Distance measuring device and mobile robot

Abstract

The embodiment of the utility model relates to the technical field of mobile robots, in particular to a distance measuring device, which comprises a mounting seat, the transmitting mechanism is arranged on the mounting base and used for outputting light beams, the light beams at least comprise a first light beam and a second light beam, and the emergent angles of the first light beam and the second light beam are different; and the receiving mechanism is arranged on the mounting seat, and the receiving mechanism is used for receiving the first light beam and the second light beam which are reflected by an obstacle. In this way, the distance measuring device can increase the sensing range.

Description

Technical Field

[0001] The embodiments of the utility model relate to the technical field of robots, and in particular to a distance measuring device and a mobile robot. Background Art

[0002] The mobile robot has navigation and obstacle avoidance capabilities. Usually, the mobile robot is equipped with a laser radar and multiple obstacle avoidance devices. The laser radar is set on the top of the mobile robot, and the multiple obstacle avoidance devices are set along the circumference of the mobile robot. The laser radar is used to sense obstacles in high positions, and the obstacle avoidance devices are used to sense obstacles in low positions.

[0003] However, in the process of implementing the embodiments of the utility model, the inventors found that the laser radar and multiple obstacle avoidance devices were set on the mobile robot, which caused the size of the mobile robot to be too large. Utility Model Content

[0004] An embodiment of the utility model provides a distance measuring device, which can increase the sensing range.

[0005] In order to solve the above technical problems, a technical solution adopted by the utility model is: providing a ranging device, including a mounting seat; a transmitting mechanism, arranged on the mounting seat, the transmitting mechanism is used to output a light beam, the light beam at least includes a first light beam and a second light beam, and the first light beam and the second light beam have different emission angles; a receiving mechanism, arranged on the mounting seat, the receiving mechanism is used to receive the first light beam and the second light beam reflected by an obstacle.

[0006] Optionally, the emitting mechanism includes an emitting component and a reflecting component; the emitting component is installed on the mounting seat, and the emitting component is used to emit the light beam, and the light beam includes at least the first light beam and the second light beam, wherein the first light beam is set at an angle to the second light beam; the reflecting component includes a reflecting member, a first shielding member and a second shielding member, and the reflecting member is rotatably set on the mounting seat, and the reflecting member is provided with a first reflecting surface and a second reflecting surface, the first shielding member is set on the first reflecting surface, and the second shielding member is set on the second reflecting surface; wherein, when the reflecting member rotates, when the first reflecting surface faces the emitting component, the first reflecting surface reflects the first light beam, the first shielding member corresponds to the second light beam, and the first shielding member is used to filter the second light beam, when the second reflecting surface faces the emitting component, the second reflecting surface reflects the second light beam, the second shielding member corresponds to the first light beam, and the second shielding member is used to filter the first light beam, so as to alternately output the first light beam and the second light beam, and the angles of emission of the first light beam and the second light beam are different.

[0007] Optionally, the reflective element is in a flat plate shape, and the first reflective surface and the second reflective surface are two surfaces of the reflective element arranged opposite to each other.

[0008] Optionally, the reflector is a polyhedron, and the number of the first reflective surface, the second reflective surface, the first shielding member and the second shielding member are all multiple; the multiple first reflective surfaces and the multiple second reflective surfaces are alternately arranged along the periodic surface of the reflector, one first shielding member is arranged on one first reflective surface, and one second shielding member is arranged on one second reflective surface.

[0009] Optionally, adjacent first shielding members and second shielding members are staggered.

[0010] Optionally, the first shielding member and the second shielding member are both made of light-absorbing material, diffuse reflective material or dielectric film.

[0011] Optionally, the emitting assembly includes an emitting element and a deflecting element, both of which are mounted on the mounting seat, the emitting element corresponds to the deflecting element, the emitting element is used to emit a light beam, part of the light beam passes through the deflecting element to form the second light beam, and another part of the light beam is directly emitted to form the first light beam.

