Distance measuring device, distance measuring method, electronic equipment and computer readable storage medium

Abstract

The invention discloses a distance measuring device, a distance measuring method, electronic equipment and a computer readable storage medium. The distance measuring device comprises a transmitting module; a receiving module; the rotating mirror module is rotatably arranged between the transmitting module and the receiving module, the light beam transmitted by the transmitting module is reflected by the rotating mirror module to form a first sensing light beam, and the receiving module receives the light beam returned from the view field range at a receiving view field angle synchronously deflected with the first transmitting view field angle through the reflection of the rotating mirror module; the blind compensation module is used for emitting a light beam, the light beam emitted by the blind compensation module is reflected by the rotating mirror module to form a second sensing light beam, and at least part of the overlapping part between the second emitting view field angle and the receiving view field angle is located outside the overlapping part between the first emitting view field angle and the receiving view field angle. In this way, the problem of geometric blind areas existing in laser radar ranging can be relieved.

Description

[0001] The filing date of this application is October 14, 2024, the application number is 202411426519.6, and the invention name is a divisional application of the invention patent application "Ranging device, ranging method, electronic device and computer-readable storage medium". Technical Field

[0002] The present application relates to the field of distance measurement, and in particular to a distance measurement device, a distance measurement method, an electronic device and a computer-readable storage medium. Background Art

[0003] When the existing rotating mirror laser radar is measuring distance, because the transmitting optical path and the receiving optical path are off-axis optical paths, the transmitting field of view angle and the receiving field of view angle cannot overlap in a close range, resulting in a detection blind spot. Summary of the invention

[0004] The main purpose of this application is to provide a ranging device, a ranging method, an electronic device and a computer-readable storage medium, which can solve the geometric blind area problem existing in laser radar ranging.

[0005] In order to solve the above technical problems, the first technical solution adopted by the present application is: to provide a distance measuring device. The distance measuring device is configured to perform distance sensing on a preset field of view. The distance measuring device includes a transmitting module for transmitting a light beam; a receiving module for receiving a light beam returned from the field of view for distance sensing; a rotating mirror module rotatably arranged between the transmitting module and the receiving module, the light beam emitted by the transmitting module is reflected by the rotating mirror module to form a first sensing light beam, the first sensing light beam deflects and scans the field of view within the first transmitting field of view angle as the rotating mirror module rotates, and the receiving module receives the light beam returned from the field of view along a direction parallel to the first sensing light beam through the reflection of the rotating mirror module and the receiving field of view angle; a blind-filling module for transmitting a light beam, the light beam emitted by the blind-filling module is reflected by the rotating mirror module to form a second sensing light beam, the second sensing light beam deflects and scans the field of view within the second transmitting field of view angle as the rotating mirror module rotates, and at least a part of the overlapping area between the second transmitting field of view angle and the receiving field of view angle is located outside the overlapping area between the first transmitting field of view angle and the receiving field of view angle.

[0006] In order to solve the above technical problems, the second technical solution adopted by the present application is to provide a ranging method. The ranging method is applied to the above ranging device, and the method includes: using a blindness compensation module to obtain first ranging data, using a transmitting module to obtain second ranging data; and combining the first ranging data and the second ranging data to obtain final ranging data.

[0007] To solve the above technical problems, the third technical solution adopted by the present application is: to provide an electronic device. The electronic device is applied to the above-mentioned distance measuring device. The electronic device includes a memory and a processor, the memory is used to store program data, and the program data can be executed by the processor to implement the distance measuring method as described in the second technical solution.

[0008] To solve the above technical problems, the fourth technical solution adopted by the present application is: providing a computer-readable storage medium. The computer-readable storage medium is applied to the above-mentioned distance measuring device. The computer-readable storage medium stores program data and can be executed by a processor to implement the distance measuring method as described in the second technical solution.

[0009] The beneficial effect of the present application is that the ranging device of the present application forms a second transmitting field of view angle through a blind spot compensation module via a rotating mirror to supplement the detection of blind spots outside the field of view area where the transmitting module and the receiving module overlap, thereby expanding the field of view range of the ranging device and improving the detection performance of the ranging device. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0011] Figure 1 This is a schematic diagram of laser ranging;

[0012] Figure 2 It is a structural schematic diagram of an embodiment of the distance measuring device of the present application;

[0013] Figure 3 It is a structural schematic diagram of another embodiment of the distance measuring device of the present application;

[0014] Figure 4 It is a structural schematic diagram of another embodiment of the distance measuring device of the present application;

[0015] Figure 5 It is a structural schematic diagram of an embodiment of a rotating mirror module of the present application;

[0016] Figure 6 It is a structural schematic diagram of another embodiment of the rotating mirror module of the present application;

[0017] Figure 7 It is a structural schematic diagram of another embodiment of the rotating mirror module of the present application;

[0018] Figure 8 It is a structural schematic diagram of another embodiment of the rotating mirror module of the present application;

[0019] Fig. 9 It is a schematic diagram of the deflection of a rotating mirror;

[0020] Fig.10 It is a schematic diagram of the deflection of a rotating mirror;

[0021] Fig.11 It is a schematic diagram of the deflection of a rotating mirror;

[0022] Fig.12 It is a structural schematic diagram of another embodiment of the distance measuring device of the present application;

[0023] Fig.13 It is a structural schematic diagram of another embodiment of the distance measuring device of the present application;

[0024] Fig.14 1 is a schematic diagram of the structure of a reflector;

