TOF module and electronic equipment

Abstract

The invention discloses a TOF (Time of Flight) module and electronic equipment. The TOF module comprises a transmitting end, a receiving end, a light source, a light source and a light source, and the receiving end is arranged corresponding to the transmitting end, and the receiving end is configured to receive 360-degree annular detection light spots reflected by a detected target so as to realize all-round range finding of the detected target. Through the scheme disclosed by the invention, the transmitting end and the receiving end in the TOF module have the capability of transmitting or receiving 360-degree annular detection light spots, and all-round range finding is realized through the cooperation between the transmitting end and the receiving end, so that the range finding visual angle of the TOF module is expanded, the TOF module meets the market demand, and the market competitiveness of the TOF module and a product applying the TOF module is improved.

Description

TECHNICAL FIELD

[0001] The present disclosure relates generally to the technical field of time-of-flight (TOF) sensing. More particularly, the present disclosure relates to a TOF module and an electronic device. BACKGROUND

[0002] With the development of technology, intelligent devices such as sweeping robots and service robots have gradually entered people's lives, and such intelligent devices need to perform ranging in work to achieve functions such as mapping and obstacle avoidance. At present, these intelligent devices mostly use laser radar technology as the mainstream obstacle avoidance scheme, but the overall price of the laser radar technology is expensive and the cost is high when it is put into use. In view of this, the time-of-flight (TOF) technology is used to replace the laser radar technology in the related technology, but the ranging angle supported by the TOF module on the current market is small, and multiple TOF modules need to be used in cooperation to support the ranging requirements of the intelligent device, so that the overall cost is still high and cannot meet the actual market demand.

[0003] Therefore, there is an urgent need to provide a new TOF module to support low-cost and wide-angle ranging requirements. SUMMARY

[0004] In order to at least solve one or more technical problems mentioned above, the present disclosure proposes a TOF module and an electronic device in various aspects.

[0005] In a first aspect, the present disclosure provides a TOF module, comprising: a transmitting end configured to emit a 360° annular detection light spot; and a receiving end corresponding to the transmitting end, the receiving end being configured to receive the 360° annular detection light spot reflected back by a detected target to achieve a surround view ranging of the detection target.

[0006] In some embodiments, the transmitting end comprises: a light source device configured to provide a light source; and a light source adjusting assembly disposed opposite the light source device and configured to adjust the light source emitted by the light source device into a 360° annular detection light spot.

[0007] In some embodiments, the light source adjusting assembly comprises: a collimating mirror configured to converge and collimate the light source emitted by the light source device; and a first conical mirror configured to reflect the converged and collimated light source to obtain a 360° annular detection light spot.

[0008] In some embodiments, the collimating mirror and the first conical mirror are designed in one body, and a conical head of the first conical mirror is close to the collimating mirror.

[0009] In some embodiments, the receiving end comprises: a light receiving assembly configured to receive the 360° annular probe light spot reflected by the probe target; and an image sensor configured to acquire the annular probe light spot received by the light receiving assembly and to conduct the surround view ranging on the probe target based on the acquired annular probe light spot.

[0010] In some embodiments, the light receiving assembly comprises a fisheye lens located on the light receiving side of the image sensor, and the image sensor is arranged back to back with the light source device in the transmitting end.

[0011] In some embodiments, the light receiving assembly comprises: a second conical mirror configured to perform light angle contraction on the 360° annular probe light spot reflected by the probe target; and an imaging lens located between the second conical mirror and the image sensor and configured to perform light convergence on the annular probe light spot after light angle contraction; wherein the image sensor is arranged back to back with the light source device in the transmitting end.

[0012] In some embodiments, the TOF module further comprises: a fixed structure, and the receiving end and the transmitting end are arranged back to back based on the fixed structure.

[0013] In some embodiments, the fixed structure comprises: a heat dissipation support comprising a first fixed end surface and a second fixed end surface arranged back to back; a sensor connecting plate arranged on the first fixed end surface and used for fixing the image sensor; a first fixing seat located on the sensor connecting plate and configured to fix the light receiving assembly; a light source connecting plate located on the second fixed end surface and used for fixing the light source device; and a second fixing seat located on the light source connecting plate and used for fixing the light source adjusting assembly.

