, 5 degrees, 8 degrees, 10 degrees, 15 degrees, 20 degrees degrees, 25 degrees, 30 degrees, etc. This arrangement can also maximize the utilization of the sensor target surface of the first receiving unit 20 .
  • FIG. 6 is a schematic cross-sectional view of a distance measuring device 100 according to another embodiment of the present application.
  • the distance measuring device 100 in this embodiment may be substantially the same as the distance measuring device 100 shown in FIGS. 2 to 4 , and the difference lies in the direction of the optical axis X1 of the first lens 21 and the optical axis of the first receiving unit 20 in FIG. 5 .
  • the X2 direction is changed.
  • the first mirror 21 and the first receiving unit 20 are both arranged to be inclined relative to the circuit board 50 , so that the optical axis X1 of the first mirror 21 intersects the optical axis X3 of the laser emitting unit 10 , and the optical axis X1 of the first lens 21 passes through and is perpendicular to the receiving surface of the first receiving unit 20 .
  • the optical axis X1 of the first lens 21 may coincide with the optical axis X2 of the first receiving unit 20; the angle at which the optical axis X1 of the first lens 21 and the optical axis X3 of the laser emitting unit 10 intersect may be, for example, at Within the range of 3 degrees to 30 degrees, for example, it can be 3 degrees, 5 degrees, 8 degrees, 10 degrees, 15 degrees, 20 degrees, 25 degrees, 30 degrees, and the like. This arrangement can also maximize the utilization of the sensor target surface of the first receiving unit 20 .
  • FIG. 7 is a schematic cross-sectional view of a distance measuring device 100 according to yet another embodiment of the present application.
  • the distance measuring device 100 in this embodiment may be substantially the same as the distance measuring device 100 shown in FIGS. 2 to 4 , and the difference may be that the first frame 22 , the second frame 32 and the third frame 12 in FIG. 7 are changed .
  • the third frame 12 can be installed on the circuit board 50 as a main frame, and the first frame 22 and the second frame 32 are respectively installed on the third frame on frame 12.
  • the first frame 22 may be provided with an external thread so as to be rotatably mounted in a threaded hole of the third frame 12; the second frame 32 may have an insertion portion or an engaging portion so as to be able to be inserted into the third frame 12 or connected with the corresponding engaging portion of the third frame 12 .
  • the above manner can facilitate the adjustment of the first lens 21 and the second lens 31; that is, by installing the first and second frames 22 and 32 of the first and second lenses 21 and 31 and the third frame as the main frame 12 for separation, the relative position of the first lens 21 and the first receiving unit 20 and the relative position of the second lens 31 and the second receiving unit 30 can be adjusted during installation, and then fixed by an adhesive such as glue .
  • the ranging device 100 provided by the embodiment of the present application since the TOF ranging method has the characteristics of high long-distance accuracy and low short-distance accuracy, while the triangular ranging method has high short-distance accuracy and poor long-distance accuracy, Therefore, by combining the advantages of TOF ranging and triangulation ranging, the ranging device 100 of the present application is suitable for the measurement of far and short distances, and the measurement accuracy is high. In addition, the distance measuring device 100 provided by the embodiment of the present application can make the structure more compact while taking into account the distance measurement.
  • FIG. 8 and FIG. 9 are a three-dimensional schematic diagram and a three-dimensional exploded schematic diagram, respectively, of a lidar 200 according to an embodiment of the present application.
  • the lidar 200 may mainly include any one of the above-mentioned ranging devices 100 and a rotating pan/tilt 60 .
  • the rotating head 60 may include a base 61, a rotating base 62, a transmission mechanism 63 and a driving device 64, the rotating base 62 is rotatably mounted on the base 61, and the driving device 64 is mounted on the base.
  • the base 61 , the transmission mechanism 63 is connected to the rotating base 62 and the driving device 64 , and the distance measuring device 100 is arranged on the rotating base 62 .
  • the laser transmitting unit 10 of the distance measuring device 100 is used for transmitting the optical signal of the laser
  • the first receiving unit 20 and the second receiving unit 30 are used for receiving the optical signal reflected by the target to be measured
  • transmit the optical signal through the circuit board 50 is input to the calculation unit 40
  • the calculation unit 40 is used for analyzing and processing the input optical signal
  • the transmission mechanism 63 is used for transmitting power between the driving device 66 and the rotating base 62
  • the driving device 66 is used for outputting power to make the rotating base 62 rotate around axis rotation. Therefore, by setting the rotating pan/tilt 60, the 360° scanning operation of the lidar 200 can be realized.
  • the rotating head 60 also includes a baffle 65 .
  • the base 61 is provided with a receiving groove
  • the rotating base 62 is rotatably mounted on the base 61 and covers a part of the receiving groove
  • the rotating base 62 can rotate relative to the base 61 around the axis of rotation
  • the mounting part of the rotating base 42 can pass through the bearing 6201 is rotatably installed on the base 41
  • the baffle 65 is installed on the base 61 and covers another part of the receiving groove, that is, the rotating base 62 and the baffle 65 are jointly covered on the notch of the receiving groove to prevent External debris enters the receiving groove from the notch of the receiving groove.
  • the driving device 66 is installed on the side of the base 61 facing away from the receiving groove.
  • the transmission mechanism 63 connects the rotating base 62 and the driving device 66 , and the transmission mechanism 63 is received in the receiving groove.
  • the rotating pan/tilt head 60 further includes a cover body 66 , the cover body 66 is covered on the rotating base 62 and is fixedly connected with the rotating base 62 , and the distance measuring device 100 is accommodated in the cover body 66's interior.
  • the cover body 66 may be provided with a first through hole 661, a second through hole 662 and a third through hole 663, and the first through hole 661 and the second through hole 662 may correspond to the first receiving unit 20 and the second receiving unit 30, respectively,
  • the third through hole 663 can correspond to the laser emitting unit 10 .
  • the third through hole 663 is used to allow the light signal emitted by the laser emitting unit 10 to exit the interior of the cover 66
  • the first through hole 661 is used to allow the object to be measured to reflect back.
  • the optical signal enters the inside of the cover body 66 and is received by the first receiving unit 20
  • the second through hole 662 is used to allow the light signal reflected by the object to be measured to enter the inside of the cover body 66 and be received by the second receiving unit 30 .
  • the cover body 66 can be a closed structure, that is, the first through hole 661, the second through hole 662 and the third through hole 663 are not provided, but a solid structure that can transmit laser light is used; in this way, it can prevent Contaminants enter the enclosure 66 .
  • the lidar 200 may further include a control board, the control board is electrically connected to the laser emitting unit 10 , the circuit board 50 and the driving device 64 , and the control board may be used to drive the laser emitting unit 10 to emit laser light signal, and the signal transmission through the circuit board 50 , and the rotation of the rotating base 62 is controlled by the driving device 64 .
  • the control board may be integrated with the circuit board 50 into a single circuit board.
  • Embodiments of the present application further provide a mobile robot, where the mobile robot includes the lidar 200 provided in any of the foregoing embodiments.

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Abstract

A ranging device (100), a lidar (200), and a mobile robot. The ranging device (100) comprises: a laser emission unit (10), configured to emit pulse laser light to a target object to be subjected to ranging; a first receiving unit (20), configured to receive the pulse laser light reflected by the target object and generate a corresponding first signal; a second receiving unit (30), configured to receive the pulse laser light reflected by the target object and generate a corresponding second signal; a calculation unit (40), configured to receive the first signal and the second signal and respectively perform distance calculation and determination according to a triangulation principle and a time-of-flight principle; and a circuit board (50). The first receiving unit (20), the second receiving unit (30), the laser emission unit (10) and the calculation unit (40) are all connected to the circuit board (50). The provided ranging device (100) is suitable for measurement of long and short distances, and the measurement accuracy is high.

Description

测距装置、激光雷达和移动机器人Ranging devices, lidar and mobile robots
相关申请的交叉参考CROSS-REFERENCE TO RELATED APPLICATIONS
本申请要求于2021年2月22日提交中国专利局，申请号为202120392048.7，发明名称为“测距装置、激光雷达和移动机器人”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。This application claims the priority of the Chinese patent application filed on February 22, 2021 with the application number 202120392048.7 and the invention titled "Ranging Device, Lidar and Mobile Robot", the entire contents of which are incorporated herein by reference Applying.
技术领域technical field
本申请涉及测距技术领域，特别是涉及一种测距装置和具有这种测距装置的激光雷达以及移动机器人。The present application relates to the technical field of ranging, and in particular, to a ranging device, a laser radar and a mobile robot having the ranging device.
背景技术Background technique
随着元器件的小型化、成本低廉化，空间定位技术越来越普及，其可应用在例如家用移动机器人、无人机、无人驾驶等自主导航领域。在空间定位技术中，光学定位技术因其具有精度高、响应快的特点，被广泛应用。With the miniaturization and low cost of components, spatial positioning technology is becoming more and more popular, and it can be applied in autonomous navigation fields such as household mobile robots, unmanned aerial vehicles, and unmanned driving. In spatial positioning technology, optical positioning technology is widely used because of its high precision and fast response.
光学定位技术中，最常见的测距装置基本包含一个光发射组件和一个光接收组件。测距装置所涉及的定位方法通常为三角测量法，其测量距离和精度适中、响应较快、硬件成本相对较低。因此，大部分的消费级光学定位装置如扫地机器人用的激光雷达，广泛采用三角测量法。In optical positioning technology, the most common ranging device basically includes a light emitting component and a light receiving component. The positioning method involved in the ranging device is usually the triangulation method, which measures the distance and accuracy is moderate, the response is fast, and the hardware cost is relatively low. Therefore, triangulation is widely used in most consumer-grade optical positioning devices, such as lidars used in sweeping robots.