[0025] Fig.15 It is another structural schematic diagram of the reflector;

[0026] Fig.16 It is a structural schematic diagram of another embodiment of the distance measuring device of the present application;

[0027] Fig.17 It is a structural schematic diagram of another embodiment of the distance measuring device of the present application;

[0028] Fig.18 It is a structural schematic diagram of another embodiment of the distance measuring device of the present application;

[0029] Fig.19 It is a flowchart of the first embodiment of the distance measurement method of the present application;

[0030] Fig. 20 It is a structural schematic diagram of an embodiment of the electronic device of the present application;

[0031] Fig.21 It is a structural diagram of an embodiment of a computer-readable storage medium of the present application. DETAILED DESCRIPTION

[0032] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0033] The terms "first", "second", etc. in this application are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but optionally includes steps or units that are not listed, or optionally includes other steps or units inherent to these processes, methods, products or devices.

[0034] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments 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. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0035] An embodiment of the present application provides a distance measuring device, which is configured to perform distance sensing on a preset field of view, and the distance measuring device includes:

[0036] A transmitting module, used for transmitting a light beam;

[0037] A receiving module, used for receiving a light beam returned from a field of view to perform distance sensing;

[0038] A rotating mirror module is rotatably arranged between the transmitting module and the receiving module, wherein the light beam emitted by the transmitting module is reflected by the rotating mirror module to form a first sensing light beam, and the first sensing light beam is deflected within a first transmitting field of view angle to scan the field of view range as the rotating mirror module rotates, and the receiving module receives a light beam returned from the field of view range along a direction parallel to the first sensing light beam at a receiving field of view angle after being reflected by the rotating mirror module;

[0039] A blind spot filling module is used to emit a light beam, the light beam emitted by the blind spot filling module is reflected by the rotating mirror module to form a second sensing light beam, the second sensing light beam is deflected within a second emission field of view angle to scan the field of view range as the rotating mirror module rotates, and at least a part of the overlapping area between the second emission field of view angle and the receiving field of view angle is located outside the overlapping area between the first emission field of view angle and the receiving field of view angle.

[0040] Optionally, the first sensing light beam, the second sensing light beam, and propagation optical axes of the light beam received by the receiving module after being reflected by the rotating mirror module are arranged parallel to each other.

[0041] Optionally, the rotating mirror module includes two mutually perpendicular first and second reflecting surfaces, the first reflecting surface is used to reflect the light beam emitted by the transmitting module and / or the blindness-complementing module to the field of view, and the second reflecting surface is used to reflect the light beam returned from the field of view to the receiving module for reception and / or reflect the light beam emitted by the blindness-complementing module to the field of view.

[0042] Optionally, the rotating mirror module includes four reflecting surfaces that are vertically connected in sequence, the four reflecting surfaces that are vertically connected in sequence are arranged around a preset rotation axis, and the four reflecting surfaces that are vertically connected in sequence rotate around the rotation axis to realize the rotation of the rotating mirror module.

[0043] Optionally, a cross-section of four sequentially vertically connected reflecting surfaces perpendicular to the rotation axis is a square, and the rotation axis is located at the center of the square.

[0044] Optionally, the transmitting module and the blind spot compensation module are located on the same side of the rotating mirror module, the first sensing light beam forms a first reflection point on the first reflection surface, the second sensing light beam forms a second reflection point on the second reflection surface, and the vertical distance between the first reflection point and the second reflection surface is greater than the vertical distance between the second reflection point and the second reflection surface; and / or

[0045] The blind spot filling module and the receiving module are located on the same side of the rotating mirror module, and the second sensing light beam is reflected to the field of view by the second reflecting surface.

[0046] Optionally, the second emission field of view angle is smaller than the first emission field of view angle; or

[0047] The second emission field of view angle is equal to the first emission field of view angle; or

[0048] The second emission field of view angle is greater than the first emission field of view angle.

[0049] Optionally, the transmitting module and the blind spot compensation module are located on the same side of the rotating mirror module, the first sensing light beam forms a first reflection point on the first reflection surface, the second sensing light beam forms a second reflection point on the second reflection surface, and the vertical distance between the first reflection point and the second reflection surface is smaller than the vertical distance between the second reflection point and the second reflection surface.

[0050] Optionally, the second emission field of view angle is greater than the first emission field of view angle.

[0051] Optionally, the light beam emission power of the blind spot filling module is lower than the light beam emission power of the emission module.

[0052] Optionally, the distance measuring device further includes a first reflector, and the first reflector is used to reflect the light beam emitted by the transmitting module to the rotating mirror module.

[0053] Optionally, the distance measuring device further includes a second reflector, and the light beam returning from the field of view is reflected by the rotating mirror module and then reflected by the second reflector to the receiving module for reception.

[0054] Optionally, a light-transmitting structure is provided on the first reflector and / or the second reflector, and the light-transmitting structure is used to pass the light beam emitted by the blind-complementing module so that the light beam emitted by the blind-complementing module reaches the rotating mirror module.

[0055] The embodiment of the present application further provides a distance measurement method, which is applied to the above-mentioned distance measurement device, and the method includes:

[0056] The first ranging data is obtained by using the blindness-filling module, and the second ranging data is obtained by using the transmitting module;

[0057] The first ranging data and the second ranging data are combined to obtain final ranging data.

[0058] Optionally, when the blind spot filling module is used to emit a light beam to perform ranging and obtain first ranging data, the transmitting module does not emit a light beam.