[0014] In some embodiments, the heat dissipation support comprises an aluminum support, and a ceramic substrate, a metal reinforcing sheet and a heat-conducting silicone grease are sequentially arranged between the light source device and the aluminum support.

[0015] In some embodiments, the light source device comprises a vertical cavity surface emitting laser with a divergence angle of 18°-23°.

[0016] In a second aspect, the present disclosure provides an electronic device comprising: a device body; and a single TOF module as described in the first aspect arranged on the device body, so that the device body realizes surround view ranging based on the TOF module.

[0017] By means of the TOF module and the electronic device provided as above, the TOF module in the embodiment of the present disclosure emits a 360° annular detection light spot through the emitting end, and receives the 360° annular detection light spot reflected back based on the receiving end. It can be seen that the scheme of the present disclosure improves the emitting end and the receiving end to have the ability of emitting or receiving a 360° annular detection light spot, and realizes the surround view ranging through the cooperation between the emitting end and the receiving end, thereby expanding the ranging view angle of the TOF module, meeting the market demand, and increasing the market competitiveness of the TOF module and the product applying the TOF module. BRIEF DESCRIPTION OF DRAWINGS

[0018] The above and other objects, features and advantages of the exemplary embodiments of the present disclosure will be more apparent from the following detailed description read in conjunction with the accompanying drawings, in which several embodiments of the present disclosure are shown by way of example, and wherein like reference numerals refer to like elements throughout. In the drawings:

[0019] Figure 1 A structural schematic block diagram of a TOF module of one embodiment of the present disclosure is shown;

[0020] Figure 2 A structural schematic block diagram of a TOF module of another embodiment of the present disclosure is shown;

[0021] Figure 3 A light path schematic diagram of an emitting end in a TOF module of an embodiment of the present disclosure is shown;

[0022] Figure 4 A light path schematic diagram of a receiving end in a TOF module of an embodiment of the present disclosure is shown;

[0023] Figure 5 A light path schematic diagram of a TOF module of one embodiment of the present disclosure is shown;

[0024] Figure 6 An assembly structural schematic diagram of a TOF module of an embodiment of the present disclosure is shown;

[0025] Figure 7 An exploded structural schematic diagram of a TOF module of an embodiment of the present disclosure is shown;

[0026] Figure 8 A cross-sectional structural schematic diagram of a TOF module of an embodiment of the present disclosure is shown;

[0027] Figure 9 A light path schematic diagram of a TOF module of another embodiment of the present disclosure is shown; and

[0028] Figure 10 A structural schematic block diagram of an electronic device of an embodiment of the present disclosure is shown. Detailed Implementation

[0029] The technical solutions in the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this disclosure, not all of them. Based on the embodiments in this disclosure, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this disclosure.

[0030] It should be understood that the terms “comprising” and “including” used in this disclosure and claims indicate the presence of the described features, integrals, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or collections thereof.

[0031] It should also be understood that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of this disclosure. As used in this disclosure and claims, the singular forms “a,” “an,” and “the” are intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term “and / or” as used in this disclosure and claims refers to any combination and all possible combinations of one or more of the associated listed items, and includes such combinations.

[0032] As used in this specification and claims, the term "if" may be interpreted, depending on the context, as "when," "once," "in response to determination," or "in response to detection." Similarly, the phrase "if determined" or "if [described condition or event] is detected" may be interpreted, depending on the context, as "once determined," "in response to determination," "once [described condition or event] is detected," or "in response to detection of [described condition or event]."

[0033] Exemplary application scenarios

[0034] Currently, the ranging angle of TOF modules on the market is relatively small. Specifically, due to limitations in the current transmitter technology of TOF modules, the maximum ranging angle is only about 120°. If this type of TOF module is used in smart devices to replace LiDAR for mapping and obstacle avoidance, multiple TOF modules need to work simultaneously to meet the requirements. Compared to the traditional solution of using LiDAR for obstacle avoidance, this does not effectively reduce costs.

[0035] To address the problems in the aforementioned scenarios, the inventors proposed a Time-of-Flight (TOF) module. The transmitter in this TOF module can emit a 360° annular detection spot, and the receiver can receive the 360° annular detection spot reflected back from the detected target. Thus, based on the transmitting and receiving capabilities of the annular detection spot at both the transmitter and receiver, the TOF module possesses surround-view ranging capabilities, expanding its ranging angle to meet market demands.

[0036] The following combination Figures 1-10 The plan disclosed herein will be explained in detail.

