Distance measuring device and autonomous robot

Abstract

The present invention provides a distance measuring device and an autonomous robot. The distance measuring device includes a light emitting part, a light receiving part, a controller and a distance measuring calibration unit; the light emitting part emits distance measuring light; the light receiving part receives the distance measuring light reflected or scattered by the object to be measured; the controller is configured to determine the initial distance between the object to be measured and the distance measuring device based on the emission of the distance measuring light by the light emitting part and the reception of the distance measuring light by the light receiving part; the distance measuring calibration unit is arranged between the light emitting part and the light receiving part, so that at least a part of the calibration light emitted by the light emitting part is directly received by the light receiving part via the distance measuring calibration unit; the controller is configured to determine the distance compensation value based on the emission of the calibration light by the light emitting part and the reception of at least a part of the calibration light by the light receiving part; the calibration distance between the object to be measured and the distance measuring device is determined based on the distance compensation value and the initial distance. Thus, the distance measuring device can output a more accurate distance value.

Description

Technical Field

[0001] The present invention generally relates to the field of intelligent cleaning technology, and more specifically to a distance measuring device and an autonomous robot. Background Art

[0002] LDS (Laser Distance Sensor) is a sensor that uses the time it takes for a laser to travel from a light source to a target and back to the light source to determine the distance between the source and the target. LDS is widely used in the prior art. For example, in a smart sweeper, LDS can be used to measure the distance between the sweeper and a wall or obstacle, thereby achieving positioning and navigation. In drones, LDS can be used to measure the distance between the aircraft and the ground, etc.

[0003] However, due to the variable environmental factors (such as temperature) of LDS, the aging of devices, the structural deformation of devices, and the relative position changes between devices, LDS measurement errors may occur. For example, high temperature causes changes in the luminous efficiency of the diode and the output waveform; the aging of the device causes changes in the performance of the filter circuit and the waveform measurement width; the structural deformation of the device causes changes in the measured light intensity. In the smart sweeper, the above measurement errors will reduce the accuracy of the smart sweeper in determining the position of the wall or obstacle, thereby affecting the cleaning effect.

[0004] In the prior art, in order to correct the above-mentioned measurement error, a reference object is set on the shell of the smart sweeper. The reference object is set at a preset distance from the LDS. The smart sweeper measures the distance between the reference object and the LDS through the LDS, and then corrects the distance between the object to be measured and the LDS measured by the LDS according to the difference between the measured distance and the preset distance. However, if the distance between the reference object and the LDS is too small, the light reflected by the reference object may not reach the LDS, and the correction cannot be completed. Therefore, the above technical solution cannot be applied to sweepers of smaller sizes.

[0005] Therefore, it is necessary to provide a distance measuring device and an autonomous robot to at least partially solve the above-mentioned 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 specific embodiments. The summary of the invention does not mean to attempt to define the key features and essential technical features of the technical solution claimed for protection, nor does it mean to attempt to determine the scope of protection of the technical solution claimed for protection.

[0007] To at least partially solve the above technical problems, according to one aspect of the present invention, a distance measuring device is provided, the distance measuring device comprising: a light emitting unit, the light emitting unit emitting distance measuring light; a light receiving unit, the light receiving unit receiving the distance measuring light reflected or scattered by the object to be measured; a controller, the controller being configured to determine the initial measured distance between the object to be measured and the distance measuring device based on the emission of the distance measuring light by the light emitting unit and the reception of the distance measuring light by the light receiving unit; and a distance measuring calibration unit, the distance measuring calibration unit being arranged between the light emitting unit and the light receiving unit so that at least a part of the calibration light emitted by the light emitting unit is directly received by the light receiving unit via the distance measuring calibration unit; wherein the controller is further configured to determine a distance compensation value based on the emission of the calibration light by the light emitting unit and the reception of at least a part of the calibration light by the light receiving unit; and determine the calibration distance between the object to be measured and the distance measuring device based on the distance compensation value and the initial measured distance.

[0008] Optionally, the distance measurement calibration unit includes a light guiding structure, a first end of the light guiding structure is used to receive the calibration light, and a second end of the light guiding structure is used to transfer at least a portion of the calibration light to the light receiving part.