[0059] The embodiment of the present application further provides an electronic device, which is applied to the above-mentioned distance measuring device, and includes a memory and a processor, wherein the memory is used to store program data, and the program data can be executed by the processor to implement the above-mentioned distance measuring method.

[0060] An embodiment of the present application further provides a computer-readable storage medium, which is applied to the above-mentioned distance measuring device. The computer-readable storage medium stores program data and can be executed by a processor to implement the above-mentioned distance measuring method.

[0061] The embodiments of the present application are further described below in conjunction with the accompanying drawings.

[0062] Reference Figure 1 , Figure 1 This is a schematic diagram of laser ranging.

[0063] In a common laser radar ranging device, it includes a transmitting module 11, a receiving module 13 and a rotating mirror module 12. The light beam emitted by the transmitting module 11 is transmitted by the rotating mirror module 12 and then irradiated into the field of view. The rotating mirror module 12 rotates within the field of view angle range corresponding to the field of view to deflect the scanning direction of the light beam emitted by the transmitting module 11, so that the light beam emitted by the transmitting module 11 can irradiate the entire field of view. The light beam emitted by the transmitting module 11 usually has a divergence angle, such as Figure 1As shown in , during the propagation of the light beam, as the propagation distance of the light beam increases, the beam diameter of the light beam also continues to increase. After being reflected by the rotating mirror module 12, the emitted light beam illuminates the field of view at the emission field angle, and the receiving module 13 receives the light from the field of view at the receiving field angle. However, since the transmitting module 11 and the receiving module 13 are usually arranged on both sides of the rotating mirror module 12, there will be a gap between the transmitting light path and the receiving light path after being reflected by the rotating mirror module 12. Therefore, the transmitting light path and the receiving light path will not completely overlap, which results in a geometric blind spot in the distance measuring device. Figure 1 For example, when measuring distance, the transmitting optical path and the receiving optical path only partially overlap. For area a, it is within the overlapping area, so the receiving module can obtain relevant information about the object in area a. For area b, it is within the receiving optical path range of the receiving module, but outside the range of the transmitting optical path, so the receiving module cannot obtain relevant information about the object in area b, and area b is the geometric blind area of ​​the ranging device at this time.

[0064] The present application proposes a distance measuring device, which includes a transmitting module, a receiving module, a rotating mirror module and a blind-filling module. The transmitting module is used to transmit a light beam. The receiving module is used to receive a light beam returned from a field of view to perform distance sensing. The rotating mirror module is rotatably arranged between the transmitting module and the receiving module. The light beam emitted by the transmitting module is reflected by the rotating mirror module to form a first sensing light beam. The first sensing light beam scans the field of view at a first transmitting field of view angle. The receiving module receives the light beam returned from the field of view at a receiving field of view angle after being reflected by the rotating mirror module. As the rotating mirror module rotates, the first sensing light beam is deflected, gradually scanning the field of view in each direction, and finally completing the scanning of the entire field of view. The blind-filling module is used to transmit a light beam. The light beam emitted by the blind-filling module is reflected by the rotating mirror module to form a second sensing light beam. The second sensing light beam scans the field of view at a second transmitting field of view angle. The overlapping area between the second transmitting field of view angle and the receiving field of view angle is at least partially located outside the overlapping area between the first transmitting field of view angle and the receiving field of view angle.

[0065] In this embodiment, since the overlapping area between the second transmitting field of view angle and the receiving field of view angle is at least partially located outside the overlapping area between the first transmitting field of view angle and the receiving field of view angle, it can be understood that the second sensing light beam emitted by the blindness compensation module will pass through the non-overlapping part between the first transmitting field of view angle and the receiving field of view angle, that is, the second sensing light beam emitted by the blindness compensation module can illuminate the area that the first sensing light beam cannot illuminate. Further, the receiving module can receive the light reflected back in this area, thereby realizing geometric blindness compensation for the transmitting module.

[0066] The receiving field of view angle in this embodiment is the field of view angle corresponding to the first transmitting field of view angle, and the angle values ​​of the two angles may be equal.

[0067] Reference Figure 2 , Figure 2 This is a schematic structural diagram of an embodiment of a distance measuring device of the present application.

[0068] In the distance measuring device of this embodiment, it includes a transmitting module 11, a receiving module 13, a rotating mirror module 12 and a blind-filling module 14. The transmitting module 11 is used to transmit a light beam. The receiving module 13 is used to receive a light beam returned from the field of view to perform distance sensing. The rotating mirror module 12 is rotatably arranged between the transmitting module and the receiving module. The light beam emitted by the transmitting module is reflected by the rotating mirror module to form a first sensing light beam. The first sensing light beam scans the field of view at a first transmitting field of view angle. The receiving module receives the light beam returned from the field of view at a receiving field of view angle after reflection by the rotating mirror module. As the rotating mirror module rotates, the first sensing light beam deflects, gradually scans the field of view in each direction, and finally completes the scanning of the entire field of view. The blind-filling module 14 is used to transmit a light beam. The light beam emitted by the blind-filling module is reflected by the rotating mirror module to form a second sensing light beam. The second sensing light beam scans the field of view at a second transmitting field of view angle. The overlapping area between the second transmitting field of view angle and the receiving field of view angle is at least partially located outside the overlapping area between the first transmitting field of view angle and the receiving field of view angle. As shown in the figure, the second sensing beam emitted by the blind spot module can illuminate the area c that the first sensing beam cannot illuminate, and the area c is within the receiving field of view, so the receiving module can obtain relevant information about the object in the area c.