如图1所示，为一种相关技术的测距装置1。所述测距装置1可基于三角测量法并且主要包含一个激光发射组件2和一个图像传感器组件3。所述测距装置1测量的原理是通过激光发射组件2发出激光，目标反射光经过光接收组件4由图像传感器组件3捕获，并在图像传感器组件3的某一区域位置产生信号响应。As shown in FIG. 1 , it is a distance measuring device 1 of the related art. The distance measuring device 1 may be based on triangulation and mainly comprises a laser emitting component 2 and an image sensor component 3 . The measurement principle of the distance measuring device 1 is that the laser emitting component 2 emits laser light, the target reflected light is captured by the image sensor component 3 through the light receiving component 4 , and a signal response is generated in a certain area of the image sensor component 3 .
所述测距装置1还可包括具有底座5和上盖6的模组支架7，用以将激光发射组件2、光接收组件4、图像传感器组件3安装在模组支架7上。The distance measuring device 1 may further include a module bracket 7 having a base 5 and an upper cover 6 for mounting the laser emitting component 2 , the light receiving component 4 and the image sensor component 3 on the module bracket 7 .
然而，虽然采用三角测量法的测距装置对近距离的测量精度高，但是其对远距离的测量精度较差；这使得采用三角测量法的测距装置难以适用于远距离的测量。However, although the distance measuring device using the triangulation method has high measurement accuracy for short distances, its measurement accuracy for long distances is poor; this makes it difficult for the distance measuring device using the triangulation method to be suitable for long distance measurement.
发明内容SUMMARY OF THE INVENTION
本申请主要解决的技术问题是提供一种测距装置，能够适用于远距离和近距离的精确测量。The main technical problem to be solved by the present application is to provide a distance measuring device, which can be suitable for precise measurement of long distances and short distances.
本申请实施例解决其技术问题提供以下技术方案。The embodiments of the present application provide the following technical solutions to solve the technical problems.
一种测距装置，包括：激光发射单元，所述激光发射单元用于发射脉冲激光至待被测距的目标物体；第一接收单元，所述第一接收单元用于接收从所述目标物体反射的所述脉冲激光，并且生成相应的第一信号；第二接收单元，所述第二接收单元用于接收从所述目标物体反射的所述脉冲激光，并且生成相应的第二信号；计算单元，所述计算单元用于接收所述第一信号和所述第二信号并分别根据三角测距原理和飞行时间原理进行距离计算和确定；电路板；所述第一接收单元、所述第二接收单元、所述激光发射单元和所述计算单元均连接在所述电路板上。.A distance measuring device, comprising: a laser emitting unit, the laser emitting unit is used for emitting pulsed laser light to a target object to be ranged; a first receiving unit, the first receiving unit is used for receiving data from the target object the reflected pulsed laser light, and generate a corresponding first signal; a second receiving unit, the second receiving unit is configured to receive the pulsed laser light reflected from the target object, and generate a corresponding second signal; calculate unit, the calculation unit is used to receive the first signal and the second signal, and calculate and determine the distance according to the principle of triangulation and time of flight respectively; circuit board; the first receiving unit, the third The two receiving units, the laser emitting unit and the computing unit are all connected on the circuit board. .
作为上述技术方案的进一步改进，所述激光发射单元的光轴和所述第二接收单元的光轴均垂直于所述电路板。As a further improvement of the above technical solution, the optical axis of the laser emitting unit and the optical axis of the second receiving unit are both perpendicular to the circuit board.
作为上述技术方案的进一步改进，所述测距装置还包括第一镜片，所述第一镜片用于供所反射的所述脉冲激光通过并投射至所述第一接收单元。As a further improvement of the above technical solution, the distance measuring device further includes a first mirror, and the first mirror is used for the reflected pulsed laser light to pass through and project to the first receiving unit.
作为上述技术方案的进一步改进，所述第一接收单元的光轴垂直于所述电路板，所述第一镜片的光轴和所述第一接收单元的光轴平行且错位设置，并且所述第一接收单元的光轴比所述第一镜片的光轴更远离所述激光发射单元的光轴。As a further improvement of the above technical solution, the optical axis of the first receiving unit is perpendicular to the circuit board, the optical axis of the first lens and the optical axis of the first receiving unit are parallel and offset, and the The optical axis of the first receiving unit is further away from the optical axis of the laser emitting unit than the optical axis of the first mirror.
作为上述技术方案的进一步改进，所述第一接收单元的光轴垂直于所述电路板，所述第一镜片的光轴与所述第一接收单元的光轴和所述激光发射单元的光轴均相交，并且，所述第一镜片的光轴经过所述第一接收单元的接收面。As a further improvement of the above technical solution, the optical axis of the first receiving unit is perpendicular to the circuit board, and the optical axis of the first lens is the same as the optical axis of the first receiving unit and the light of the laser emitting unit. The axes all intersect, and the optical axis of the first lens passes through the receiving surface of the first receiving unit.
作为上述技术方案的进一步改进，所述第一镜片的光轴与所述激光发射单元的光轴相交，并且，所述第一镜片的光轴经过且垂直于所述第一接收单元的接收面。As a further improvement of the above technical solution, the optical axis of the first lens intersects with the optical axis of the laser emitting unit, and the optical axis of the first lens passes through and is perpendicular to the receiving surface of the first receiving unit .
作为上述技术方案的进一步改进，所述第一镜片的焦距小于或等于16毫米。As a further improvement of the above technical solution, the focal length of the first lens is less than or equal to 16 mm.
作为上述技术方案的进一步改进，所述测距装置还包括第二镜片，所述第二镜片用于供所反射的所述脉冲激光通过并投射至所述第二接收单元。As a further improvement of the above technical solution, the distance measuring device further includes a second mirror, the second mirror is used for the reflected pulsed laser to pass through and project to the second receiving unit.
作为上述技术方案的进一步改进，所述测距装置还包括第三镜片，所述第三镜片用于供所发射的脉冲激光通过。As a further improvement of the above technical solution, the distance measuring device further includes a third lens, and the third lens is used for the emitted pulsed laser light to pass through.
作为上述技术方案的进一步改进，所述第三镜片安装在第三框架上，所述第三框架固定在所述电路板上。As a further improvement of the above technical solution, the third lens is mounted on a third frame, and the third frame is fixed on the circuit board.
作为上述技术方案的进一步改进，所述测距装置还包括第一镜片，所述第一镜片用于供所反射的所述脉冲激光通过并投射至所述第一接收单元，所述第一镜片安装在第一框架上，所述第一框架安装在所述第三框架上；和/或，所述测距装置还包括第二镜片，所述第二镜片用于供所反射的所述脉冲激光通过并投射至所述第二接收单元，所述第二镜片安装在第二框架上，所述第二框架安装在所述第三框架上。As a further improvement of the above technical solution, the distance measuring device further includes a first mirror, the first mirror is used for the reflected pulsed laser to pass through and project to the first receiving unit, the first mirror mounted on a first frame, which is mounted on the third frame; and/or, the distance measuring device further includes a second mirror for the reflected pulses The laser light passes through and is projected to the second receiving unit, the second lens is mounted on the second frame, and the second frame is mounted on the third frame.
作为上述技术方案的进一步改进，所述第一接收单元包括CMOS(Complementary Metal Oxide Semiconductor，互补金属氧化物半导体器件)或CCD(Charge Coupled Device，电荷耦合器件)光学传感器。另外，所述第二接收单元包括单光子雪崩二极管(Single Photon Avalanche Diode，SPAD)或雪崩光电二极管(Avalanche Photo Diode，APD)或快速光电二极管(Fast Photo Diode)。As a further improvement of the above technical solution, the first receiving unit includes a CMOS (Complementary Metal Oxide Semiconductor, complementary metal oxide semiconductor device) or a CCD (Charge Coupled Device, charge coupled device) optical sensor. In addition, the second receiving unit includes a single photon avalanche diode (Single Photon Avalanche Diode, SPAD) or an avalanche photodiode (Avalanche Photo Diode, APD) or a fast photodiode (Fast Photo Diode).
作为上述技术方案的进一步改进，所述第一接收单元和所述第二接收单元设置在所述激光发射单元的两侧；或者，所述第一接收单元和所述第二接收单元设置在所述激光发射单元的同一侧。As a further improvement of the above technical solution, the first receiving unit and the second receiving unit are arranged on both sides of the laser emitting unit; or, the first receiving unit and the second receiving unit are arranged at the same on the same side of the laser emitting unit.
作为上述技术方案的进一步改进，根据三角测距原理对所述第一信号进行分析以获知所述目标物体与测距装置之间的第一距离，并且根据飞行时间原理对所述第二信号进行分析以获知所述目标物体与测距装置之间的第二距离；并且，根据所述第一距离和所述第二距离以加权方式确定出所述目标物体与测距装置之间的距离。As a further improvement of the above technical solution, the first signal is analyzed according to the principle of triangulation to obtain the first distance between the target object and the distance measuring device, and the second signal is analyzed according to the principle of time of flight. Analyzing to know the second distance between the target object and the distance measuring device; and determining the distance between the target object and the distance measuring device in a weighted manner according to the first distance and the second distance.
本申请实施例解决其技术问题还提供以下技术方案。The embodiments of the present application also provide the following technical solutions to solve the technical problems.
一种激光雷达，包括：任一以上所述的测距装置；以及旋转云台，所述旋转云台包括基座、旋转座、传动机构和驱动装置，所述旋转座可转动地安装于所述基座，所述驱动装置安装于所述基座，所述传动机构连接所述旋转座和驱动装置，所述测距装置设置于所述旋转座。A laser radar, comprising: any one of the above-mentioned ranging devices; and a rotating pan-tilt, the rotary pan-tilt comprises a base, a rotary base, a transmission mechanism and a driving device, and the rotary base is rotatably installed on the The base, the driving device is installed on the base, the transmission mechanism is connected to the rotating base and the driving device, and the distance measuring device is arranged on the rotating base.