[0009] Optionally, the light guide structure is a U-shaped light guide tube.

[0010] Optionally, the light guiding structure is made of optical fiber or glass.

[0011] Optionally, the light emitting unit, the light receiving unit and the controller are integrated into a module, and the module is installed to the autonomous robot. The autonomous robot includes a protective cover for protecting the module, and the protective cover is mounted on the periphery of the module. The ranging calibration unit is suitable for being arranged on the upper part of the protective cover or on the supporting structure of the protective cover.

[0012] Optionally, the module is rotatable relative to the autonomous robot and the odometry calibration unit is fixed relative to the autonomous robot.

[0013] Optionally, the controller determines the distance compensation value including: the controller determines the time difference between the emission of the calibration light and the reception of at least a portion of the calibration light; the controller determines the first distance based on the time difference and the propagation speed of the calibration light in the ranging calibration unit; and the controller determines the distance compensation value based on the first distance and the length of the ranging calibration unit.

[0014] Optionally, the controller is further configured to: determine a distance compensation value in response to the temperature of the environment in which the distance measuring device is located exceeding a predetermined threshold.

[0015] Optionally, the controller is configured to determine the distance compensation value in response to the distance measuring device rotating to a predetermined angle relative to the autonomous robot.

[0016] The present invention also provides an autonomous robot, which includes the aforementioned distance measuring device.

[0017] The present invention also provides an autonomous robot, which includes: a distance measuring device, which includes a light emitting part, a light receiving part and a controller, wherein the light emitting part emits distance measuring light, the light receiving part receives the distance measuring light reflected or scattered by the object to be measured, and the controller determines the initial measured distance between the object to be measured and the distance measuring device based on the emission of the distance measuring light by the light emitting part and the reception of the distance measuring light by the light receiving part; a distance measuring calibration device, which is arranged between the light emitting part and the light receiving part so that at least a part of the calibration light emitted by the light emitting part is directly received by the light receiving part via the distance measuring calibration device; and a main control unit, which is configured to determine a distance compensation value based on the emission of the calibration light by the light emitting part and the reception of at least a part of the calibration light by the light receiving part; and determine the calibration distance between the object to be measured and the distance measuring device based on the distance compensation value and the initial measured distance.

[0018] Optionally, the distance measurement calibration device includes a light guiding structure, a first end of the light guiding structure is used to receive the calibration light, and a second end of the light guiding structure is used to transmit at least a portion of the calibration light to the light receiving part.

[0019] Optionally, the light guide structure is a U-shaped light guide tube.

[0020] Optionally, the light guiding structure is made of optical fiber or glass.

[0021] Optionally, the autonomous robot includes a protective cover for protecting the distance measuring device, the protective cover is sleeved on the outer periphery of the distance measuring device, and the distance measuring calibration device is arranged on the upper part of the protective cover or on the supporting structure of the protective cover.

[0022] Optionally, the distance measuring device is rotatable relative to the main body of the autonomous robot, and the distance measuring calibration device is fixed relative to the main body of the autonomous robot.

[0023] Optionally, the main control unit determines the distance compensation value including: the main control unit determines the time difference between the emission of the calibration light and the reception of at least a part of the calibration light; the main control unit determines the first distance based on the time difference and the propagation speed of the calibration light in the ranging calibration unit; and the main control unit determines the distance compensation value based on the first distance and the length of the ranging calibration unit.

[0024] Optionally, the main control unit is further configured to: determine a distance compensation value in response to the temperature of the environment in which the autonomous robot is located exceeding a predetermined threshold.

[0025] Optionally, the main control unit is configured to determine the distance compensation value in response to the distance measuring device rotating to a predetermined angle relative to the main body of the autonomous robot.

