Distance measuring device and robot

Abstract

The invention discloses a distance measuring device and a robot. The distance measuring device comprises a transceiving assembly and a first reflector plate. The transceiving assembly is provided with a transmitting part for transmitting light and a receiving part for receiving the light. A rotatable first reflector plate is arranged on a light path of the emitting component, the first reflector plate reflects light emitted by the emitting component at different angles, the reflected light at least comprises first light and second light, and the first light and the second light define a first plane. The included angle F between the first light and the second light is larger than 0 degree and smaller than 180 degrees. The included angle between the first plane and the rotating axis of the first reflector plate is G, and G is any one of 0 degree, 180 degrees, an acute angle or an obtuse angle. According to the distance measuring device, the size and the production cost of the distance measuring device or the robot can be reduced while environmental perception and obstacle avoidance are met.

Description

Distance measuring device and robot

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims priority to the Chinese patent application filed with the China Patent Office on May 15, 2023, with application number 202310550531.7, and with the invention name “A Distance Measuring Device and Robot”, and the Chinese patent application filed on August 18, 2023, with application number 202311052379.6, and with the invention name “Distance Measuring Device and Robot”, the entire contents of which are incorporated by reference into this application. Technical Field

[0003] The embodiments of the present application relate to the field of distance measurement technology, and in particular to a distance measurement device and a robot. Background Art

[0004] LiDAR is widely used in robotics due to its adaptability to all-weather environments. This is especially true for sweeping robots, which often have a protruding LiDAR on top for positioning and navigation. However, LiDAR can only provide information on a single plane. For complex scenes in a user's home environment, it's difficult for a sweeping robot to perceive low obstacles below using LiDAR alone. Therefore, sweeping robots often require a LiDAR combined with one or more obstacle avoidance sensors for navigation and obstacle avoidance. This solution can provide a certain degree of environmental perception and obstacle avoidance, but the additional sensors increase the cost of the sweeping robot and make it larger, making it difficult to effectively clean confined areas.

[0005] Application Contents

[0006] The embodiments of the present application aim to provide a ranging device and a robot, which can reduce the size and production cost of the ranging device or robot while meeting the requirements of environmental perception and obstacle avoidance.

[0007] In order to solve the technical problems, the embodiments of the present application adopt the following technical solutions:

[0008] The present application proposes a distance measuring device, comprising a transceiver assembly and a first reflector. The transceiver assembly has an emitting component for emitting light and a receiving component for receiving light. A rotatable first reflector is provided in the light path of the emitting component, and the first reflector reflects the light emitted by the emitting component at different angles. The reflected light includes at least a first light and a second light, and the first light and the second light define a first plane. The angle between the first light and the second light is F, and 0°<F<180°. The angle between the first plane and the rotation axis of the first reflector is G, and G is any one of 0°, 180°, an acute angle, or an obtuse angle.

[0009] In some preferred embodiments, the emitting component is a line light source emitter, which emits at least part of the light, which is reflected by the first reflector to define the first plane; or, the emitting component is a surface light source emitter, which emits at least part of the light, which is reflected by the first reflector to define the first plane.

[0010] In some preferred embodiments, the mirror surface of the first reflector is a non-planar mirror surface, which divides the light emitted by the emitting component into at least a first light and a second light, and the second light is deflected above or below the first light.

[0011] The present application provides a distance measuring device comprising a transceiver assembly and a first reflector. The transceiver assembly comprises an emitting component for emitting light and a receiving component for receiving light. The light emitted by the emitting component comprises at least a first light ray and a second light ray. A rotatable first reflector is disposed in the light path of the emitting component. When the first reflector rotates, the first reflector reflects the second light ray at different angles, and the reflected second light ray is deflected upward or downward from the first light ray.

[0012] In some preferred embodiments, the first light is parallel to the second light, and the distance measuring device further comprises a diffuser configured to diffuse the second light into a line beam, and the line beam is deflected upward or downward from the first light.

[0013] In some preferred embodiments, the light emitted by the emitting component further includes a third light. After being reflected by the first reflective sheet, the second light is deflected downward of the first light, and the third light is deflected upward of the first light.

[0014] In some preferred embodiments, the transceiver assembly further includes one or more second reflective sheets, and the second reflective sheets are configured to reflect the first light and the second light to the first reflective sheet.

[0015] In some preferred embodiments, the transceiver assembly further includes a beam splitter, which is disposed in the light emission path of the emitting component and is used to split the light emitted by the emitting component into at least the first light and the second light.

[0016] In some preferred embodiments, the transceiver assembly further includes a deflection member, the emitting component is arranged facing the deflection member, part of the light emitted by the emitting component forms the first light, and another part of the light is refracted upward or downward by the deflection member to form the second light.

[0017] The present application proposes a distance measuring device, comprising a transceiver assembly, a first reflector, and a spectrometer. The transceiver assembly comprises an emitting component for emitting light and a receiving component for receiving light. A rotatable first reflector is provided in the light path of the emitting component. When the first reflector rotates, the first reflector reflects the light emitted by the emitting component at different angles. The spectrometer is configured to split the light reflected by the first reflector into at least a first light and a second light, with the second light being deflected above or below the first light.

[0018] In some preferred embodiments, the ranging device further comprises an imaging assembly, comprising a depth camera and / or an infrared camera. The first field of view of the transceiver assembly and the second field of view of the imaging assembly partially overlap or do not overlap. The transceiver assembly is configured to generate point cloud data of the environment within the first field of view, and the imaging assembly is configured to capture image data of the environment within the second field of view. The ranging device performs navigation and obstacle avoidance based on the point cloud data and image data.

[0019] In some preferred embodiments, the first reflective sheet includes a plurality of reflective planes, and the plurality of reflective planes are arranged around a rotation axis of the first reflective sheet.

[0020] In some preferred embodiments, the first reflective sheet includes two reflective surfaces, the two reflective surfaces being respectively disposed on either side of the rotation axis of the first reflective sheet, the two reflective surfaces being respectively a first reflective surface and a second reflective surface, and a third inclination angle being formed between the first reflective surface and the second reflective surface.

[0021] In some preferred embodiments, the ranging device further includes a mounting portion, the mounting portion including a base and a connecting frame connected to the base, the emitting component and the receiving component are both mounted on the base, the connecting frame is connected to the base and the connecting frame is located between the emitting component and the receiving component, and the first reflector is rotatably arranged on the connecting frame.

[0022] In some preferred embodiments, the distance measuring device further includes a mounting portion, a base, and a mounting frame mounted on the base. The mounting frame includes a first wall portion, a second wall portion, a third wall portion, and a fourth wall portion, wherein the first wall portion and the second wall portion are arranged opposite to each other in a first direction, the third wall portion and the fourth wall portion are both connected between the first wall portion and the second wall portion, and the third wall portion and the fourth wall portion are arranged opposite to each other in a second direction. The emitting component and the receiving component are both arranged on the inner wall of the first wall portion, or the emitting component and the receiving component are fixed to the base and located in the mounting frame. The third wall portion and / or the fourth wall portion are used to transmit the light emitted by the emitting component.

[0023] In some preferred embodiments, the distance measuring device further includes a processing module. The processing module is configured to acquire measurement data obtained by scanning light emitted by the emitting component within a predetermined rotation angle of the first reflector. The processing module acquires at least two sets of measurement data for each rotation of the first reflector.

[0024] In some preferred embodiments, the distance measuring device further includes a drive mechanism mounted on the mounting portion, the drive mechanism being in transmission connection with the first reflective sheet for driving the first reflective sheet to rotate. The distance measuring device further includes a detection assembly, the detection assembly being disposed on the mounting portion and connected to the drive mechanism, the detection assembly being configured to detect a commutation signal from the drive mechanism to obtain a rotation angle and rotation speed of the first reflective sheet. The drive mechanism is provided with a first identification portion, and when the first reflective sheet rotates to a first predetermined position, the detection assembly is configured to detect the first identification portion to determine a starting rotation angle of the first reflective sheet.

