Distance measuring device and sweeping robot

Abstract

The embodiment of the present application discloses a distance measuring device, including a support frame, a light emitter, a first lens, a second lens and a receiving component. The support frame is provided with a mounting groove and a receiving groove, the light emitter is fixed in the mounting groove, and the light emitter faces the notch of the mounting groove; the first lens is fixed at the notch, and the first lens is used to converge the light emitted by the light emitter, so that the light has a first field of view angle after passing through the first lens; the second lens is arranged on the first lens, and the light has a second field of view angle after passing through the second lens, and the second field of view angle is greater than the first field of view angle; the receiving component is arranged in the receiving groove. By arranging the second lens on the first lens, the second field of view angle of the light passing through the second lens is greater than the first field of view angle of the light passing through the first lens, the first field of view angle is smaller, the light energy is more concentrated, and it is conducive to long-distance distance measurement; and the second field of view angle is larger, which can reduce the close-range optical blind spot of the distance measuring device, and is conducive to close-range distance measurement.

Description

[Technical field]

[0001] The embodiments of the present application relate to the field of radar technology, and in particular to a distance measuring device and a sweeping robot. [Background technology]

[0002] The ranging device is a radar system that uses a laser beam to detect the position, speed and other characteristic quantities of the target. Its working principle is to transmit a detection signal (laser beam) to the target, and then compare the received signal reflected from the target (target echo) with the transmitted signal. After appropriate processing, relevant information about the target can be obtained, such as target distance, direction, height, speed, attitude, and even shape parameters.

[0003] At present, robots such as sweeping robots or other service robots use ranging devices to collect data. Their field of view is fixed. In order to ensure better long-distance effects, the transmitting and receiving field of view are small, which will result in a close-range blind spot. In addition, the close-range reflection is strong and easily saturated, making it difficult to identify various materials. [Summary of the invention]

[0004] The embodiments of the present application aim to provide a distance measuring device and a sweeping robot, so as to at least improve the short-range distance measuring effect.

[0005] In order to solve the technical problem, the embodiment of the present application adopts the following technical solution:

[0006] In the first aspect, an embodiment of the present application proposes a distance measuring device, including a support frame, a light emitter, a first lens, a second lens and a receiving component. The support frame is provided with a mounting groove and a receiving groove, and the light emitter is fixed in the mounting groove, and the light emitter faces the notch of the mounting groove. The first lens is fixed at the notch, and the first lens is used to converge the light emitted by the light emitter so that the light has a first field of view angle after passing through the first lens. The second lens is arranged on the first lens, and the light has a second field of view angle after passing through the second lens, wherein the second field of view angle is greater than the first field of view angle; the receiving component is arranged in the receiving groove.

[0007] According to some embodiments of the present application, the second lens is arranged on the light emitting surface of the first lens, and the light emitting surface of the second lens is provided with a first groove, and the first groove is used to diverge part of the light passing through the second lens.

[0008] According to some embodiments of the present application, the first groove includes a first sub-groove and a plurality of second sub-grooves. The first sub-groove is arranged at the center of the light-emitting surface of the second lens, and the plurality of second sub-grooves are sequentially arranged around the first sub-groove along the direction from the center of the light-emitting surface of the second lens to the edge of the light-emitting surface of the second lens.

[0009] According to some embodiments of the present application, the first sub-groove and the second sub-groove are both conical, and along a first direction, the cross-sectional area of ​​the first sub-groove and the cross-sectional area of ​​the second sub-groove gradually increase; wherein, the first direction is the direction from the light emitter to the center of the second lens.

[0010] According to some embodiments of the present application, the second sub-groove includes a first surface and a second surface connected to each other, and the second surface and the first surface are arranged in sequence along the direction from the center of the light-emitting surface of the second lens to the edge of the light-emitting surface of the second lens. Along the first direction, the angle between the first surface and the central axis of the second lens is A, 0°<A<90°; along the first direction, the angle between the second surface and the central axis of the second lens is B, 0°≤B<A. Wherein, the central axis of the second lens is parallel to the first direction.

[0011] According to some embodiments of the present application, the curvature of the second lens is smaller than the curvature of the first lens.