[0026] According to the distance measuring device of the present invention, the controller determines the current distance compensation value in real time, determines the calibration distance between the object to be measured and the distance measuring device according to the distance compensation value and the initial measured distance, and determines the actual distance between the object to be measured and the distance measuring device, which can avoid the influence of environmental factors or device aging on the distance measuring device, reduce the measurement error of the autonomous robot, and output a more accurate distance value; at the same time, since at least a part of the calibration light emitted by the light emitting part is transmitted through the distance measuring calibration unit and directly received by the light receiving part, the distance between the distance measuring calibration unit and the light emitting part can be very small, and the distance between the distance measuring calibration unit and the light receiving part can be very small, so that the distance measuring device can be suitable for autonomous robots with smaller sizes. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to make the advantages of the present invention more easily understood, the present invention briefly described above will be described in more detail by referring to the specific embodiments shown in the accompanying drawings. It can be understood that these drawings only depict typical embodiments of the present invention and therefore should not be considered as limiting the scope of protection thereof, and the present invention is described and explained with additional characteristics and details through the accompanying drawings.

[0028] Figure 1 is a three-dimensional schematic diagram of a sweeping robot involved in various embodiments of the present invention;

[0029] Figure 2 is a schematic top view of a sweeping robot involved in various embodiments of the present invention;

[0030] Figure 3 is a schematic diagram of a distance measuring device according to a first preferred embodiment of the present invention; and

[0031] Figure 4 is a schematic diagram of an autonomous robot according to a second preferred embodiment of the present invention.

[0032] Description of reference numerals:

[0033] 100: Sweeping robot 110 / 210: Distance measuring device

[0034] 111 / 211: Light emitting unit 112 / 212: Light receiving unit

[0035] 120: Distance measurement calibration unit 130: Body

[0036] 140: Drive assembly 141 / 142: Drive wheel

[0037] 143: Guide wheel 150: Main brush

[0038] 160 / 260: controller 170, infrared sensor

[0039] 180: Ultrasonic sensor 220: Distance measurement calibration device

[0040] 270: Main control unit 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, detailed structures 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. The preferred embodiments of the present invention are described in detail below, but in addition to these detailed descriptions, the present invention may also have other embodiments.

[0043] Implementation Method 1

[0044] In the embodiments of the present disclosure, for ease of description, the technical solution of the present disclosure is described by taking the cleaning robot 100 as an example. Those skilled in the art will understand that the embodiments of the present disclosure are not limited to the cleaning robot 100, but can be applied to any autonomous robot.

[0045] Figure 1 and Figure 2 is a schematic diagram of a cleaning robot 100 according to various exemplary embodiments of the present disclosure, Figure 1 The top view of the sweeping robot 100 is shown as an example. Figure 2 The schematic diagram of a bottom view of the cleaning robot 100 is shown as an example.

[0046] like Figure 1 , Figure 2 As shown, the sweeping robot 100 includes: a body 130, a sensing system, a driving component 140, a main control unit (not shown in the figure), a storage component (not shown in the figure), a main brush 150 and a battery component (not shown in the figure).

[0047] The body 130 forms the outer shell of the cleaning robot 100 and accommodates other components. In some embodiments, the body 130 may be in a flat cylindrical shape.

[0048] The perception system is used to detect the surrounding environment of the sweeping robot 100, so as to find obstacles, walls, steps, and environmental objects such as charging piles for charging the sweeping robot 100. The perception system is also used to provide various position information and motion state information of the sweeping robot 100 to the main control unit. The perception system may include a distance measuring device 110, a cliff sensor, a charging pile detector (such as an infrared sensor 170), a buffer (not shown in the figure), an obstacle detector (such as an ultrasonic sensor 180), a magnetometer, a three-axis accelerometer, a gyroscope, an odometer, an LDS, an ultrasonic sensor, a camera (such as a depth camera), a Hall sensor, etc.

[0049] The distance measuring device 110 is used to measure the distance between the cleaning robot 100 and the environmental objects (obstacles, walls, steps, etc.). For example, the distance measuring device 110 may include an LDS. The distance measuring device 110 may be located above the body 130. For details about the distance measuring device 110, please refer to Figure 3 .

[0050] The forward part of the body 130 (the part of the body 130 located in front along the forward direction of the cleaning robot 100) can carry a buffer, a charging pile detector and an obstacle detector. During the cleaning process of the cleaning robot 100, when the driving component 140 drives the cleaning robot 100 to walk on the ground, the buffer detects one or more objects (such as obstacles or walls) in the driving path of the cleaning robot 100 through the charging pile detector and the obstacle detector. The cleaning robot 100 can detect the object through the buffer and control the driving component 140 to make the cleaning robot 100 respond to the object, for example, to keep the cleaning robot 100 away from the obstacle.