[0025] In some preferred embodiments, the distance measuring device further includes a detection assembly, a photoelectric encoder, and a drive mechanism. The first reflective sheet is disposed on the photoelectric encoder, and the drive mechanism is configured to rotate the photoelectric encoder. The photoelectric encoder is provided with a plurality of detection units, and the detection assembly is configured to detect the detection units and determine the rotation starting angle, rotation angle, and rotation speed of the first reflective sheet based on the detection units.

[0026] In some preferred embodiments, the ranging device further includes a photosensitive element. When the first reflector rotates to a second predetermined position, the first reflector reflects light toward the photosensitive element. The photosensitive element determines the starting angle and rotation speed of the first reflector based on the detected light.

[0027] In a second aspect, the present application further proposes a robot comprising a distance measuring device as described in any embodiment of the first aspect above.

[0028] In some preferred embodiments, the robot has a first side and a second side disposed opposite to each other in a first direction. The transceiver assembly is configured to emit light toward the first side or the second side, and the rotation of the first reflector causes the first reflector to reflect the light toward a forward direction of the robot.

[0029] In some preferred embodiments, the robot further includes a camera assembly, wherein the lens of the camera assembly faces the forward direction, backward direction, first side, second side or upward direction of the robot.

[0030] In some preferred embodiments, the robot further includes a camera assembly, the lens of the camera assembly is facing the forward direction of the robot, and a third reflective plate is provided in front of the camera assembly, and the third reflective plate is used to reflect the rear image data of the robot to the camera assembly.

[0031] In some preferred embodiments, the robot includes at least two camera assemblies, at least one of the camera assemblies is arranged on a first side of the robot, and at least one of the camera assemblies is arranged on a second side of the robot.

[0032] In some preferred embodiments, the robot has a forward end, and the distance measuring device is disposed at the forward end. The emitting component is configured to emit light toward a first side or a second side of the robot, the light being reflected by the first reflective sheet toward the forward direction of the robot. The lens of the camera assembly of the robot is disposed away from the forward direction, and the optical axis of the camera assembly is disposed obliquely away from the forward direction.

[0033] Different from the prior art, the present invention has the following advantages:

[0034] The light emitted by the emitting component is reflected by the first reflector to form at least a first light and a second light. The angle between the first light and the second light is F, 0°<F<180°, and the angle between the first plane where the first light is located and the rotation axis of the first reflector is G, G is any one of 0°, 180°, acute angle or obtuse angle, which causes the second light to be deflected upward or downward from the first light. When deflected upward, it can detect environmental features above, and when deflected downward, it can detect environmental features below, thereby enabling all-round obstacle avoidance. Through the combined action of the first light, the second light and the reflector, the ranging device can achieve environmental perception and obstacle avoidance functions with only a emitting component and a receiving component. That is, the present application does not require various obstacle avoidance sensors, reduces the installation steps, and can improve the production and assembly efficiency of the ranging device; at the same time, since the top and bottom obstacle avoidance sensors are removed, the height of the ranging device can be reduced, making the ranging device more compatible with ranging in low spaces, which can facilitate reducing the production cost of the ranging device while meeting the miniaturization design of the ranging device; and, with only one transmitting component and one receiving component, obstacles can be detected more sensitively; in addition, by rotating the first reflective sheet, the first light and the second light can be reflected to different angles, which can expand the field of view of the ranging device, thereby facilitating full acquisition of environmental characteristics in the space.

[0035] 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

[0036] One or more embodiments are exemplarily illustrated by corresponding drawings, which do not constitute limitations on the embodiments. Elements with the same reference numerals in the drawings are represented as similar elements, and unless otherwise stated, the figures in the drawings do not constitute proportional limitations.

[0037] FIG1 is a schematic structural diagram of a distance measuring device according to some embodiments of the present application;

[0038] FIG2 is a schematic structural diagram of a mounting portion in some embodiments of the present application (with the first end facing upward);

[0039] FIG3 is a schematic structural diagram of a mounting portion in some embodiments of the present application (with the second end surface facing upward);

[0040] FIG4 is a schematic structural diagram of a distance measuring device according to some embodiments of the present application;

[0041] FIG5 is a schematic structural diagram of a first reflective sheet in some embodiments of the present application;

[0042] FIG6 is a schematic diagram of light reflection of a first reflective sheet in some embodiments of the present application;

[0043] FIG7 is a schematic diagram of light reflection of a first reflective sheet in some embodiments of the present application;

[0044] FIG8 is a schematic structural diagram of a distance measuring device according to some embodiments of the present application;

[0045] FIG9 is a schematic diagram of light reflection by a first reflective sheet in some embodiments of the present application;

[0046] FIG. 10 is a schematic diagram of light reflection by the first reflector and the second reflector in some embodiments of the present application.

[0047] FIG11 is a schematic structural diagram of a distance measuring device according to some embodiments of the present application;

[0048] FIG12 is a top view of a distance measuring device according to some embodiments of the present application;

[0049] FIG13 is a schematic structural diagram of a distance measuring device according to some embodiments of the present application;

[0050] FIG14 is a schematic diagram of a point cloud formed by a first ray and a second ray according to some embodiments of the present application;

[0051] FIG15 is a schematic structural diagram of a distance measuring device according to some embodiments of the present application;

[0052] FIG16 is an exploded view of a distance measuring device according to some embodiments of the present application;

[0053] FIG17 is a top view of a distance measuring device according to some embodiments of the present application;

[0054] FIG18 is a schematic diagram of detecting a commutation signal according to some embodiments of the present application;

[0055] FIG19 is a schematic structural diagram of a distance measuring device according to some embodiments of the present application;

[0056] FIG20 is a schematic diagram of the structure of a photoelectric encoder and a detection assembly according to some embodiments of the present application;

[0057] FIG21 is an exploded view of a distance measuring device according to some embodiments of the present application (with the fourth wall opened);

[0058] FIG22 is a top view of a robot according to some embodiments of the present application;

[0059] FIG23 is a schematic diagram of light reflection of a robot according to some embodiments of the present application.

[0060] DESCRIPTION OF NUMERALS AND SIGNS: 1000, robot; 100, ranging device; 10, mounting portion; 11, first mounting slot; 111, first opening; 12, second mounting slot; 121, second opening; 13, base; 13a, first end surface; 13b, second end surface; 13c, third end surface; 14, connecting frame; 141, axial hole; 142, accommodating slot; 15, base; 16, first wall portion; 17, second wall portion; 18, third wall portion; 19, fourth wall portion; 20, transceiver assembly; 21, transmitting component; 22, receiving component; 221, filter; 30, first reflector; 30a, first section; 30b, second section; 31, first portion; 32, second portion; 33, third portion; 310, second reflector; 40, spectrometer; 50, camera assembly; 60. Driving mechanism; 61. Driving motor; 611. First annular groove; 62. Transmission belt; 63. Photosensitive element; 64. Photoelectric encoder; 641. Detection unit; 641a. Zero-position detection unit; 642. Slot; 65. Circuit board; 66. Detection assembly; 70. Bearing; 71. Second annular groove; 80. Diffuser; 90. Deflector; H. First light ray; J. Second light ray; K. Third light ray; X. First direction; Y. Second direction; Z. Third direction; C. First side; D. Second side; M. Forward direction; L. Forward plane. DETAILED DESCRIPTION

[0061] The following embodiments of the technical solution of the present application will be described in detail with reference to the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present application and are therefore only examples and are not intended to limit the scope of protection of the present application.