[0012] According to some embodiments of the present application, the second lens is arranged on the light incident surface of the first lens, and the light incident surface of the second lens is provided with a second groove, and the second groove is used to diverge part of the light passing through the second lens. The second groove includes a third sub-groove and a plurality of fourth sub-grooves, the third sub-groove is opened at the center of the light incident surface of the second lens, and the plurality of fourth sub-grooves are sequentially arranged around the third sub-groove. The third sub-groove and the fourth sub-groove are both conical, and along the first direction, the cross-sectional area of ​​the third sub-groove and the cross-sectional area of ​​the fourth sub-groove gradually decrease; wherein, the first direction is the direction from the light emitter to the center of the second lens.

[0013] According to some embodiments of the present application, the first lens and the second lens are integrally formed.

[0014] According to some embodiments of the present application, the receiving component includes a third lens and a fourth lens, both of which are used to receive and converge the light emitted by the light emitter, the third lens is fixed in the receiving groove, the fourth lens is arranged on the third lens, and the curvature of the fourth lens is greater than the curvature of the third lens, so that the field of view angle of the fourth lens is greater than the field of view angle of the third lens.

[0015] According to some embodiments of the present application, in a second aspect, the present application further proposes a sweeping robot, comprising a ranging device as described in any of the above embodiments.

[0016] The beneficial effects of the embodiments of the present application are:

[0017] In the technical solution of the embodiment of the present application, a second lens is arranged on the first lens, wherein the second field of view angle of the light passing through the second lens is greater than the first field of view angle of the light passing through the first lens, the first field of view angle is smaller, and the light energy is more concentrated, which is beneficial to long-distance ranging; while the second field of view angle is larger, which can reduce the close-range optical blind spot of the ranging device, which is beneficial to close-range ranging; and after the light is diverged by the second lens, the saturation of close-range laser reception can be effectively alleviated, so as to facilitate the identification of various materials and improve the accuracy of close-range ranging.

[0018] The above description is only an overview of the technical solution of the present application. In order to more clearly understand the technical means of the present application, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are listed below.

Brief Description of the Drawings

[0019] One or more embodiments are exemplarily described by corresponding drawings, which do not constitute limitations on the embodiments. Elements with the same reference numerals in the drawings represent similar elements, and the figures in the drawings do not constitute proportional limitations unless otherwise stated.

[0020] Figure 1 This is a schematic diagram of the structure of a distance measuring device in some embodiments of the present application;

[0021] Figure 2 A schematic diagram of optical measurement of a distance measuring device according to some embodiments of the present application;

[0022] Figure 3 A schematic diagram of the installation of the first lens and the second lens in some embodiments of the present application;

[0023] Figure 4 A schematic diagram of the installation of the first lens and the second lens in some embodiments of the present application;

[0024] Figure 5 A schematic diagram of the installation of the first lens and the second lens in some embodiments of the present application;

[0025] Figure 6 A schematic diagram of the installation of the first lens and the second lens in some embodiments of the present application;

[0026] Figure 7 A top view of a first lens and a second lens according to some embodiments of the present application;

[0027] Figure 8 A schematic diagram of simulating light passing through a second groove in some embodiments of the present application;

[0028] Fig. 9A schematic diagram of simulating light passing through a first lens and a second lens in some embodiments of the present application;

[0029] Fig.10 A schematic diagram of simulating light passing through a first lens and a second lens in some embodiments of the present application;

[0030] Fig.11 Schematic diagram of the internal structure of the distance measuring device in some embodiments of the present application.

[0031] Description of reference numerals:

[0032] 100. Distance measuring device;

[0033] 10. Support frame; 11. Mounting slot; 12. Mounting surface; 13. Receiving slot;

[0034] 20. Light transmitter;

[0035] 30. first lens; 31. light incident surface of the first lens; 32. light exit surface of the first lens; 33. snap-fit ​​groove;

[0036] 40, second lens; 41, light incident surface of the second lens; 42, light exit surface of the second lens; 43, first sub-groove; 44, second sub-groove; 441, first surface; 442, second surface; 45, third sub-groove; 46, fourth sub-groove;

[0037] 50, spot; 60, halo;

[0038] 70. receiving component; 71. third lens; 72. fourth lens;

[0039] 80. Image sensor; 90. Circuit board. [Specific implementation method]

[0040] The following embodiments of the technical solution of the present application are described in detail in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present application, and are therefore only used as examples, and cannot be used to limit the scope of protection of the present application.

[0041] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by technicians in the technical field to which this application belongs; the terms used herein are only for the purpose of describing specific embodiments and are not intended to limit this application; the terms "including" and "having" in the specification and claims of this application and the above-mentioned figure descriptions and any variations thereof are intended to cover non-exclusive inclusions.