[0051] exist Figure 1 In the example shown, the charging pile detector includes two infrared sensors 170 for detecting infrared light emitted by the charging pile for charging the sweeping robot 100, and determining the position of the charging pile based on the detected infrared light, thereby achieving docking of the sweeping robot 100 with the charging pile.

[0052] The driving assembly 140 is used to drive the cleaning robot 100 forward or backward. In some embodiments, the driving assembly 140 includes a pair of driving wheels 141 and 142 installed on both sides of the middle of the bottom of the body 130, and the driving wheels 141 and 142 are used to drive the cleaning robot 100 forward or backward. In some embodiments, the driving assembly 140 also includes a guide wheel 143 arranged at the front of the body 130, and the guide wheel 143 is used to change the driving direction of the cleaning robot 100 during the travel process.

[0053] The main control unit is arranged on a circuit board in the body 130, and includes a processor. The processor can draw a real-time map of the environment where the sweeping robot 100 is located, and determine the location of the sweeping robot 100 according to the distance information (the distance between the sweeping robot 100 and the environmental objects) determined by the distance measuring device 110. The processor can also comprehensively judge the current working state of the sweeping robot 100 according to the distance information and speed information fed back by the cliff sensor, ultrasonic sensor, infrared sensor, magnetometer, accelerometer, gyroscope, odometer and other devices. The processor can also control the sweeping robot 100 to perform the cleaning task along a certain path.

[0054] The storage component is arranged on a circuit board in the body 130, and the storage component includes a memory, which can store the position information and speed information of the cleaning robot 100 and the real-time map drawn by the processor. The memory can also store instructions for controlling the cleaning robot 100 to perform various tasks.

[0055] The main brush 150 is installed at the bottom of the body 130 and is the main cleaning component of the sweeping robot 100. In some embodiments, the main brush 150 is a drum-shaped rotating brush that rotates relative to the contact surface in a roller type. When the sweeping robot 100 moves forward, the main brush 150 sweeps the garbage in front of it to the dust box entrance, and the garbage at the dust box entrance further enters the dust box through the suction force generated by the fan arranged behind the dust box.

[0056] The battery assembly includes a rechargeable battery, a charging circuit connected to the rechargeable battery, and a charging electrode disposed on the side or bottom of the body of the sweeping robot 100. In some embodiments, the charging circuit includes a charging control circuit, a charging temperature detection circuit, and a charging voltage detection circuit. In some embodiments, the charging electrode is in the shape of a strip, and there are two charging electrodes in total.

[0057] It should be noted that the cleaning robot 100 may also include Figure 1 and Figure 2 Other modules or components not shown, or only some of the above modules or components may be included, which is not limited in the embodiments of the present invention, and the above-mentioned sweeping robot 100 is only used as an example for explanation.

[0058] Combine the following Figure 3 The distance measuring device 110 is described in detail. Figure 3 As shown, the distance measuring device 110 includes a light emitting unit 111 and a light receiving unit 112. The light emitting unit 111 is used to emit distance measuring light, and the distance measuring light is reflected or scattered by the object to be measured after reaching the object to be measured (such as a wall or other obstacles, etc.). The light receiving unit 112 is used to receive the distance measuring light reflected or scattered by the object to be measured.

[0059] The distance measuring device 110 further includes a controller 160. The controller 160 is electrically connected to the light emitting unit 111 and the light receiving unit 112, respectively. The controller 160 is configured to determine the initial distance between the object to be measured and the distance measuring device 110 based on the emission of the distance measuring light by the light emitting unit 111 and the reception of the distance measuring light by the light receiving unit 112. For example, the controller 160 can determine the distance between the object to be measured and the distance measuring device 110 based on the time of flight (TOF) principle. For example, the controller 160 can determine the time difference between the moment when the light emitting unit 111 emits the distance measuring light to the object to be measured and the moment when the reflected or scattered distance measuring light is received by the light receiving unit 112, and then determine the initial distance between the object to be measured and the distance measuring device 110 using the speed of light and the time difference.