本申请实施例解决其技术问题还提供以下技术方案。The embodiments of the present application also provide the following technical solutions to solve the technical problems.
一种移动机器人，其特征在于，包括以上所述的激光雷达。A mobile robot is characterized in that it includes the above-mentioned laser radar.
与现有技术相比较，在本申请实施例提供的测距装置中，由于飞行时间测 距方式有远距离精度高、近距离精度低的特点，而三角测距方式则近距离精度高、远距离精度差，因此通过结合飞行时间测距和三角测距的优势，使得本申请的测距装置适用于远近距离的测量，并且测量的精度较高。另外，本申请实施例提供的测距装置在兼顾远近距离测量的同时，还可以使结构更加紧凑。Compared with the prior art, in the ranging device provided by the embodiment of the present application, the time-of-flight ranging method has the characteristics of high long-distance accuracy and low short-range accuracy, while the triangular ranging method has high short-range accuracy and long-distance accuracy. The distance accuracy is poor, so by combining the advantages of time-of-flight ranging and triangulation ranging, the ranging device of the present application is suitable for the measurement of long and short distances, and the measurement accuracy is high. In addition, the distance measuring device provided in the embodiment of the present application can make the structure more compact while taking into account the distance measurement.
附图说明Description of drawings
一个或多个实施通过与之对应的附图进行示例性说明，这些示例性说明并不构成对实施例的限定，附图中具有相同参考数字标号的元件表示为类似的元件，除非有特别申明，附图中的图不构成比例限制。One or more implementations are exemplified by the accompanying drawings, which do not limit the embodiments, and elements with the same reference numerals in the drawings represent similar elements unless otherwise stated. , the figures in the accompanying drawings do not constitute a scale limitation.
图1为一种相关技术的测距装置的立体示意图；1 is a schematic perspective view of a distance measuring device in the related art;
图2为本申请一实施例提供的一种测距装置的立体示意图；2 is a schematic perspective view of a distance measuring device according to an embodiment of the present application;
图3为本申请一实施例提供的一种测距装置的截面示意图；3 is a schematic cross-sectional view of a distance measuring device according to an embodiment of the present application;
图4为图3所示测距装置的一种光路示意图；4 is a schematic diagram of an optical path of the ranging device shown in FIG. 3;
图5为本申请另一实施例提供的一种测距装置的截面示意图；5 is a schematic cross-sectional view of a distance measuring device according to another embodiment of the present application;
图6为本申请又一实施例提供的一种测距装置的截面示意图；6 is a schematic cross-sectional view of a distance measuring device according to another embodiment of the present application;
图7为本申请再一实施例提供的一种测距装置的截面示意图；7 is a schematic cross-sectional view of a distance measuring device according to still another embodiment of the present application;
图8为本申请一实施例提供的一种激光雷达的立体示意图；FIG. 8 is a schematic three-dimensional schematic diagram of a laser radar according to an embodiment of the present application;
图9为图8所示激光雷达的立体分解示意图。FIG. 9 is a schematic exploded perspective view of the lidar shown in FIG. 8 .
具体实施方式Detailed ways
为了便于理解本申请，下面结合附图和具体实施例，对本申请进行更详细的说明。需要说明的是，当元件被表述“固定于”另一个元件，它可以直接在另一个元件上、或者其间可以存在一个或多个居中的元件。当一个元件被表述“连接”另一个元件，它可以是直接连接到另一个元件、或者其间可以存在一个或多个居中的元件。本说明书所使用的术语“垂直的”、“水平的”、“左”、“右”、“上”、“下”、“内”、“外”、“底部”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本申请和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本申请的限制。此外，术语“第一”、“第二”等仅用于描述目的，而 不能理解为指示或暗示相对重要性。In order to facilitate the understanding of the present application, the present application will be described in more detail below with reference to the accompanying drawings and specific embodiments. It should be noted that when an element is referred to as being "fixed to" another element, it can be directly on the other element, or one or more intervening elements may be present therebetween. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or one or more intervening elements may be present therebetween. The terms "vertical", "horizontal", "left", "right", "upper", "lower", "inner", "outer", "bottom", etc. used in this specification indicate the orientation or positional relationship Based on the orientation or positional relationship shown in the drawings, it is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be It is construed as a limitation of this application. Furthermore, the terms "first," "second," etc. are used for descriptive purposes only and should not be construed to indicate or imply relative importance.
除非另有定义，本说明书所使用的所有的技术和科学术语与属于本申请的技术领域的技术人员通常理解的含义相同。在本申请的说明书中所使用的术语只是为了描述具体的实施例的目的，不是用于限制本申请。本说明书所使用的术语“和/或”包括一个或多个相关的所列项目的任意的和所有的组合。Unless otherwise defined, all technical and scientific terms used in this specification have the same meaning as commonly understood by one of ordinary skill in the technical field belonging to this application. The terms used in the specification of the present application are only for the purpose of describing specific embodiments, and are not used to limit the present application. As used in this specification, the term "and/or" includes any and all combinations of one or more of the associated listed items.
此外，下面所描述的本申请不同实施例中所涉及的技术特征只要彼此之间未构成冲突就可以相互结合。In addition, the technical features involved in the different embodiments of the present application described below can be combined with each other as long as there is no conflict with each other.
请参阅图2和图3，分别为本申请一实施例提供的一种测距装置100的立体示意图和截面示意图。如图所示，所述测距装置100主要可包括激光发射单元10、第一接收单元20、第二接收单元30、计算单元40和电路板50。所述激光发射单元10、所述第一接收单元20、所述第二接收单元30和所述计算单元40均连接在所述电路板50上，用于实现信号的传输、控制等。Please refer to FIG. 2 and FIG. 3 , which are a schematic perspective view and a schematic cross-sectional view of a distance measuring device 100 according to an embodiment of the present application, respectively. As shown in the figure, the distance measuring device 100 may mainly include a laser emitting unit 10 , a first receiving unit 20 , a second receiving unit 30 , a computing unit 40 and a circuit board 50 . The laser emitting unit 10 , the first receiving unit 20 , the second receiving unit 30 and the computing unit 40 are all connected to the circuit board 50 for realizing signal transmission, control, and the like.
其中，所述激光发射单元10用于发射脉冲激光至待被测距的目标物体。所述激光发射单元10可构造为激光二极管，其可发射测距所用的激光脉冲。所述激光发射单元10发射的脉冲激光可为高频率的脉冲激光，例如可以为1kHz以上的脉冲激光。例如激光二极管的激光发射单元10可通过焊接安装在所述电路板50上，或集成地设置在在所述电路板50上。所述激光发射单元10的光轴X3可设置成垂直于所述电路板50。所述电路板50上可安装用于控制所述激光发射单元10发射激光脉冲的控制器件，这种控制器件可整合在所述计算单元40内，使得所述计算单元40成为一种主控装置。可以理解的是，在其它实施方式中，还可以使用其它能够发射激光的装置作为激光发射单元10。Wherein, the laser emitting unit 10 is used for emitting pulsed laser light to the target object to be ranged. The laser emitting unit 10 can be designed as a laser diode, which can emit laser pulses for distance measurement. The pulsed laser emitted by the laser emitting unit 10 may be a high-frequency pulsed laser, for example, a pulsed laser of more than 1 kHz. The laser emitting unit 10 , such as a laser diode, can be mounted on the circuit board 50 by soldering, or can be integrated on the circuit board 50 . The optical axis X3 of the laser emitting unit 10 may be set perpendicular to the circuit board 50 . A control device for controlling the laser emitting unit 10 to emit laser pulses can be installed on the circuit board 50, and this control device can be integrated in the computing unit 40, so that the computing unit 40 becomes a master control device . It can be understood that, in other embodiments, other devices capable of emitting laser light can also be used as the laser emitting unit 10 .
所述第一接收单元20用于接收从所述目标物体反射的所述脉冲激光，并且生成相应的第一信号。所述第一接收单元20可通过焊接安装在所述电路板50上，或集成地设置在在所述电路板50上。所述第一接收单元20的光轴X2可设置成垂直于所述电路板50，所述第一接收单元20在感测到目标物体反射回的激光脉冲时，可生成相应的光电信号并通过电路板50上的线路传递至所述计算单元40。所述计算单元40可根据三角测距原理对光电信号进行分析计算以获知目标物体与测距装置100之间的距离。The first receiving unit 20 is configured to receive the pulsed laser light reflected from the target object and generate a corresponding first signal. The first receiving unit 20 may be mounted on the circuit board 50 by soldering, or integrated on the circuit board 50 . The optical axis X2 of the first receiving unit 20 can be set to be perpendicular to the circuit board 50. When the first receiving unit 20 senses the laser pulse reflected back by the target object, the corresponding photoelectric signal can be generated and passed through. The lines on the circuit board 50 are passed to the computing unit 40 . The calculation unit 40 can analyze and calculate the photoelectric signal according to the principle of triangulation to obtain the distance between the target object and the distance measuring device 100 .
在此指出，三角测距原理是：激光发射单元10发射激光，在照射到目标物体后，反射光由例如线性CCD(Charge Coupled Device，电荷耦合器件)的第 一接收单元20接收，由于激光发射单元10和第一接收单元20间隔了一段距离，所以依照光学路径，不同距离的目标物体将会成像在例如线性CCD的第一接收单元20上不同的位置；进而，按照三角公式进行计算，就能推导出被测目标物体与测距装置100之间的距离。It is pointed out here that the principle of triangular ranging is: the laser emitting unit 10 emits laser light, and after irradiating the target object, the reflected light is received by the first receiving unit 20 such as a linear CCD (Charge Coupled Device, charge coupled device). The unit 10 and the first receiving unit 20 are separated by a certain distance, so according to the optical path, the target objects at different distances will be imaged at different positions on the first receiving unit 20 of the linear CCD, for example; The distance between the measured target object and the distance measuring device 100 can be deduced.