[0042] In the description of the embodiments of the present application, the technical terms "first", "second", etc. are only used to distinguish different objects, and cannot be understood as indicating or implying relative importance or implicitly indicating the number, specific order or primary and secondary relationship of the indicated technical features. In the description of the embodiments of the present application, the meaning of "multiple" is more than two, unless otherwise clearly and specifically defined.

[0043] Reference to "embodiment" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiment may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments.

[0044] In the description of the embodiments of the present application, the orientations or positional relationships indicated by technical terms such as "center", "thickness", "up", "down", "front", "back", "left", "right", "top", "bottom", "inside", "outside", and "circumferential" are based on the orientations or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the embodiments of the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation. Therefore, they should not be understood as limitations on the embodiments of the present application.

[0045] In the first aspect, the embodiment of the present application provides a distance measuring device 100, please refer to Figure 1 and Figure 2 The distance measuring device 100 includes a support frame 10, a light emitter 20, a first lens 30 and a second lens 40. The support frame 10 is provided with a mounting groove 11, and the light emitter 20 is fixed in the mounting groove 11. The light emitter 20 faces the notch of the mounting groove 11, and the light emitter 20 is used to emit light. The first lens 30 is fixed at the notch, and the first lens 30 is used to converge the light emitted by the light emitter 20, so that the light has a first field of view angle after passing through the first lens 30. The second lens 40 is arranged on the first lens 30, and the light has a second field of view angle after passing through the second lens 40, wherein the second field of view angle is greater than the first field of view angle.

[0046] For the above-mentioned support frame 10, please refer to Figure 1 The support frame 10 is a supporting structure for the light emitter 20, the first lens 30 and the second lens 40. The support frame 10 has a mounting surface 12. The mounting groove 11 is formed on the mounting surface 12. Figure 1 The first direction Z extends to a certain depth of the support frame 10 to form an accommodating space.

[0047] For the above-mentioned light emitter 20, please refer to Figure 1 and Figure 2, the light emitter 20 is arranged in the above-mentioned accommodation space and is located at the bottom of the mounting groove 11, and the light emitter 20 is used to emit light. The light emitter 20 can be constructed as a laser emitter 20 such as a laser diode, which can emit laser pulses used for measurement. The pulsed laser emitted by the light emitter 20 can be a high-frequency pulsed laser, for example, a pulsed laser above 1kHz. The light emitted by the light emitter 20 can be infrared light, and the light emitter 20 can be preset to emit light at a certain angle or direction, wherein the light should be irradiated to the desired field of view angle range according to a certain light field distribution. It can be understood that in some other embodiments, the light emitter 20 can also use other devices capable of emitting light.

[0048] For the first lens 30, please refer to Figure 1 and Figure 2 The first lens 30 is fixed at the notch of the mounting groove 11 and is in the light path emitted by the light emitter 20, wherein the first lens 30 is used to converge the light emitted by the light emitter 20, so that the light has a narrowed first field of view after passing through the first lens 30, and the light energy is more concentrated, so that the boundary of the light detection area is sharper and more obvious, and the detection distance is farther, so as to adapt to some application equipment fields with small light divergence angle or high requirements for light field distribution. The first lens 30 can be a convex lens, including but not limited to a spherical lens, a plane convex lens, a biconvex convex lens, a meniscus lens or an aspherical lens.

[0049] Please refer to Figure 1 and Figure 2 The first lens 30 includes a light incident surface 31 and a light emitting surface 32, wherein the light incident surface 31 of the first lens 30 is disposed toward the light emitter 20, and the light emitting surface 32 of the first lens 30 is disposed toward the outside of the slot of the mounting slot 11. The light emitted by the light emitter 20 enters from the light incident surface 31 of the first lens 30, and is emitted from the light emitting surface 32 of the first lens 30 to form converged light. The light emitting surface 32 of the first lens 30 includes but is not limited to a convex surface, a spherical surface, or an aspherical surface, and the light incident surface 31 thereof includes but is not limited to a plane, a convex surface, or a concave surface, and is not limited here.

[0050] In some embodiments, Figure 2 As shown, the light emitter 20 is disposed at the focus of the first lens 30, and the first lens 30 is used to converge and collimate the light emitted by the light emitter 20. It can be understood that when parallel light enters the convex lens, it will converge at the focus of the convex lens. Therefore, in this embodiment, the light emitter 20 at the focus of the first lens 30 emits, and its emitted light passes through the first lens 30 and is emitted in parallel to collimate the emitted light.

