Laser distance measuring device and intelligent cleaning equipment

Abstract

The present invention provides a laser distance measuring device and an intelligent cleaning device. The laser distance measuring device includes a light emitting unit and a light receiving unit. The light receiving unit and the light emitting unit are arranged at intervals. The light receiving unit includes a lens assembly and an image sensor. The lens assembly includes a first lens and a second lens, the first lens is farther away from the light emitting unit than the second lens, the first lens has a first main optical axis and a first focus located on the first main optical axis, the second lens has a second main optical axis and a second focus located on the second main optical axis, and the first main optical axis and the second main optical axis are spaced apart. The horizontal heights of the first focus and the second focus are the same. The image sensor is arranged at the rear side of the lens assembly and is spaced apart from the lens assembly, and the center line of the image sensor is farther away from the light emitting unit than the first main optical axis of the first lens. According to the laser distance measuring device of the present invention, long-distance and short-distance distance measurement can be taken into account, and a large distance measurement range is provided.

Description

Technical Field

[0001] The invention relates to the field of measurement, and in particular to a laser distance measuring device and intelligent cleaning equipment. Background Art

[0002] like Figures 1 to 3 As shown, the laser distance measuring device 20 of the existing intelligent cleaning equipment includes a light emitting unit 21 and a light receiving unit 22. The light receiving unit 22 includes a lens 23 and an image sensor 24. The lens 23 has a main optical axis A0 and a focus F0 located on the main optical axis A0.

[0003] Although the laser distance measuring device based on the triangulation method can in principle measure the distance value of an object at an infinite distance beyond a certain distance, in fact, since the size of the image sensor 24 is fixed and limited, according to the principle of optical imaging, the range that can be measured by the image sensor 24 at different positions behind the lens 23 is different.

[0004] like Figure 2 As shown, the image sensor 24 is arranged directly behind the lens 23, and R1 is the distance measurement range of the image sensor 24. Figure 3 As shown, the image sensor 24 is arranged at the right side of the rear of the lens 23, specifically at the right side of the main optical axis A0 (i.e., the focus F0) of the lens 23, and R2 is the distance measurement range of the image sensor 24. It can be seen that in these two cases, the distance measurement range of the image sensor 24 as the receiving end is different. Figure 2 The image sensor 24 in the image sensor can measure obstacles at a longer distance, but cannot measure obstacles at a close distance. Figure 3 The image sensor 24 in the apparatus can measure obstacles at a relatively short distance, but has limited long-distance measurement capability. As can be seen, the existing laser distance measuring device is affected by the size of the image sensor itself and cannot simultaneously measure short-distance and long-distance distances.

[0005] Therefore, it is necessary to provide a laser distance measuring device and an intelligent cleaning device to at least partially solve the above problems. Summary of the invention

[0006] A series of simplified concepts are introduced in the Summary of the Invention, which will be further described in detail in the Detailed Description of the Invention. The Summary of the Invention does not mean to attempt to define the key features and essential technical features of the claimed technical solution, nor does it mean to attempt to determine the scope of protection of the claimed technical solution.

[0007] In order to at least partially solve the above problems, according to a first aspect of the present invention, a laser distance measuring device is disclosed, comprising:

[0008] a light emitting unit; and

[0009] A light receiving unit, wherein the light receiving unit and the light emitting unit are arranged at an interval, and the light receiving unit comprises:

[0010] a lens assembly, the lens assembly comprising a first lens and a second lens, the first lens being farther away from the light emitting unit than the second lens, the first lens having a first main optical axis and a first focus located on the first main optical axis, the second lens having a second main optical axis and a second focus located on the second main optical axis, the first main optical axis and the second main optical axis being spaced apart, and the first focus and the second focus having the same horizontal height; and

[0011] An image sensor is disposed at a rear side of the lens assembly and spaced apart from the lens assembly, wherein a center line of the image sensor is further away from the light emitting unit relative to the first principal optical axis of the first lens.

[0012] Optionally, a side of the image sensor close to the second lens is aligned with the first principal optical axis of the first lens.