[0069] In this embodiment, the blind spot filling module 14 is arranged on one side of the transmitting module 11. In another embodiment, Figure 3 As shown, it is arranged on one side of the receiving module 13. Figure 3 This is a schematic structural diagram of another embodiment of the distance measuring device of the present application.

[0070] Similar to the above embodiment, the light beam emitted by the blind spot compensation module is reflected by the rotating mirror module to form a second sensing light beam, and the second sensing light beam scans the field of view range at a second emission field of view angle, and the overlap area between the second emission field of view angle and the receiving field of view angle is at least partially located outside the overlap area between the first emission field of view angle and the receiving field of view angle. Similar descriptions can be referred to the descriptions in the above embodiment, which will not be repeated here.

[0071] like Figure 4 As shown, Figure 4 This is a structural diagram of another embodiment of the distance measuring device of the present application. At this time, the optical path of the second sensing light beam of the blindness-filling module can completely cover the optical path of the light beam received by the receiving module, and the blindness-filling module can completely eliminate the geometric blind area of ​​the distance measuring device.

[0072] In some embodiments, if the second sensing beam of the blindness-complementing module does not completely cover the optical path of the receiving beam of the receiving module, the geometric blind area of ​​the ranging device cannot be completely eliminated, but can only be reduced.

[0073] In some embodiments, the first optical axis of the first sensing beam, the second optical axis of the second sensing beam, and the third optical axis of the beam received by the receiving module and not yet reflected by the rotating mirror module are parallel to each other, ensuring the parallelism of the optical axis of the transmitted beam and the optical axis of the received beam, thereby enabling accurate distance measurement of objects in the field of view.

[0074] In some embodiments, the rotating mirror module includes two mutually perpendicular first and second reflecting surfaces, the first reflecting surface is used to reflect the light beam emitted by the transmitting module and / or the blindness-complementing module to the field of view, and the second reflecting surface is used to reflect the light beam returned from the field of view to the receiving module for reception and / or reflect the light beam emitted by the blindness-complementing module to the field of view.

[0075] The first reflection surface is used to reflect the light beam emitted by the transmission module to the field of view, and the second reflection surface is used to reflect the light beam returned from the field of view to the receiving module for reception.

[0076] When the transmitting module and the blind-complementing module are located on the same side of the rotating mirror module, the light beams emitted by the transmitting module and the blind-complementing module are irradiated to the first reflecting surface of the rotating mirror module and are reflected to the field of view. When the blind-complementing module and the receiving module are located on the same side of the rotating mirror module, the light beams emitted by the blind-complementing module are irradiated to the second reflecting surface of the rotating mirror module and are reflected to the field of view. The second reflecting surface also reflects the light beams returned from the field of view to the receiving module for reception.

[0077] The rotating mirror module may include only two reflective surfaces for reflecting light beams, and the two reflective surfaces are a first reflective surface and a second reflective surface that are perpendicular to each other. The first reflective surface is used to reflect the light beam emitted by the transmitting module to the field of view, and the second reflective surface is used to reflect the light beam returned from the field of view to the receiving module for reception. The two perpendicular reflective surfaces may be connected and arranged, such as Figure 5 As shown, Figure 5 This is a schematic diagram of the structure of an embodiment of the rotating mirror module of the present application. Other supporting structures are not shown. They can also be set separately, and the two reflective surfaces are not connected. Figure 6 As shown, Figure 6 This is a structural schematic diagram of another embodiment of the rotating mirror module of the present application.

[0078] The rotating mirror module may also include more side surfaces, which are not used for reflecting the light beam during the ranging process. Figure 7 As shown, Figure 7This is a structural diagram of another embodiment of the rotating mirror module of the present application. It is not completely connected in sequence and does not form a closed mirror structure. Figure 8 As shown, Figure 8 This is a structural schematic diagram of another embodiment of the rotating mirror module of the present application, which is completely connected in sequence to form a closed mirror structure.

[0079] The rotating mirror module may also include more reflective surfaces, which may be completely connected in sequence to form a closed mirror structure, or may not be completely connected in sequence, as long as each reflective surface has a reflective surface perpendicular to it.

[0080] It can be understood that the reflective surface of the rotating mirror module can be set in any structure as long as the light beam emitted by the transmitting module passing through one reflective surface of the rotating mirror module and the light beam received by the receiving module passing through another reflective surface of the rotating mirror module are perpendicular to each other.

[0081] In some embodiments, the rotating mirror module includes four reflecting surfaces connected vertically in sequence, the four reflecting surfaces connected vertically in sequence are arranged around a preset rotation axis, and the four reflecting surfaces connected vertically in sequence rotate around the rotation axis to realize the rotation of the rotating mirror module.

[0082] Further, in some embodiments, a cross-section of four sequentially vertically connected reflection surfaces perpendicular to the rotation axis is a square, and the rotation axis is located at the center of the square.

[0083] If the rotating mirror module includes four reflecting surfaces connected vertically in sequence, and the four reflecting surfaces connected vertically in sequence are arranged and rotated around a preset rotation axis, the cross-section of the four reflecting surfaces connected vertically in sequence perpendicular to the rotation axis is a square, and the rotation axis is located at the center of the square, then the size of the rotating mirror module satisfies the following relationship:

[0084] θ = 180° - 4arcsin(D / R).