[0012] Optionally, the emitting mechanism further includes a beam splitter, which corresponds to the emitting component and is used to split the light beam into at least the first light beam and the second light beam.

[0013] Optionally, the emitting mechanism includes an emitting assembly and a reflecting assembly; the emitting assembly includes at least a first emitting element and a second emitting element, both of which are mounted on the mounting seat, the first emitting element is used to emit a first light beam, and the second emitting element is used to emit a second light beam; the reflecting assembly is rotatably disposed on the mounting seat, and the reflecting assembly is used to reflect the first light beam and the second light beam; wherein the first light beam emitted by the first emitting element is arranged at an angle to the second light beam emitted by the second emitting element, and the first emitting element and the second emitting element are alternately started, thereby alternately outputting the first light beam and the second light beam, and the first light beam and the second light beam have different emission angles.

[0014] Optionally, the distance measuring device further comprises a camera assembly, and the camera assembly is used to photograph features of the surrounding environment, wherein a first field of view angle of the camera assembly is complementary to a second field of view angle of the transmitting mechanism.

[0015] Optionally, the distance measuring device further comprises a driving assembly, wherein the driving assembly is mounted on the mounting seat, the driving assembly is connected to the reflecting member, and the driving assembly is used to drive the reflecting member to rotate.

[0016] In order to solve the above technical problems, a technical solution adopted by the present utility model is: to provide a mobile robot, including the above distance measuring device.

[0017] The beneficial effect of the embodiment of the present application is: a light beam is outputted through the emitting mechanism, the light beam includes at least a first light beam and a second light beam, and the first light beam and the second light beam are emitted at different angles, so that the range of the light beam of the ranging device emitted to the outside world is increased, thereby increasing the perception range of the ranging device and realizing obstacle perception at multiple positions and angles. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments of the present application will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the drawings without paying creative work.

[0019] Figure 1 It is a view of a distance measuring device provided by an embodiment of the utility model;

[0020] Figure 2 It is a view of a mounting base of a distance measuring device provided by an embodiment of the utility model;

[0021] Figure 3 is another view of the mounting base of the distance measuring device provided by the embodiment of the utility model;

[0022] Figure 4 This is a view of a reflector of a distance measuring device provided by an embodiment of the utility model;

[0023] Figure 5 It is a view of a distance measuring device provided by another embodiment of the utility model;

[0024] Figure 6 It is a schematic diagram of the point cloud of the first light beam and the second light beam of the distance measuring device provided by an embodiment of the utility model.

[0025] Reference numerals:

[0026] 100. Distance measuring device;

[0027] 10. Mounting seat; 11. Seat body; 12. Connecting frame; 10a. First mounting slot; 10b. Second mounting slot; 10c. Axial hole; 10d. Deflection slot; 10e. Accommodating slot;

[0028] 20, launching mechanism; 21, launching assembly; 22, reflecting assembly; 211, launching element; 212, deflecting element; 213, locking element; 221, reflecting element; 222, first shielding element; 223, second shielding element; 221a, first reflecting surface; 221b, second reflecting surface;

[0029] 30. Receiving institution;

[0030] 40. driving assembly; 401. driving motor; 402. conveyor belt; 403. bearing;

[0031] 50. Camera component. DETAILED DESCRIPTION

[0032] In order to facilitate the understanding of the utility model, the utility model is described in more detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that when an element is described as "fixed to" another element, it can be directly on the other element, or there can be one or more centered elements therebetween. When an element is described as "connected to" another element, it can be directly connected to the other element, or there can be one or more centered elements therebetween. The terms "vertical", "horizontal", "left", "right" and similar expressions used in this specification are for illustrative purposes only.

[0033] Unless otherwise defined, all technical and scientific terms used in this specification have the same meaning as those commonly understood by technicians in the technical field of the present invention. The terms used in this specification are only for the purpose of describing specific embodiments and are not used to limit the present invention. The term "and / or" used in this specification includes any and all combinations of one or more related listed items.