所述第二接收单元30用于接收从所述目标物体反射的所述脉冲激光，并且生成相应的第二信号。其中，所述第二接收单元30可不同于所述第一接收单元20；例如，所述第二接收单元30包括单光子雪崩二极管(Single Photon Avalanche Diode，SPAD)；SPAD是一种独特设计的图像传感器，其中每个像素都有一个电子元件；当一个被称为光子的单个光子到达一个像素时，它就会被“多重叠加”，从而产生一个单一的大电脉冲；单光子产生多个电子的功能提供了很多优势，例如高精度的距离测量和在图像拍摄期间具有更高的灵敏度等。所述第二接收单元30可通过焊接安装在所述电路板50上，或集成地设置在在所述电路板50上。所述第二接收单元30的光轴X5可设置成垂直于所述电路板50。所述第二接收单元30在感测到目标物体反射回的激光脉冲时，可生成相应的光电信号并通过电路板50上的线路传递至所述计算单元40。所述计算单元40可根据飞行时间原理(英文全称为Time Of Flight，简称TOF)对光电信号进行分析计算以获知目标物体与测距装置100之间的距离。The second receiving unit 30 is configured to receive the pulsed laser light reflected from the target object and generate a corresponding second signal. Wherein, the second receiving unit 30 may be different from the first receiving unit 20; for example, the second receiving unit 30 includes a Single Photon Avalanche Diode (SPAD); SPAD is a uniquely designed Image sensors in which each pixel has an electronic component; when a single photon, called a photon, reaches a pixel, it is "multiplied" to produce a single large electrical pulse; a single photon produces multiple The functionality of electronics offers many advantages, such as highly accurate distance measurement and higher sensitivity during image capture. The second receiving unit 30 may be mounted on the circuit board 50 by welding, or integrally provided on the circuit board 50 . The optical axis X5 of the second receiving unit 30 may be set to be perpendicular to the circuit board 50 . When the second receiving unit 30 senses the laser pulses reflected by the target object, it can generate a corresponding photoelectric signal and transmit it to the computing unit 40 through the circuit on the circuit board 50 . The calculation unit 40 can analyze and calculate the photoelectric signal according to the principle of time of flight (English full name is Time Of Flight, TOF for short) to obtain the distance between the target object and the ranging device 100 .
在此指出，飞行时间原理是：激光发射单元10发射一个激光脉冲，并由计时器记录下出射的时间，在照射到目标物体后，反射光由第二接收单元30接收，并由计时器记录下接收的时间；两个时间相减即得到了光的“飞行时间”，而光速是一定的，因此在已知速度和时间后很容易就可以计算出目标物体与测距装置100之间的距离。It is pointed out here that the principle of time-of-flight is: the laser emitting unit 10 emits a laser pulse, and the timer records the outgoing time. After irradiating the target object, the reflected light is received by the second receiving unit 30 and recorded by the timer. the time of receiving; the "flight time" of light is obtained by subtracting the two times, and the speed of light is constant, so it is easy to calculate the distance between the target object and the ranging device 100 after the speed and time are known. distance.
如上所述，所述计算单元40用于接收所述第一信号和所述第二信号并分别根据三角测距原理和飞行时间原理进行距离计算和确定。As described above, the calculating unit 40 is configured to receive the first signal and the second signal, and perform distance calculation and determination according to the principle of triangulation ranging and the principle of time of flight, respectively.
例如，所述计算单元40可设置成进行如下运算操作。For example, the computing unit 40 may be configured to perform the following operations.
所述计算单元40可根据三角测距原理对所述第一信号进行分析以获知所述目标物体与测距装置100之间的第一距离，并且根据飞行时间原理对所述第二信号进行分析以获知所述目标物体与测距装置100之间的第二距离；并且，所述计算单元40可根据所述第一距离和所述第二距离以加权方式确定出所述目标物体与测距装置100之间的距离。The computing unit 40 can analyze the first signal according to the principle of triangulation to obtain the first distance between the target object and the distance measuring device 100, and analyze the second signal according to the principle of time of flight to know the second distance between the target object and the distance measuring device 100; and the calculation unit 40 can determine the target object and the distance measurement in a weighted manner according to the first distance and the second distance distance between devices 100 .
在一个示例中，当所述第一距离和第二距离均第一设定距离以上时，所述计算单元40可将所述目标物体与测距装置100之间的距离主要采用所述第二距离进行确定。例如，所述第一设定距离可设定为10米。当所述第一距离为11米，所述第二距离为12米时，所述计算单元40将所述目标物体与测距装置100之间的距离确定为12米。这是因为，当目标物体与测距装置100之间的距离较远时，根据飞行时间原理计算出的距离较为精确。当然，在加权方式的计算中，还可以考虑第一距离；并且可以根据实验确定出第一距离和第二距离在加权计算中的权重。In one example, when both the first distance and the second distance are greater than or equal to a first set distance, the calculation unit 40 may mainly use the second distance as the distance between the target object and the distance measuring device 100 distance is determined. For example, the first set distance may be set to 10 meters. When the first distance is 11 meters and the second distance is 12 meters, the computing unit 40 determines the distance between the target object and the ranging device 100 as 12 meters. This is because, when the distance between the target object and the distance measuring device 100 is relatively far, the distance calculated according to the principle of time of flight is more accurate. Of course, in the calculation of the weighted manner, the first distance may also be considered; and the weights of the first distance and the second distance in the weighted calculation may be determined according to experiments.
在一个示例中，当所述第一距离和第二距离均第二设定距离以下时，所述计算单元40可将所述目标物体与测距装置100之间的距离主要采用所述第一距离进行确定，其中所述第二设定距离小于所述第一设定距离。例如，所述第一设定距离可为5米。当所述第一距离为4米，所述第二距离为3米时，所述计算单元40将所述目标物体与测距装置100之间的距离确定为4米。这是因为，当目标物体与测距装置100之间的距离较近时，根据三角测距原理计算出的距离较为精确。当然，在加权方式的计算中，还可以考虑第二距离；并且可以根据实验确定出第一距离和第二距离在加权计算中的权重。In one example, when both the first distance and the second distance are less than a second set distance, the calculation unit 40 may mainly use the first distance as the distance between the target object and the distance measuring device 100 A distance is determined, wherein the second set distance is less than the first set distance. For example, the first set distance may be 5 meters. When the first distance is 4 meters and the second distance is 3 meters, the computing unit 40 determines the distance between the target object and the ranging device 100 as 4 meters. This is because, when the distance between the target object and the distance measuring device 100 is relatively short, the distance calculated according to the principle of triangulation is more accurate. Of course, in the calculation of the weighted manner, the second distance may also be considered; and the weights of the first distance and the second distance in the weighted calculation may be determined according to experiments.
在一个示例中，当所述第一距离和第二距离均大于所述第二设定距离且小于所述第一设定距离时，所述计算单元40可将所述目标物体与测距装置100之间的距离采用所述第一距离和第二距离进行加权平均，从而确定最终的结果。例如，当所述第一距离为8米，所述第二距离为9米时，所述计算单元40将所述目标物体与测距装置100之间的距离确定为9加8的平均数，即8.5米。这是因为，当目标物体与测距装置100之间的距离处于居中距离时，将根据三角测距原理和飞行时间原理计算出的两个距离进行加权平均，能够获得更加准确的距离。在加权方式的计算中，可以根据实验确定出第一距离和第二距离在加权计算中的权重。In one example, when both the first distance and the second distance are greater than the second set distance and less than the first set distance, the calculation unit 40 may associate the target object with the distance measuring device The distance between 100 is weighted and averaged using the first distance and the second distance, so as to determine the final result. For example, when the first distance is 8 meters and the second distance is 9 meters, the calculation unit 40 determines the distance between the target object and the distance measuring device 100 as the average of 9 plus 8, That is 8.5 meters. This is because, when the distance between the target object and the ranging device 100 is in the middle distance, the two distances calculated according to the triangulation ranging principle and the flight time principle are weighted and averaged to obtain a more accurate distance. In the weighted calculation, the weights of the first distance and the second distance in the weighted calculation can be determined according to experiments.
在一些实施例中，如图3所示，所述测距装置100还可包括第一镜片21，所述第一镜片21用于供被目标物体所反射的所述脉冲激光通过并投射至所述第一接收单元20。所述第一镜片21可安装在第一框架22上，所述第一框架22可固定在电路板50上，并且使得所述第一镜片21大致位于所述第一接收单元20的上方。由目标物体反射回的激光脉冲在被第一接收单元20感测之前可以通过 第一镜片21进行聚焦和准直。In some embodiments, as shown in FIG. 3 , the distance measuring device 100 may further include a first mirror 21, and the first mirror 21 is used for the pulsed laser reflected by the target object to pass through and project to the target object. The first receiving unit 20 is described. The first lens 21 can be mounted on the first frame 22 , the first frame 22 can be fixed on the circuit board 50 , and the first lens 21 is located substantially above the first receiving unit 20 . The laser pulses reflected back by the target object can be focused and collimated by the first mirror 21 before being sensed by the first receiving unit 20.