[0085] Wherein, D is the diameter of the light beam emitted by the transmitting module and incident on the rotating mirror module, R is the side length of the square cross section of the rotating mirror module, and θ is the field of view angle of the field of view range. In the path where the light beam emitted by the transmitting module reaches the rotating mirror module, the light beam can be considered as a collimated light beam, and its diameter can be considered unchanged.

[0086] Reference Fig. 9 , Fig. 9 The figure is a schematic diagram of a rotating mirror deflection. The rotating mirror module in the figure is a four-sided rotating mirror with a square cross section perpendicular to the rotation axis.

[0087] When the angle A of the four-sided rotating mirror 121 is facing the field of view, the four-sided rotating mirror 121 is located at the initial position of rotation. Figure 5The four-sided rotating mirror 121 rotates in the direction shown. At this time, one of the reflection surfaces of the four-sided rotating mirror 121 can still receive all the light beams emitted by the transmitting module 11. Therefore, the control module controls the transmitting module 11 to emit a light beam. After the four-sided rotating mirror 121 rotates by an angle of α, the angle A rotates to the position of A'. At this time, one of the reflection surfaces of the four-sided rotating mirror 121 just reflects the incident light beam. It is considered that the angle α of the four-sided rotating mirror 121 is the critical angle (when the four-sided rotating mirror 121 is at the critical angle and rotates again, the light beam will reach two adjacent reflection surfaces of the four-sided rotating mirror 121 instead of the same reflection surface. At this time, the reflection of the light beam will be affected, affecting the normal distance measurement. Therefore, the angle at this time is defined as the critical angle. When the rotation exceeds the critical angle, the control module will not control the transmitting module to emit a light beam until the light beam reaches the same reflection surface of the rotating mirror module again. Then, the transmitting module will be controlled to continue to emit a light beam).

[0088] At this time, according to the complementary relationship of angles, we can obtain: β = 45°-α.

[0089] Since (D / R) = sinβ, α = 45°-arcsin(D / R).

[0090] Similarly, since the four-sided rotating mirror 121 is in the initial position with Figure 5 When rotating in the opposite direction to the direction shown, the process is similar to the above process, and the four-sided mirror rotates from position A to position A". Fig.10 , Fig.10 is a schematic diagram of a rotating mirror deflection. Therefore, it also has the same critical angle α, and 2α is the maximum angle that the four-sided rotating mirror can deflect between two critical positions during the light beam emission process. Since the field of view angle of the field of view range is twice the maximum angle of the four-sided rotating mirror deflection during the light beam emission process, the field of view angle θ = 4α. Fig.11 As shown, Fig.11 The figure shows the field of view angle θ corresponding to two extreme deflection cases.

[0091] Therefore θ=4α=180°-4arcsin(D / R).

[0092] Optionally, in some embodiments, the diagonal length of the square cross-section of the four-sided rotating mirror 121 is less than 110 mm, preferably 60 mm, and then the user can obtain the beam diameter of the light beam emitted by the emitting unit 11 through the side length of the square cross-section of the four-sided rotating mirror 121 and the preset field of view angle of the field of view range required by the user, or obtain the field of view angle of the field of view range of the ranging device through the side length of the square of the four-sided rotating mirror 121 and the beam diameter of the light beam emitted by the emitting unit 11.

[0093] Reference Fig.12 , Fig.12This is a structural schematic diagram of another embodiment of the distance measuring device of the present application. The transmitting module and the blind spot compensation module are located on the same side of the rotating mirror module. The first sensing light beam forms a first reflection point on the first reflection surface, and the second sensing light beam forms a second reflection point on the first reflection surface. The distance between the first reflection point and the second reflection surface is B, and the vertical distance between the second reflection point and the second reflection surface is C.

[0094] In some embodiments, reference Figure 2 , Figure 3 and Figure 4 , Figure 2 It shows that the transmitting module and the blind spot module are located on the same side of the rotating mirror module, the first sensing light beam forms a first reflection point on the first reflection surface, the second sensing light beam forms a second reflection point on the first reflection surface, and the vertical distance between the first reflection point and the second reflection surface is greater than the vertical distance between the second reflection point and the second reflection surface. Figure 3 , Figure 4 It is shown that the blind spot filling module and the receiving module are located on the same side of the rotating mirror module, and the second sensing light beam is reflected to the field of view by the second reflecting surface.

[0095] At this time, the second emission field of view is smaller than the first emission field of view, or the second emission field of view is equal to the first emission field of view, or the second emission field of view is larger than the first emission field of view. The second emission field of view set to be greater than 0° can achieve that the overlap area between the second emission field of view and the receiving field of view is at least partially located outside the overlap area between the first emission field of view and the receiving field of view. The second sensing beam can irradiate the area that the first sensing beam cannot irradiate and is located within the corresponding receiving field of view, thereby achieving blind spot filling.

[0096] In some embodiments, Fig.12 As shown, the transmitting module and the blind spot module are located on the same side of the rotating mirror module, the first sensing light beam forms a first reflection point on the first reflection surface, the second sensing light beam forms a second reflection point on the first reflection surface, and the vertical distance between the first reflection point and the second reflection surface is less than or equal to the vertical distance between the second reflection point and the second reflection surface.

[0097] At this time, the second emission field of view is greater than the first emission field of view. The second emission field of view needs to be set to be greater than the first emission field of view so that the second sensing beam can illuminate the area that the first sensing beam cannot illuminate and is located within the corresponding receiving field of view, thereby achieving blind spot filling.