[0037] Figure 1 A schematic block diagram of the structure of a TOF module 100 according to an embodiment of this disclosure is shown.

[0038] like Figure 1 As shown, the TOF module 100 includes a transmitter 10 and a receiver 20. The transmitter 10 can be configured to emit a 360° annular detection spot. The receiver 20 is correspondingly arranged with the transmitter 10, and the receiver 20 can be configured to receive the 360° annular detection spot reflected back from the detected target, so as to realize the 360° annular detection spot of the detected target.

[0039] Traditional Time-of-Flight (TOF) modules have limited ranging angles due to limitations at the transmitter (e.g., a maximum of 120°). The disclosed solution improves the transmitter 10 and receiver 20, enabling the transmitter 10 to emit a 360° annular detection spot, and the receiver 20 to receive the reflected 360° annular detection spot. This cooperation between the transmitter and receiver achieves panoramic ranging, expanding the TOF module's ranging angle to meet market demands and increasing the market competitiveness of the TOF module and products using it.

[0040] Figure 2 A schematic block diagram of a TOF module 100 according to another embodiment of this disclosure is shown. It should be noted that... Figure 2 The TOF module 100 in the text can be understood as a... Figure 1 Further limitations or functional expansions of the TOF module 100. Therefore, the preceding text Figure 1 The relevant explanations in the text also apply to the following text.

[0041] like Figure 2 As shown, the TOF module 100 may include a transmitter 10 configured to emit a 360° annular detection spot and a receiver 20 configured to receive the 360° annular detection spot reflected back from the detected target.

[0042] In this embodiment, the transmitting end 10 may specifically include a light source device 101 and a light source adjustment component 102 disposed relative to the light source device 101. The light source device 101 is configured to provide a light source. For example, the light source device 101 may include a laser light source device, etc. The light source adjustment component 102 may be configured to adjust the light emitted from the light source device 101 into a 360° annular detection spot. In some embodiments, the light source adjustment component 102 may be composed of some conventional optical components. After the light source reaches the light source adjustment component 102, its emission direction can be adjusted by the light source adjustment component 102 to obtain a 360° annular detection spot.

[0043] As an example, the aforementioned light source device 101 preferably employs a vertical-cavity surface-emitting laser (VCSEL) with a divergence angle of 18° to 23°, and the aforementioned light source adjustment assembly 102 employs a collimating lens and a first conical reflector. In this embodiment, the VCSEL, serving as the light source device 101, provides the light source. The collimating lens in the light source adjustment assembly 102 is configured to converge and collimate the light source emitted from the light source device 101 (e.g., the VCSEL). Then, the first conical reflector in the light source adjustment assembly 102 is configured to reflect the converged and collimated light source to obtain a 360° annular probe spot. This embodiment uses a collimating lens in conjunction with a first conical reflector to construct the light source adjustment assembly 102, which is completely different from traditional transmitter process designs. Traditional transmitter processes often employ microlens arrays, which cannot achieve large-angle diffusion. The disclosed solution breaks through traditional thinking by using a collimating lens and a conical reflector to achieve a 360° annular light spot emission from the transmitter, thereby ensuring an effective expansion of the ranging angle of the entire TOF module. Furthermore, compared to traditional transmitter processes, the cost of optical components such as the collimating lens and conical reflector is low, and they will not incur additional costs.

[0044] It should be noted that the above description of the light source device 101 and the light source adjustment assembly 102 is merely illustrative, and the solution disclosed herein is not limited thereto. For example, the light source device 101 is not limited to VCSEL, but may also include other types of laser light sources, and the collimating lens and the first conical reflector in the light source adjustment assembly 102 may be combined in an integrated, separate, or other form.

[0045] As an example Figure 3 A schematic diagram of the optical path of the transmitter 10 in a TOF module 100 according to an embodiment of this disclosure is shown. Figure 3In this TOF module 100, a light source device 101 and a collimating lens 1021 and a first conical reflector 1022 constituting a light source adjustment assembly 102 are arranged sequentially. The collimating lens 1021 and the first conical reflector 1022 in the light source adjustment assembly 102 are integrated, with the conical tip of the first conical reflector 1022 close to the collimating lens 1021. The light source device 101 provides a light source. After reaching the collimating lens 1021, the light source outputs collimated light rays. These collimated light rays are then reflected (e.g., 45° reflection) by the first conical reflector 1022, resulting in a 360° annular light spot.

