A detection module, mobile robot, robot system and ranging method

Abstract

This application discloses a detection module, a mobile robot, a robot system, and a ranging method, belonging to the technical field of electrical equipment. The detection module includes a housing, a transmitter, a receiver, and a guide. Both the transmitter and receiver are housed within the housing. The guide, also housed within the housing, guides the signal emitted by the transmitter to the receiver. The guide directs the signal from the transmitter to the receiver to form a reference signal. The difference between the second measurement distance obtained from the reference signal and the first measurement distance obtained from the detection signal can compensate for measurement errors caused by deviations in the transmitter or receiver, thereby improving the measurement accuracy of the detection module to a certain extent.

Description

Technical Field

[0001] This application belongs to the field of electrical equipment technology, and in particular relates to a detection module, a mobile robot, a robot system and a ranging method. Background Technology

[0002] With the development of smart hardware technology, including but not limited to food delivery robots, robotic vacuum cleaners, and delivery robots, a series of intelligent vision products with autonomous navigation and pathfinding capabilities are emerging. There is a need to avoid obstacles and prevent collisions between the mobile robots and personnel, thus preventing injuries from such collisions. This is especially true for robotic vacuum cleaners, which need to identify obstacles and clean the surrounding surfaces while avoiding them.

[0003] In related technologies, mobile robots generally use detection modules to detect obstacles. However, the detection modules may make mistakes in measuring the distance to obstacles, resulting in low measurement accuracy. Summary of the Invention

[0004] This application aims to at least partially solve the technical problem of low detection accuracy. To this end, this application provides a detection module, a mobile robot, a robot system, and a ranging method.

[0005] In a first aspect, an embodiment of this application provides a detection module, comprising:

[0006] case,

[0007] Both the transmitter and receiver are housed within the housing;

[0008] A guide, disposed within the housing, is used to guide the signal emitted by the transmitter from within the housing to the receiver.

[0009] In this embodiment, a guide can be provided inside the housing. The guide can guide the signal emitted by the transmitter to the receiver to form a reference signal. The difference between the second measurement distance obtained by the reference signal and the first measurement distance obtained by the detection signal can offset the measurement error caused by the deviation of the transmitter or receiver, which can improve the measurement accuracy of the detection module to a certain extent.

[0010] In an optional embodiment of this application, the transmitter and the receiver are arranged side by side along the length of the housing, and the guide is disposed between the transmitter and the receiver.

[0011] In an optional embodiment of this application, the guide is inclined along the length of the housing.

[0012] In an optional embodiment of this application, the guiding direction of the guide is set at an angle to the radial direction of the receiver.

[0013] In an optional embodiment of this application, the guide is misaligned with the detection area of ​​the receiver.

[0014] In an optional embodiment of this application, the receiver has a receiving surface, and the guide is spaced apart from the detection area on the cross-section of the receiving surface.

[0015] In an optional embodiment of this application, the guiding direction of the guide is set along the edge of the receiver.

[0016] In an optional embodiment of this application, along the thickness direction of the housing, the projection of the transmitter onto the housing at least partially coincides with the projection of the guide onto the housing.

[0017] In an optional embodiment of this application, the housing has: a first mounting cavity, a second mounting cavity, and a connecting channel; the transmitter is disposed in the first mounting cavity, and the receiver is disposed in the second mounting cavity; the connecting channel connects the first mounting cavity and the second mounting cavity, and at least a portion of the guide is disposed in the connecting channel.

[0018] In an optional embodiment of this application, the guide includes a first guide portion and a second guide portion, the first guide portion and the second guide portion are connected, the first guide portion is disposed near the transmitter, and the second guide portion is disposed near the receiver, and along the width direction of the housing, the width of the first guide portion is greater than the width of the second guide portion.

[0019] In an optional embodiment of this application, the housing has a reflective surface, and the guide is disposed behind the reflective surface along the thickness direction of the housing.

[0020] In an optional embodiment of this application, the housing includes a frame, a first cover plate, and a second cover plate. The first mounting cavity and the second mounting cavity are disposed in the frame. The frame has a transmitting window communicating with the first mounting cavity and a receiving window communicating with the second mounting cavity. The first cover plate covers the transmitting window, and the second cover plate covers the receiving window. The reflective surface is located on the side of the first cover plate near the first mounting cavity and / or the reflective surface is located on the side of the second cover plate near the second mounting cavity.

[0021] In an optional embodiment of this application, a partition is provided between the receiving window and the transmitting window, and the reflective surface is disposed on the side of the partition near the connecting channel.

[0022] Secondly, embodiments of this application provide a mobile robot, characterized in that it includes a detection module provided in the first aspect of the main body, the detection module being installed on the main body.

[0023] The beneficial effects of the mobile robot provided in the second aspect are the same as those of the detection module provided in the first aspect, and will not be repeated here.

[0024] In an optional embodiment of this application, the mobile robot includes a processor, the processor being used for:

[0025] Obtain the first measured distance between the mobile robot's measured position and the obstacle;

[0026] Obtain the second measurement distance between the measured position and the reference position of the mobile robot;

[0027] The actual distance between the obstacle and the measured position of the mobile robot is determined based on the first measured distance, the second measured distance, and the reference distance.

[0028] The measurement position is determined based on the position of the transmitter and the position of the receiver, the reference position is located in the housing, and the reference distance is determined based on the relative position between the reference position and the measurement position.