[0098] In the rotating mirror laser radar ranging device, in addition to the geometric blind area, there is also a dead zone blind area. The dead zone blind area is due to the fact that the receiving optical path and the transmitting optical path cannot achieve good optical isolation inside the device, and optical crosstalk will occur inside the radar, so there will be a dead time in the radar. The dead time refers to the shortest time required for the laser radar to receive a laser pulse and then receive a new laser pulse. To illustrate with an example, when a laser pulse is emitted, an internal reflection signal will be generated at the laser output lens and received by the laser receiver. At this time, if the obstacle is too close, because the laser receiver is still in the dead time, the pulse echo of the close-range object cannot be detected, resulting in inaccurate ranging of close-range objects.

[0099] In order to further solve the above-mentioned dead zone blind area problem, in some embodiments, the beam emission power of the blinding module is lower than the beam emission power of the transmitting module. If the receiving module has a dead time when the transmitting module transmits a beam with its beam emission power, so that the ranging device has a dead zone blind area, then while using the blinding module to perform geometric blinding, the beam emission power of the blinding module is set to be lower than the beam emission power of the transmitting module to reduce the dead zone blind area. When the transmitting module transmits a beam with its beam emission power, if there is a dead zone blind area, it can be considered that the ability of the receiving module to receive photons is less than the number of photons of the crosstalk light. When the beam is emitted, there is no part in the receiving module that will not receive the crosstalk light, so there will be a dead time after receiving the crosstalk light. The number of photons of the crosstalk light is related to the emission power of the corresponding emission beam. If the beam emission power is large, the number of photons of the crosstalk light generated is large, and if the beam emission power is small, the number of photons of the crosstalk light generated is small. When the blind spot module emits a light beam, since its light beam emission power is lower than the light beam emission power of the transmitting module, the number of photons of the crosstalk light it generates is small, and the ability of the receiving module to receive photons can cover the number of photons of the crosstalk light. When the crosstalk light is received, there is still a receiving part in the receiving module that has not received the light. Therefore, the receiving part is not in the dead time and can receive the light reflected back by the object, thereby reducing the dead zone blind spot of the ranging device.

[0100] like Fig.13 As shown, Fig.13 This is a schematic diagram of another embodiment of the distance measuring device of the present application.

[0101] In one embodiment, the distance measuring device further includes a first reflector 15, and the first reflector 15 is used to reflect the light beam emitted by the emission module 11 to the rotating mirror module.

[0102] Furthermore, in one embodiment, a light-transmitting structure penetrating the reflector is disposed on the first reflector, and the light-transmitting structure is used to pass the light beam emitted by the blind-complementing module so that the light beam emitted by the blind-complementing module reaches the rotating mirror module.

[0103] Furthermore, in one embodiment, the light beam emitted by the blindness-complementing module reaches the rotating mirror module by utilizing the light-transmitting structure of the first reflector. Since the second optical axis of the second sensing light beam is parallel to the first optical axis of the first sensing light beam, the optical axis of the light beam emitted by the blindness-complementing module on the path from the first reflector to the rotating mirror module is also parallel to the optical axis of the light beam emitted by the transmitting module on the path from the first reflector to the rotating mirror module.

[0104] By using a reflector to reflect the light beam emitted by the emission module, the size of the distance measuring device in the length and width directions can be adjusted to meet the needs of different environments.

[0105] In this embodiment, a light-passing structure is provided to allow the light beam emitted by the blind spot module to directly pass through the reflector to reach the rotating mirror module. This is because in order to solve the dead zone, the light beam emission power of the blind spot module is set to be lower than the light beam emission power of the emission module. The lower the emission power, the closer the distance it can irradiate. Therefore, through the above-mentioned setting, the light beam emitted by the blind spot module passes through a shorter path than the light beam emitted by the emission module, thereby reducing its path loss, so that the second sensing light beam of the blind spot module can reach the farthest possible position.

[0106] At the same time, a light-passing structure is set up to allow the light beam emitted by the blind-complementing module to pass through the reflector, so as to make the emission light path of the light beam emitted by the blind-complementing module consistent with that of the light beam emitted by the emission module, thereby reducing optical crosstalk. If the blind-complementing module uses another optical path to emit a light beam, more optical crosstalk may be generated due to the extra optical path.

[0107] In one embodiment, the light-transmitting structure 16 includes a through hole, which is located in the middle of the reflective mirror surface of the first reflector 15 and is not connected to the edge of the reflective mirror surface of the reflector 15. Fig.14 As shown, Fig.14 It is a schematic diagram of the structure of a reflector.

[0108] In one embodiment, the light-transmitting structure 16 includes a light-transmitting notch located at an edge portion of the first reflector 15. Fig.15 As shown, Fig.15 This is another structural schematic diagram of the reflector.

[0109] like Fig.16 As shown, Fig.16 This is a schematic structural diagram of another embodiment of the distance measuring device of the present application.

[0110] In one embodiment, the distance measuring device further includes a second reflector 17, and the second reflector 17 is used to reflect the light beam reflected from the rotating mirror module to the receiving module.

[0111] Furthermore, in one embodiment, a light-transmitting structure penetrating the reflector is present on the second reflector, and the light-transmitting structure is used to pass the light beam emitted by the blind-complementing module so that the light beam emitted by the blind-complementing module reaches the rotating mirror module.

[0112] Furthermore, in one embodiment, the light beam emitted by the blindness-complementing module passes through the light-transmitting structure of the second reflector on the propagation path and reaches the rotating mirror module. Since the second optical axis of the second sensing light beam is parallel to the third optical axis of the light beam received by the receiving module and not yet reflected by the rotating mirror module, the optical axis of the light beam emitted by the blindness-complementing module on the path from the second reflector to the rotating mirror module is parallel to the optical axis of the light beam received by the receiving module on the path from the rotating mirror module to the second reflector.