[0046] In the processing of the light source adjustment component 102, only one injection molding process is required to complete the processing. The integrated light source adjustment component 102 can use the principle of total internal reflection to reflect and diffuse the light source in 360°. Compared with other processes (such as laying a reflective film layer), it is not only simpler but also cheaper.

[0047] return Figure 2 In the TOF module 100, the receiver 20 and the transmitter 10 are arranged opposite each other. For example, the receiver 20 and the transmitter 10 can adopt a back-to-back design (referred to as back-facing), a face-to-face design (referred to as face-to-face), or a coaxial design. The receiver 20 can include a light receiving component 201 and an image sensor 202. The light receiving component 201 is configured to receive a 360° annular detection light spot reflected back from the target being detected. The image sensor 202 is configured to acquire the annular detection light spot received by the light receiving component 201 and perform surround-view ranging on the target based on the acquired annular detection light spot.

[0048] In some embodiments, the light receiving component 201 may include a fisheye lens located on the photosensitive side of the image sensor 202, with the image sensor 202 and the light source device 101 in the transmitter 10 facing away from each other, i.e., the angle between the image sensor 202 and the light source device 101 is 180°. In this case, the lens orientation of the fisheye lens and the light emission orientation of the light source device are opposite. The fisheye lens has a very large field of view, capable of supporting the reception of a 360° annular light spot. The fisheye lens, acting as the receiver, works in conjunction with the transmitter to enable the entire TOF module to perform 360° annular ranging of the detected target.

[0049] In other embodiments, the light receiving assembly 201 may include a second conical reflector and an imaging lens. The second conical reflector is configured to reduce the angle of the 360° annular detection spot reflected back from the target being detected. The imaging lens is located between the second conical reflector and the image sensor and is configured to converge the light from the reduced-angle annular detection spot. The image sensor is positioned opposite to the light source device in the transmitting end.

[0050] As an example Figure 4 A schematic diagram of the optical path of the receiver 20 in a TOF module 100 according to an embodiment of this disclosure is shown. Figure 4 In the receiver 20, there are an image sensor 202, a second conical reflector 2011 constituting the light receiving component 201, and an imaging lens 2012. When the 360° annular detection light spot reflected back from the target reaches the second conical reflector 2011, it is reflected by the second conical reflector 2011, which reduces the angle of the light rays in the entire annular detection light spot. Then, the light rays are converged by the imaging lens 2012, and the annular detection light spot after light convergence is received by the image sensor to achieve panoramic ranging.

[0051] As mentioned earlier, in practical applications, the receiver 20 and the transmitter 10 need to be positioned relative to each other. For example, the receiver 20 and the transmitter 10 can be placed back-to-back. (See reference...) Figure 5 , Figure 5 A schematic diagram of a feasible optical path for a TOF module according to an embodiment of this disclosure is shown. In this embodiment, the light source device 101 in the transmitter 10 and the image sensor 202 in the receiver 20 are placed back-to-back. The light emitted from the light source device 101 is collimated by the collimating lens 2021, and the collimated light is reflected by the first conical reflector 1022 to form a 360° annular light spot. The 360° annular light spot is reflected by the target and reaches the second conical reflector 2011, where the light angle is reduced. Then, the light is converged by the imaging lens 2012 and finally reaches the image sensor 202 to achieve 360° range finding.

[0052] It should be noted that, Figure 5 This is merely an exemplary description of the working principle of the receiver 20 and the transmitter 10, and the disclosed solution is not limited thereto. For example, the collimating lens 1021 in the transmitter 10 and the first receiver 20 and transmitter 10 can also be used separately or in other combinations. The light receiving component in the receiver 20 is not limited to the second conical reflector 2011 and the imaging lens 2012, but can also be replaced by a lens with an ultra-wide field of view (such as a fisheye lens) capable of receiving a 360° annular light spot.

[0053] In practical applications, the transmitter 10 and receiver 20 described above can be arranged back-to-back in various ways. Specifically, in some embodiments, the TOF module 100 may also include a fixed structure, and the receiver 20 and transmitter 10 may be arranged back-to-back based on this fixed structure.