[0062] In the description of the embodiments of this application, the technical terms "first," "second," etc. are used only to distinguish different objects and should not be understood to indicate or imply relative importance or to implicitly indicate the quantity, specific order, or primary and secondary relationship of the indicated technical features. In the description of the embodiments of this application, the meaning of "plurality" is more than two, unless otherwise specifically defined.

[0063] In the description of the embodiments of the present application, the technical terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "axial", etc. indicate orientations or positional relationships 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 device or element referred to 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.

[0064] In the description of the embodiments of this application, the term "and / or" is simply a description of the association relationship between associated objects, indicating that three relationships can exist. For example, A and / or B can represent the following three situations: A exists alone, A and B exist simultaneously, and B exists alone. In addition, the character " / " in this document generally indicates that the associated objects are in an "or" relationship.

[0065] References to "embodiments" herein mean that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the present application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor does it constitute an independent or alternative embodiment that is mutually exclusive with other embodiments. Furthermore, the technical features described below in the different embodiments of the present application may be combined with each other as long as they do not conflict with each other.

[0066] First, embodiments of the present application provide a distance measuring device 100. Referring to FIG1 , the distance measuring device 100 includes a mounting portion 10, a transceiver assembly 20, and a first reflector 30. The transceiver assembly 20 can emit and receive light, and the first reflector 30 can reflect the light emitted by the transceiver assembly 20 in different directions.

[0067] Regarding the mounting portion 10, referring to Figures 1 to 3, the mounting portion 10 defines a first mounting groove 11 and a second mounting groove 12 for mounting the transceiver assembly 20. Optionally, the mounting portion 10 includes a base 13 and a connecting frame 14 connected to the base 13. The base 13 can be used to mount the transceiver assembly 20, while the connecting frame 14 can be used to mount the first reflector 30. For example, the base 13 includes a first end surface 13a and a second end surface 13b disposed opposite each other in a third direction Z. The first mounting groove 11 can be defined in the first end surface 13a, and the second mounting groove 12 can be defined in the second end surface 13b. Furthermore, the base 13 further includes a third end surface 13c facing the connecting frame 14. The third end surface 13c is connected between the first end surface 13a and the second end surface 13b, and the connecting frame 14 is connected to the third end surface 13c. The first reflector 30 is rotatably mounted on the connecting frame 14. The first installation groove 11 penetrates the third end surface 13 c to form a first opening 111 , and the second installation groove 12 penetrates the third end surface 13 c to form a second opening 121 .

[0068] Regarding the above-mentioned transceiver assembly 20, please refer to Figure 1. The transceiver assembly 20 includes a transmitting component 21 and a receiving component 22. The transmitting component 21 is used to emit light, and the receiving component 22 is used to receive the light emitted by the transmitting component 21 and returned by the object to be tested.

[0069] With reference to Figures 1 to 3 , the emitting component 21 can be mounted in the first mounting slot 11 and positioned facing the first reflector 30. Light emitted by the emitting component 21 can be emitted toward the first reflector 30 through the first opening 111, so that the first reflector 30 can reflect the light at different angles. For example, the emitting component 21 includes a light emitter, which can be a VCSEL (Vertical Cavity Surface Emitting Laser) or an EEL (Electronic Electron Laser). The light emitter can be configured as a light emitter such as a laser diode, which can emit laser pulses for measurement.

[0070] The emitting component 21 may also be a line light emitter, which is a device for emitting a linear light beam. The light emitted by the line light emitter can form a straight line beam on the object to be measured. In other embodiments, the emitting component 21 may also be a surface light emitter, which can emit light to form a light surface on the object to be measured. It is understood that the emitting component 21 may also use other devices capable of emitting light.

[0071] 3 and 4 , the receiving component 22 can be mounted in the second mounting slot 12 and positioned facing the second opening 121. The receiving component 22 can be a CMOS / CCD image sensor. The light emitted by the transmitting component 21 is received by the receiving component 22 after being reflected by the object to be measured. The transmitting component 21 and the receiving component 22 form a radar component of the ranging device 100 for ranging.

[0072] The emitting component 21 and the receiving component 22 are both mounted on the base 13. The connecting frame 14 is connected to the base 13 and is located between the emitting component 21 and the receiving component 22. The first reflector 30 is rotatably mounted on the connecting frame 14. The connecting frame 14 separates the emitting component 21 from the receiving component 22, thereby reducing interference between the emitted and received light and improving distance measurement accuracy. Furthermore, because the connecting frame 14 is located between the emitting component 21 and the receiving component 22, the height of the distance measuring device 100 is avoided by placing the connecting frame 14 at the bottom or top.

[0073] In some embodiments, referring to FIG. 4 , a filter 221 may be provided in the light receiving path of the receiving component 22 . Light returned from the object to be measured may pass through the filter 221 . The filter 221 may filter ambient light and allow light of a specific wavelength band to pass through. For example, when the emitting component 21 emits infrared light, the filter 221 only allows infrared light to pass through, thereby reducing the influence of other light on the light signal and improving the ranging accuracy.

[0074] Regarding the first reflector 30, referring to Figures 1 and 4, a rotatable first reflector 30 is provided in the light emission path of the emitting component 21. When the emitting component 21 emits light toward the first reflector 30, the first reflector 30 can reflect the light at different angles. For example, the first reflector 30 is provided on the mounting portion 10, and the connecting frame 14 is provided with an axial hole 141 (see Figure 3). The axis of the axial hole 141 is perpendicular to the first direction X (i.e., the axial direction of the axial hole 141 is parallel to the third direction Z). The reflector is rotatably provided in the axial hole 141 and can rotate within the axial hole 141, with the rotation axis parallel to the third direction Z.

[0075] Optionally, referring further to FIG. 5 , the first reflector 30 includes a first portion 31 and a second portion 32 connected to each other. The second portion 32 is rotatably disposed within the shaft hole 141, and the first portion 31 extends from above the shaft hole 141. The first portion 31 can reflect the first light H and the second light J. When the first reflector 30 rotates, it can reflect the first light H and the second light J at different angles, thereby expanding the field of view of the ranging device 100 and facilitating multi-directional ranging.

[0076] In some other embodiments, the first reflector 30 further includes a third portion 33, which is connected to the second portion 32 and extends from below the axial hole 141. After returning from the object to be measured, the first light H and the second light J can be reflected at different angles by the third portion 33 to the receiving component 22, thereby achieving simultaneous measurement of the two signals and improving ranging efficiency.

[0077] The light reflected by the first reflector 30 includes at least a first light ray H and a second light ray J. The first light ray H and the second light ray J define a first plane P. The first plane P forms an angle G with the rotation axis Q of the first reflector 30, where G is any one of 0°, 180°, an acute angle, or an obtuse angle. That is, the first plane P is not perpendicular to the rotation axis Q of the first reflector 30. Furthermore, an angle F is formed between the first light ray H and the second light ray J, where 0°<F<180°. This allows the second light ray J to be deflected above or below the first light ray H to detect the environment above or below.

[0078] It is understood that when the emitting component 21 is a linear light source emitter, as shown in FIG6 , the linear light beam emitted by it can directly define the first plane P after being reflected by the first reflector 30. When the emitting component 21 is a surface light source emitter, the surface light beam emitted by it can define multiple planes after being emitted by the first reflector 30, and one of the planes that is not perpendicular to the rotation axis Q can be selected as the first plane P.