[0034] See also Figure 1 The distance measuring device 100 includes a mounting base 10, a transmitting mechanism 20 and a receiving mechanism 30. The transmitting mechanism 20 and the receiving mechanism 30 are both arranged on the mounting base 10. The transmitting mechanism 20 is used to output a light beam, and the light beam includes at least a first light beam A and a second light beam B, and the first light beam A and the second light beam B are emitted at different angles. The receiving mechanism 30 is used to receive the first light beam A and the second light beam B reflected by an obstacle. When the transmitting mechanism 20 alternately outputs the first light beam A and the second light beam B, and the first light beam A and the second light beam B are emitted at different angles, so that the first light beam A and the second light beam B are irradiated to the external environment or an external obstacle, the receiving mechanism 30 receives the first light beam A and the second light beam B reflected by the obstacle, thereby realizing distance measurement and increasing the perception range of the distance measuring device 100.

[0035] For the above-mentioned mounting base 10, please refer to Figure 2-Figure 3The mounting seat 10 is provided with a first mounting groove 10a and a second mounting groove 10b, the launching mechanism 20 is installed in the first mounting groove 10a, and the receiving mechanism 30 is installed in the second mounting groove 10b. In this embodiment, the first mounting groove 10a and the second mounting groove 10b are arranged relatively to the mounting seat 10. Optionally, the mounting seat 10 includes a seat body 11 and a connecting frame 12 connected to the seat body 11, the first mounting groove 10a and the second mounting groove 10b are arranged relatively to the seat body 11, and the connecting frame 12 is provided with an axial hole 10c, and the axial hole 10c passes through the connecting frame 12 along the second direction y. It should be noted that the first direction x is perpendicular to the second direction y.

[0036] In some embodiments, the launch mechanism 20 includes a launch component 21 and a reflection component 22. Figure 1 As shown. The transmitting component 21 is arranged in the first mounting groove 10a, and the reflecting component 22 is rotatably arranged on the mounting seat 10. The transmitting component 21 corresponds to the reflecting component 22. The transmitting component 21 is used to transmit a light beam to the reflecting component 22. The light beam includes at least a first light beam A and a second light beam B. The reflecting component 22 is used to reflect the first light beam A and / or the second light beam B. The rotation axis L of the reflecting component 22 is perpendicular to the first direction x, that is, the rotation axis L of the reflecting component 22 is perpendicular to the first light beam A emitted by the transmitting component 21. When the transmitting component 21 emits the first light beam A and the second light beam B to the reflecting component 22, the reflecting component 22 can reflect the first light beam A and / or the second light beam B at multiple angles, and as the reflecting component 22 rotates, the first light beam A and / or the second light beam B are emitted to multiple directions of the outside world, thereby realizing obstacle perception in multiple directions and multiple angles, so that the perception range of the ranging device 100 is larger.

[0037] For the above-mentioned transmitting assembly 21, please refer to Figure 1 The transmitting assembly 21 includes a transmitting element 211 and a deflecting element 212. Both the transmitting element 211 and the deflecting element 212 are mounted on the mounting base 10. The transmitting element 211 corresponds to the deflecting element 212. The transmitting element 211 is used to emit a light beam. Part of the light beam passes through the deflecting element 212 to form a second light beam B, and another part of the light beam is directly emitted to form a first light beam A. Specifically, the transmitting element 211 is received in the first mounting groove 10a. Along the direction of the light beam emitted by the transmitting element 211, the first mounting groove 10a extends with a deflecting groove 10d (such as Figure 2As shown in the figure, the deflection groove 10d is connected to the first mounting groove 10a, and the deflection member 212 is accommodated in the deflection groove 10d. It should be noted that the emitting member 211 has a light emitter (not shown in the figure), and its laser emitter can be a Vcse l (vertical cavity surface emitting laser) or an EEL (single point laser), and the light emitter can be constructed as a light emitter such as a laser diode, which can emit laser pulses used for measurement. It can be understood that in other embodiments, the light emitter can also use other devices capable of emitting light beams. The deflection member 212 has a deflection lens, and the light beam emitted by the emitting member 211 has a field of view angle, part of the light beam can be directly emitted to form a first light beam A, and the other part of the light beam is refracted downward through the above-mentioned reflection surface along the first direction x through the deflection lens to form a second light beam B.