[0113] In one embodiment, the light-through structure includes a through hole located in a middle portion of the reflective mirror surface of the second reflector;

[0114] In one embodiment, the light-transmitting structure includes a light-transmitting notch located at an edge portion of the second reflector.

[0115] Similar contents can be referred to the description in the above embodiments and will not be repeated here.

[0116] In one embodiment, after the first reflector with a light-transmitting structure is provided, a third reflector may be provided, and the third reflector is used to reflect the light beam reflected from the rotating mirror module to the receiving module. However, the third reflector is not provided with a light-transmitting structure. Fig.17 As shown, Fig.17 This is a schematic structural diagram of another embodiment of the distance measuring device of the present application.

[0117] In one embodiment, after the second reflector with a light-transmitting structure is provided, a fourth reflector may be provided, and the fourth reflector is used to reflect the light beam emitted by the emission module to the rotating mirror module. However, the fourth reflector is not provided with a light-transmitting structure. Fig.18 As shown, Fig.18 This is a schematic structural diagram of another embodiment of the distance measuring device of the present application.

[0118] In one embodiment, the distance measuring device may include a first reflector with a light-transmitting structure and a second reflector with a light-transmitting structure. Correspondingly, it also includes a first blind-complementing module corresponding to the first reflector and arranged on the same side relative to the rotating mirror module, and a second blind-complementing module corresponding to the second reflector and arranged on the same side relative to the rotating mirror module. That is, a blind-complementing module may be arranged on both the side close to the transmitting module and the side close to the receiving module, and the selection is made according to the actual needs.

[0119] The present application also provides a distance measurement method, which is applied to the above-mentioned distance measurement device.

[0120] Reference Fig.19 , Fig.19 This is a flow chart of the first embodiment of the distance measurement method of the present application, which includes but is not limited to the following steps.

[0121] S11: using the blindness-filling module to obtain first ranging data, and using the transmitting module to obtain second ranging data.

[0122] S12: Combine the first ranging data and the second ranging data to obtain final ranging data.

[0123] The transmitting module is used for long-distance ranging, and the blind spot module is used for short-distance ranging that the transmitting module cannot sense. The ranging information in each direction is combined from the two ranging results.

[0124] In one embodiment, when the blindness-filling module is used to emit a light beam to perform ranging and obtain first ranging data, the transmitting module does not emit a light beam.

[0125] In one embodiment, when the transmitting module is used to acquire the second ranging data, the blind spot filling module emits a light beam.

[0126] In one embodiment, when the transmitting module is used to acquire the second ranging data, the blind spot filling module does not emit a light beam.

[0127] In one specific embodiment, the blind-filling module first transmits several times to obtain the first ranging data, and then the transmitting module transmits several times to obtain the second ranging data. In another specific embodiment, the transmission of the blind-filling module and the transmitting module is performed alternately. The two modules transmit separately in time and do not interfere with each other.

[0128] like Fig. 20 As shown, Fig. 20 This is a schematic diagram of the structure of an electronic device according to an embodiment of the present application.

[0129] The electronic device includes a processor 110 and a memory 120. The electronic device is applied to the above-mentioned distance measuring device.

[0130] The processor 110 controls the operation of the electronic device, and the processor 110 may also be referred to as a CPU (Central Processing Unit). The processor 110 may be an integrated circuit chip having the ability to process a signal sequence. The processor 110 may also be a general-purpose processor, a digital signal sequence processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic device, a discrete gate or transistor logic device, a discrete hardware component. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0131] The memory 120 stores instructions and program data required for the processor 110 to operate.

[0132] The processor 110 is used to execute instructions to implement the method provided by any embodiment and possible combination of the ranging method of the present application.

[0133] like Fig.21 As shown, Fig.21 This is a schematic diagram of the structure of an embodiment of a computer-readable storage medium of the present application.

[0134] An embodiment of the readable storage medium of the present application includes a memory 210, and the memory 210 stores program data, and when the program data is executed, the method provided by any embodiment and possible combination of the distance measurement method of the present application is implemented. It is applied to the above-mentioned distance measurement device.

[0135] The memory 210 may include a medium that can store program instructions, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, or it may be a server that stores the program instructions. The server may send the stored program instructions to other devices for execution, or it may execute the stored program instructions itself.

[0136] In summary, the distance measuring device of the present application is configured to perform distance sensing on a preset field of view. The distance measuring device includes a transmitting module for transmitting a light beam; a receiving module for receiving a light beam returned from the field of view for distance sensing; a rotating mirror module rotatably arranged between the transmitting module and the receiving module, the light beam emitted by the transmitting module is reflected by the rotating mirror module to form a first sensing light beam, the first sensing light beam deflects and scans the field of view at a first transmitting field of view angle as the rotating mirror module rotates, and the receiving module receives the light beam returned from the field of view at a receiving field of view angle deflected synchronously with the first transmitting field of view angle after reflection by the rotating mirror module; a blind-filling module for transmitting a light beam, the light beam emitted by the blind-filling module is reflected by the rotating mirror module to form a second sensing light beam, the second sensing light beam deflects and scans the field of view at a second transmitting field of view angle as the rotating mirror module rotates, and the overlapping area between the second transmitting field of view angle and the receiving field of view angle is at least partially located outside the overlapping area between the first transmitting field of view angle and the receiving field of view angle. Since the overlapping area between the second transmitting field of view angle and the receiving field of view angle exists outside the overlapping area between the first transmitting field of view angle and the receiving field of view angle, it can be understood that the second sensing light beam emitted by the blindness compensation module will pass through the non-overlapping part between the first transmitting field of view angle and the receiving field of view angle, that is, the second sensing light beam emitted by the blindness compensation module can illuminate the area that the first sensing light beam cannot illuminate. Correspondingly, the receiving module can receive the light reflected back in the area. Then, the relevant information in the geometric blind area corresponding to the transmitting module can be obtained through the illumination of the blindness compensation module, thereby realizing geometric blindness compensation for the transmitting module.