[0079] Optionally, referring to Figure 7 , the mirror surface of the first reflector 30 may also be a non-planar mirror surface. The non-planar mirror surface can separate the light emitted by the emitting component 21 into at least a first light ray H and a second light ray J. For example, the first reflector 30 includes a first section 30a and a second section 30b, and the reflection planes of the first section 30a and the second section 30b are not parallel. For example, taking the emitting component 21 as a line light emitter, a portion of the linear beam emitted by the line light emitter is directly reflected by the first section 31 to form the first light ray H, while another portion is reflected by the second section 32 to form the second light ray J, and the second light ray J is deflected above or below the first light ray H. It is understood that the emitting component 30 may also be a point light emitter or a surface light emitter.

[0080] Referring to FIG8 , a distance measuring device 100 is proposed in an embodiment of the present application. The first light beam H and the second light beam J may also be directly emitted by the emitting component 21. A rotatable first reflector 30 is provided in the light path of the emitting component 21. When the first reflector 30 rotates, the first reflector 30 reflects the second light beam J at different angles, and the reflected second light beam J is deflected upward or downward from the first light beam H. In this case, the emitting component 21 may employ two point light source emitters, each emitting the first light beam H and the second light beam J; or employ a line light source emitter, emitting a line beam including the first light beam H and the second light beam J; or employ a surface light source emitter, emitting a surface beam including the first light beam H and the second light beam J.

[0081] In some embodiments, further referring to FIG9 , the ranging device 100 further includes a diffuser 80. The diffuser 80 can diffuse the second light J into a linear beam, that is, diffuse a point beam into a linear beam, and deflect the linear beam above or below the first light H. Diffusion of light into a linear beam can be achieved using various diffusing optical elements, such as lenses, prisms, and optical fibers. A cylindrical lens or a focusing lens can be used to focus the light into a linear beam. The lens shape and focal length can be selected as needed to obtain the desired linear beam. Properly designed and placed prisms can refract and reflect light to form a linear beam. This can be achieved by adjusting the prism's geometry and refraction angle. Optical fibers are a very common device for diffusing light into a linear beam. Light within an optical fiber propagates along the core, forming a linear beam. Optical fibers can adjust the characteristics of the linear beam by varying the core diameter and refractive index. It should be noted that the specific method and effect of diffusing light into a linear beam depend on the optical element used and its design parameters. When selecting and using optical elements, appropriate choices should be made based on actual needs and application scenarios.

[0082] In some embodiments, the light emitted by the emitting component 21 further includes a third light ray K. Referring to FIG. 4 or FIG. 8 , after being reflected by the first reflector 30, the second light ray J is deflected below the first light ray H, and the third light ray K is deflected above the first light ray H. This allows the ranging device 100 to simultaneously detect both the environment below and above. For example, when the ranging device 100 moves under a table, the first light ray H detects the environment in front, the second light ray J detects the ground environment below, and the third light ray K detects the environment under the table above, thereby facilitating avoidance of obstacles under the table and obstacles on the ground, thereby achieving multi-directional obstacle avoidance.

[0083] It is understood that the third light ray K can be emitted directly by the emitting component 21 or reflected by the first reflective sheet 30. FIG4 shows the third light ray K being reflected by the first reflective sheet 30, while FIG8 shows the third light ray K being emitted directly by the emitting component 21. Optionally, the emitting component 21 is a linear light source, and the first reflective sheet 30 is a non-planar mirror. The linear light beam emitted by the linear light source is reflected by the first reflective sheet 30 to form the first light ray H, the second light ray J, and the third light ray K.

[0084] In some embodiments, the distance measuring device 100 further includes one or more second reflectors 310. The second reflectors 310 can be used to reflect the first light H and the second light J toward the first reflector 30. The first reflector 30, in conjunction with the plurality of second reflectors 310, can increase the angle adjustment range of the first light H and the second light J. For example, referring to FIG10 , through reflection by the first reflector 30 and the second reflector 310, the first light H and the second light J can be reflected toward the rear of the emitting component 21 and will not be blocked by the emitting component 21.

[0085] In some other embodiments, referring to FIG. 11 , a deflecting member 90 may also be used, and the emitting component 21 may be disposed facing the deflecting member 90. For example, the deflecting member 90 may be disposed at the first opening 111 (see FIG. 2 for the first opening 111), and the emitting component 21 may emit light toward the deflecting member 90. The deflecting member 90 may have a reflective surface or a deflecting lens, and the light emitted by the emitting component 21 may have a certain field of view angle. Part of the light may be directly emitted to form a first light beam H, while another part of the light may be reflected downward by the reflective surface or refracted downward or upward by the deflecting lens to form a second light beam J. It is understood that there are many methods for dividing the light emitted by the emitting component 21 into the first light beam H and the second light beam J, and this application does not list them all.

[0086] In some embodiments, the transceiver assembly 20 further includes a beam splitter 40. Referring to Figures 2 and 4, the beam splitter 40 can be disposed in the light emission path of the emitting component 21. For example, the beam splitter 40 can be disposed at the first opening 111. The beam splitter 40 can split the light emitted by the emitting component 21 into at least a first light beam H and a second light beam J. When the emitting component 21 uses a power transmitter, one light emitter can be eliminated, thereby effectively reducing costs. The beam splitter 40 can be a beam splitter. A beam splitter is a type of coated glass. One or more thin films are coated on the surface of optical glass to form coated glass. When a beam of light is projected onto the coated glass, it is split into two or more beams by reflection or refraction.

[0087] Please refer to Figure 8. A distance measuring device 100 proposed in an embodiment of the present application includes a transceiver assembly 20, a first reflector 30, and a spectrometer 40. The transceiver assembly 20 has an emitting component 21 for emitting light and a receiving component 22 for receiving light. A first reflector 30 is rotatably provided in the light path of the emitting component 21. When the first reflector 30 rotates, the first reflector 30 can reflect the light emitted by the emitting component 21 at different angles. The spectrometer 40 is used to split the light reflected by the first reflector 30 into at least a first light H and a second light J, and the second light J is deflected above or below the first light H. The spectrometer 40 can be a beam splitter. The beam splitter is a coated glass. One or more layers of thin film are coated on the surface of optical glass to form coated glass. When a beam of light is projected onto the coated glass, the light beam can be split into two or more beams by reflection or refraction.

[0088] In some embodiments, referring to Figures 12 and 13, the ranging device 100 also includes a camera component 50, which can capture features of the surrounding environment. The first field of view angle of the transceiver component 20 and the second field of view angle of the camera component 50 partially overlap or do not overlap, and the first field of view angle of the camera component 50 complements the second field of view angle of the transceiver component 20.

[0089] For example, the transceiver assembly 20 emits a first light beam H and a second light beam J, which, after being reflected by the first reflector 30, form a first field of view angle ε in the front, which is used to detect obstacles ahead. The camera assembly 50 faces rearward and captures environmental features behind it. Through the complementary front and back perspectives, sufficient information about the environmental features in the space is obtained. Alternatively, the transceiver assembly 20 can be used to detect environmental features behind it, while the camera assembly 50 can be used to detect environmental features in the front.

[0090] The camera assembly 50 includes a depth camera and / or an infrared camera. A depth camera is a camera device that can obtain distance information of an object. It uses infrared light or other sensing technology to measure the distance from the surface of the object to the camera and converts this distance data into grayscale values ​​or color images on the image. Using a depth camera, three-dimensional perception and spatial positioning of objects in the scene can be achieved. An infrared camera is a camera device that uses infrared radiation for imaging. It can receive and perceive radiation within the infrared spectrum range that is invisible to the human eye. The working principle of an infrared camera is to use the heat energy released by an object to generate infrared radiation and convert it into a visual image or video.