[0013] Optionally, a side of the image sensor close to the second lens is farther away from the second lens relative to the first principal optical axis of the first lens.

[0014] Optionally, both the first lens and the second lens are convex lenses.

[0015] Optionally, the first lens and the second lens are composed of a convex lens divided into two halves.

[0016] Optionally, the first principal optical axis is parallel to the second principal optical axis.

[0017] Optionally, the first lens and the second lens are located in the same plane.

[0018] Optionally, the first lens and the second lens are symmetrically arranged.

[0019] According to the laser ranging device of the present invention, by arranging the first lens and the second lens, the first principal optical axis of the first lens and the second principal optical axis of the second lens are spaced apart, and by arranging the image sensor at the rear side of the lens assembly so that its center line is farther away from the light-emitting unit relative to the first principal optical axis, both long-distance and short-distance ranging can be taken into account, so that the laser ranging device has a larger ranging range.

[0020] According to a second aspect of the present invention, an intelligent cleaning device is disclosed, comprising a laser ranging device according to any one of the first aspects above.

[0021] Optionally, the intelligent cleaning device includes an equipment body, and the laser ranging device is arranged above the equipment body.

[0022] According to the intelligent cleaning device of the present invention, a first lens and a second lens are arranged, the first principal optical axis of the first lens and the second principal optical axis of the second lens are spaced apart, and the image sensor is arranged on the rear side of the lens assembly so that its center line is farther away from the light-emitting unit relative to the first principal optical axis, so as to be able to take into account both long-distance and short-distance ranging, so that the laser ranging device has a larger ranging range. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The following drawings of the embodiments of the present invention are used as part of the present invention for understanding the present invention. The embodiments of the present invention and their description are shown in the drawings to explain the principles of the present invention. In the drawings,

[0024] Figure 1 It is a schematic diagram of the local structure of a laser distance measuring device in the prior art;

[0025] Figure 2 for Figure 1 A schematic diagram of a distance measuring range of a laser distance measuring device;

[0026] Figure 3 for Figure 1 Another distance measuring range schematic diagram of the laser distance measuring device;

[0027] Figure 4 A schematic structural diagram of an intelligent cleaning device according to a first preferred embodiment of the present invention;

[0028] Figure 5 for Figure 4 A schematic diagram of a partial structure of a laser distance measuring device of an intelligent cleaning device;

[0029] Figure 6 for Figure 5 A schematic diagram of the ranging range of the laser ranging device in FIG. 1 ; and

[0030] Figure 7 Schematic diagram of the distance measuring range of a laser distance measuring device according to a second preferred embodiment of the present invention.

[0031] Description of reference numerals:

[0032] 100: Intelligent cleaning equipment 110: Equipment body

[0033] 20 / 120: Laser distance measuring device 21 / 121: Light emitting unit

[0034] 22 / 122: Light receiving unit 123: Lens assembly

[0035] 124: Image sensor 125: First lens

[0036] 126: Second lens 127: Light emitting element

[0037] A0: Main optical axis F0: Focus

[0038] A1 / A3: First principal optical axis A2 / A4: Second principal optical axis

[0039] F1 / F3: First focus F2 / F4: Second focus

[0040] R1 / R2: Distance measurement range DETAILED DESCRIPTION

[0041] In the following description, a large number of specific details are provided to provide a more thorough understanding of the present invention. However, it is obvious to those skilled in the art that the embodiments of the present invention can be implemented without one or more of these details. In other examples, in order to avoid confusion with the embodiments of the present invention, some technical features well known in the art are not described.

[0042] In order to fully understand the embodiments of the present invention, a detailed structure will be presented in the following description. Obviously, the implementation of the embodiments of the present invention is not limited to the specific details familiar to those skilled in the art.

[0043] The present invention provides an intelligent cleaning device 100, which may be a sweeping robot, a mopping robot, or a sweeping and mopping robot.