[0051] For the second lens 40, please refer to Figures 3 to 6The second lens 40 is disposed on the first lens 30, for example, on the light exiting surface 32 of the first lens 30 or on the light incident surface 31 of the first lens 30. The second lens 40 can be integrally disposed with the first lens 30 or separately disposed. Figure 3 and 4 As shown, when the two lenses are separately arranged, the arrangement method includes but is not limited to clamping or bonding, for example, a clamping groove 33 is opened on the first lens 30, and the second lens 40 is directly clamped and fixed to the clamping groove 33, or the second lens 40 is directly bonded to the first lens 30. The second lens 40 can also be detachably connected to the first lens 30 to facilitate the replacement and maintenance of the second lens 40.

[0052] like Figure 5 and Figure 6 As shown, when the second lens 40 is integrally formed with the first lens 30, the position of the second lens 40 is fixed. In this embodiment, the position of the second lens 40 can be specifically set according to the needs, and is usually set at the center of the light-emitting surface 32 or the center of the light-entering surface 31 of the first lens 30. It can be understood that in some other embodiments, the second lens 40 can also be set at the edge of the light-emitting surface 32 or the edge of the light-entering surface 31 of the first lens 30.

[0053] In some embodiments, please refer to Figure 2 and Figure 5 , the light emitting surface 32 of the first lens 30 is a convex surface, and the second lens 40 is arranged on the light emitting surface 32 of the first lens 30. The light emitted by the light emitter 20 will first pass through the first lens 30 and be converged and collimated by the first lens 30 to form a first field of view angle, and finally form a central light spot 50 with a smaller field of view angle at the receiving end. Part of the light will pass through the second lens 40 and be diverged by the second lens 40 to form a second field of view angle, and form a halo 60 with a larger field of view angle at the receiving end. The central light spot 50 has a smaller field of view angle, which is conducive to the long-distance ranging effect, and the halo 60 has a larger field of view angle, which can reduce the optical blind area of ​​the ranging device 100 and is conducive to short-distance ranging; and after the light is diverged by the second lens 40, the saturation of the short-distance light reception can be effectively alleviated, so as to facilitate the identification of various materials and improve the accuracy of short-distance ranging.

[0054] For details, please refer to Figure 2 , Figure 5 and Figure 7, the second lens 40 is arranged on the light-emitting surface of the first lens 30, and a first groove (not shown in the figure) is provided at the center of the light-emitting surface of the second lens 40, and the first groove is used to diverge part of the light passing through the second lens 40. In some embodiments, the first groove includes a first sub-groove 43 and a plurality of second sub-grooves 44, the first sub-groove 43 is arranged at the center of the light-emitting surface of the second lens 40, and along the direction from the center of the light-emitting surface of the second lens 40 to the edge of the light-emitting surface of the second lens 40, a plurality of second sub-grooves 44 are sequentially arranged around the first sub-groove 43. The first sub-groove 43 and the second sub-groove 44 are both conical, and the cross-sectional area of ​​the first sub-groove 43 and the cross-sectional area of ​​the second sub-groove 44 gradually increase along the first direction Z. Among them, the first direction Z is the direction from the light emitter 20 to the center of the second lens 40, the cross-sectional area of ​​the first sub-groove 43 is the cross-sectional area of ​​the first sub-groove 43 along the second direction X, and the cross-sectional area of ​​the second sub-groove 44 is the interface of the second sub-groove 44 along the second direction X, and the first direction Z is perpendicular to the second direction X.

[0055] In some other embodiments, please refer to Figure 2 , Figure 5 and Figure 7 , the first sub-groove 43 and the second sub-groove 44 can both be used to diverge part of the light. Specifically, the second sub-groove 44 includes a first surface 441 and a second surface 442 connected to each other. The second surface 442 and the first surface 441 are arranged in sequence along the direction from the center of the light-emitting surface 42 of the second lens 40 to the edge of the light-emitting surface 42 of the second lens 40. Along the first direction Z, the first surface 441 is aligned with the central axis L ( Figure 5 The angle between the second surface 442 and the central axis L of the second lens 40 is A, 0°<A<90°. In this angle range, the light is refracted after passing through the second surface 442 to expand the second field of view. Similarly, along the first direction Z, the angle between the second surface 442 and the central axis L of the second lens 40 is B, 0°≤B<A; wherein the central axis L of the second lens 40 is parallel to the first direction Z. In some other embodiments, the angle B between the second surface 442 and the central axis L of the second lens 40 is usually set to 0°, such as Figure 5 As shown, the angle between the first surface 441 and the third direction Y is α, α+A=90°, the first direction Z, the second direction X and the third direction Y are perpendicular to each other, and the inner surface of the first sub-groove 43 can also be configured to diverge light.