[0029] In an optional embodiment of this application, the processor is configured to: determine the difference between the first measured distance and the second measured distance; and determine the sum of the difference and the reference distance to obtain the actual distance.

[0030] In an optional embodiment of this application, the guide is used to guide the signal emitted by the transmitter from inside the housing to the receiver to measure the second measurement distance.

[0031] Thirdly, embodiments of this application provide a robot system, characterized in that it includes a base station and the mobile robot described in the second aspect, wherein the mobile robot is capable of docking with the base station.

[0032] The beneficial effects of the robot system provided in the third aspect are the same as those of the mobile robot provided in the second aspect, and will not be repeated here.

[0033] Fourthly, embodiments of this application provide a ranging method applied to a mobile robot, the ranging method comprising:

[0034] Obtain the first measured distance between the mobile robot's measured position and the obstacle;

[0035] Obtain the second measurement distance between the measured position and the reference position of the mobile robot;

[0036] The actual distance between the obstacle and the measured position of the mobile robot is determined based on the first measured distance, the second measured distance, and the reference distance; wherein the reference distance is determined based on the relative position between the reference position and the measured position.

[0037] The beneficial effects of the ranging method provided in the fourth aspect are the same as those of the detection module provided in the first aspect, and will not be repeated here.

[0038] In an optional embodiment of this application, the step of determining the actual distance between the obstacle and the measured position of the mobile robot based on the first measured distance, the second measured distance, and the reference distance includes:

[0039] Determine the difference between the first measured distance and the second measured distance;

[0040] The actual distance is obtained by summing the difference with the reference distance.

[0041] In an optional embodiment of this application, the reference distance is determined in the following manner:

[0042] When the mobile robot is not in use, a standard distance is obtained between the measurement location and the reference location, and the standard distance is configured as the reference distance.

[0043] In an optional embodiment of this application, the mobile robot includes a main body and a detection module. The detection module is installed on the main body and includes a housing, a transmitter, and a receiver. The transmitter and receiver are both disposed within the housing. The reference position is located within the housing, and the measurement position is determined based on the position of the transmitter and the position of the receiver.

[0044] In an optional embodiment of this application, the housing includes a frame, a first cover plate, and a second cover plate. The first mounting cavity and the second mounting cavity are disposed in the frame. The frame has a transmitting window communicating with the first mounting cavity and a receiving window communicating with the second mounting cavity. The first cover plate covers the transmitting window, and the second cover plate covers the receiving window. The reference position is located on the side of the first cover plate near the first mounting cavity and / or the reference position is located on the side of the second cover plate near the second mounting cavity.

[0045] In an optional embodiment of this application, a partition is provided between the receiving window and the transmitting window, and the reference position is located on the side of the partition closer to the connection channel.

[0046] In an optional embodiment of this application, the transmitter has a transmitting surface, the receiver has a receiving surface, the transmitting surface and the receiving surface are located on the same plane, and the measurement position is located on the plane containing the transmitting surface and the receiving surface.

[0047] In an optional embodiment of this application, the detection module includes a guide member disposed within the housing. The guide member is used to guide the signal emitted by the transmitter from within the housing to the receiver to measure the second measurement distance.

[0048] In an optional embodiment of this application, the transmitter and the receiver are arranged side by side along the length of the housing, and the guide is disposed between the transmitter and the receiver.

[0049] In an optional embodiment of this application, the housing has: a first mounting cavity, a second mounting cavity, and a connecting channel; the transmitter is disposed in the first mounting cavity, and the receiver is disposed in the second mounting cavity; the connecting channel connects the first mounting cavity and the second mounting cavity, and at least a portion of the guide is disposed in the connecting channel.

[0050] Fifthly, embodiments of this application also provide a ranging device, including:

[0051] The first acquisition unit is used to acquire the first measured distance between the mobile robot and the obstacle;

[0052] The second acquirer is used to acquire a second measured distance between the mobile robot and the reference position;

[0053] A determiner is used to determine the actual distance between the obstacle and the mobile robot based on the first measured distance, the second measured distance, and a reference distance; wherein the reference distance is determined based on the reference position and the mobile robot.

[0054] The beneficial effects of the ranging device provided in the fifth aspect are the same as those of the ranging method provided in the fourth aspect, and will not be repeated here.

[0055] In an optional embodiment of this application, the determiner includes:

[0056] The first subunit is used to determine the difference between the first measured distance and the second measured distance;

[0057] The second subunit is used to determine the actual distance by summing the difference with the reference distance.

[0058] In an optional embodiment of this application, the reference distance is determined in the following manner:

[0059] When the mobile robot is not in use, a standard distance is obtained between the measurement location and the reference location, and the standard distance is configured as the reference distance.

[0060] In an optional embodiment of this application, the mobile robot includes a main body and a detection module. The detection module is installed on the main body and includes a housing, a transmitter, and a receiver. The transmitter and receiver are both disposed within the housing. The reference position is located within the housing, and the measurement position is determined based on the position of the transmitter and the position of the receiver.

[0061] In an optional embodiment of this application, the housing includes a frame, a first cover plate, and a second cover plate. The first mounting cavity and the second mounting cavity are disposed in the frame. The frame has a transmitting window communicating with the first mounting cavity and a receiving window communicating with the second mounting cavity. The first cover plate covers the transmitting window, and the second cover plate covers the receiving window. The reference position is located on the side of the first cover plate near the first mounting cavity and / or the reference position is located on the side of the second cover plate near the second mounting cavity.

