Pulse distance measuring device and method and automatic cleaning equipment with pulse distance measuring device

Abstract

The embodiment of the invention provides a pulse distance measuring device and method and automatic cleaning equipment with the device. The device comprises a transmitting unit, a receiving unit usedfor receiving an optical pulse signal returned by an obstacle; a threshold comparator which is used for comparing the electric signal with a preset threshold; a delay unit which is used for delaying the pulse trigger signal for a preset time length; a timing unit which is used for calculating the flight time of the optical pulse signal, wherein the flight time of the optical pulse signal is determined according to the time point when the transmitting unit transmits the optical pulse signal, the time point when the delay trigger signal is generated and the delay of the preset duration. The device also comprises a distance calculation unit which is used for calculating the distance between the pulse distance measurement device and the obstacle according to the flight time of the optical pulse signal. Certain time delay is performed on the pulse signal so as to prevent overlapping between the emitted optical pulse signal and the received optical pulse signal, and generation of a measurement blind area can be avoided.

Description

technical field [0001] The present disclosure relates to the measurement field, and in particular, relates to a pulse ranging device and method, and an automatic cleaning device with the device. Background technique [0002] The cleaning robot can automatically travel in a certain area and perform cleaning operations without human control. The cleaning robot is usually equipped with a laser ranging sensor (English full name Laser Distance Sensor, referred to as LDS), through the LDS to measure the distance between the cleaning robot and various obstacles in the area, draw a map of the area, and position itself in the area. position on the map and avoid obstacles as you go. [0003] At present, the laser ranging sensor mainly adopts the laser pulse time-of-flight (English full name Time of Flight, TOF for short) ranging method. Compared with other technical solutions, the TOF ranging method has the advantages of low cost, large measuring range, and high long-distance accura...

AI Technical Summary

Problems solved by technology

[0004] When the TOF ranging method is applied to the automatic cleaning equipment, it is often necessary to perform short-distance measurement, but the current TOF ranging application still has the problem of insufficient accuracy in the short-distance ranging environment

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