[0038] In other embodiments, the emitting assembly 21 includes at least a first emitting element (not shown) and a second emitting element (not shown), both of which are mounted on the mounting base 10, the first emitting element is used to emit a first light beam A, and the second emitting element is used to emit a second light beam B. The first light beam A emitted by the first emitting element and the second light beam B emitted by the second emitting element are arranged at an angle, and the first emitting element and the second emitting element are alternately started, thereby alternately outputting the first light beam A and the second light beam B, and the first light beam A and the second light beam B are emitted at different angles. The first emitting element and the second emitting element may be different lasers, or different optical cores in the same laser.

[0039] In some embodiments, the launching assembly 21 further includes a locking member 213 , which is screwed to the mounting base 10 via bolts passing through the locking member 213 , so that the locking member 213 and the bottom wall of the first mounting groove 10 a jointly clamp the launching member 211 , thereby locking the launching member 211 .

[0040] For the above-mentioned reflective component 22, see Figure 1The reflective assembly 22 includes a reflective member 221, a first shielding member 222, and a second shielding member 223. The reflective member 221 is in a flat plate shape, and is rotatably disposed on the mounting seat 10. The reflective member 221 is provided with a first reflective surface 221a and a second reflective surface 221b. The first reflective surface 221a and the second reflective surface 221b are two surfaces of the reflective member 221 that are disposed opposite to each other. The first shielding member 222 is disposed on the first reflective surface 221a, and the second shielding member 223 is disposed on the second reflective surface 221b. When the reflector 221 rotates, when the first reflective surface 221a faces the emitting assembly 21, the first reflective surface 221a reflects the first light beam A, the first shielding member 222 corresponds to the second light beam B, and the first shielding member 222 is used to filter the second light beam B. When the second reflective surface 221b faces the emitting assembly 21, the second reflective surface 221b reflects the second light beam B, the second shielding member 223 corresponds to the first light beam A, and the second shielding member 223 is used to filter the first light beam A, so as to alternately output the first light beam A and the second light beam B, and the first light beam A and the second light beam B are emitted at different angles. In this embodiment, the first light beam A is emitted along the first direction x, and the second light beam B is deflected and refracted toward the bottom of the first light beam A. When the distance measuring device 100 moves along the horizontal direction for distance measurement, the first direction x is parallel to the horizontal plane, the first light beam A can be parallel to the horizontal plane, and an angle between the first light beam A and the horizontal plane is also allowed, and the angle can be 0° to 5°. The first light beam A can detect environmental features in the surrounding horizontal direction. As for the second light beam B, when observed along the second direction y, there is a first inclination angle α between the first light beam A and the second light beam B, and the first inclination angle α is an acute angle. Since the second light beam B is deflected downward along the vertical direction, the second light beam B can detect the environmental features below the ranging device 100, so that low obstacles in front can be detected to perform obstacle avoidance operations, thereby increasing the perception range of the ranging device 100. It should be noted that the first direction x and the second direction y together form the above-mentioned horizontal plane, the horizontal direction is any direction of the horizontal plane, and the third direction z is the vertical direction of this embodiment, and the first direction x, the second direction y and the third direction z are perpendicular to each other.

[0041] The first shielding member 222 and the second shielding member 223 are both made of light-absorbing material, diffuse reflection material or dielectric film.