[0062] In an optional embodiment of this application, a partition is provided between the receiving window and the transmitting window, and the reference position is located on the side of the partition closer to the connection channel.

[0063] In an optional embodiment of this application, the transmitter has a transmitting surface, the receiver has a receiving surface, the transmitting surface and the receiving surface are located on the same plane, and the measurement position is located on the plane containing the transmitting surface and the receiving surface.

[0064] In an optional embodiment of this application, the detection module includes a guide member disposed within the housing. The guide member is used to guide the signal emitted by the transmitter from within the housing to the receiver to measure the second measurement distance.

[0065] In an optional embodiment of this application, the transmitter and the receiver are arranged side by side along the length of the housing, and the guide is disposed between the transmitter and the receiver.

[0066] In an optional embodiment of this application, the housing has: a first mounting cavity, a second mounting cavity, and a connecting channel; the transmitter is disposed in the first mounting cavity, and the receiver is disposed in the second mounting cavity; the connecting channel connects the first mounting cavity and the second mounting cavity, and at least a portion of the guide is disposed in the connecting channel.

[0067] In a sixth aspect, embodiments of this application provide a computer-readable storage medium storing program code, which is loaded and executed by a processor to implement the method described in the fourth aspect.

[0068] The beneficial effects of the computer-readable storage medium provided in the sixth aspect are the same as those of the ranging method provided in the fourth aspect, and will not be repeated here.

[0069] In a seventh aspect, embodiments of this application provide a computer program product comprising computer instructions stored in a computer-readable storage medium and adapted to be read and executed by a processor to cause a computer device having the processor to perform the method described in the fourth aspect.

[0070] The beneficial effects of the computer program product provided in the seventh aspect are the same as those of the ranging method provided in the fourth aspect, and will not be repeated here.

[0071] Eighthly, embodiments of this application provide an electronic device, including:

[0072] Memory, used to store computer programs;

[0073] A processor for executing a computer program stored in the memory to implement the method as described in the fourth aspect.

[0074] The beneficial effects of the electronic equipment provided in the eighth aspect are the same as those of the ranging method provided in the fourth aspect, and will not be repeated here. Attached Figure Description

[0075] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0076] Figure 1 This paper shows a schematic diagram of the first view of the detection module provided in an embodiment of this application.

[0077] Figure 2 A schematic diagram of the detection module provided in this application embodiment with some components removed is shown.

[0078] Figure 3 A schematic diagram of the signal of the detection module provided in an embodiment of this application is shown.

[0079] Figure 4 It shows Figure 2 A magnified view of a section at point I.

[0080] Figure 5 A schematic diagram of the detection module, including the detection area of ​​the receiver, is shown.

[0081] Figure 6 It shows Figure 1 Sectional view at point A in the middle.

[0082] Figure 7 An exploded view of the detection module provided in an embodiment of this application is shown.

[0083] Figure 8 A schematic diagram of the guide component is shown.

[0084] Figure 9 It shows Figure 7 A magnified view of section II in the middle.

[0085] Figure 10 A schematic diagram of the second perspective of the detection module provided in the embodiment of this application is shown.

[0086] Figure 11 A schematic diagram is shown with the first and second cover plates removed from the detection module.

[0087] Figure 12 A schematic diagram of the structure of the mobile robot provided in an embodiment of this application is shown.

[0088] Figure 13 A schematic diagram of the structure of the robot system provided in an embodiment of this application is shown.

[0089] Figure 14 A flowchart of the distance measurement method is shown.

[0090] Figure 15 A flowchart of the sub-steps of step S130 is shown.

[0091] Figure 16 A block diagram of the measuring device is shown.

[0092] Figure 17 A block diagram of the determinant is shown.

[0093] Figure 18 A block diagram of the electronic device is shown.

[0094] Reference numerals: 100-Detection module, 110-Housing, 1121-First mounting cavity, 1122-Transmitting window, 1123-First groove, 1141-Second mounting cavity, 1142-Receiving window, 1143-Second groove, 1151-Connecting channel, 1152-First connecting section, 1153-Second connecting section, 116-Frame, 117-First cover plate, 118-Second cover plate; 119-Separation section;

[0095] 120-Receiver, 121-Receiving surface, 122-Detection area, 130-Transmitter, 131-Transmitting surface, 140-Guide, 142-First guide, 144-Second guide, 150-Reflecting surface; X-Length direction, Y-Width direction, Z-Thickness direction;

[0096] 10-Mobile robot, 200-Main body, 1-Robot system, 20-Base station, 300-Range measuring device, 310-First acquisition device, 320-Second acquisition device, 330-Determiner, 331-First sub-unit, 332-Second sub-unit. Detailed Implementation

[0097] The technical solutions of the embodiments of the present invention 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 the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0098] It should be noted that all directional indications in the embodiments of the present invention are only used to explain the relative positional relationship and movement of the components in a specific posture. If the specific posture changes, the directional indications will also change accordingly.

[0099] In this invention, unless otherwise explicitly specified and limited, the terms "connection," "fixed," etc., should be interpreted broadly. For example, "fixed" can mean a fixed connection, a detachable connection, or an integral part; it can mean a mechanical connection or an electrical connection; it can mean a direct connection or an indirect connection through an intermediate medium; it can mean the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0100] Furthermore, in this invention, descriptions involving "first," "second," etc., are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. Additionally, the technical solutions of the various embodiments can be combined with each other, but only on the basis of being achievable by those skilled in the art. When the combination of technical solutions is contradictory or impossible to implement, such a combination of technical solutions should be considered non-existent and not within the scope of protection claimed by this invention.