[0054] As an example Figure 6This illustration shows a back-facing assembly configuration of a TOF module 100 according to an embodiment of this disclosure. Figure 6 In this embodiment, the TOF module 100 may include a transmitter 10, a receiver 20, and a fixed structure 30. The transmitter 10 is located on one side of the fixed structure 30, and the receiver 20 is located on the other side of the fixed structure 30. Based on the fixed structure 30, the light emission direction of the transmitter 10 is opposite to the light reception direction of the receiver 20. Since the transmitter 10 and receiver 20 usually have corresponding circuit wiring, the back-to-back arrangement of the transmitter and receiver in this embodiment is more conducive to the layout of the entire structure and the circuit wiring, making the overall structure more compact, facilitating circuit layout, and effectively avoiding interference from circuit wiring to the field of view of the transmitter or receiver.

[0055] Furthermore, in some embodiments, the aforementioned fixing structure 30 may include a heat dissipation bracket, a sensor connection plate, a first fixing base, a light source connection plate, and a second fixing base. For example, Figure 7 It shows Figure 6 A specific explosion structure of the TOF module 100. Figure 7 The TOF module 100 may include a light source device 101 and a light source adjustment assembly 102 constituting the transmitting end, a light receiving assembly 201 and an image sensor 202 constituting the receiving end, and a fixing structure 30. The fixing structure 30 includes a heat dissipation bracket 301, a sensor connection plate 302, a first fixing base 303, a light source connection plate 304, and a second fixing base 305. The heat dissipation bracket 301 includes a first fixing end face and a second fixing end face facing away from each other. The sensor connection plate 302 is disposed on the first fixing end face and is used to fix the image sensor 202. The first fixing base 303 is located on the sensor connection plate 302 and is configured to fix the light receiving assembly 201. The light source connection plate 304 is located on the second fixing end face and is used to fix the light source device 101. The second fixing base 305 is located on the light source connection plate 304 and is used to fix the light source adjustment assembly 102. Furthermore, the sensor connection plate 302 is also provided with a connector 306, which can support electrical connections between the transmitting end and the receiving end or within the transmitting end.

[0056] In some embodiments, the heat sink 301 described above may be an aluminum bracket, and a ceramic substrate 307 and a metal reinforcing sheet are sequentially disposed between the light source device 101 and the aluminum bracket. Figure 7 (not shown in the image) and thermal grease ( Figure 7 (not shown in the image) so that the light source device 101, which serves as the main heat source for the entire TOF module, can achieve rapid heat dissipation through these devices with good thermal conductivity.

[0057] Furthermore, combining Figure 8The cross-sectional structure of the TOF module 100 shown illustrates the aforementioned fixing structure 30 in detail. For example... Figure 8 As shown, the fixing structure 30 specifically includes a heat dissipation bracket 301 (e.g., an aluminum bracket), a sensor connection plate 302, a first fixing base 303, a light source connection plate 304, and a second fixing base 305. A ceramic substrate 307, a metal reinforcing sheet 308, and thermal grease 309 are sequentially disposed between the light source device 101 and the heat dissipation bracket 301. Additionally, silver paste 310 is disposed between the light source device 101 and the ceramic substrate 307. Thus, the light source device 101, serving as the main heat dissipation source of the entire TOF module, and the secondary heat source 202, serving as the secondary heat source of the entire TOF module, can dissipate heat through the aforementioned heat dissipation components in the fixing structure (heat dissipation direction as shown in the diagram). Figure 8 (The direction of the dashed arrow in the image) The main heat source uses a ceramic substrate for heat dissipation, and transfers heat to the outer shell through thermal grease and an aluminum bracket. The secondary heat source also transfers heat to the outer shell through thermal grease and an aluminum bracket, giving the entire TOF module good heat dissipation performance.

[0058] It should be noted that the above description of the fixed structure 30 is merely illustrative, and the disclosed solution is not limited thereto. For example, the fixed structure 30 may only include the heat dissipation bracket 301, and the transmitter 10 may integrate a light source connection plate 304 and a second fixing base 305, in addition to the light source device 101 and the light source adjustment component 102. Similarly, the receiver 20 may integrate a sensor connection plate 302 and a first fixing base 303, in addition to the light receiving component 201 and the image sensor 202. That is, the specific components in the transmitter, receiver, and fixed structure of the entire TOF module can be adaptively adjusted according to design, process, or assembly requirements.