[0060] As described above, due to the changing environmental factors (such as temperature), the aging of the device, the structural deformation of the device, and the relative position change between the devices, the initial distance measurement is actually not accurate enough, and the initial distance measurement needs to be calibrated. In order to calibrate, the distance measuring device 110 includes a distance measurement calibration unit 120 for determining a distance compensation value.

[0061] For ease of description, hereinafter, the light emitted by the light emitting unit 111 when determining the distance compensation value is referred to as calibration light. The distance measurement calibration unit 120 is disposed between the light emitting unit 111 and the light receiving unit 112 so that at least a portion of the calibration light emitted by the light emitting unit 111 is directly received by the light receiving unit 112 via the distance measurement calibration unit 120.

[0062] The controller 160 is configured to determine the distance compensation value based on the emission of the calibration light by the light emitting unit 111 and the reception of at least a portion of the calibration light by the light receiving unit 112. The controller 160 is configured to determine the calibration distance between the object to be measured and the distance measuring device 110 based on the distance compensation value and the initial measured distance. For example, the controller 160 can calculate the first distance based on the time difference between the emission and reception of the calibration light and the propagation speed of the light in the distance measurement calibration unit 120. Then, the controller 160 can use the difference between the first distance and the length of the distance measurement calibration unit 120 as the distance compensation value. The controller 160 can use the sum of the initial measured distance and the distance compensation value as the calibration distance.

[0063] In some embodiments, the distance measurement calibration unit 120 may include a light guide structure. The light guide structure includes a first end for receiving the calibration light emitted by the light emitting unit 111, and a second end for transmitting the calibration light in the light guide structure to the light receiving unit 112. In some embodiments, the light guide structure is a U-shaped light guide tube. In some embodiments, the light guide structure is made of optical fiber or glass.

[0064] In some embodiments, the light emitting unit 111, the light receiving unit 112 and the controller 160 can be integrated into one module (integrated module). The integrated module is used to be rotatably arranged on the outer shell of the robot. In this way, the distance measuring device 110 can rotate, so that the distance of the objects within a 360-degree range around the sweeping robot 100 from the sweeping robot 100 can be determined. In order to protect the integrated module, in some embodiments, the sweeping robot 100 also includes a protective cover. The protective cover is sleeved on the periphery of the integrated module. This can prevent the integrated module from being bumped. The protective cover can be fixedly arranged on the outer shell of the sweeping robot 100, and the protective cover is connected to the outer shell of the sweeping robot 100 through a supporting structure (such as a mounting column). In such an embodiment, the ranging calibration unit 120 can be arranged on the protective cover or on the supporting structure of the protective cover. In this way, the ranging calibration unit 120 is fixedly arranged on the outer shell of the sweeping robot 100 through the protective cover or the supporting structure of the protective cover, and the integrated module can rotate relative to the sweeping robot 100.

[0065] In such an embodiment, the controller 160 can determine the distance compensation value in response to the ranging device 110 rotating to a predetermined angle, and store the distance compensation value in the memory of the cleaning robot 100. During the rotation of the integrated module, the light emitting unit 111 can emit calibration light when the integrated module rotates to a preset angle (at this time, the light emitted by the light emitting unit 111 can be received by the first end of the ranging calibration unit 120, and the light receiving unit 112 can directly receive the light via the ranging calibration unit 120). The calibration light directly enters the first end of the ranging calibration unit 120, and then the calibration light is directly transmitted to the light receiving unit 112 through the ranging calibration unit 120.

[0066] In some embodiments, the controller 160 may redetermine the distance compensation value each time the integrated module rotates to a preset angle. In some embodiments, the controller 160 may redetermine the distance compensation value only after a predetermined time when the integrated module rotates to a predetermined angle, thereby avoiding frequent updates to the distance compensation value. In some embodiments, the controller 160 may also redetermine the distance compensation value when the temperature of the working environment of the sweeping robot 100 exceeds a preset threshold. In this way, the influence of environmental factors on the distance measuring device 110 can be avoided, the measurement error of the sweeping robot 100 can be reduced, and the measurement accuracy can be improved.