[0042] In some embodiments, the reflector 221 is a polyhedron, and the number of the first reflective surface 221a, the second reflective surface 221b, the first shielding member 222, and the second shielding member 223 are all multiple, and the multiple first reflective surfaces 221a and the multiple second reflective surfaces 221b are alternately arranged along the circumferential direction of the rotation axis of the reflector 221, a first shielding member 222 is arranged on a first reflective surface 221a, and a second shielding member 223 is arranged on a second reflective surface 221b. When the transmitting component 21 transmits the first light beam A and the second light beam B to the reflector 221, as the reflector 221 rotates, the number of times the reflector 221 reflects the first light beam A and the second light beam B increases, and the reflector 221 can more quickly measure the distance between the distance measuring device 100 and the obstacle. In some other embodiments, there are multiple emitting elements 211, and the multiple emitting elements 211 are started alternately or cyclically, and a single emitting element 211 corresponds to a single reflecting surface of a polyhedron of the reflecting element 221, so the reflecting element 221 does not need to rotate, so as to quickly measure the distance between the distance measuring device 100 and the obstacle. It can be understood that a single first reflecting surface 221a and a single second reflecting surface 221b are alternately connected in sequence to form a plurality of reflecting surfaces. For example, the reflecting element 221 has five reflecting surfaces, and the five reflecting surfaces are connected end to end in sequence to form a polyhedron.

[0043] In some embodiments, a portion of the reflector 211 extends out after passing through the axial hole 10c, and the receiving mechanism 30 and the reflector 211, after the first light beam A and the second light beam B return through the object to be measured, can be reflected to the receiving mechanism 30 at different angles through the reflector 211, thereby realizing simultaneous measurement of two signals and improving measurement efficiency.

[0044] It is worth noting that the receiving mechanism 30 may adopt a CMOS / CCD image sensor, and the light beam emitted by the transmitting component 21 may be received by the receiving mechanism 30 after being returned by the object to be tested.

[0045] In some embodiments, the emitting mechanism 20 further includes a beam splitter (not shown), which corresponds to the emitting assembly 21, and is used to split the light beam into at least a first light beam A and a second light beam B, wherein the emission direction of the first light beam A is along the first direction x, and the second light beam B is deflected downward or upward along the horizontal plane. In this embodiment, the beam splitter is fixed to the mounting seat, and the connection method of the beam splitter is not limited, as long as the beam splitter can be stabilized, it is applicable, for example: the beam splitter is fixed to the emitting assembly 21 or the beam splitter is fixed to the reflecting assembly 22. It should be noted that the beam splitter emits the first light beam A along the second direction y or along the horizontal plane, and deflects the second light beam B downward or refracts upward along the horizontal plane.

[0046] The distance measuring device 100 further includes a driving assembly 40, which is mounted on the mounting seat 10, connected to the reflector 221, and used to drive the reflector 221 to rotate. Optionally, the driving assembly 40 includes a driving motor 401, a transmission belt 402, and a bearing 403, the connecting frame 12 is provided with a characteristic receiving groove 10e, the driving motor 401 is fixed in the receiving groove 10e, and the output shaft of the driving motor 401 extends out of the receiving groove 10e. The outer surface of the output shaft of the driving motor 401 is provided with a first annular groove, the shaft hole 10c of the connecting frame 12 is provided with a bearing 403, and the reflector 221 is fixed to the bearing 403. Part of the bearing 403 extends out of the shaft hole 10c, and the outer surface of the part extending out of the shaft hole 10c is provided with a second annular groove. The transmission belt 402 is sleeved on the first annular groove and the second annular groove. Driven by the driving motor 401 , the transmission belt 402 can be driven to drive the bearing 403 to rotate, so that the reflector 221 can be rotated.

[0047] In some embodiments, the distance measuring device 100 further includes a camera assembly 50, which can capture features of the surrounding environment, and a first field of view angle of the camera assembly 50 is complementary to a second field of view angle of the transmitting mechanism 20. Specifically, the first field of view angle of the camera assembly 50 is complementary to the second field of view angle of the transmitting mechanism 21 about a plane formed by the first direction x and the third direction z. For example, the transmitting mechanism 20 emits a first light beam A and a second light beam B, which can form a first field of view angle in front after being reflected by the reflector 221, so as to detect obstacles in front; while the camera assembly 50 faces backwards, and is used to capture environmental features in the rear, and through the front and back complementarity, the environmental feature information in the space is fully obtained.