[0059] The above provides a detailed description of the back-to-back structural design of the receiver 20 and transmitter 10 in the TOF module. In practical applications, the relative positions between the receiver 20 and transmitter 10 are not limited to a back-to-back design.

[0060] In some embodiments, the receiver 20 and the transmitter 10 may also adopt a facing design. Unlike the back-facing design mentioned above, the facing design can be understood as the light emission direction of the transmitter 10 facing the light reception direction of the receiver 20.

[0061] In another embodiment, the receiver 20 and the transmitter 10 can also be coaxial. For example, Figure 9 A schematic diagram of a feasible optical path for the coaxial design of the TOF module 900 disclosed herein is shown. Figure 9As shown, the TOF module 900 can employ a light source device 901, a collimating lens 902, a conical reflector 903, an imaging lens 904, and an image sensor 905. The light emitted from the light source device 901 is collimated by the collimating lens 902, and this collimated light is reflected by the conical reflector 903, resulting in a 360° annular light spot. This 360° annular light spot is reflected by the target and reaches the conical reflector 903, where the light angle is reduced. The light is then focused by the imaging lens 904 and finally reaches the image sensor 905 for panoramic ranging. Unlike the back-facing and front-facing designs mentioned earlier, this TOF module 900 can achieve both light diffusion and angle reduction by including only a single conical reflector 903.

[0062] Figure 10 A schematic block diagram of an electronic device 1000 according to an embodiment of this disclosure is shown. Figure 10 As shown, the electronic device 1000 may include a device body 1001 and a single TOF module 1002. The TOF module 1002 is disposed on the device body 1001 so that the device body 1001 can perform surround-view ranging based on the TOF module 1002.

[0063] The TOF module 1002 includes: a transmitter configured to emit a 360° annular detection spot; and a receiver configured to receive the 360° annular detection spot reflected back from the detected target, so as to achieve annular ranging of the detected target.

[0064] Optionally, the transmitting end includes: a light source device configured to provide a light source; and a light source adjustment assembly disposed relative to the light source device and configured to adjust the light source emitted by the light source device into a 360° annular detection spot.

[0065] Optionally, the light source adjustment assembly includes: a collimating lens configured to converge and collimate the light source emitted by the light source device; and a first conical reflector configured to reflect the converged and collimated light source to obtain a 360° annular detection spot.

[0066] Optionally, the collimating mirror and the first conical reflector are designed as an integrated unit, and the cone tip of the first conical reflector is close to the collimating mirror.

[0067] Optionally, the receiving end includes: a light receiving component configured to receive a 360° annular detection light spot reflected back from the target being detected; and an image sensor configured to acquire the annular detection light spot received by the light receiving component and perform surround-view ranging on the target based on the acquired annular detection light spot.

[0068] Optionally, the light receiving component includes a fisheye lens located on the photosensitive side of the image sensor, and the image sensor is disposed opposite to the light source device in the transmitting end.

[0069] Optionally, the light receiving component includes: a second conical reflector configured to reduce the light angle of the 360° annular detection spot reflected back by the detection target; and an imaging lens located between the second conical reflector and the image sensor, configured to converge the light of the annular detection spot after the light angle reduction; wherein the image sensor is disposed opposite to the light source device in the transmitting end.

[0070] Optionally, the TOF module further includes a fixed structure, wherein the receiver and the transmitter are arranged back-to-back based on the fixed structure.

[0071] Optionally, the fixing structure includes: a heat dissipation bracket, including a first fixing end face and a second fixing end face disposed opposite to each other; a sensor connecting plate, which is disposed on the first fixing end face and is used to fix the image sensor; a first fixing seat, which is located on the sensor connecting plate and is configured to fix the light receiving component; a light source connecting plate, which is located on the second fixing end face and is used to fix the light source device; and a second fixing seat, which is located on the light source connecting plate and is used to fix the light source adjustment component.

[0072] Optionally, the heat dissipation bracket includes an aluminum bracket, and a ceramic substrate, a metal reinforcing sheet, and thermal grease are sequentially disposed between the light source device and the aluminum bracket.

[0073] Optionally, the light source device includes a vertical cavity surface-emitting laser with a divergence angle of 18° to 23°.

[0074] It should be noted that the specific structure of the TOF module 1002 in this electronic device 1000 can be combined with the above description. Figures 1-9 The TOF modules shown have the same or similar structures, and the specific locations and working principles of the various parts in the TOF module 1002 will not be described in detail here.