[0056] Please refer to further Figure 8 , Figure 8 The structure of a part of the second sub-groove 44 is shown. The second lens 40 includes a light incident surface 41 (the light incident surface 41 is also the first refractive surface) and a light emitting surface 42 (the light emitting surface 42 is also the second refractive surface). The light enters from the light incident surface 41 of the second lens 40, and its first incident angle is I 1, the first refraction occurs at the incident surface 41 of the second lens 40, and the first exit angle is I 2 ,; A second refraction occurs at the light exiting surface 42 of the second lens 40, and the second incident angle is I 3 , the second exit angle is I 4 , according to the law of refraction, sinI 1 =nsinI 2 ,nsinI 3 = sinI 4 ; According to the triangular relationship, α=I 2 -I 1 ; Deflection angle δ = I 1 -I 4 -α; final emission angle θ = I 1 +δ=2I 1 -I 4 -α, light height H = Dtanθ, where n is the refractive index, Figure 5 The extension line of the emitted light has an intersection point M with the first direction Z. Since the distance between M and the second lens 40 is small, D can be approximately regarded as the distance between the object to be measured and the second lens 40 .

[0057] In order to make the second lens 40 evenly diverge the light, Figure 5 As shown, the inclination angle α of the inner wall of the first groove and the inclination angle β of the inner wall of the second groove can be set to be the same, that is, α = β. In this embodiment, the inclination angles of the first surfaces 441 of the second sub-grooves 44 are consistent, and the inclination angle of the inner wall of the first sub-grooves 43 is also consistent with the inclination angle of the first surface 441, so as to achieve uniform divergence of light.

[0058] An optical test was performed using the second lens 40 made of BK7, wherein the refractive index of the second lens 40 was 1.151, the incident angles were 0° and 5°, and the heights H were 100 mm and 300 mm, respectively; the test results are shown in Table 1 below;

[0059] Table 1

[0060]

[0061] It can be seen that the second field of view angle can be significantly increased to improve the short-distance ranging effect by setting the second lens 40. Angle α is positively correlated with the degree of light divergence, that is, angle A is inversely correlated with the degree of light divergence, and the size of angle A can be set according to actual needs.

[0062] In some other embodiments, please refer to Fig. 9, the light-emitting surface 42 of the second lens 40 is a convex surface, and the curvature of the second lens 40 is smaller than that of the first lens 30. The larger the curvature, the smaller the radius of curvature, and the focal length of the second lens 40 is smaller than that of the first lens 30. A part of the light emitted by the light emitter 20 passes through the first lens 30 and is converged and collimated by the first lens 30; the other part of the light passes through the second lens 40. Since the curvature of the second lens 40 is smaller than that of the first lens 30, the bending angle of the light passing through the second lens 40 is smaller, so that the second field of view angle is larger than the first field of view angle. The first field of view angle is smaller, which is conducive to the long-distance ranging effect, and the second field of view angle is larger, which can reduce the optical blind spot of the ranging device 100 and is conducive to short-distance ranging.

[0063] In some other embodiments, such as Fig.10 As shown, the light incident surface 31 of the first lens 30 is a convex surface, and the second lens 40 is disposed on the light incident surface 31 of the first lens 30. The curvature of the second lens 40 is smaller than that of the first lens 30. A portion of the light emitted by the light emitter 20 passes through the first lens 30 and is converged and collimated by the first lens 30; the other portion of the light passes through the second lens 40. Since the curvature of the second lens 40 is smaller than that of the first lens 30, the bending angle of the light passing through the second lens 40 is smaller. Alternatively, in some other embodiments, such as Figure 6 As shown, the light incident surface 41 of the second lens 40 is provided with a second groove (not shown in the figure), and the second groove is used to diverge part of the light passing through the second lens 40. The second groove includes a third sub-groove 45 and a plurality of fourth sub-grooves 46, the third sub-groove 45 is provided at the center of the light incident surface 41 of the second lens 40, and the plurality of fourth sub-grooves 46 are sequentially arranged around the third sub-groove 45, and the third sub-groove 45 and the fourth sub-groove 46 are both cone-shaped, and along the first direction, the cross-sectional area of ​​the third sub-groove 45 and the cross-sectional area of ​​the fourth sub-groove 46 gradually decrease; wherein the first direction Z is the direction from the light emitter 20 to the center of the second lens 40. The third sub-groove 45 and the fourth sub-groove 46 are both used to diverge part of the light emitted by the light emitter 20, and the divergence principle thereof can refer to the description of the first sub-groove 43 and the second sub-groove 44 mentioned above.