[0048] The camera assembly 50 may be disposed toward the upper rear of the distance measuring device 100. When viewed along the second direction y, the optical axis of the camera assembly 50 has a second inclination angle β with the horizontal plane. The second inclination angle β is an acute angle. Figure 5 This is helpful for the camera assembly 50 to acquire the features of the ground environment, such as obstacles or walls on the ground.

[0049] The above-mentioned transmitting mechanism 20 can generate point cloud data of the environment within the first field of view angle, and the camera component 50 can capture image data of the environment within the second field of view angle. The ranging device 100 can determine the first mapping data based on the point cloud data, and determine the second mapping data based on the image data, and merge the first mapping data and the second mapping data to obtain complete spatial data. For example, when the ranging device 100 moves indoors, the transmitting mechanism 20 detects the environmental features in front. As the ranging device 100 continues to move and gets closer and closer to the obstacle, the feature points of the environment in front of it gradually decrease, thereby affecting its positioning and navigation; while the camera component 50 acquires the environmental features in the rear. In the process of the ranging device 100 moving continuously, the camera component 50 can see more rear information, which can make up for the shortcomings of the ranging device 100, thereby achieving front and back complementarity. After obtaining the feature information of the front laser point cloud and the rear visual extraction, the absolute position of the ranging device 100 in space can be determined.

[0050] like Figure 5-Figure 6 As shown, the first light beam A scans a straight line point cloud on the wall, which is used to detect the environmental features in front. The second light beam B deflects downward along the horizontal plane, and its scan on the ground is an arc. The right side of the distance measuring device 100 is a wall. When the reflector 211 rotates, the first light beam A and the second light beam B are reflected by the reflector 211 to form a field of view of ε=120° in front. The field of view ε can also scan the environmental features of the right wall. The distance measuring device 100 can judge the distance of the obstacle through the point cloud information of the second light beam B diagonally downward, so as to facilitate the planning of the obstacle avoidance path. In this way, a better obstacle avoidance effect can be achieved and the perception range of the distance measuring device 100 can be increased.

[0051] In the embodiment of the present application, a light beam is outputted by the emitting mechanism 20, and the light beam includes at least a first light beam A and a second light beam B, and the first light beam A and the second light beam B are emitted at different angles, so that the range of the light beam emitted by the ranging device 100 to the outside world becomes larger, thereby increasing the perception range of the ranging device 100 and realizing obstacle perception at multiple positions and multiple angles.

[0052] The utility model further provides a mobile robot embodiment, the mobile robot includes the distance measuring device 100 mentioned above, and the specific structure and function of the distance measuring device 100 can be referred to the above embodiment, which will not be described one by one here.

[0053] It should be noted that the preferred embodiments of the utility model are given in the specification and drawings of the utility model, but the utility model can be implemented in many different forms and is not limited to the embodiments described in the specification. These embodiments are not used as additional restrictions on the content of the utility model. The purpose of providing these embodiments is to make the understanding of the disclosure of the utility model more thorough and comprehensive. In addition, the above-mentioned 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 utility model; further, for ordinary technicians in this field, they can be improved or transformed according to the above description, and all these improvements and transformations should belong to the protection scope of the claims attached to the utility model.

Claims

1. A distance measuring device, characterized in that: include: Mounting seat; A launching mechanism is arranged on the mounting seat, and is used to output a light beam, wherein the light beam comprises at least a first light beam and a second light beam, and the first light beam and the second light beam have different exit angles; A receiving mechanism is disposed on the mounting seat, and is used to receive the first light beam and the second light beam reflected by an obstacle.