[0101] With the development of smart hardware technology, including but not limited to food delivery robots, robotic vacuum cleaners, and delivery robots, a series of intelligent vision products with autonomous navigation and pathfinding capabilities are emerging. There is a need to avoid obstacles and prevent collisions between the mobile robots and personnel, thus preventing injuries from such collisions. This is especially true for robotic vacuum cleaners, which need to identify obstacles and clean the surrounding surfaces while avoiding them.

[0102] In related technologies, mobile robots generally use detection modules to detect obstacles. However, after a period of operation, the detection modules experience power ripple fluctuations and capacitor overheating due to factors such as operating time and voltage, causing them to shift and resulting in errors in measuring the distance to obstacles, leading to low measurement accuracy. The detection module, mobile robot, and robot system provided in this application can improve the above problems. The detection module provided in this application can offset the errors caused by the shift in the detection module, thereby improving the measurement accuracy of the detection module.

[0103] This application is described below with reference to the accompanying drawings and specific embodiments:

[0104] Figure 1 This paper shows a schematic diagram of the first view of the detection module 100 provided in an embodiment of this application. Figure 2 This illustration shows a schematic diagram of the detection module 100 provided in an embodiment of this application with some components removed. Figure 1 and Figure 2 As shown, this application embodiment provides a detection module 100. The detection module 100 provided in this application embodiment can offset the error caused by the offset of the detection module 100, thereby improving the measurement accuracy of the detection module 100.

[0105] Figure 3 This paper shows a schematic diagram of the signal of the detection module 100 provided in an embodiment of this application. Figure 3 The hollow arrows indicate the flight path of the probe signal, and the solid arrows indicate the flight path of the reference signal, as shown below. Figure 1 , Figure 2 and Figure 3 As shown in the embodiment of this application, the detection module 100 includes: a housing 110, a transmitter 130, a receiver 120, and a guide 140. The transmitter 130 and the receiver 120 are both disposed within the housing 110. The guide 140 is disposed within the housing 110 and is used to guide the signal emitted by the transmitter 130 to the receiver 120.

[0106] The housing 110 is the basic component of the entire detection module 100, providing a base for the transmitter 130, receiver 120 and guide 140. The transmitter 130, receiver 120, guide 140 and other structures can be installed inside the housing 110. The housing 110 can assemble the transmitter 130, receiver 120 and guide 140 and other structures into a whole, which can facilitate the transportation and installation of the detection module 100.

[0107] The housing 110 is approximately a cuboid, having a length direction (X), a width direction (Y), and a thickness direction (Z). The length direction (X) is the direction along the longest side of the housing 110. The transmitter 130 and receiver 120 are arranged along the length direction (X) of the housing 110. The side where the transmitter 130 is located can be defined as left, and the side where the receiver 120 is located as right. The direction in which the transmitter 130 emits a signal is along the thickness direction (Z) of the housing 110. The side where the transmitter 130 emits the detection signal is designated as front, and the other side as rear. The width direction (Y) is perpendicular to both the length direction (X) and the thickness direction (Z).

[0108] Transmitter 130, receiver 120 and guide 140 are installed inside housing 110. Housing 110 can also protect transmitter 130, receiver 120 and guide 140, reducing the possibility of damage to transmitter 130, receiver 120 and other structures during use or transportation.

[0109] Transmitter 130 is mainly used to transmit detection signals, and the flight path of the detection signals is as follows: Figure 3 The path indicated by the hollow arrow shows that receiver 120 is mainly used to receive the detection signal reflected back by the obstacle. The distance between transmitter 130 and receiver 120 can be calculated based on the flight time and speed of the detection signal between them: Flight distance = Flight time * Flight speed. Since the detection signal reciprocates, the distance between detection module 100 and the obstacle is half of the flight distance.

[0110] In some embodiments, the detection signal can be an optical signal, and in this case, the flight speed is the speed of light. Of course, the detection signal can also be an acoustic signal, and in this case, the flight speed is the speed of sound.

[0111] Since the detection module 100 calculates the distance between the detection module 100 and the obstacle based on the flight time and speed of the detection signal between the transmitter 130 and the receiver 120, and the detection signal emitted by the transmitter 130 needs to be emitted from the entire detection module 100, in order to avoid the detection signal emitted by the transmitter 130 interfering with the detection signal received by the receiver 120 from the obstacle, or the detection signal fed back from the obstacle interfering with the transmission signal emitted by the transmitter 130, the transmitting surface 131 of the transmitter 130 and the receiving surface 121 of the receiver 120 can be located on the same plane as much as possible, thereby reducing the interference between the detection signal emitted by the module transmitter 130 and the detection signal reflected back from the obstacle to a certain extent.

[0112] The transmitting surface 131 is the outer surface of the transmitter 130 in the direction of transmitting signals, that is, the foremost surface of the transmitter 130. Similarly, the receiving surface 121 is the outer surface of the receiver 120 in the direction of receiving signals, that is, the foremost surface of the receiver 120.

[0113] During the operation of transmitter 130 and receiver 120, factors such as power supply ripple jitter and high capacitor temperature may cause transmitter 130 or receiver 120 to deviate. Alternatively, during testing, repeated testing may cause voltage attenuation and deviation in transmitter 130 or receiver 120. In either case, after the detection module 100 leaves the factory, transmitter 130 or receiver 120 is prone to deviating. If at least one of them deviates, the flight time of the detection signal will change, which will lead to errors in the calculated distance between detection module 100 and the obstacle, resulting in reduced measurement accuracy of detection module 100.