[0067] According to the cleaning robot 100 of this embodiment, with the assistance of the distance measurement calibration unit 120, the controller 160 can determine the distance compensation value, thereby avoiding the influence of environmental factors or device aging on the distance measurement device 110, reducing the measurement error of the cleaning robot 100, and improving the measurement accuracy. At the same time, since at least a part of the calibration light emitted by the light emitting unit 111 is transmitted through the distance measurement calibration unit 120 and directly received by the light receiving unit 112 without being reflected or scattered by other objects, the distance measurement device 110 of the present invention can be applied to cleaning robots 100 of smaller size.

[0068] Implementation Method 2

[0069] In the above-mentioned first embodiment, the distance measurement calibration unit 120 is a part of the distance measurement device 110, and the distance compensation value and the calibration distance are determined by the controller 160 of the distance measurement device 110. In the second embodiment described below, the distance compensation value and the calibration distance are determined by the main control unit of the cleaning robot 100. Figure 4 To describe this sweeping robot.

[0070] like Figure 4 As shown, the sweeping robot 100 includes a distance measuring device 210, a distance measuring calibration device 220 and a main control unit 270. The distance measuring calibration device 220 of the second embodiment is substantially the same as the distance measuring calibration unit 120 of the first embodiment. The distance measuring device 210 of the second embodiment includes a light emitting unit 211 that is substantially the same as the light emitting unit 111 of the first embodiment. The distance measuring device 210 of the second embodiment includes a light receiving unit 212 that is substantially the same as the light receiving unit 112 of the first embodiment. The distance measuring device 210 also includes a controller 260. The controller 260 is electrically connected to the light emitting unit 211 and the light receiving unit 212, respectively. The controller 260 is used to determine an initial measurement distance. The method for determining the initial measurement distance by the controller 260 of the second embodiment is substantially the same as the method for determining the initial measurement distance by the controller 160 of the first embodiment. For these similar components, reference may be made to Figure 3 , I will not go into details here.

[0071] The main control unit 270 is electrically connected to the controller 260. In the second embodiment, the controller 260 of the distance measuring device 210 sends the initial measured distance, the time when the light emitting unit 211 emits light, and the time when the light receiving unit 212 receives light to the main control unit 270. The main control unit 270 determines the distance compensation value and determines the calibration distance according to the distance compensation value and the initial measured distance. The method for the main control unit 270 to determine the distance compensation value is substantially the same as the method for the controller 160 to determine the distance compensation value in the first embodiment. The method for the main control unit 270 to determine the calibration distance is substantially the same as the method for the controller 160 to determine the calibration distance in the first embodiment.

[0072] The cleaning robot 100 of the second embodiment includes a protective cover that is substantially the same as the protective cover of the first embodiment. In the second embodiment, the distance measuring device 210 is rotatably arranged on the housing of the cleaning robot 100. The protective cover is sleeved on the outer periphery of the distance measuring device 210. The distance measuring calibration device 220 is fixed to the upper part of the protective cover of the cleaning robot 100 or to the supporting structure of the protective cover.

[0073] The other parts of the cleaning robot 100 of the second embodiment are substantially the same as those of the cleaning robot 100 of the first embodiment, and are not described in detail here.

[0074] 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 "component" and the like appearing herein may represent either a single part or a combination of multiple parts. Terms such as "installation" and "setting" and the like appearing herein may represent either a component being directly attached to another component or a component being attached to another component through an intermediate. Features described herein 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.

[0075] 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 distance measuring device, comprising: A light emitting unit, wherein the light emitting unit emits distance measuring light; A light receiving unit, which receives the distance measuring light reflected or scattered by the object to be measured; A controller configured to determine an initial distance between the object to be measured and the distance measuring device based on the emission of the distance measuring light by the light emitting unit and the reception of the distance measuring light by the light receiving unit; as well as a distance measurement calibration unit, the distance measurement calibration unit being selectively disposed between the light emitting unit and the light receiving unit so that when calibration is required, at least a portion of the calibration light emitted by the light emitting unit is directly received by the light receiving unit via the distance measurement calibration unit; The controller is further configured to determine a distance compensation value based on the emission of the calibration light by the light emitting unit and the reception of at least a portion of the calibration light by the light receiving unit; and determine a calibration distance between the object to be measured and the distance measuring device based on the distance compensation value and the initial measured distance; wherein the light emitting unit, the light receiving unit and the controller are integrated into one module, and the module is rotatable relative to the distance measurement calibration unit; and wherein The controller is also configured to: The distance compensation value is determined in response to the temperature of the environment in which the distance measuring device is located exceeding a predetermined threshold, or in response to the module being rotated to a predetermined angle relative to the distance measurement calibration unit.