[0091] Optionally, the transceiver component 20 is configured to generate point cloud data of the environment within a first field of view, and the camera component 50 is configured to capture image data of the environment within a second field of view. The ranging device 100 performs navigation and obstacle avoidance based on the point cloud and image data. For example, the ranging device 100 may determine first mapping data based on the point cloud data and second mapping data based on the image data, merging the first and second mapping data to obtain complete spatial data. For example, when the ranging device 100 moves indoors, the transceiver component 20 detects features of the environment in front of it. As the ranging device 100 moves and approaches a wall, the number of feature points in the environment in front of it gradually decreases, affecting its positioning and navigation. Meanwhile, the camera component 50 captures features of the environment behind it. As the ranging device 100 moves, the camera component 50 can see more information behind it, compensating for the shortcomings of the ranging device 100 and achieving front-to-back complementarity. After acquiring the front laser point cloud and the feature information extracted by the rear visual system, the absolute position of the ranging device 100 in space can be determined.

[0092] Further referring to Figure 14 , the first light beam H scans a wall S, creating a straight point cloud that is used to detect environmental features ahead. The second light beam J deflects downward, creating an arc on the ground. The ranging device 100 uses the downward-dipping point cloud information from the second light beam J to determine the distance of obstacles, facilitating obstacle avoidance path planning. This allows for better mapping and obstacle avoidance.

[0093] It can be understood that when the ranging device 100 approaches the wall and turns around, the camera component 50 is closer to the wall and obtains fewer environmental features, while the transceiver component 20 is away from the wall and obtains more environmental features, thereby achieving front and back complementarity of the mobile navigation of the ranging device 100.

[0094] Optionally, referring again to Figures 12 and 13 , the camera assembly 50 may be positioned toward the upper and rearward portion of the ranging device 100. For example, when viewed along the second direction Y, the optical axis of the camera assembly 50 may have a second inclination angle β with the horizontal plane, satisfying 90° < β ≤ 160°. In this embodiment, the first light beam H emitted by the transceiver assembly 20 may detect environmental features in the front, the second light beam J may detect environmental features in the front and below, and the camera assembly 50 may capture environmental features in the upper and rearward portion. This allows for the acquisition of complete spatial data for the entire space, facilitating obstacle avoidance path planning.

[0095] Optionally, the light emitted by the emitting component 21 includes at least a first light ray H and a second light ray J. The first light ray H may be emitted along a first direction X, and the second light ray J may be deflected downward or upward from the first light ray H. For example, when the ranging device 100 moves horizontally for ranging, the first direction X is parallel to the horizontal plane. The first light ray H may be parallel to the horizontal plane or may form a certain angle with the horizontal plane, which may be between 0° and 2°. The first light ray H can detect surrounding environmental features in the horizontal direction. Regarding the second light ray J, when viewed along the second direction Y, there is a first inclination angle F between the first light ray H and the second light ray J, with 0°≤F≤180°. This allows the second light ray J to be deflected upward or downward from the first light ray H. When the second light ray J is deflected downward, it can detect environmental features below and in front of the ranging device 100, thereby detecting low obstacles ahead and enabling obstacle avoidance. Alternatively, when the second light ray J is deflected upward, it can detect environmental features above, thereby performing omnidirectional ranging and obstacle avoidance.

[0096] In addition, the focal lengths of the first light beam H and the second light beam J can be set according to actual conditions. For example, the first light beam H is emitted farther and can be used with a long focal length, while the second light beam J is struck on the ground and closer to the transceiver assembly 20 and can be used with a short focal length. The first direction X, the second direction Y, and the third direction Z are mutually perpendicular, and any error within 0° to 5° can be considered perpendicular.

[0097] Referring to Figures 15 and 16 , the distance measuring device 100 further includes a drive mechanism 60, which is in transmission connection with the first reflector 30 and is configured to drive the first reflector 30 to rotate. The drive mechanism 60 is mounted on the mounting portion 10, for example, the drive mechanism 60 is mounted on the connecting frame 14 of the mounting portion 10. Optionally, the drive mechanism 60 includes a drive motor 61 and a transmission belt 62. The connecting frame 14 defines a specific receiving slot 142 (see Figure 3 for the receiving slot 142). The drive motor 61 is fixed within the receiving slot 142, and the output shaft of the drive motor 61 extends outside the receiving slot 142.

[0098] The outer surface of the output shaft (not shown) of the drive motor 61 is formed with a first annular groove 611. A bearing 70 is disposed within the shaft hole 141 of the connecting frame 14, and the first reflector 30 is secured within the bearing 70. The bearing 70 partially extends out of the shaft hole 141, and the outer surface of the portion extending out of the shaft hole 141 is formed with a second annular groove 71. The transmission belt 62 is sleeved within the first annular groove 611 and the second annular groove 71. Driven by the drive motor 61, the transmission belt 62 is driven, thereby rotating the bearing 70, thereby rotating the first reflector 30.

[0099] Each time the transceiver assembly 20 rotates an angle, the first light beam H, the second light beam J, and the third light beam K are reflected and offset by an angle by the first reflector 30. In some embodiments, the ranging device 100 further includes a processing module (not shown). Within a predetermined rotation angle of the first reflector 30, the processing module is configured to obtain measurement data obtained by scanning the first light beam H, the second light beam J, or the third light beam K. Each time the first reflector 30 rotates once, the processing module obtains at least two sets of measurement data. For example, when the ranging device 100 moves along a corner of a wall, it needs to detect the wall and obstacles ahead. In this case, the processing module only needs to obtain ranging data within a certain preset angle.

[0100] Referring to Figures 11 and 12 , when the first reflector 30 rotates between 15° and 75° (the starting angle is when the first reflector 30 faces the emitting component 21), light reflected by the first reflector 30 forms a field of view angle of ε = 120° in front of the reflector. This field of view angle ε also captures environmental features in front of the reflector. The processing module obtains ranging data from the first reflector 30 within this range of rotation, thereby obtaining information about the environmental features in front of the reflector and planning the travel path of the ranging device 100.

[0101] When the first reflector 30 includes two reflective surfaces, and the two reflective surfaces are respectively disposed on either side of the rotation axis of the first reflector 30, the processing module acquires at least two sets of measurement data for each rotation of the first reflector 30. For example, measurement data may be acquired once when the first reflector 30 rotates from 15° to 75°, and again when the first reflector rotates from 195° to 255°.

[0102] Optionally, in some other embodiments, further referring to FIG. 17 , the two reflective surfaces are respectively a first reflective surface 31 and a second reflective surface 32, and a third tilt angle δ is provided between the first reflective surface 31 and the second reflective surface 32. In this case, the two reflective surfaces are no longer arranged relative to each other, and the third tilt angle between them can be set to 0° < δ < 180°, for example, δ is 45°. When the first light ray H is directly between the first reflective surface 31 and the second reflective surface 32, since the first light ray H also has a field of view angle, part of the first light ray H is reflected forward by the first reflective surface 31, and another part of the first light ray H can be reflected backward by the second reflective surface 32. In this way, characteristic information of the front environment and the rear environment can be obtained simultaneously, thereby facilitating the determination of the travel path. It is understandable that the size of the above-mentioned third tilt angle δ can be selected and set according to the specific application scenario, and is not limited by this application.

[0103] Furthermore, the first reflector 30 includes a plurality of reflective planes, which are arranged around the rotation axis of the first reflector 30. The provision of the plurality of reflective planes increases the measurement frequency, thereby improving the measurement accuracy.