[0137] In the several embodiments provided in this application, it should be understood that the disclosed methods and devices can be implemented in other ways. For example, the device implementation described above is only illustrative, for example, the division of the modules or units is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed.

[0138] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0139] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0140] If the integrated units in the above other embodiments are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions to enable a computer device (which can be a personal computer, server, or network device, etc.) or a processor (processor) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, RandomAccess Memory), disk or optical disk and other media that can store program codes.

[0141] The above descriptions are merely embodiments of the present application and are not intended to limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A distance measuring device, characterized in that: The device is configured to sense the distance of a preset field of view, and the distance measuring device comprises: A transmitting module, used for transmitting a light beam; A receiving module, used for receiving a light beam returned from a field of view to perform distance sensing; A rotating mirror module is rotatably arranged between the transmitting module and the receiving module, wherein the light beam emitted by the transmitting module is reflected by the rotating mirror module to form a first sensing light beam, and the first sensing light beam is deflected within a first transmitting field of view angle to scan the field of view range as the rotating mirror module rotates, and the receiving module receives a light beam returned from the field of view range along a direction parallel to the first sensing light beam at a receiving field of view angle after being reflected by the rotating mirror module; A blind spot filling module, configured to emit a light beam, wherein the light beam emitted by the blind spot filling module is reflected by the rotating mirror module to form a second sensing light beam, wherein the second sensing light beam is deflected within a second emission field of view angle to scan the field of view range as the rotating mirror module rotates, and at least a portion of an overlap area between the second emission field of view angle and the receiving field of view angle is located outside an overlap area between the first emission field of view angle and the receiving field of view angle; In which, the rotating mirror module includes two mutually perpendicular first reflecting surfaces and a second reflecting surface, the first reflecting surface is used to reflect the light beam emitted by the transmitting module to the field of view, and the second reflecting surface is used to reflect the light beam returned from the field of view to the receiving module for reception and reflection to the field of view; the transmitting module and the blindness-complementing module are located on the same side of the rotating mirror module, the light beam emitted by the blindness-complementing module is reflected by the first reflecting surface to form a second sensing light beam, the first sensing light beam forms a first reflection point on the first reflecting surface, the second sensing light beam forms a second reflection point on the second reflecting surface, and the vertical distance between the first reflection point and the second reflecting surface is smaller than the vertical distance between the second reflection point and the second reflecting surface.

2. The distance measuring device according to claim 1, characterized in that: The first sensing light beam, the second sensing light beam, and propagation optical axes of the light beams received by the receiving module after being reflected by the rotating mirror module are arranged parallel to each other.

3. The distance measuring device according to claim 1, characterized in that: The rotating mirror module includes four reflecting surfaces that are vertically connected in sequence. The four reflecting surfaces that are vertically connected in sequence are arranged around a preset rotation axis. The four reflecting surfaces that are vertically connected in sequence rotate around the rotation axis to realize the rotation of the rotating mirror module.

4. The distance measuring device according to claim 3, characterized in that: The cross-section of the four reflective surfaces vertically connected in sequence and perpendicular to the rotation axis is a square, and the rotation axis is located at the center of the square.

5. The distance measuring device according to claim 1, characterized in that: The second emission field of view angle is greater than the first emission field of view angle.

6. The distance measuring device according to claim 1, characterized in that: The light beam emission power of the blindness-filling module is lower than the light beam emission power of the emission module.

7. The distance measuring device according to claim 1, characterized in that: The ranging device also includes a first reflector, which is used to reflect the light beam emitted by the transmitting module to the rotating mirror module. The first reflector is provided with a light-transmitting structure, which is used to pass the light beam emitted by the blind-complementing module so that the light beam emitted by the blind-complementing module reaches the rotating mirror module.

8. The distance measuring device according to claim 1, characterized in that: The ranging device also includes a second reflector. The light beam returned from the field of view is reflected by the rotating mirror module and then reflected by the second reflector to the receiving module for reception. The second reflector is provided with a light-transmitting structure, which is used to pass the light beam emitted by the blind-complementing module so that the light beam emitted by the blind-complementing module reaches the rotating mirror module.

9. A distance measurement method, characterized in that: Applied to the distance measuring device according to any one of claims 1 to 8, the method comprises: Using the blindness-filling module to obtain first ranging data, and using the transmitting module to obtain second ranging data; The first ranging data and the second ranging data are combined to obtain final ranging data.

10. An electronic device, characterized in that: The device comprises a distance measuring device as claimed in any one of claims 1 to 8.

11. A computer-readable storage medium, characterized in that: Applied to the distance measuring device as claimed in any one of claims 1 to 8, the computer-readable storage medium stores program data and can be executed by a processor to implement the method as claimed in claim 9.

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