[0114] In some embodiments of this application, a guide 140 is provided inside the housing 110. The guide 140 can guide the detection signal from inside the housing 110 to the receiver 120, so that a reference signal is formed in the detection module 100. The flight path of the reference signal is as follows: Figure 3 The path indicated by the solid arrow in the middle allows the reference signal to be guided from the guide 140 to the receiver 120. For ease of description, a measurement position and a reference position are defined.

[0115] The measurement position refers to the location where the detection module 100 receives and / or transmits the detection module 100. Since the transmitting surface 131 of the transmitter 130 and the receiving surface 121 of the receiver 120 are located on the same plane, the measurement position is located on the plane where the transmitting surface 131 and the receiving surface 121 are located. Specifically, in some embodiments, since the transmitter 130 and the receiver 120 are very, very small and the distance between the transmitter 130 and the receiver 120 is very, very close, the transmitter 130 and the receiver 120 can be ignored as two separate locations and can be considered as equivalent to one location. The measurement position is the equivalent location of the transmitter 130 and the receiver 120. Alternatively, in other embodiments, the measurement position can be the center point between the transmitting surface 131 and the receiving surface 121.

[0116] If the measurement location is the position where the detection module 100 receives and / or transmits the detection module 100, then the flight distance of the detection signal is twice the distance between the measurement location and the obstacle. Based on the flight distance of the detection signal, a first measurement distance (half the flight distance of the detection signal) between the measurement location and the obstacle can be determined. Figure 3 As shown in h1.

[0117] The reference position is the location of the reflected reference signal. The reference position can be located inside, on, or outside the housing 110. Since the guide 140 is made of light-guiding material, in some embodiments, the reference position can be located on the outer surface of the guide 140. The flight distance of the reference signal is twice the distance between the measurement position and the reference position. Therefore, based on the flight distance of the reference signal, a second measurement distance (half the flight distance of the reference signal) between the measurement position and the reference position can be determined, such as... Figure 3 As shown in h2.

[0118] It should be noted that the source (transmitter 130) and receiver (receiver 120) of the detection signal and reference signal are the same. The difference lies in the main body 200 reflecting the signal during transmission, resulting in different signal transmission paths. The detection signal is reflected back to the receiver 120 from the obstacle, while the reference signal is reflected from the reference position to the guide 140 and then guided to the receiver 120. Therefore, during the measurement process, any deviation of the transmitter 130 or receiver 120 results in the same error for both the detection signal and the reference signal. The difference between the first measurement distance obtained by the detection signal and the second measurement distance obtained by the reference signal can offset the error of the transmitter 130 or receiver 120, thereby improving the measurement accuracy of the detection module 100.

[0119] The difference between the first and second measured distances is the distance between the reference position and the obstacle. The actual distance between the obstacle and the detection module 100 is the distance between the measured position and the obstacle. This distance needs to be added to the reference distance between the measured position and the reference position. The difference (the difference between the first and second measured distances) plus the reference distance equals the actual distance between the obstacle and the detection module 100. This reference distance is obtained when the detection module 100 is newly assembled, not yet operational or tested. In this case, since the receiver 120 and transmitter 130 are essentially not offset, the reference distance is the accurate distance between the measured position and the reference position.

[0120] In this embodiment, a guide 140 can be provided inside the housing 110. The guide 140 can guide the signal emitted by the transmitter 130 to the receiver 120 to form a reference signal. The difference between the second measurement distance measured by the reference signal and the first measurement distance obtained by the detection signal can compensate for the measurement error caused by the deviation of the transmitter 130 or the receiver 120, thereby improving the measurement accuracy of the detection module 100 to a certain extent. The following will be combined with Figures 4-11 The location and specific structure of the guide component 140, as well as the location of the reference position, are described.

[0121] Figure 4 It shows Figure 2 A magnified view of a section at point I, as shown below. Figure 4 As shown, in some embodiments, the transmitter 130 and the receiver 120 are arranged side by side along the length direction X of the housing 110, and the guide 140 is disposed between the transmitter 130 and the receiver 120.

[0122] The transmitter 130 and receiver 120 are arranged side by side along the length X of the housing 110. Due to the difference in shape between the transmitter 130 and receiver 120, there is a certain gap between them. The guide 140 is placed between the transmitter 130 and receiver 120. The guide 140 can be arranged using the gap between the transmitter 130 and receiver 120. The guide 140 will not occupy other positions in the housing 110. The volume of the housing 110 can be increased without increasing the volume of the housing 110 when the guide 140 is set, making the internal structure of the housing 110 more compact.

[0123] In addition, since the gap between the transmitter 130 and the receiver 120 is very small, the guide 140 is placed between the transmitter 130 and the receiver 120, which can reduce the length of the guide 140, thereby reducing the cost of the guide 140. It can also reduce the flight path of the reference signal. The shorter the flight path, the lower the risk of error, and it can also improve the measurement accuracy to a certain extent.

[0124] In some embodiments, the guide 140 is inclined along the length direction X of the housing 110. The transmitter 130 and the receiver 120 are arranged side by side along the length direction X of the housing 110. In order to improve the detection accuracy of the detection module 100, the line connecting the center of the transmitting surface 131 of the transmitter 130 and the center of the receiving surface 121 of the receiver 120 is parallel to the length direction X.