[0104] In some embodiments, the distance measuring device 100 further includes a detection assembly 66, which is part of the processing module. The detection assembly 66 is disposed on the mounting portion 10 and connected to the drive mechanism 60. The detection assembly 66 is configured to detect the commutation signal of the drive mechanism 60 to obtain the rotation angle and rotation speed of the first reflector 30. The drive motor 61 can be a brushless DC motor. Because the commutation signal of a brushless DC motor is uniform, it is difficult to distinguish the zero-degree rotation angle of the first reflector 30. Therefore, in some embodiments, the drive mechanism 60 is provided with a first identification portion (not shown). When the first reflector 30 rotates to a predetermined position, the detection assembly 66 is configured to detect the first identification portion to determine the starting angle and rotation speed of the first reflector 30. By directly detecting the rotation angle and rotation speed using the commutation signal, the traditional photoelectric encoder can be eliminated, thereby further reducing the size of the distance measuring device 100.

[0105] The first identification portion can be set on the rotor of the drive motor 61 (not shown in the figure). In this embodiment, the transmission is driven by a transmission belt 62, and the angle of rotation of the rotor is also the angle of rotation of the first reflective sheet 30. The first identification portion is different from other parts of the rotor. For example, the rotor is painted or grooved to form the first identification portion. The first identification portion can serve as the zero angle of rotation of the first reflective sheet 30. When the detection component 66 detects the first identification portion, the first identification portion is used as the zero angle (in this embodiment, it is preferably used when the first reflective sheet 30 is facing the first light H). The time of one rotation cycle (that is, the second detection of the first identification portion) is recorded. The rotation speed of the rotating portion can be calculated based on the total rotation angle and time within one cycle.

[0106] The detection component 66 can determine the angle value corresponding to each commutation signal based on the number of commutations within a cycle of the drive motor 61, thereby determining the rotation angle of the first reflector 30. In some embodiments, the detection component 66 is equipped with an MCU (not shown in the figure). The MCU is used to detect the commutation signals of the drive motor 61 and calculate the rotation speed and angle of the first reflector 30 based on the commutation signals. Specifically, the detection component 66 determines the angular change between two adjacent commutation signals based on the total rotation angle and the number of commutations within a cycle; determines the starting angle when the first identification portion is detected; and determines the real-time angle value corresponding to each commutation signal based on the angular change value. For example, when the drive motor 61 uses a 14-pole DC brushless motor, 14 commutation signals are generated during one rotation (one cycle). The MCU records the total time of these 14 signals, and can then determine the rotation cycle and frequency of the drive motor 61. Each time these 14 signals are received, the drive assembly rotates 360 / 14 = 25.7 degrees. When the zero point (zero angle, i.e., when the first identification portion is detected) is passed, the angle is reset, and the real-time angle value corresponding to each commutation signal of the drive motor 61 can be calculated. This method can easily and accurately determine the angle value corresponding to each commutation signal, and thus the rotation angle of the first reflector 30.

[0107] For angle value detection at other times, the detection component 66 can obtain the time difference between the current time and the previous commutation signal, calculate the product of the time difference and the rotation speed, and use the sum of the angle value corresponding to the previous commutation signal and the product as the real-time angle value corresponding to the non-commutation signal. For example, please refer to Figure 18, where R is recorded as the zero-degree angle position. Each rising edge and falling edge will be set to a fixed angle. When there is no commutation signal trigger, its instantaneous angle is the sum of the angle of the previous frame, the time difference of the previous frame, and the rotation speed, that is, angleN (instantaneous angle) = angleO (previous frame angle) + speeds (rotation speed) * TIME (time difference). Through this method, the angle of the first reflector 30 at each moment can be easily and accurately obtained.

[0108] In some other embodiments, referring to Figures 16 and 17 , the distance measuring device 100 further includes a photosensitive member 63, which can be disposed on the mounting portion 10 and connected to a detection assembly 66. When the first reflector 30 rotates to the second predetermined position, the first reflector 30 reflects light toward the photosensitive member 63. The detection assembly 66 determines the starting angle and rotation speed of the first reflector 30 based on the light detected by the photosensitive member 63. For example, when the first light beam H is directed directly at the first reflector 30, the first reflector 30 just reflects the light toward the photosensitive member 63, and this is recorded as the starting angle of rotation of the first reflector 30. If a first reflector 30 has multiple reflective surfaces, the photosensitive member 63 may detect light multiple times within one rotation. For example, if the first reflector 30 has four reflective surfaces, when the photosensitive member 63 detects light five times, the first reflector 30 has rotated one rotation. The rotation speed and angle are then calculated based on the rotation period.

[0109] Referring to Figures 19 and 20 , the distance measuring device 100 further includes a detection assembly 66, a photoelectric encoder 64, and a drive mechanism 60. A second annular groove 71 is defined on the outer circumference of the photoelectric encoder 64. The transmission belt 62 is sleeved within the second annular groove 71 and driven by the drive mechanism 60 to rotate the photoelectric encoder 64. The first reflector 30 can be disposed on the photoelectric encoder 64. For example, a slot 642 is defined on the photoelectric encoder 64. The slot 642 is adapted to fit within the first reflector 30. The first reflector 30 can be engaged and secured within the slot 642, thereby allowing the first reflector 30 to rotate with the photoelectric encoder 64.

[0110] The photoelectric encoder 64 is provided with a plurality of detection portions 641. The detection portions 641 may be code teeth fixed to the photoelectric encoder 64, and the plurality of code teeth form a circle. The processing module and detection assembly 66 may be mounted on a circuit board 65 and may detect the detection portions 641. The circuit board 65 may be fixed to the mounting portion 10. The detection assembly 66 may determine the starting angle, rotation angle, and rotation speed of the first reflective sheet 30 based on the detected detection portions 641. For example, the detection assembly 66 includes a photoelectric transmitter (not shown) and a photoelectric receiver (not shown) disposed relative to the photoelectric transmitter. The photoelectric transmitter may transmit a detection signal to the photoelectric receiver. During the rotation of the encoder, the plurality of detection portions 641 sequentially pass through the spacing, causing the photoelectric receiver to generate a periodically changing level signal. For example, if the encoder includes six detection portions 641, each detection of a level signal may determine a 60° rotation. Detecting six signals indicates one rotation cycle, thus determining the starting angle. The rotation speed may also be determined based on the angle of rotation per unit time.

[0111] Please refer to Figure 20. A zero-position detection portion 641a can be set among the multiple detection portions 641. The size of the zero-position detection portion 641a is different from that of other detection portions. When the zero-position detection portion 641a is detected, the zero-position angle of rotation of the first reflector 30 can be directly determined, which can reduce the calculation burden and quickly obtain the rotation starting angle, rotation angle and rotation speed of the first reflector 30.

[0112] Optionally, the photoelectric transmitter and the photoelectric receiver are arranged on the same side, for example, both the photoelectric transmitter and the photoelectric receiver are arranged facing the rotation path of the detection unit 641. The level signal emitted by the photoelectric transmitter is returned by the detection unit 641 and then received by the photoelectric receiver, thereby determining the detection unit 641.

[0113] It is understood that the detection component 66 may also adopt other detectable devices, such as a photoelectric tube, etc. In addition, in this embodiment, the photoelectric code disk 64 and the above-mentioned bearing are integrally formed to reduce space to meet the miniaturization design of the distance measuring device 100.

[0114] Referring to Figure 21 , the distance measuring device 100 further includes a base 15 and a mounting frame (not shown) mounted on the base 15. The base 13 and the connecting frame 14 can both be disposed within the mounting frame. The mounting frame includes a first wall 16, a second wall 17, a third wall 18, and a fourth wall 19. The first wall 16 and the second wall 17 are disposed opposite each other in a first direction X. The third wall 18 and the fourth wall 19 are both connected between the first wall 16 and the second wall 17. The third wall 18 and the fourth wall 19 are disposed opposite each other in a second direction Y, thereby forming a rectangular frame.