[0044] like Figure 4 As shown, the intelligent cleaning device 100 mainly includes a device body 110, a sensing system, a control system, a driving system, a cleaning system energy system, and a human-computer interaction system. The various systems coordinate with each other so that the intelligent cleaning device 100 can move autonomously to achieve the cleaning function. The functional elements constituting the above-mentioned systems in the intelligent cleaning device 100 are integrated in the device body 110.

[0045] The device body 110 has an approximately circular shape (both the front and the back are circular), and may also have other shapes, including but not limited to an approximately D-shaped shape with a front and a back circle. The sensing system includes a laser ranging device 120 located above the device body 110. The laser ranging device 120 of the present invention determines the position information of the obstacle based on the triangulation ranging method. The triangulation ranging method is a known prior art and will not be described in detail here.

[0046] The intelligent cleaning device 100 may further include a base, which may support the laser distance measuring device 120. In order to measure the position of obstacles in a 360-degree direction around the intelligent cleaning device 100, the base may be rotatably disposed on the device body 110.

[0047] like Figure 4 and Figure 5 As shown, the laser ranging device 120 includes a light emitting unit 121 and a light receiving unit 122. The light emitting unit 121 and the light receiving unit 122 are arranged at intervals. Specifically, the light emitting unit 121 and the light receiving unit 122 can be arranged on the same horizontal plane and spaced at a predetermined distance. The light emitting unit 121 may include a light emitting element 127. Preferably, the light emitting element 127 is a laser diode (LD). Since the laser beam emitted by the laser diode (LD) has monochromatic, directional and collimated characteristics, using a laser beam as a light source can make the measurement of obstacle position information more accurate. Those skilled in the art will understand that, as needed, the light emitting element 127 can also be a light emitting diode (LED).

[0048] like Figure 5 As shown, the light receiving unit 122 includes a lens assembly 123 and an image sensor 124. The image sensor 124 is disposed at the rear side of the lens assembly 123 and is spaced apart from the lens assembly 123. The light emitted by the light emitting unit 121 is irradiated onto an obstacle, and the light reflected or scattered by the obstacle can pass through the lens assembly 123 and form an image on the image sensor 124, and the image sensor 124 converts these optical signals into electrical signals to measure the position information of the obstacle.

[0049] Continue to refer to Figure 5 The lens assembly 123 includes a first lens 125 and a second lens 126. The first lens 125 and the second lens 126 are both convex lenses. In this embodiment, the first lens 125 and the second lens 126 can be composed of a convex lens divided into two halves. Of course, as needed, the first lens 125 and the second lens 126 can each be composed of a convex lens.

[0050] Preferably, the first lens 125 is farther away from the light emitting unit 121 than the second lens 126. Specifically, the first lens 125 and the second lens 126 are located in the same plane, and the first lens 125 and the second lens 126 are symmetrically arranged. Further, the first lens 125, the second lens 126 and the light emitting unit 121 may be located on the same straight line, so that the second lens 126 is located between the light emitting unit 121 and the first lens 125.

[0051] The first lens 125 has a first main optical axis A1 and a first focus F1 located on the first main optical axis A1, and the second lens 126 has a second main optical axis A2 and a second focus F2 located on the second main optical axis A2, and the first main optical axis A1 and the second main optical axis A2 are spaced apart. In this embodiment, the first main optical axis A1 is parallel to the second main optical axis A2. Preferably, the first focus F1 and the second focus F2 have the same horizontal height, that is, the first focus F1 and the second focus F2 are located in the same horizontal plane.

[0052] The image sensor 124 of this embodiment is a complementary metal oxide semiconductor (CMOS) sensor. The center line of the image sensor 124 is farther away from the light emitting unit 121 than the first principal optical axis A1 of the first lens 125. If necessary, the image sensor 124 can also be other sensors, such as a charge coupled device (CCD) sensor.