在一些实施例中，如图3所示，所述第一镜片21的光轴X1和所述第一接收单元20的光轴X2可平行且错位设置，也就是所述第一接收单元20相对于所述第一镜片21偏置设置。而且，所述第一接收单元20的光轴X2比所述第一镜片21的光轴X1更远离所述激光发射单元10的光轴X3。例如，所述第一镜片21的光轴X1可为其中心轴线，所述第一接收单元20的光轴X2可为经过所述第一接收单元20的中心点且与之垂直的轴线，所述激光发射单元10的光轴X3可为其中心轴线。例如，在图3所示的实施例中，所述第一接收单元20的光轴X2和所述第一镜片21的光轴X1均在所述激光发射单元10的光轴X3的左侧，并且所述第一接收单元20的光轴X2比所述第一镜片21的光轴X1更加向左偏移。另外，所述第一接收单元20和所述第一镜片21也可位于所述激光发射单元10的右侧；此时，所述第一接收单元20的光轴X2和所述第一镜片21的光轴X1均在所述激光发射单元10的光轴X3的右侧，并且所述第一接收单元20的光轴X2比所述第一镜片21的光轴X1更加向右偏移。结合图4所示，在近距离的测量范围内，由于激光发射单元10发射的激光L在照射到目标物体后，各种反射光L1、L2、L3等通过第一镜片21后大多投射在第一接收单元20的远离的激光发射单元10的方向，因此将所述第一接收单元20向远离所述激光发射单元10的一边偏置可以最大化利用第一接收单元20的传感器靶面。In some embodiments, as shown in FIG. 3 , the optical axis X1 of the first lens 21 and the optical axis X2 of the first receiving unit 20 may be arranged in parallel and offset, that is, the first receiving unit 20 is opposite to each other. The first lens 21 is offset. Moreover, the optical axis X2 of the first receiving unit 20 is farther from the optical axis X3 of the laser emitting unit 10 than the optical axis X1 of the first mirror 21 . For example, the optical axis X1 of the first lens 21 may be its central axis, and the optical axis X2 of the first receiving unit 20 may be an axis passing through the center point of the first receiving unit 20 and perpendicular to it, so The optical axis X3 of the laser emitting unit 10 may be its central axis. For example, in the embodiment shown in FIG. 3 , the optical axis X2 of the first receiving unit 20 and the optical axis X1 of the first lens 21 are both on the left side of the optical axis X3 of the laser emitting unit 10, And the optical axis X2 of the first receiving unit 20 is more leftward than the optical axis X1 of the first lens 21 . In addition, the first receiving unit 20 and the first lens 21 may also be located on the right side of the laser emitting unit 10; at this time, the optical axis X2 of the first receiving unit 20 and the first lens 21 The optical axis X1 of the laser emitting unit 10 is on the right side of the optical axis X3 of the laser emitting unit 10 , and the optical axis X2 of the first receiving unit 20 is further shifted to the right than the optical axis X1 of the first lens 21 . As shown in FIG. 4 , in the short-range measurement range, after the laser light L emitted by the laser emitting unit 10 is irradiated to the target object, most of the reflected lights L1 , L2 , L3 , etc. pass through the first mirror 21 and are projected on the first lens 21 . A direction of the receiving unit 20 away from the laser emitting unit 10 , so offsetting the first receiving unit 20 to the side away from the laser emitting unit 10 can maximize the utilization of the sensor target surface of the first receiving unit 20 .
在一些实施例中，如图3所示，所述测距装置100还可包括第二镜片31，所述第二镜片31用于供被目标物体所反射的所述脉冲激光通过并投射至所述第二接收单元30。所述第二镜片31可安装在第二框架32上，所述第二框架32可固定在电路板50上，并且使得所述第二镜片31位于所述第二接收单元30的上方。所述第二镜片31的光轴X6可设置成垂直于所述电路板50，并且与所述第二接收单元30的光轴X5重合。由目标物体反射回的激光脉冲在被第二接收单元30感测之前可以通过第二镜片31进行聚焦和准直。例如，所述第二镜片31的光轴X6可为其中心轴线，所述第二接收单元30的光轴X5可为经过所述第二接收单元30的中心点且与之垂直的轴线。In some embodiments, as shown in FIG. 3 , the distance measuring device 100 may further include a second mirror 31, and the second mirror 31 is used for the pulsed laser reflected by the target object to pass through and project to the target object. The second receiving unit 30 is described. The second lens 31 can be mounted on the second frame 32 , the second frame 32 can be fixed on the circuit board 50 , and the second lens 31 is positioned above the second receiving unit 30 . The optical axis X6 of the second lens 31 may be set perpendicular to the circuit board 50 and coincide with the optical axis X5 of the second receiving unit 30 . The laser pulses reflected back by the target object can be focused and collimated by the second mirror 31 before being sensed by the second receiving unit 30 . For example, the optical axis X6 of the second lens 31 may be its central axis, and the optical axis X5 of the second receiving unit 30 may be an axis passing through the center point of the second receiving unit 30 and perpendicular thereto.
在一些实施例中，如图3所示，所述测距装置100还可包括第三镜片11，所述第三镜片11用于供所发射的脉冲激光通过，进而投射至目标物体。所述第三镜片11可安装在第三框架12上，所述第三框架12可固定在电路板50上， 并且使得所述第三镜片11位于所述激光发射单元10的上方。所述第三镜片11的光轴X4可设置成垂直于所述电路板50，并且与所述激光发射单元10的光轴X3重合。所述激光发射单元10发射的激光脉冲可以通过第三镜片11向外传递，第三镜片11能够对经过其的激光脉冲起到聚焦和准直的作用。例如，所述第三镜片11的光轴X4可为其中心轴线。In some embodiments, as shown in FIG. 3 , the distance measuring device 100 may further include a third lens 11 , and the third lens 11 is used for the emitted pulsed laser to pass through and then project to the target object. The third mirror 11 can be mounted on the third frame 12 , the third frame 12 can be fixed on the circuit board 50 , and the third mirror 11 is positioned above the laser emitting unit 10 . The optical axis X4 of the third lens 11 can be set to be perpendicular to the circuit board 50 and coincide with the optical axis X3 of the laser emitting unit 10 . The laser pulses emitted by the laser emitting unit 10 can be transmitted to the outside through the third mirror 11, and the third mirror 11 can focus and collimate the laser pulses passing therethrough. For example, the optical axis X4 of the third lens 11 may be its central axis.
上述第一镜片21、第二镜片31和第三镜片11可为透镜，并且还可与更多的镜片进行组合。例如，所述第三镜片11还可与一个或多个镜片组合成镜片组，以对激光发射单元10发射的激光脉冲聚焦和准直后向外传递；所述第二镜片31还可与一个或多个镜片组合成镜片组，以对由目标物体反射回的激光脉冲在被第二接收单元30感测之前进行聚焦和准直。另外，在所述第一镜片21的光轴X1和所述第一接收单元20的光轴X2错位设置的实施例中，可在所述第一接收单元20上方设置唯一的第一镜片21；所述第一镜片21的焦距可小于或等于16毫米，例如可为16毫米、14毫米、12毫米、10毫米、9毫米、8毫米、7.5毫米、7毫米、6毫米或5毫米等。The above-mentioned first mirror 21 , second mirror 31 and third mirror 11 can be lenses, and can also be combined with more mirrors. For example, the third mirror 11 can also be combined with one or more mirrors to form a mirror group, so as to focus and collimate the laser pulses emitted by the laser emitting unit 10 and then transmit them to the outside; the second mirror 31 can also be combined with a mirror Or a plurality of mirrors are combined into a mirror group to focus and collimate the laser pulses reflected back by the target object before being sensed by the second receiving unit 30 . In addition, in the embodiment in which the optical axis X1 of the first lens 21 and the optical axis X2 of the first receiving unit 20 are dislocated, a single first lens 21 may be disposed above the first receiving unit 20; The focal length of the first lens 21 may be less than or equal to 16 mm, such as 16 mm, 14 mm, 12 mm, 10 mm, 9 mm, 8 mm, 7.5 mm, 7 mm, 6 mm or 5 mm.
另外，上述第一框架22、第二框架32和第三框架12可为彼此独立的部件。或者，如图2和图3所示，所述第二框架32和第三框架12可为一体成型的构件，并且形成***述第一框架22的空间；从而，所述第一框架22可安装在这种一体成型的构件上，再将此一体成型的构件安装在电路板50上。In addition, the above-mentioned first frame 22 , second frame 32 and third frame 12 may be components independent of each other. Alternatively, as shown in FIGS. 2 and 3 , the second frame 32 and the third frame 12 may be integrally formed members and form a space for accommodating the first frame 22 ; thus, the first frame 22 may Mounted on this integrally formed member, the integrally formed member is then mounted on the circuit board 50 .
在一些实施例中，如图3所示，所述第一接收单元20可包括CMOS(互补金属氧化物半导体器件)光学传感器或CCD光学传感器；另外，所述第二接收单元可包括雪崩光电二极管(Avalanche Photo Diode，APD)或快速光电二极管(Fast Photo Diode)。在本申请的测距装置100中，反射的光信号经过第一镜片21进行聚焦，随后投影到位于第一镜片21后方焦距距离上的例如CMOS或CCD光学传感器的第一接收单元20所在表面上，第一接收单元20表面一般与第一镜片21光轴保持垂直；反射的光信号会在第一接收单元20表面产生一个投影点；通过第一接收单元20进行光电信号转换，可以得到该投影点位于第一接收单元20成像表面的位置坐标。所述CMOS或CCD光学传感器能够通过光电器件的光电转换功能，将感光面上的光像转换为与光像成相应比例关系的电信号。所述第一接收单元20可以通过熔接、焊接等导电连接方式设置在所述电路板50上，当然，第一接收单元还可以以任何类型的导电连接与所述电路板50进行连 接，例如，导电粘合剂、导电橡胶、弹簧触点、柔性印刷电路板、接合线或***式连接(THT)等、或其组合。In some embodiments, as shown in FIG. 3 , the first receiving unit 20 may include a CMOS (Complementary Metal Oxide Semiconductor Device) optical sensor or a CCD optical sensor; in addition, the second receiving unit may include an avalanche photodiode (Avalanche Photo Diode, APD) or fast photodiode (Fast Photo Diode). In the distance measuring device 100 of the present application, the reflected light signal is focused by the first mirror 21 and then projected onto the surface of the first receiving unit 20 such as a CMOS or CCD optical sensor located at the rear focal distance of the first mirror 21. , the surface of the first receiving unit 20 is generally perpendicular to the optical axis of the first lens 21; the reflected light signal will generate a projection point on the surface of the first receiving unit 20; the first receiving unit 20 converts the photoelectric signal to obtain the projection The point is located at the position coordinates of the imaging surface of the first receiving unit 20 . The CMOS or CCD optical sensor can convert the light image on the photosensitive surface into an electrical signal that is proportional to the light image through the photoelectric conversion function of the photoelectric device. The first receiving unit 20 may be disposed on the circuit board 50 by means of conductive connection such as welding, welding, etc. Of course, the first receiving unit may also be connected to the circuit board 50 by any type of conductive connection, for example, Conductive adhesive, conductive rubber, spring contacts, flexible printed circuit boards, bond wires or plug-in connections (THT), etc., or combinations thereof.