[0115] The emitting component 21 and the receiving component 22 are both arranged on the inner wall of the first wall portion 16, for example, connected to the inner wall of the first wall portion 16 through the base 13, and the third wall portion 18 and / or the fourth wall portion 19 are used to transmit the first light H, the second light J and the third light K. Alternatively, the emitting component 21 and the receiving component 22 are both fixed to the base 15 and located in the mounting frame. When the first reflector 30 rotates, the first light H and the second light J can be transmitted through the third wall portion 18 and / or the fourth wall portion 19, thereby facilitating the distance measurement operation. Optionally, the first wall portion 16 and the second wall portion 17 can also be used to transmit the first light H, the second light J and the third light K, so that the light can be emitted or recovered from all directions.

[0116] Furthermore, the first wall portion 16, the second wall portion 17, the third wall portion 18 and the fourth wall portion 19 can also be made of a filtering material to filter the ambient light and allow light of a specific band to pass through. For example, the emitting component 21 emits infrared light, and the filter only allows infrared light to pass through to reduce the influence of other light on the light signal, thereby improving the ranging accuracy.

[0117] In the embodiment of the present application, the light emitted by the emitting component 21 is reflected by the first reflector 30 to form at least a first light ray H and a second light ray J. The angle between the first light ray H and the second light ray J is F, 0°<F<180°, and the angle between the second light ray J, the first plane where the first light ray H is located, and the rotation axis of the first reflector is G, where G is any one of 0°, 180°, an acute angle, or an obtuse angle. This causes the second light ray J to be deflected upward or downward from the first light ray H. When deflected upward, it can detect environmental features above, and when deflected downward, it can detect environmental features below, thereby enabling all-round obstacle avoidance. Through the combined action of the first light ray H, the second light ray J, and the first reflector 30, the ranging device 100 can achieve environmental perception and obstacle avoidance functions with only a emitting component 21 and a receiving component 22. That is, the present application does not require various obstacle avoidance sensors, reduces the installation steps, and can improve the production and assembly efficiency of the ranging device 100; at the same time, since the top and bottom obstacle avoidance sensors are removed, the height of the ranging device 100 can be reduced, making the ranging device 100 more compatible with ranging in low spaces, which can facilitate reducing the production cost of the ranging device 100 while meeting the miniaturization design of the ranging device 100; and, with only one transmitting component 21 and a receiving component 22, obstacles can be detected more sensitively. In addition, by rotating the first reflective sheet 30, the first light H and the second light J can be reflected to different angles, which can expand the field of view of the ranging device 100, thereby facilitating full acquisition of environmental characteristics in the space.

[0118] In a second aspect, the present application further proposes a robot 1000 comprising a distance measuring device 100 as described in any embodiment of the first aspect above.

[0119] Referring to Figures 22 and 23 , the robot 1000 has a first side C and a second side D disposed opposite each other in a first direction X. The transceiver assembly 20 is configured to emit a first light beam H, a second light beam J, and a third light beam K toward the first side C or the second side D. Alternatively, the light beam emitted by the transceiver assembly 20 is reflected by a first reflector 30 to form the first light beam H, the second light beam J, and the third light beam K. When the first reflector 30 rotates, the first light beam H and the second light beam J are reflected toward the robot's forward direction M, thereby obtaining forward environmental information. In the embodiments of the present application, the forward direction M is preferably parallel to the second direction Y, where an error within 0° to 5° is considered parallel. In other embodiments, the forward direction M may have a certain angle with the second direction Y. It will be appreciated that when the forward direction M is parallel to the second direction Y and the first light beam H is parallel to the first direction X, it is more convenient to calculate the angle and reduce the computational burden.

[0120] In other embodiments, the robot has a forward end, and the distance measuring device 100 is disposed at the forward end. The emitting component 21 is configured to emit light toward the left or right side of the robot (i.e., toward the first side C or the second side D). After being reflected by the first reflective sheet 30, the light is directed toward the forward direction M of the robot. The lens of the camera assembly 50 of the robot is disposed away from the forward direction M, and the optical axis of the camera assembly 50 is tilted away from the forward direction M.

[0121] The camera component 50 can face the backward direction of the robot 1000, and the transceiver component 20 detects the environmental features in front, and the camera component 50 captures the environmental features in the rear. For example, when the robot 1000 is performing a sweeping operation, as the robot 1000 continues to move, it gets closer and closer to the wall, and the environmental features detected by the transceiver component 20 gradually decrease, while the camera component 50 can see more rear information, which can make up for the shortcomings of the transceiver component 20, thereby achieving front and back complementarity. After obtaining the front laser point cloud and the feature information extracted by the rear vision, the absolute position of the robot in space can be determined to facilitate planning of the travel path.

[0122] The camera assembly 50 can also face the forward direction of the robot 1000, and its field of view partially overlaps with the field of view of the transceiver assembly 20, which can be used to assist in front ranging. The camera assembly 50 can also face the first side C or the second side D to assist in ranging of the first side C or the second side D. The camera assembly 50 can also face upward to assist in ranging from above. It can be understood that the camera assembly 50 can be oriented in any upward direction to assist in ranging. The camera assembly 50 can also be multiple, for example, including at least two camera assemblies 50, at least one camera assembly 50 is set on the first side C of the robot 1000, and at least one camera assembly 50 is set on the second side D of the robot 1000, so as to facilitate multi-directional auxiliary ranging. Similarly, the camera assembly 50 can be set in the forward direction, backward direction, and upward direction of the robot 1000 to perform all-round auxiliary ranging.

[0123] Optionally, the lens of the camera assembly 50 faces the forward direction of the robot 1000, and a third reflector is provided in front of the camera assembly 50 to reflect rearward image data of the robot 1000 to the camera assembly 50. The camera assembly 50 can partially detect the forward environment. The third reflector in front allows the camera assembly 50 to also detect the rearward environment based on the light reflected from the first reflector, thereby achieving complementary front-to-back ranging.

[0124] Optionally, when the first reflector 30 rotates, the first reflector 30 reflects the first light ray H at a first preset angle and reflects the second light ray J at a second preset angle. Referring to Figure 23 , as viewed along the second direction Y, the first preset angle is the angle between the first light ray H and the forward plane L (the forward plane is the horizontal plane in the direction of the robot's travel, which can be considered parallel to the road surface on which the robot is traveling). The first preset angle is A, satisfying 0° ≤ A ≤ 2°. As viewed along the second direction Y, the second preset angle is the angle between the second light ray J and the forward plane L. The second preset angle is B, preferably 1° ≤ B ≤ 30°. The angle between the third light ray K and the forward plane L can be set similarly.

[0125] Alternatively, the first light beam H and the second light beam J may be emitted forward and reflected to the left or right to facilitate detection of environmental features on the left or right side. For example, when the robot 1000 moves against a wall, the light beam may be reflected to the left or right wall to obtain environmental features of the wall and thereby plan the robot 1000's movement along the wall.

[0126] 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. Based on 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 variations in different aspects of the present application as described above. For the sake of simplicity, they are not provided in detail. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. 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: Including transceiver components and the first reflector: The transceiver assembly has a transmitting component for emitting light and a receiving component for receiving light; A rotatable first reflective sheet is arranged in the light path of the emitting component, the first reflective sheet reflects the light emitted by the emitting component at different angles, the reflected light includes at least a first light and a second light, and the first light and the second light define a first plane; Wherein, the angle between the first light and the second light is F, 0°<F<180°; The included angle between the first plane and the rotation axis of the first reflector is G, and G is any one of 0°, 180°, an acute angle or an obtuse angle.