[0053] like Figure 5 and Figure 6 As shown, according to the laser distance measuring device 120 of the first embodiment of the present invention, the side of the image sensor 124 close to the second lens 126 is aligned with the first principal optical axis A1 of the first lens 125. Figure 6 It can be seen that in this embodiment, the first lens 125 is mainly used for far-field imaging of the image sensor 124, and the second lens 126 is mainly used for near-field imaging of the image sensor 124. In addition, the first lens 125 and the second lens 126 have a portion of overlapping imaging area, and the image sensor 124 can automatically select the best imaging area for processing.

[0054] like Figure 7 As shown, according to the laser ranging device of the second embodiment of the present invention, the side of the image sensor 224 close to the second lens is farther away from the second lens relative to the first principal optical axis A3 of the first lens, that is, farther away from the principal optical axis A4 of the second lens. In this embodiment, by reasonably setting the positional relationship between the first lens, the second lens and the image sensor 224, the first lens can be used for far-field imaging of the image sensor 224, and the second lens can be used for near-field imaging of the image sensor 224.

[0055] According to the laser ranging device of the present invention, by arranging the first lens and the second lens, the first principal optical axis of the first lens and the second principal optical axis of the second lens are spaced apart, and by arranging the image sensor at the rear side of the lens assembly so that its center line is farther away from the light-emitting unit relative to the first principal optical axis, both long-distance and short-distance ranging can be taken into account, so that the laser ranging device has a larger ranging range.

[0056] Unless otherwise defined, the technical and scientific terms used herein have the same meaning as those generally understood by those skilled in the art in the technical field of the present invention. The terms used herein are only for describing specific implementation purposes and are not intended to limit the present invention. Terms such as "setting" and the like appearing in this article can mean that one component is directly attached to another component, or that one component is attached to another component through an intermediate. Features described in this article in one embodiment may be applied to another embodiment alone or in combination with other features, unless the feature is not applicable in the other embodiment or otherwise specified.

[0057] The present invention has been described through the above-mentioned embodiments, but it should be understood that the above-mentioned embodiments are only for the purpose of example and illustration, and are not intended to limit the present invention to the described embodiments. It can be understood by those skilled in the art that more variations and modifications can be made according to the teachings of the present invention, and these variations and modifications all fall within the scope of the protection claimed by the present invention.

Claims

1. A laser distance measuring device, characterized in that: The laser distance measuring device comprises: a light emitting unit; and A light receiving unit, wherein the light receiving unit and the light emitting unit are arranged at an interval, and the light receiving unit comprises: a lens assembly, the lens assembly comprising a first lens and a second lens, the first lens being farther away from the light emitting unit than the second lens, the first lens having a first main optical axis and a first focus located on the first main optical axis, the second lens having a second main optical axis and a second focus located on the second main optical axis, the first main optical axis and the second main optical axis being spaced apart, and the first focus and the second focus having the same horizontal height; and An image sensor is disposed at a rear side of the lens assembly and spaced apart from the lens assembly, wherein a center line of the image sensor is further away from the light emitting unit relative to the first principal optical axis of the first lens.

2. The laser distance measuring device according to claim 1, characterized in that: A side of the image sensor close to the second lens is aligned with the first principal optical axis of the first lens.

3. The laser distance measuring device according to claim 1, characterized in that: A side of the image sensor close to the second lens is farther away from the second lens relative to the first principal optical axis of the first lens.

4. The laser distance measuring device according to claim 1, characterized in that: The first lens and the second lens are both convex lenses.

5. The laser distance measuring device according to claim 1, characterized in that: The first lens and the second lens are composed of a convex lens divided into two halves.

6. The laser distance measuring device according to claim 1, characterized in that: The first main optical axis is parallel to the second main optical axis.

7. The laser distance measuring device according to claim 1, characterized in that: The first lens and the second lens are located in the same plane.

8. The laser distance measuring device according to claim 6, characterized in that: The first lens and the second lens are symmetrically arranged.

9. An intelligent cleaning device, characterized in that: The invention comprises a laser distance measuring device according to any one of claims 1 to 8.

10. The intelligent cleaning device according to claim 9, characterized in that: The intelligent cleaning device comprises a device body, and the laser distance measuring device is arranged above the device body.

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