在一些实施例中，如图2和图3所示，所述第一接收单元20和所述第二接收单元30可设置在所述激光发射单元10的两侧；相应地，上述第一框架22和第二框架32也设置在第三框架12的两侧。在其它实施例中，所述第一接收单元20和所述第二接收单元30与所述激光发射单元10的设置位置可进行变动；例如，所述第一接收单元20和所述第二接收单元30可设置在所述激光发射单元10的同一侧。In some embodiments, as shown in FIG. 2 and FIG. 3 , the first receiving unit 20 and the second receiving unit 30 may be disposed on both sides of the laser emitting unit 10 ; correspondingly, the above-mentioned first frame 22 and the second frame 32 are also provided on both sides of the third frame 12 . In other embodiments, the arrangement positions of the first receiving unit 20 and the second receiving unit 30 and the laser emitting unit 10 can be changed; for example, the first receiving unit 20 and the second receiving unit 20 The unit 30 may be arranged on the same side of the laser emitting unit 10 .
在一些实施例中，如图2和图3所示，所述电路板50可为印刷电路板，其可包括基板，基板可以为以下材料制备而成：Cu合金，诸如黄铜和青铜；不锈钢，具体为低合金不锈钢；镁合金；铝；铝合金，具体为锻造(wrought)铝合金，诸如例如EN AW-6061，等等。此外，电路板50的基板还可以利用玻璃、玻璃陶瓷或陶瓷等材料制备而成。当电路板50的基板由金属材料制成时，能够很好地耗散热量，抵消热张力。In some embodiments, as shown in FIGS. 2 and 3 , the circuit board 50 may be a printed circuit board, which may include a substrate, which may be fabricated from the following materials: Cu alloys such as brass and bronze; stainless steel , in particular low alloy stainless steel; magnesium alloys; aluminium; aluminium alloys, in particular wrought aluminium alloys, such as for example EN AW-6061, and the like. In addition, the substrate of the circuit board 50 can also be made of materials such as glass, glass ceramics or ceramics. When the substrate of the circuit board 50 is made of a metal material, the heat can be dissipated well and the thermal tension can be offset.
请参阅图5，为本申请另一实施例提供的一种测距装置100的截面示意图。本实施例中的测距装置100可与图2至图4所示的测距装置100大致相同，其区别在于图5中第一镜片21的光轴X1方向有所变化。具体而言，所述第一镜片21设置成相对于电路板50倾斜，使得所述第一镜片21的光轴X1与第一接收单元20的光轴X2和激光发射单元10的光轴X3均相交，并且所述第一镜片21的光轴X1经过所述第一接收单元20的接收面。例如，所述第一镜片21的光轴X1可与第一接收单元20的光轴X2在所述第一接收单元20的接收面上相交；所述第一镜片21的光轴X1与第一接收单元20的光轴X2和激光发射单元10的光轴X3相交的角度例如可在3度至30度的范围内，例如可为3度、5度、8度、10度、15度、20度、25度、30度等。这种设置方式同样可以最大化利用第一接收单元20的传感器靶面。Please refer to FIG. 5 , which is a schematic cross-sectional view of a distance measuring device 100 according to another embodiment of the present application. The distance measuring device 100 in this embodiment can be substantially the same as the distance measuring device 100 shown in FIGS. 2 to 4 , the difference is that the direction of the optical axis X1 of the first lens 21 in FIG. 5 is changed. Specifically, the first lens 21 is arranged to be inclined relative to the circuit board 50 , so that the optical axis X1 of the first lens 21 is the same as the optical axis X2 of the first receiving unit 20 and the optical axis X3 of the laser emitting unit 10 intersect, and the optical axis X1 of the first lens 21 passes through the receiving surface of the first receiving unit 20 . For example, the optical axis X1 of the first lens 21 and the optical axis X2 of the first receiving unit 20 may intersect on the receiving surface of the first receiving unit 20; the optical axis X1 of the first lens 21 and the first The angle at which the optical axis X2 of the receiving unit 20 and the optical axis X3 of the laser emitting unit 10 intersect can be, for example, in the range of 3 degrees to 30 degrees, such as 3 degrees, 5 degrees, 8 degrees, 10 degrees, 15 degrees, 20 degrees degrees, 25 degrees, 30 degrees, etc. This arrangement can also maximize the utilization of the sensor target surface of the first receiving unit 20 .
请参阅图6，为本申请又一实施例提供的一种测距装置100的截面示意图。本实施例中的测距装置100可与图2至图4所示的测距装置100大致相同，其区别在于图5中第一镜片21的光轴X1方向和第一接收单元20的光轴X2方向均有所变化。具体而言，所述第一镜片21和和第一接收单元20均设置成相对于电路板50倾斜，使得所述第一镜片21的光轴X1与所述激光发射单元10的 光轴X3相交，并且所述第一镜片21的光轴X1经过且垂直于所述第一接收单元20的接收面。例如，所述第一镜片21的光轴X1可与第一接收单元20的光轴X2重合；所述第一镜片21的光轴X1与激光发射单元10的光轴X3相交的角度例如可在3度至30度的范围内，例如可为3度、5度、8度、10度、15度、20度、25度、30度等。这种设置方式同样可以最大化利用第一接收单元20的传感器靶面。Please refer to FIG. 6 , which is a schematic cross-sectional view of a distance measuring device 100 according to another embodiment of the present application. The distance measuring device 100 in this embodiment may be substantially the same as the distance measuring device 100 shown in FIGS. 2 to 4 , and the difference lies in the direction of the optical axis X1 of the first lens 21 and the optical axis of the first receiving unit 20 in FIG. 5 . The X2 direction is changed. Specifically, the first mirror 21 and the first receiving unit 20 are both arranged to be inclined relative to the circuit board 50 , so that the optical axis X1 of the first mirror 21 intersects the optical axis X3 of the laser emitting unit 10 , and the optical axis X1 of the first lens 21 passes through and is perpendicular to the receiving surface of the first receiving unit 20 . For example, the optical axis X1 of the first lens 21 may coincide with the optical axis X2 of the first receiving unit 20; the angle at which the optical axis X1 of the first lens 21 and the optical axis X3 of the laser emitting unit 10 intersect may be, for example, at Within the range of 3 degrees to 30 degrees, for example, it can be 3 degrees, 5 degrees, 8 degrees, 10 degrees, 15 degrees, 20 degrees, 25 degrees, 30 degrees, and the like. This arrangement can also maximize the utilization of the sensor target surface of the first receiving unit 20 .
请参阅图7，为本申请再一实施例提供的一种测距装置100的截面示意图。本实施例中的测距装置100可与图2至图4所示的测距装置100大致相同，其区别可在于图7中第一框架22、第二框架32和第三框架12有所变化。具体而言，在图7所示的实施例中，所述第三框架12可作为主体框架安装在电路板50上，所述第一框架22和第二框架32则分别安装在所述第三框架12上。例如，所述第一框架22可设有外螺纹，从而能够旋转安装在所述第三框架12的螺纹孔内；所述第二框架32可具有***部或接合部，从而能够***第三框架12的插孔内或者与第三框架12的对应接合部连接。上述方式可方便第一镜片21和第二镜片31的调节；也就是说，通过将安装第一镜片21和第二镜片31的第一框架22和第二框架32和作为主体框架的第三框架12进行分离，能够在安装期间调节第一镜片21和第一接收单元20的相对位置以及调节第二镜片31和第二接收单元30的相对位置，调好后再通过例如胶水的粘结剂固定。Please refer to FIG. 7 , which is a schematic cross-sectional view of a distance measuring device 100 according to yet another embodiment of the present application. The distance measuring device 100 in this embodiment may be substantially the same as the distance measuring device 100 shown in FIGS. 2 to 4 , and the difference may be that the first frame 22 , the second frame 32 and the third frame 12 in FIG. 7 are changed . Specifically, in the embodiment shown in FIG. 7 , the third frame 12 can be installed on the circuit board 50 as a main frame, and the first frame 22 and the second frame 32 are respectively installed on the third frame on frame 12. For example, the first frame 22 may be provided with an external thread so as to be rotatably mounted in a threaded hole of the third frame 12; the second frame 32 may have an insertion portion or an engaging portion so as to be able to be inserted into the third frame 12 or connected with the corresponding engaging portion of the third frame 12 . The above manner can facilitate the adjustment of the first lens 21 and the second lens 31; that is, by installing the first and second frames 22 and 32 of the first and second lenses 21 and 31 and the third frame as the main frame 12 for separation, the relative position of the first lens 21 and the first receiving unit 20 and the relative position of the second lens 31 and the second receiving unit 30 can be adjusted during installation, and then fixed by an adhesive such as glue .