[0125] The guide member 140 is positioned at an angle. The guide member 140 can have a strip-like structure. The direction of the guide member 140 from the transmitter 130 to the receiver 120 is the guiding direction of the reference signal. The angled setting of the guide member 140 means that the guiding direction of the guide member 140 is angled, indicating that the guiding direction of the guide member 140 does not pass through the center of either the transmitting surface 131 or the receiving surface 121. Specifically, the guiding direction of the guide member 140 may not pass through the center of the transmitting surface 131, or it may not pass through the center of the receiving surface 121, or it may pass through neither the center of the transmitting surface 131 nor the center of the receiving surface 121.

[0126] Figure 5 A schematic diagram of the detection module 100 including the detection area 122 of the receiver 120 is shown. In some embodiments, the signal strength emitted by the transmitter 130 gradually weakens from the center of the emitting surface 131 outwards. When the guiding direction of the guide member 140 does not pass through the center of the emitting surface 131, the signal emitted by the transmitter 130 can be directed towards more obstacles, thereby increasing the strength of the detection signal and thus improving the sensitivity of the detection module 100.

[0127] Similarly, the detection area 122 of the receiver 120 is also a relatively weak area radiating outward from the center of the receiving surface 121. That is, the detection area 122 of the receiver 120 is concentrated near the center of the receiving surface 121. The guiding direction of the guide member 140 does not pass through the center of the receiving surface 121, so that the reference signal can avoid entering the central area of ​​the detection area 122 as much as possible. This allows the detection area 122 to be used as much as possible to receive the detection signal fed back by the obstacle, thereby reducing the interference of the reference signal on the detection signal and improving the accuracy of the detection module 100.

[0128] In some embodiments, the guiding direction of the guide member 140 is set at an angle to the radial direction of the receiver 120. This means that the guiding direction of the guide member 140 is different from the radial direction of the receiver 120. Since the receiver 120 is generally conical or frustum-shaped, and the radial direction of the receiver 120 has multiple directions, the guiding direction of the guide member 140 is different from any one of the radial directions of the receiver 120. This arrangement ensures that the reference signal guided by the guide member will not pass through the central region of the receiver 120. This arrangement can minimize the interference of the reference signal on the detection signal, enabling the detection module 100 to detect obstacles and also improving the sensitivity of the detection module 100 to a certain extent.

[0129] like Figure 5 As shown, in some embodiments, the guide 140 is misaligned with the detection area 122 of the receiver 120.

[0130] The receiver 120 includes a lens and a sensor assembly positioned opposite each other. The lens is positioned in front of the sensor assembly. The detection area 122 is the area on the receiver 120 that can receive detection signals, which is the visible area of ​​the lens. The detection area 122 is roughly cone-shaped. The guide 140 is offset from the detection area 122 of the receiver 120, so that the guiding direction of the guide 140 is offset from the detection area 122 of the receiver 120. This makes the trigger position of the reference signal on the sensor assembly different from the trigger position of the detection signal on the sensor assembly. As a result, the receiver 120 can identify the reference signal and the detection signal based on the trigger position of the sensor assembly. This configuration allows the receiver 120 to distinguish between the reference signal and the detection signal, reduces mutual interference between the reference signal and the detection signal, and enables the receiver 120 to obtain the distance between the detection module 100 and the obstacle after identifying the reference signal and the detection signal, thereby improving the accuracy of the detection module 100.

[0131] like Figure 5 As shown, in some embodiments, the receiver 120 has a receiving surface 121, and the guide 140 is spaced apart from the cross section of the receiving surface 121 and the detection area 122 is spaced apart from the cross section of the receiving surface 121.

[0132] The guide member 140 is disposed on one side of the receiver 120, along the thickness direction Z of the housing 110. The thickness of the guide member 140 is approximately the same as the thickness of the receiver 120, allowing a certain amount of reference signal to be directed towards the receiver 120 under the guidance of the guide member 140. As described above, the receiving surface 121 is the incident surface for the reference signal and the detection signal to enter the receiver 120. The detection area 122 of the receiver 120 is approximately conical. The cross-section of the guide member 140 on the plane of the receiving surface 121 and the cross-section of the detection area 122 on the plane of the receiving surface 121 are spaced apart, so that the areas where the detection signal and the reference signal enter the receiver 120 are different. That is, the trigger positions of the detection signal and the reference signal on the sensor assembly of the receiver 120 are different, which can reduce the mutual interference between the reference signal and the detection signal. This allows the receiver 120 to obtain the distance between the detection module 100 and the obstacle after recognizing the reference signal and the detection signal, thereby improving the accuracy of the detection module 100.

[0133] In some embodiments, the guide 140 is positioned along the edge of the receiver 120.

[0134] Due to the shape of the lens of receiver 120 (the lens is roughly circular), the area triggered by the detection signal on the sensor assembly is also roughly circular. Since the lens of receiver 120 is roughly located in the center, the detection signal mainly triggers the center of the sensor assembly. The edges of the sensor assembly, especially the corners, are not triggered by the detection signal. The guide 140 is set along the edge of receiver 120, so that the reference signal guided by guide 140 can enter receiver 120 from the edge and trigger the edge of the sensor assembly. That is, by using the edge of the sensor assembly to sense the reference signal, the trigger positions of the reference signal and the detection signal on the sensor assembly are different. Thus, the detection signal and the reference signal can be identified according to the position of the sensor assembly. Two different signals can be identified by the same sensor assembly at the same time, which can improve the application range of receiver 120, improve the ability of receiver 120 to distinguish between reference signal and detection signal, reduce mutual interference between reference signal and detection signal, and improve the detection accuracy of detection module 100.