[0064] The size of the second lens 40 can be set according to specific needs, and the area ratio of the second lens 40 on the light exit surface 32 or the light entrance surface 31 of the first lens 30 will affect the ratio of the first field of view angle to the second field of view angle. In order to improve the accuracy of close-range photometry, the area ratio of the second lens 40 on the light exit surface 32 or the light entrance surface 31 of the first lens 30 can be increased. For example, in some embodiments, the second lens 40 occupies 5% to 50% of the area of ​​the light exit surface 32 of the first lens 30, or in other embodiments, the second lens 40 occupies 5% to 50% of the area of ​​the light entrance surface 31 of the first lens 30.

[0065] In some other embodiments, such as Figure 1 and Fig.11 As shown, the distance measuring device 100 also includes a receiving component 70, an image sensor 80 and a circuit board 90. The mounting surface 12 of the support frame 10 is also provided with a receiving slot 13, the mounting slot 11 and the receiving slot 13 are arranged along the second direction X, and the receiving slot 13 is arranged adjacent to the mounting slot 11, the image sensor 80 and the receiving component 70 are both arranged in the above-mentioned receiving slot 13, wherein the image sensor 80 is located at the bottom of the receiving slot 13, and the receiving component 70 is located at the notch of the receiving slot 13. After being emitted by the object to be measured, at least part of the light emitted by the light emitter 20 will pass through the receiving component 70, wherein the receiving component 70 can be a convex lens, which can converge the light to converge on the image sensor 80. The circuit board 90 is arranged at the bottom of the bracket, and the circuit board 90 can be a printed circuit board 90. The above-mentioned light emitter 20 and the image sensor 80 are both electrically connected to the circuit board 90 for realizing signal transmission, control, etc. For example, the light emitter 20 of the laser diode can be mounted on the circuit board 90 by welding, or can be integrated on the circuit board 90. The circuit board 90 is a flat plate structure. When the image sensor 80 and the light emitter 20 are both disposed on the circuit board 90 , the central axis of the light emitter 20 and the central axis of the image sensor 80 are parallel to each other.

[0066] In some embodiments, please refer to Figure 1 and Fig.11 The receiving assembly 70 includes a third lens 71 and a fourth lens 72. Both the third lens 71 and the fourth lens 72 are used to receive and converge the light emitted by the light emitter 20. The third lens 71 is fixed in the receiving groove 13. The fourth lens 72 is arranged on the third lens 71, for example, arranged on the light exit surface of the third lens 71 or arranged on the light entrance surface of the third lens 71. The curvature of the fourth lens 72 is greater than the curvature of the third lens 71, so that the receiving field angle of the fourth lens 72 is greater than the receiving field angle of the third lens 71. In some other embodiments, the third lens 71 can also be integrally formed with the fourth lens 72. By arranging the fourth lens 72 on the third lens 71, and the curvature of the fourth lens 72 is greater than the curvature of the third lens 71, so that the field angle of the fourth lens 72 is greater than the field angle of the third lens 71, the light collection at a close distance can be expanded, so that the close-range blind area of ​​the distance measuring device 100 is reduced, so that the receiving assembly 70 can receive more photons, so as to improve the close-range distance measurement effect of the distance measuring device 100.

[0067] In the embodiment of the present application, by setting the second lens 40 on the first lens 30, wherein the second field of view angle of the second lens 40 is greater than the first field of view angle of the first lens 30, the first field of view angle is smaller, the light energy is more concentrated, and it is beneficial to long-distance distance measurement; while the second field of view angle is larger, the short-distance optical blind spot of the distance measuring device 100 can be reduced, which is beneficial to short-distance distance measurement; and after the light is diverged by the second lens 40 (relative to the first lens 30, the light of the second lens 40 is finally emitted larger, so it is considered to be divergent), the saturation of the short-distance laser reception can be effectively alleviated, so as to facilitate the identification of various materials and improve the accuracy of short-distance distance measurement. The embodiment of the present application also proposes a sweeping robot, including the distance measuring device 100 as described in any of the above embodiments.