[根据细则91更正 02.07.2021]　
基于此，在本申请实施例提供的测距装置100中，由于TOF测距方式有远距离精度高、近距离精度低的特点，而三角测距方式则近距离精度高、远距离精度差，因此通过结合TOF测距和三角测距的优势，使得本申请的测距装置100适用于远近距离的测量，并且测量的精度较高。另外，本申请实施例提供的测距装置100在兼顾远近距离测量的同时，还可以使结构更加紧凑。[Correction 02.07.2021 under Rule 91]
Based on this, in the ranging device 100 provided by the embodiment of the present application, since the TOF ranging method has the characteristics of high long-distance accuracy and low short-distance accuracy, while the triangular ranging method has high short-distance accuracy and poor long-distance accuracy, Therefore, by combining the advantages of TOF ranging and triangulation ranging, the ranging device 100 of the present application is suitable for the measurement of far and short distances, and the measurement accuracy is high. In addition, the distance measuring device 100 provided by the embodiment of the present application can make the structure more compact while taking into account the distance measurement.
请参阅图8和图9，分别为本申请实施例提供的一种激光雷达200的立体示意图和立体分解示意图。如图8和图9所示，所述激光雷达200主要可包括任一以上所述的测距装置100，以及旋转云台60。Please refer to FIG. 8 and FIG. 9 , which are a three-dimensional schematic diagram and a three-dimensional exploded schematic diagram, respectively, of a lidar 200 according to an embodiment of the present application. As shown in FIG. 8 and FIG. 9 , the lidar 200 may mainly include any one of the above-mentioned ranging devices 100 and a rotating pan/tilt 60 .
所述旋转云台60可包括基座61、旋转座62、传动机构63和驱动装置64，所述旋转座62可转动地安装于所述基座61，所述驱动装置64安装于所述基座61，所述传动机构63连接所述旋转座62和驱动装置64，所述测距装置100设 置于所述旋转座62。The rotating head 60 may include a base 61, a rotating base 62, a transmission mechanism 63 and a driving device 64, the rotating base 62 is rotatably mounted on the base 61, and the driving device 64 is mounted on the base. The base 61 , the transmission mechanism 63 is connected to the rotating base 62 and the driving device 64 , and the distance measuring device 100 is arranged on the rotating base 62 .
其中，所述测距装置100的激光发射单元10用于发射激光的光信号，第一接收单元20和第二接收单元30用于接收待测目标反射的光信号，并将光信号经电路板50输入计算单元40，计算单元40用于分析处理输入的光信号，传动机构63用于在驱动装置66和旋转座62之间传递动力，驱动装置66用于输出动力以使得旋转座62绕旋转轴线旋转。从而，通过设置旋转云台60，可实现激光雷达200的360°扫描工作。Wherein, the laser transmitting unit 10 of the distance measuring device 100 is used for transmitting the optical signal of the laser, the first receiving unit 20 and the second receiving unit 30 are used for receiving the optical signal reflected by the target to be measured, and transmit the optical signal through the circuit board 50 is input to the calculation unit 40, the calculation unit 40 is used for analyzing and processing the input optical signal, the transmission mechanism 63 is used for transmitting power between the driving device 66 and the rotating base 62, and the driving device 66 is used for outputting power to make the rotating base 62 rotate around axis rotation. Therefore, by setting the rotating pan/tilt 60, the 360° scanning operation of the lidar 200 can be realized.
进一步地，旋转云台60还包括挡板65。基座61设置有收容槽，旋转座62可转动地安装于基座61并盖设于收容槽的一部分，旋转座62可相对基座61绕转轴线转动，旋转座42的安装部可通过轴承6201可转动地安装于基座41；挡板65安装于基座61并盖设于收容槽的另一部分，也即，旋转座62和挡板65共同盖设于收容槽的槽口，以防止外部杂物从收容槽的槽口进入收容槽。驱动装置66安装于基座61背向收容槽的一面，传动机构63连接旋转座62和驱动装置66，并且传动机构63收容于收容槽。通过以上设置，可防止外部杂物进入收容槽影响传动机构63工作，从而避免出现外部杂物导致激光雷达200无法正常工作的现象。Further, the rotating head 60 also includes a baffle 65 . The base 61 is provided with a receiving groove, the rotating base 62 is rotatably mounted on the base 61 and covers a part of the receiving groove, the rotating base 62 can rotate relative to the base 61 around the axis of rotation, and the mounting part of the rotating base 42 can pass through the bearing 6201 is rotatably installed on the base 41; the baffle 65 is installed on the base 61 and covers another part of the receiving groove, that is, the rotating base 62 and the baffle 65 are jointly covered on the notch of the receiving groove to prevent External debris enters the receiving groove from the notch of the receiving groove. The driving device 66 is installed on the side of the base 61 facing away from the receiving groove. The transmission mechanism 63 connects the rotating base 62 and the driving device 66 , and the transmission mechanism 63 is received in the receiving groove. Through the above arrangement, it is possible to prevent external sundries from entering the receiving slot and affect the operation of the transmission mechanism 63, thereby avoiding the phenomenon that the laser radar 200 cannot work normally due to external sundries.
在一些实施例中，如图8和图9所示，旋转云台60还包括罩体66，罩体66罩设于旋转座62并与旋转座62固定连接，测距装置100收容于罩体66的内部。罩体66可设置有第一通孔661、第二通孔662和第三通孔663，第一通孔661和第二通孔662可分别对应第一接收单元20和第二接收单元30，第三通孔663可对应激光发射单元10，第三通孔663用于允许激光发射单元10发射出的光信号射出罩体66的内部，第一通孔661用于允许待测目标反射回来的光信号进入罩体66的内部并由第一接收单元20接收，第二通孔662用于允许待测目标反射回来的光信号进入罩体66的内部并由第二接收单元30接收。或者，所述罩体66可为封闭结构，也就是不设置上述第一通孔661、第二通孔662和第三通孔663，而是采用可以透过激光的实体结构；这样，可以防止污染物进入罩体66内。In some embodiments, as shown in FIG. 8 and FIG. 9 , the rotating pan/tilt head 60 further includes a cover body 66 , the cover body 66 is covered on the rotating base 62 and is fixedly connected with the rotating base 62 , and the distance measuring device 100 is accommodated in the cover body 66's interior. The cover body 66 may be provided with a first through hole 661, a second through hole 662 and a third through hole 663, and the first through hole 661 and the second through hole 662 may correspond to the first receiving unit 20 and the second receiving unit 30, respectively, The third through hole 663 can correspond to the laser emitting unit 10 . The third through hole 663 is used to allow the light signal emitted by the laser emitting unit 10 to exit the interior of the cover 66 , and the first through hole 661 is used to allow the object to be measured to reflect back. The optical signal enters the inside of the cover body 66 and is received by the first receiving unit 20 , and the second through hole 662 is used to allow the light signal reflected by the object to be measured to enter the inside of the cover body 66 and be received by the second receiving unit 30 . Alternatively, the cover body 66 can be a closed structure, that is, the first through hole 661, the second through hole 662 and the third through hole 663 are not provided, but a solid structure that can transmit laser light is used; in this way, it can prevent Contaminants enter the enclosure 66 .
在一些实施例中，所述激光雷达200还可包括控制板，所述控制板与激光发射单元10、电路板50以及驱动装置64电连接，所述控制板可用于驱动激光发射单元10发射激光信号，及通过电路板50进行信号传输，以及通过驱动装 置64控制旋转座62旋转。或者，所述控制板可与电路板50整合为一个单独的电路板。In some embodiments, the lidar 200 may further include a control board, the control board is electrically connected to the laser emitting unit 10 , the circuit board 50 and the driving device 64 , and the control board may be used to drive the laser emitting unit 10 to emit laser light signal, and the signal transmission through the circuit board 50 , and the rotation of the rotating base 62 is controlled by the driving device 64 . Alternatively, the control board may be integrated with the circuit board 50 into a single circuit board.
本申请实施例还提供一种移动机器人，该移动机器人包括上述任一实施例提供的激光雷达200。Embodiments of the present application further provide a mobile robot, where the mobile robot includes the lidar 200 provided in any of the foregoing embodiments.
需要说明的是，本申请的说明书及其附图中给出了本申请的较佳的实施方式，但是，本申请可以通过许多不同的形式来实现，并不限于本说明书所描述的实施方式，这些实施方式不作为对本申请内容的额外限制，提供这些实施方式的目的是使对本申请的公开内容的理解更加透彻全面。并且，上述各技术特征继续相互组合，形成未在上面列举的各种实施方式，均视为本申请说明书记载的范围；进一步地，对本领域普通技术人员来说，可以根据上述说明加以改进或变换，而所有这些改进和变换都应属于本申请所附权利要求的保护范围。It should be noted that the description of the present application and the accompanying drawings provide preferred embodiments of the present application, however, the present application can be implemented in many different forms, and is not limited to the embodiments described in the present specification. These embodiments are not intended as additional limitations on the content of the present application, and are provided for the purpose of making the understanding of the disclosure of the present application more thorough and complete. In addition, the above technical features continue to be combined with each other to form various embodiments not listed above, which are all regarded as the scope of the description of the present application; further, for those of ordinary skill in the art, they can be improved or transformed according to the above descriptions , and all these improvements and transformations should belong to the protection scope of the appended claims of this application.