[0135] In some embodiments, the guide 140 partially overlaps with the transmitter 130. Specifically, along the thickness direction Z of the housing 110 (which is also the direction in which the transmitter 130 transmits signals), the projection of the guide 140 on the housing 110 partially overlaps with the projection of the transmitter 130 on the housing 110. This allows a portion of the signal emitted by the transmitter 130 to be guided by the guide 140 into the receiver 120, enabling the receiver 120 to receive the reference signal guided by the guide 140. This ensures that the reference signal has a certain strength, allowing the receiver 120 to sense the reference signal, thereby improving the stability of the reference signal and, to some extent, enhancing the detection accuracy of the detection module 100.

[0136] The positional relationship between the guide 140, the transmitter 130, and the receiver 120 has been described above. The following section describes the installation position of the guide 140 on the housing 110 in conjunction with the specific structure of the housing 110.

[0137] Figure 6 It shows Figure 1 Sectional view at point A in the middle. Figure 7 An exploded view of the detection module 100 provided in an embodiment of this application is shown, as follows: Figure 6 and Figure 7 As shown, in some embodiments, the housing 110 has: a first mounting cavity 1121, a second mounting cavity 1141 and a connecting channel 1151, a transmitter 130 disposed in the first mounting cavity 1121 and a receiver 120 disposed in the second mounting cavity 1141; the connecting channel 1151 connects the first mounting cavity 1121 and the second mounting cavity 1141, and at least a portion of the guide 140 is disposed in the connecting channel 1151.

[0138] In related technologies, to prevent the detection signal from directly entering the second mounting cavity 1141 from inside the housing 110, the first mounting cavity 1121 and the second mounting cavity 1141 are independent to avoid light crosstalk. A connecting channel 1151 connects the first mounting cavity 1121 and the second mounting cavity 1141, allowing the guide member 140 to guide the reference signal into the second mounting cavity 1141, which can then be incident on the receiver 120. This allows the receiver 120 to receive both the detection signal reflected from the obstacle and the reference signal guided by the guide member 140.

[0139] The connecting channel 1151 may extend through one side of the housing 110, or it may be entirely disposed inside the housing 110; the specific arrangement is not limited. At least a portion of the guide member 140 may be disposed within the connecting channel 1151. This could mean that the entire guide member 140 is disposed within the connecting channel 1151, or only a portion of the guide member 140 is disposed within the connecting channel 1151. A portion of the guide member 140 may be disposed within at least one of the first mounting cavity 1121 and the second mounting cavity 1141.

[0140] Along the length direction X of the housing 110, the first mounting cavity 1121, the connecting channel 1151, and the second mounting cavity 1141 are arranged sequentially, that is, the connecting channel 1151 is arranged between the first mounting cavity 1121 and the second mounting cavity 1141.

[0141] Figure 8 A schematic diagram of the guide 140 is shown, as follows. Figure 8 As shown, in some embodiments, the guide 140 includes a first guide portion 142 and a second guide portion 144, which are connected. The first guide portion 142 is disposed near the transmitter 130, and the second guide portion 144 is disposed near the receiver 120. Along the width direction Y of the housing 110, the width of the first guide portion 142 is greater than the width of the second guide portion 144.

[0142] Along the width direction Y of the housing 110, the width of the first guide portion 142 is greater than the width of the second guide portion 144. This indicates that the width of the guide member 140 near the transmitter 130 is greater than the width near the receiver 120. The larger width of the first guide portion 142 allows it to guide more reference signals towards the transmitter 130, increasing the strength of the reference signal. The smaller width of the second guide portion 144 minimizes the area covered by the reference signal within the second mounting cavity 1141, allowing the reference signal to enter the transmitter 130 from its edge. This ensures that the edge of the sensor assembly is triggered by the reference signal, preventing interference between the reference signal and the detection signal, which could prevent the sensor assembly from recognizing either the reference signal or the detection signal.

[0143] Since the first guide portion 142 is positioned close to the transmitter 130, and only needs to be close to the transmitting surface 131 of the transmitter 130, the thickness of the first guide portion 142 along the thickness direction Z of the housing 110 can be less than the thickness of the second guide portion 144. The second guide portion 144 is made thicker so that it can cover the area of ​​the receiver 120 along the thickness direction Z of the housing 110, guiding as much reference signal as possible to the receiver 120.

[0144] Figure 9 It shows Figure 7 A magnified view of a section at point II, as shown below. Figure 9As shown, in order to adapt to the structure of the guide 140, the connecting channel 1151 may include a first connecting segment 1152 and a second connecting segment 1153. The width of the first connecting segment 1152 is greater than the width of the second connecting segment 1153, that is, there is a stepped surface between the first connecting segment 1152 and the second connecting segment 1153. The first guide part 142 is disposed in the first connecting segment 1152, and the second guide part 144 is disposed in the second connecting segment 1153. The stepped surface can also play a certain limiting role for the guide 140, which can reduce the risk of the guide 140 shifting within the housing 110.