[0068] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Under the concept of the present application, the technical features in the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other changes in different aspects of the present application as described above, which are not provided in detail for the sake of simplicity. Although the present application has been described in detail with reference to the aforementioned embodiments, a person of ordinary skill in the art should understand that the technical solutions described in the aforementioned embodiments can still be modified, or some of the technical features can be replaced by equivalents. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A distance measuring device, characterized in that: include: The support frame is provided with a mounting slot and a receiving slot; A light emitter is fixed in the mounting groove, and the light emitter faces a notch of the mounting groove; A first lens, fixed at the notch, the first lens being used to converge the light emitted by the light emitter so that the light has a first viewing angle after passing through the first lens; A second lens is arranged on the first lens, the second lens is provided with a first groove for diverging light, the first groove includes a first sub-groove and a plurality of second sub-grooves, and along the direction from the center of the light-emitting surface of the second lens to the edge of the light-emitting surface of the second lens, the plurality of second sub-grooves are sequentially arranged around the first sub-groove, and the light has a second viewing angle after passing through the second lens, wherein the second viewing angle is greater than the first viewing angle, and the area of ​​the second lens is smaller than the area of ​​the first lens; The receiving component is arranged in the receiving slot.

2. The distance measuring device according to claim 1, characterized in that: The second lens is arranged on the light-emitting surface of the first lens, and the light-emitting surface of the second lens is provided with the first groove.

3. The distance measuring device according to claim 2, characterized in that: The first sub-groove is arranged at the center of the light emitting surface of the second lens.

4. The distance measuring device according to claim 3, characterized in that: The first sub-groove and the second sub-groove are both tapered, and along a first direction, the cross-sectional area of ​​the first sub-groove and the cross-sectional area of ​​the second sub-groove gradually increase; The first direction is the direction from the light emitter to the center of the second lens.

5. The distance measuring device according to claim 4, characterized in that: The second sub-groove comprises a first surface and a second surface connected to each other, and the second surface and the first surface are arranged in sequence along the direction from the center of the light-emitting surface of the second lens to the edge of the light-emitting surface of the second lens; Along the first direction, the angle between the first surface and the central axis of the second lens is A, 0°<A<90°; Along the first direction, the angle between the second surface and the central axis of the second lens is B, 0°≤B<A; Wherein, the central axis of the second lens is parallel to the first direction.

6. A distance measuring device, characterized in that: include: The support frame is provided with a mounting slot and a receiving slot; A light emitter is fixed in the mounting groove, and the light emitter faces a notch of the mounting groove; A first lens, fixed at the notch, the first lens being used to converge the light emitted by the light emitter so that the light has a first viewing angle after passing through the first lens; A second lens, disposed on the first lens, wherein the light has a second viewing angle after passing through the second lens, wherein the second viewing angle is greater than the first viewing angle, and an area of ​​the second lens is smaller than an area of ​​the first lens; A receiving component, disposed in the receiving slot; The second lens is arranged on the light incident surface of the first lens, and the light incident surface of the second lens is provided with a second groove, and the second groove is used to diverge part of the light passing through the second lens; The second groove includes a third sub-groove and a plurality of fourth sub-grooves, the third sub-groove is opened at the center of the light incident surface of the second lens, and the plurality of fourth sub-grooves are sequentially arranged around the third sub-groove; The third sub-groove and the fourth sub-groove are both tapered, and along the first direction, the cross-sectional area of ​​the third sub-groove and the cross-sectional area of ​​the fourth sub-groove gradually decrease; The first direction is the direction from the light emitter to the center of the second lens.

7. The distance measuring device according to claim 6, characterized in that: The first lens and the second lens are integrally formed.

8. The distance measuring device according to claim 6, characterized in that: The receiving component includes a third lens and a fourth lens, and the third lens and the fourth lens are both used to receive and converge the light emitted by the light emitter. The third lens is fixed in the receiving groove, and the fourth lens is arranged on the third lens. The curvature of the fourth lens is greater than the curvature of the third lens, so that the field of view angle of the fourth lens is greater than the field of view angle of the third lens.

9. A sweeping robot, characterized in that: The device comprises a distance measuring device as claimed in any one of claims 1 to 8.

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