2. The distance measuring device according to claim 1, characterized in that: The emitting component is a line light source emitter, and at least part of the light emitted by the line light source emitter is reflected by the first reflective sheet to define the first plane; or, The emitting component is a surface light source emitter. At least part of the light emitted by the surface light source emitter is reflected by the first reflective sheet to define the first plane.

3. The distance measuring device according to claim 1, characterized in that: The mirror surface of the first reflective sheet is a non-planar mirror surface, and the non-planar mirror surface divides the light emitted by the emitting component into at least a first light and a second light, and the second light is deflected upward or downward of the first light.

4. A distance measuring device, characterized in that: It includes a transceiver assembly and a first reflector; The transceiver assembly comprises a transmitting component for emitting light and a receiving component for receiving light, and the light emitted by the transmitting component comprises at least a first light and a second light; A rotatable first reflective sheet is arranged in the light path of the emitting component. When the first reflective sheet rotates, the first reflective sheet reflects the second light at different angles, and the reflected second light is deflected upward or downward of the first light.

5. The distance measuring device according to claim 4, characterized in that: The first ray is parallel to the second ray; The distance measuring device further includes a diffuser, which is used to diffuse the second light into a line light beam, and the line light beam is deflected upward or downward of the first light beam.

6. The distance measuring device according to any one of claims 1 to 4, characterized in that: The light emitted by the emitting component also includes a third light. After being reflected by the first reflecting sheet, the second light is deflected below the first light, and the third light is deflected above the first light.

7. The distance measuring device according to any one of claims 1 to 5, characterized in that: The transceiver assembly further includes one or more second reflective sheets, and the second reflective sheets are used to reflect the first light and the second light to the first reflective sheet.

8. The distance measuring device according to claim 1 or 4, characterized in that: The transceiver assembly further includes a beam splitter, which is disposed in the light emission path of the emitting component and is used to split the light emitted by the emitting component into at least the first light and the second light.

9. The distance measuring device according to claim 1 or 4, characterized in that: The transceiver assembly also includes a deflection member, the emitting component is arranged facing the deflection member, part of the light emitted by the emitting component forms the first light, and another part of the light is refracted upward or downward by the deflection member to form the second light.

10. A distance measuring device, characterized in that: It includes a transceiver component, a first reflector and a light splitter; The transceiver assembly has a transmitting component for emitting light and a receiving component for receiving light; A rotatable first reflective sheet is arranged in the light path of the emitting component, and when the first reflective sheet rotates, the first reflective sheet reflects the light emitted by the emitting component at different angles; The beam splitter is used to split the light reflected by the first reflector into at least a first light and a second light, and the second light is deflected upward or downward of the first light.

11. The distance measuring device according to any one of claims 1 to 10, characterized in that: The distance measuring device further includes a camera assembly, and the camera assembly includes a depth camera and / or an infrared camera; The first field of view angle of the transceiver assembly and the second field of view angle of the camera assembly partially overlap or do not overlap stack; The transceiver component is used to generate point cloud data of the environment within a first field of view angle, the camera component is used to capture image data of the environment within a second field of view angle, and the distance measuring device performs navigation and obstacle avoidance based on the point cloud data and image data.

12. The distance measuring device according to any one of claims 1 to 11, characterized in that: The first reflection sheet includes a plurality of reflection planes, and the plurality of reflection planes are arranged around a rotation axis of the first reflection sheet.

13. The distance measuring device according to any one of claims 1 to 11, characterized in that: The first reflection sheet includes two reflection surfaces, and the two reflection surfaces are respectively arranged on both sides of the rotation axis of the first reflection sheet.

14. The distance measuring device according to any one of claims 1 to 13, characterized in that: The ranging device also includes an installation part, which includes a base and a connecting frame connected to the base. The transmitting component and the receiving component are both installed on the base. The connecting frame is connected to the base and is located between the transmitting component and the receiving component. The first reflector is rotatably arranged on the connecting frame.

15. The distance measuring device according to any one of claims 1 to 13, characterized in that: The distance measuring device shown also includes a mounting portion, a base, and a mounting frame mounted on the base; The installation frame includes a first wall portion, a second wall portion, a third wall portion and a fourth wall portion, the first wall portion and the second wall portion are arranged opposite to each other in a first direction, the third wall portion and the fourth wall portion are both connected between the first wall portion and the second wall portion, and the third wall portion and the fourth wall portion are arranged opposite to each other in the second direction; The transmitting component and the receiving component are both arranged on the inner wall of the first wall portion, or the transmitting component and the receiving component are fixed to the base and located in the installation frame; The third wall portion and / or the fourth wall portion is used to transmit the light emitted by the emitting component.

16. The distance measuring device according to any one of claims 1, 4 and 10, characterized in that: The distance measuring device also includes a processing module; Within a predetermined rotation angle of the first reflector, the processing module is used to obtain measurement data scanned by the light emitted by the emitting component; Each time the first reflector rotates through a cycle, the processing module acquires at least two groups of the measurement data.

17. The distance measuring device according to any one of claims 1 to 15, characterized in that: The distance measuring device further comprises a driving mechanism mounted on the mounting portion, wherein the driving mechanism is transmission-connected to the first reflective sheet and is used to drive the first reflective sheet to rotate; The distance measuring device further includes a detection component, which is disposed on the mounting portion and connected to the driving mechanism, and is configured to detect a phase switching signal of the driving mechanism to obtain a rotation angle and a rotation speed of the first reflective sheet; The driving mechanism is provided with a first identification portion. When the first reflection sheet rotates to a first predetermined position, the detection assembly is configured to detect the first identification portion to determine a rotation starting angle of the first reflection sheet.

18. The distance measuring device according to any one of claims 1 to 15, characterized in that: The distance measuring device further includes a detection component, a photoelectric code disk and a driving mechanism, wherein the first reflective sheet is arranged on the photoelectric code disk, and the driving mechanism is used to drive the photoelectric code disk to rotate; The photoelectric encoder is provided with a plurality of detection parts; The detection component is used to detect the detection part, and determine the rotation starting angle, rotation angle and rotation speed of the first reflection sheet according to the detected detection part.

19. The distance measuring device according to any one of claims 1 to 18, characterized in that: The distance measuring device also includes a photosensitive element. When the first reflective sheet rotates to a second predetermined position, the first reflective sheet reflects light toward the photosensitive element. The photosensitive element determines a rotation starting angle and a rotation speed of the first reflective sheet based on the light detected.

20. A robot, characterized in that: The device comprises a distance measuring device as claimed in any one of claims 1 to 19.

21. The robot according to claim 20, characterized in that The robot has a first side and a second side disposed opposite to each other in a first direction; The transceiver assembly is used to emit light toward the first side or the second side; The rotation of the first reflective sheet enables the first reflective sheet to reflect the light toward the forward direction or the backward direction of the robot.

22. The robot according to claim 20, characterized in that The robot further includes a camera assembly, wherein a lens of the camera assembly faces a forward direction, a backward direction, a first side, a second side or an upper direction of the robot.

23. The robot according to claim 20, characterized in that The robot also includes a camera assembly, the lens of the camera assembly faces the forward direction of the robot, and a third reflective sheet is arranged in front of the camera assembly, and the third reflective sheet is used to reflect rear image data of the robot to the camera assembly.

24. The robot according to claim 20, characterized in that The robot includes at least two camera assemblies, at least one of which is disposed on a first side of the robot, and at least one of which is disposed on a second side of the robot.

25. The robot according to claim 20, characterized in that The robot has a forward end, and the distance measuring device is arranged at the forward end; The emitting component is used to emit light toward the first side or the second side of the robot. After being reflected by the first reflecting sheet, the light is directed toward the forward direction of the robot. The lens of the camera assembly of the robot is set away from the forward direction, and the optical axis of the camera assembly is tilted away from the forward direction.

Images