[0075] It can be seen that the single TOF module 1002 integrated on the electronic device achieves 360° circumferential ranging. Unlike traditional lidar technology, it does not require rotating ranging, nor does it require two or more TOF modules to work simultaneously. The electronic device disclosed herein can complete 360° environmental ranging and mapping with only a single TOF module. While reducing costs, the mapping time is also better than lidar products, thereby enhancing the market competitiveness of this type of electronic device.

[0076] Furthermore, this disclosure does not limit the specific type of electronic device; any device with ranging requirements is acceptable. For example, it may include robotic vacuum cleaners, service robots, or other devices that require mapping and obstacle avoidance.

[0077] While numerous embodiments of this disclosure have been shown and described herein, it will be apparent to those skilled in the art that such embodiments are provided by way of example only. Many modifications, alterations, and alternatives will occur to those skilled in the art without departing from the spirit and intent of this disclosure. It should be understood that various alternatives to the embodiments of this disclosure described herein may be employed in the practice of this disclosure. The appended claims are intended to define the scope of this disclosure and therefore cover equivalents or alternatives within the scope of these claims.

Claims

1. A TOF module, characterized in that, include: The transmitting end is configured to emit a 360° annular detection spot; as well as The receiving end is configured to receive a 360° annular detection spot reflected back from the target being detected, so as to achieve an omnidirectional ranging of the target being detected.

2. The TOF module according to claim 1, characterized in that, The transmitting end includes: Light source devices, configured to provide a light source; and A light source adjustment component is disposed relative to the light source device and configured to adjust the light source emitted by the light source device into a 360° annular detection spot.

3. The TOF module according to claim 2, characterized in that, The light source adjustment component includes: A collimating lens, configured to converge and collimate the light source emitted from the light source device; and The first conical reflector is configured to reflect the converged and collimated light source to obtain a 360° annular probe spot.

4. The TOF module according to claim 3, characterized in that, The collimating mirror and the first conical reflector are designed as an integrated unit, and the cone tip of the first conical reflector is close to the collimating mirror.

5. The TOF module according to claims 2 to 4, characterized in that, The receiving end includes: A light receiving component configured to receive a 360° annular detection light spot reflected back from the target being detected; and An image sensor is configured to acquire a ring-shaped detection spot received by the light receiving component and to perform surround-view ranging on the detection target based on the acquired ring-shaped detection spot.

6. The TOF module according to claim 5, characterized in that, The light receiving component includes a fisheye lens, which is located on the photosensitive side of the image sensor, and the image sensor is positioned opposite to the light source device in the transmitting end.

7. The TOF module according to claim 5, characterized in that, The optical receiving component includes: The second conical reflector is configured to reduce the angle of the 360° annular detection spot reflected back by the target; and An imaging lens is located between the second conical mirror and the image sensor, and is configured to converge the light from the annular detection spot after the light angle is contracted. The image sensor is positioned opposite to the light source device in the transmitter.

8. The TOF module according to claim 5, characterized in that, The TOF module also includes: A fixed structure is provided, wherein the receiver and the transmitter are arranged back-to-back based on the fixed structure.

9. The TOF module according to claim 8, characterized in that, The fixing structure mentioned above includes: The heat dissipation bracket includes a first fixed end face and a second fixed end face that are arranged opposite to each other; A sensor connection plate is disposed on the first fixed end face and is used to fix the image sensor; A first mounting base is located on the sensor connection plate and is configured to fix the light receiving component; A light source connection plate is located on the second fixed end face and is used to fix the light source device; The second fixing seat is located on the light source connecting plate and is used to fix the light source adjustment assembly.

10. The TOF module according to claim 9, characterized in that, The heat dissipation bracket includes an aluminum bracket, and a ceramic substrate, a metal reinforcing sheet, and thermal grease are sequentially disposed between the light source device and the aluminum bracket.

11. The TOF module according to claim 9, characterized in that, The light source device mentioned above includes a vertical cavity surface-emitting laser with a divergence angle of 18° to 23°.

12. An electronic device, characterized in that, Also includes: Equipment body; as well as A single TOF module as described in any one of claims 1 to 11, wherein the TOF module is disposed on the device body, so that the device body realizes surround-view ranging based on the TOF module.

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