2. The distance measuring device according to claim 1, characterized in that: The distance measurement calibration unit comprises a light guide structure, a first end of the light guide structure is used to receive the calibration light, and a second end of the light guide structure is used to transmit at least a part of the calibration light to the light receiving part.

3. The distance measuring device according to claim 2, characterized in that: The light guide structure is a U-shaped light guide tube.

4. The distance measuring device according to claim 2, characterized in that: The light guiding structure is made of optical fiber or glass.

5. The distance measuring device according to claim 1, characterized in that: The module is installed to an autonomous robot, which includes a protective cover for protecting the module, the protective cover is sleeved on the periphery of the module, and the ranging calibration unit is suitable for being arranged on the upper part of the protective cover or on the supporting structure of the protective cover.

6. The distance measuring device according to claim 5, characterized in that: The module is rotatable relative to the autonomous robot, and the distance measurement calibration unit is fixed relative to the autonomous robot.

7. The distance measuring device according to any one of claims 1 to 6, characterized in that: The controller determining the distance compensation value comprises: The controller determines a time difference between emission of the calibration light and receipt of at least a portion of the calibration light; The controller determines a first distance based on the time difference and a propagation speed of the calibration light in the distance measurement calibration unit; and The controller determines the distance compensation value based on the first distance and a length of the distance measurement calibration unit.

8. An autonomous robot comprising the distance measuring device according to any one of claims 1 to 7.

9. An autonomous robot, characterized in that: The autonomous robot comprises: A distance measuring device, the distance measuring device comprising a light emitting unit, a light receiving unit and a controller, the light emitting unit emitting distance measuring light, the light receiving unit receiving the distance measuring light after being reflected or scattered by the object to be measured, and the controller determining the initial distance between the object to be measured and the distance measuring device based on the emission of the distance measuring light by the light emitting unit and the reception of the distance measuring light by the light receiving unit; a distance measurement calibration device, the distance measurement calibration device being selectively disposed between the light emitting portion and the light receiving portion, so that when calibration is required, at least a portion of the calibration light emitted by the light emitting portion is directly received by the light receiving portion via the distance measurement calibration device; and A main control unit, the main control unit is configured to determine a distance compensation value based on the emission of the calibration light by the light emitting unit and the reception of at least a portion of the calibration light by the light receiving unit; and determine a calibration distance between the object to be measured and the distance measuring device based on the distance compensation value and the initial measured distance; wherein The distance measuring device is rotatable relative to the main body of the autonomous robot, and the distance measuring calibration device is fixed relative to the main body of the autonomous robot; and wherein the main control unit is further configured as follows: The distance compensation value is determined in response to the temperature of the environment in which the autonomous robot is located exceeding a predetermined threshold, or in response to the distance measuring device rotating to a predetermined angle relative to the main body of the autonomous robot.

10. The autonomous robot according to claim 9, characterized in that: The distance measurement calibration device comprises a light guiding structure, a first end of the light guiding structure is used to receive the calibration light, and a second end of the light guiding structure is used to transmit at least a part of the calibration light to the light receiving part.

11. The autonomous robot according to claim 10, characterized in that: The light guide structure is a U-shaped light guide tube.

12. The autonomous robot according to claim 10, characterized in that: The light guiding structure is made of optical fiber or glass.

13. The autonomous robot according to claim 9, characterized in that: The autonomous robot comprises a protective cover for protecting the distance measuring device, the protective cover is sleeved on the outer periphery of the distance measuring device, and the distance measuring calibration device is arranged on the upper part of the protective cover or on the supporting structure of the protective cover.

14. The autonomous robot according to any one of claims 9 to 13, characterized in that: The main control unit determines the distance compensation value including: The main control unit determines a time difference between emission of the calibration light and reception of at least a portion of the calibration light; The main control unit determines a first distance based on the time difference and a propagation speed of the calibration light in the distance measurement calibration device; and The main control unit determines the distance compensation value based on the first distance and the length of the distance measurement calibration device.

Images