2. The distance measuring device according to claim 1, characterized in that: The transmitting mechanism comprises a transmitting component and a reflecting component; The transmitting assembly is mounted on the mounting seat, and the transmitting assembly is used to transmit the light beam, and the light beam at least includes the first light beam and the second light beam, wherein the first light beam and the second light beam are arranged at an angle; The reflective assembly comprises a reflective member, a first shielding member and a second shielding member, the reflective member is rotatably disposed on the mounting seat, the reflective member is provided with a first reflective surface and a second reflective surface, the first shielding member is disposed on the first reflective surface, and the second shielding member is disposed on the second reflective surface; Wherein, when the reflecting member rotates, when the first reflecting surface faces the emitting component, the first reflecting surface reflects the first light beam, the first shielding member corresponds to the second light beam, and the first shielding member is used to filter the second light beam; when the second reflecting surface faces the emitting component, the second reflecting surface reflects the second light beam, the second shielding member corresponds to the first light beam, and the second shielding member is used to filter the first light beam, so as to alternately output the first light beam and the second light beam, and the angles of emission of the first light beam and the second light beam are different.

3. The distance measuring device according to claim 2, characterized in that: The reflector is in a flat plate shape, and the first reflective surface and the second reflective surface are two surfaces of the reflector that are oppositely arranged.

4. The distance measuring device according to claim 2, characterized in that: The reflector is a polyhedron, and the number of the first reflective surface, the second reflective surface, the first shielding member and the second shielding member are all multiple; A plurality of first reflecting surfaces and a plurality of second reflecting surfaces are alternately arranged along the circumferential direction of the rotation axis of the reflecting member, a first shielding member is arranged on a first reflecting surface, and a second shielding member is arranged on a second reflecting surface.

5. The distance measuring device according to claim 3, characterized in that: The adjacent first shielding members and the second shielding members are staggered.

6. The distance measuring device according to claim 2, characterized in that: The first shielding member and the second shielding member are both made of light-absorbing material, diffuse reflection material or dielectric film.

7. The distance measuring device according to any one of claims 2 to 5, characterized in that: The emitting assembly includes an emitting element and a deflecting element, both of which are mounted on the mounting seat. The emitting element corresponds to the deflecting element, and the emitting element is used to emit a light beam. Part of the light beam passes through the deflecting element to form the second light beam, and another part of the light beam is directly emitted to form the first light beam.

8. The distance measuring device according to claim 2, characterized in that: The emitting mechanism further includes a beam splitter, which corresponds to the emitting assembly and is used to split the light beam into at least the first light beam and the second light beam.

9. The distance measuring device according to claim 1, characterized in that: The transmitting mechanism comprises a transmitting component and a reflecting component; The transmitting assembly comprises a first transmitting element and a second transmitting element, wherein the first transmitting element and the second transmitting element are both mounted on the mounting seat, the first transmitting element is used to transmit a first light beam, and the second transmitting element is used to transmit a second light beam; The reflective assembly is rotatably disposed on the mounting seat, and the reflective assembly is used to reflect the first light beam and the second light beam; The first light beam emitted by the first emitting element is arranged at an angle with the second light beam emitted by the second emitting element, and the first emitting element and the second emitting element are activated alternately, thereby outputting the first light beam and the second light beam alternately, and the emission angles of the first light beam and the second light beam are different.

10. The distance measuring device according to claim 7, characterized in that: The distance measuring device also includes a camera assembly, which is used to capture features of the surrounding environment, wherein a first field of view angle of the camera assembly is complementary to a second field of view angle of the transmitting mechanism.

11. The distance measuring device according to claim 10, characterized in that: The first field of view angle of the camera assembly is complementary to the second field of view angle of the transmitting mechanism about a plane formed by a first direction and a third direction, wherein the first direction is perpendicular to the third direction.

12. The distance measuring device according to claim 2, characterized in that: The distance measuring device also includes a driving component, which is installed on the mounting seat and connected to the reflecting member, and is used to drive the reflecting member to rotate.

13. A mobile robot, characterized in that: The device comprises a distance measuring device as claimed in any one of claims 1 to 12.

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