Claims (16)

  1. 一种测距装置(100)，其特征在于，包括：A distance measuring device (100), characterized in that it comprises:
    激光发射单元(10)，所述激光发射单元(10)用于发射脉冲激光至待被测距的目标物体；a laser emitting unit (10), the laser emitting unit (10) is used for emitting pulsed laser light to the target object to be ranged;
    第一接收单元(20)，所述第一接收单元(20)用于接收从所述目标物体反射的所述脉冲激光，并且生成相应的第一信号；a first receiving unit (20), the first receiving unit (20) is configured to receive the pulsed laser light reflected from the target object, and generate a corresponding first signal;
    第二接收单元(30)，所述第二接收单元(30)用于接收从所述目标物体反射的所述脉冲激光，并且生成相应的第二信号；a second receiving unit (30), the second receiving unit (30) is configured to receive the pulsed laser light reflected from the target object, and generate a corresponding second signal;
    计算单元(40)，所述计算单元(40)用于接收所述第一信号和所述第二信号并分别根据三角测距原理和飞行时间原理进行距离计算和确定；和a calculation unit (40) for receiving the first signal and the second signal and performing distance calculation and determination according to the triangulation ranging principle and the time-of-flight principle, respectively; and
    电路板(50)；所述第一接收单元(20)、所述第二接收单元(30)、所述激光发射单元(10)和所述计算单元(40)均连接在所述电路板(50)上。A circuit board (50); the first receiving unit (20), the second receiving unit (30), the laser emitting unit (10) and the computing unit (40) are all connected to the circuit board ( 50) on.
  2. 根据权利要求1所述的测距装置(100)，其特征在于：The distance measuring device (100) according to claim 1, characterized in that:
    所述激光发射单元(10)的光轴(X3)和所述第二接收单元(30)的光轴(X5)均垂直于所述电路板(50)。The optical axis (X3) of the laser emitting unit (10) and the optical axis (X5) of the second receiving unit (30) are both perpendicular to the circuit board (50).
  3. 根据权利要求1或2所述的测距装置(100)，其特征在于：The distance measuring device (100) according to claim 1 or 2, characterized in that:
    所述测距装置(100)还包括第一镜片(21)，所述第一镜片(21)用于供所反射的所述脉冲激光通过并投射至所述第一接收单元(20)。The distance measuring device (100) further includes a first mirror (21), and the first mirror (21) is used for the reflected pulsed laser light to pass through and project to the first receiving unit (20).
  4. 根据权利要求3所述的测距装置(100)，其特征在于：The distance measuring device (100) according to claim 3, characterized in that:
    所述第一接收单元(20)的光轴(X2)垂直于所述电路板(50)，所述第一镜片(21)的光轴(X1)和所述第一接收单元(20)的光轴(X2)平行且错位设置，并且所述第一接收单元(20)的光轴(X2)比所述第一镜片(21)的光轴(X1)更远离所述激光发射单元(10)的光轴(X3)。The optical axis (X2) of the first receiving unit (20) is perpendicular to the circuit board (50), the optical axis (X1) of the first lens (21) and the optical axis (X1) of the first receiving unit (20) The optical axis (X2) is parallel and dislocated, and the optical axis (X2) of the first receiving unit (20) is further away from the laser emitting unit (10) than the optical axis (X1) of the first mirror (21) ) of the optical axis (X3).
  5. 根据权利要求3所述的测距装置(100)，其特征在于：The distance measuring device (100) according to claim 3, characterized in that:
    所述第一接收单元(20)的光轴(X2)垂直于所述电路板(50)，所述第一镜片(21)的光轴(X1)与所述第一接收单元(20)的光轴(X2)和所述激光发射单元(10)的光轴(X3)均相交，并且The optical axis (X2) of the first receiving unit (20) is perpendicular to the circuit board (50), and the optical axis (X1) of the first lens (21) is the same as the optical axis (X1) of the first receiving unit (20). Both the optical axis (X2) and the optical axis (X3) of the laser emitting unit (10) intersect, and
    所述第一镜片(21)的光轴(X1)经过所述第一接收单元(20)的接收面。The optical axis (X1) of the first lens (21) passes through the receiving surface of the first receiving unit (20).
  6. 根据权利要求3所述的测距装置(100)，其特征在于：The distance measuring device (100) according to claim 3, characterized in that:
    所述第一镜片(21)的光轴(X1)与所述激光发射单元(10)的光轴(X3)相交，并且The optical axis (X1) of the first lens (21) intersects with the optical axis (X3) of the laser emitting unit (10), and
    所述第一镜片(21)的光轴(X1)经过且垂直于所述第一接收单元(20)的接收面。The optical axis (X1) of the first lens (21) passes through and is perpendicular to the receiving surface of the first receiving unit (20).
  7. 根据权利要求3所述的测距装置(100)，其特征在于：The distance measuring device (100) according to claim 3, characterized in that:
    所述第一镜片(21)的焦距小于或等于16毫米。The focal length of the first lens (21) is less than or equal to 16 mm.
  8. 根据权利要求1所述的测距装置(100)，其特征在于：The distance measuring device (100) according to claim 1, characterized in that:
    所述测距装置(100)还包括第二镜片(31)，所述第二镜片(31)用于供所反射的所述脉冲激光通过并投射至所述第二接收单元(30)。The distance measuring device (100) further comprises a second mirror (31), and the second mirror (31) is used for allowing the reflected pulsed laser light to pass through and project to the second receiving unit (30).
  9. 根据权利要求1所述的测距装置(100)，其特征在于：The distance measuring device (100) according to claim 1, characterized in that:
    所述测距装置(100)还包括第三镜片(11)，所述第三镜片(11)用于供所发射的脉冲激光通过。The distance measuring device (100) further comprises a third mirror (11), the third mirror (11) is used for passing the emitted pulsed laser light.
  10. 根据权利要求9所述的测距装置(100)，其特征在于：The distance measuring device (100) according to claim 9, characterized in that:
    所述第三镜片(11)安装在第三框架(12)上，所述第三框架(12)固定在所述电路板(50)上。The third lens (11) is mounted on a third frame (12), and the third frame (12) is fixed on the circuit board (50).
  11. 根据权利要求10所述的测距装置(100)，其特征在于：The distance measuring device (100) according to claim 10, characterized in that:
    所述测距装置(100)还包括第一镜片(21)，所述第一镜片(21)用于供所反射的所述脉冲激光通过并投射至所述第一接收单元(20)，所述第一镜片(21)安装在第一框架(22)上，所述第一框架(22)安装在所述第三框架(12)上；和/或The distance measuring device (100) further comprises a first mirror (21), the first mirror (21) is used for the reflected pulsed laser light to pass through and project to the first receiving unit (20), so The first lens (21) is mounted on the first frame (22), and the first frame (22) is mounted on the third frame (12); and/or
    所述测距装置(100)还包括第二镜片(31)，所述第二镜片(31)用于供所反射的所述脉冲激光通过并投射至所述第二接收单元(30)，所述第二镜片(31)安装在第二框架(32)上，所述第二框架(32)安装在所述第三框架(12)上。The distance measuring device (100) further comprises a second mirror (31), the second mirror (31) is used for the reflected pulsed laser light to pass through and project to the second receiving unit (30), so The second lens (31) is mounted on the second frame (32), and the second frame (32) is mounted on the third frame (12).
  12. 根据权利要求1所述的测距装置(100)，其特征在于：The distance measuring device (100) according to claim 1, characterized in that:
    所述第一接收单元(20)包括CMOS或CCD光学传感器；和/或The first receiving unit (20) includes a CMOS or CCD optical sensor; and/or
    所述第二接收单元(30)包括单光子雪崩二极管或雪崩光电二极管或快速光电二极管。The second receiving unit (30) includes a single-photon avalanche diode or an avalanche photodiode or a fast photodiode.
  13. 根据权利要求1所述的测距装置(100)，其特征在于：The distance measuring device (100) according to claim 1, characterized in that:
    所述第一接收单元(20)和所述第二接收单元(30)设置在所述激光发射 单元(10)的两侧；或者The first receiving unit (20) and the second receiving unit (30) are arranged on both sides of the laser emitting unit (10); or
    所述第一接收单元(20)和所述第二接收单元(30)设置在所述激光发射单元(10)的同一侧。The first receiving unit (20) and the second receiving unit (30) are arranged on the same side of the laser emitting unit (10).
  14. 根据权利要求1-2和8-13中任一项所述的测距装置(100)，其特征在于，所述计算单元(40)设置成：The distance measuring device (100) according to any one of claims 1-2 and 8-13, characterized in that, the computing unit (40) is configured to:
    根据三角测距原理对所述第一信号进行分析以获知所述目标物体与测距装置(100)之间的第一距离，并且根据飞行时间原理对所述第二信号进行分析以获知所述目标物体与测距装置(100)之间的第二距离；并且The first signal is analyzed according to the principle of triangulation to obtain the first distance between the target object and the distance measuring device (100), and the second signal is analyzed according to the principle of time of flight to obtain the a second distance between the target object and the ranging device (100); and
    根据所述第一距离和所述第二距离以加权方式确定出所述目标物体与测距装置(100)之间的距离。The distance between the target object and the distance measuring device (100) is determined in a weighted manner according to the first distance and the second distance.
  15. 一种激光雷达(200)，其特征在于，包括：A lidar (200), characterized by comprising:
    根据权利要求1-14中任一项所述的测距装置(100)；以及The ranging device (100) according to any of claims 1-14; and
    旋转云台(60)，所述旋转云台(60)包括基座(61)、旋转座(62)、传动机构(63)和驱动装置(64)，所述旋转座(62)可转动地安装于所述基座(61)，所述驱动装置(64)安装于所述基座(61)，所述传动机构(63)连接所述旋转座(62)和驱动装置(64)，所述光学测量模块(100)设置于所述旋转座(62)。A rotating head (60), the rotating head (60) comprises a base (61), a rotating base (62), a transmission mechanism (63) and a driving device (64), the rotating base (62) is rotatable is installed on the base (61), the driving device (64) is installed on the base (61), and the transmission mechanism (63) is connected with the rotating base (62) and the driving device (64), so The optical measurement module (100) is arranged on the rotating seat (62).
  16. 一种移动机器人，其特征在于，包括根据权利要求15所述的激光雷达(200)。A mobile robot, characterized by comprising the lidar (200) according to claim 15.
PCT/CN2021/079765 2021-02-22 2021-03-09 Ranging device, lidar, and mobile robot WO2022174479A1 (en)

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