[0145] In some embodiments, the housing 110 has a reflective surface 150, and a guide 140 is disposed behind the reflective surface 150 along the thickness direction Z of the housing 110. The reflective surface 150 is a plane that reflects a reference signal, and the reference position can be located on the reflective surface 150. Specifically, the reference position can be set at any position on the reflective surface 150. The guide 140 is disposed behind the reflective surface 150 so that the reference signal can be reflected by the reflective surface 150 and then enter the guide 140, so that the guide 140 can guide the reference signal to the second mounting cavity 1141 (guided to the transmitter 130).

[0146] Figure 10 This illustration shows a structural schematic diagram of the detection module 100 provided in an embodiment of this application from a second perspective. Figure 11 A schematic diagram of the detection module 100 with the first cover plate 117 and the second cover plate 118 removed is shown, as follows. Figure 10 and Figure 11 As shown, in some embodiments, the housing 110 includes a frame 116, a first cover plate 117 and a second cover plate 118, a first mounting cavity 1121 and a second mounting cavity 1141 disposed in the frame 116, the frame 116 having a transmitting window 1122 communicating with the first mounting cavity 1121 and a receiving window 1142 communicating with the second mounting cavity 1141, the first cover plate 117 covering the transmitting window 1122, the second cover plate 118 covering the receiving window 1142, and a reflective surface 150 (e.g. Figure 6 (As shown) The first cover plate 117 is located on the side near the first mounting cavity 1121 and / or the reflective surface 150 is located on the side of the second cover plate 118 near the second mounting cavity 1141.

[0147] The first cover plate 117 can be a glass cover plate. The first cover plate 117 covers the transmitting window 1122, making the first mounting cavity 1121 a closed cavity, thereby preventing external impurities from entering the first mounting cavity 1121. The glass cover plate has a certain light transmittance, so that the detection signal can be emitted from the glass cover plate to the outside of the housing 110.

[0148] Similarly, the second cover plate 118 can be a glass cover plate. The second cover plate 118 covers the receiving window 1142, making the second mounting cavity 1141 a closed cavity, thereby preventing external impurities from entering the second mounting cavity 1141. The glass cover plate has a certain light transmittance, so that the detection signal reflected by the obstacle can enter the second mounting cavity 1141 from the glass cover plate.

[0149] Since the first cover plate 117 covers the transmitting window 1122, the coverage area of ​​the first cover plate 117 can be larger than the opening area of ​​the transmitting window 1122, so that part of the first cover plate 117 covers the front of the guide member 140. Similarly, since the second cover plate 118 covers the receiving window 1142, the coverage area of ​​the second cover plate 118 can be larger than the opening area of ​​the receiving window 1142, so that part of the second cover plate 118 covers the front of the guide member 140.

[0150] like Figure 10 and Figure 11 As shown, in some embodiments, the connecting channel 1151 connects to the transmitting window 1122, so that the inner surface of the first cover plate 117 (the side near the first mounting cavity 1121) can contact the guide 140. The connecting channel 1151 can also connect to the receiving window 1142, so that the guide 140 contacts the inner surface of the second cover plate 118.

[0151] Since the guide element 140 is made of a light-guiding material, its refractive index is very high, exceeding that of the first cover plate 117. This causes the reference light rays to be refracted by the guide element 140 and directed into its interior when passing through the contact surface between the guide element 140 and the first cover plate 117. Consequently, the reflective surface 150 can be disposed on the inner surface of the first cover plate 117 (on the side closest to the first mounting cavity 1121).

[0152] Similarly, the refractive index of the guide 140 is greater than that of the second cover plate 118, so that when the reference light passes through the contact surface of the guide 140 and the second cover plate 118, it will be deflected into the guide 140. Thus, the reflective surface 150 can be disposed on the inner surface of the second cover plate 118 (on the side near the second mounting cavity 1141).

[0153] like Figure 10 and Figure 11 As shown, in some embodiments, the frame 116 has a first groove 1123 and a second groove 1143. The transmitting window 1122 is disposed on the bottom wall of the first groove 1123, and the first cover plate 117 is disposed within the first groove 1123. The receiving window 1142 is disposed on the bottom wall of the second groove 1143, and the second cover plate 118 is disposed within the second groove 1143.

[0154] In some embodiments, a partition 119 is provided between the receiving window 1142 and the transmitting window 1122, and a reflective surface 150 is disposed on the side of the partition 119 near the connecting channel 1151. One side of the partition 119 communicates with the connecting channel 1151, meaning that the side of the partition 119 near the connecting channel 1151 can contact the guide member 140. Since the guide member 140 is made of a light-guiding material, its refractive index is very high, greater than that of the partition 119. This causes the reference light to be refracted into the guide member 140 when it passes through the contact surface between the guide member 140 and the partition 119. Therefore, the reflective surface 150 can be disposed on the inner surface of the partition 119 (the side near the connecting channel 1151).

[0155] In summary, the detection module 100 provided in this application embodiment can have a guide 140 disposed inside the housing 110. The guide 140 can guide the signal emitted by the transmitter to the receiver 120 to form a reference signal. The difference between the second measurement distance obtained by the reference signal and the first measurement distance obtained by the detection signal can offset the measurement error caused by the deviation of the transmitter 130 or the receiver 120, thereby improving the measurement accuracy of the detection module 100 to a certain extent.

[0156] Figure 12 A schematic diagram of the structure of the mobile robot 10 provided in an embodiment of this application is shown, as follows: Figure 12 As shown, based on the same inventive concept, this application embodiment also provides a mobile robot 10, including a main body 200 and the above-mentioned detection module 100, wherein the detection module 100 is installed on the main body 200.

[0157] The ranging method provided in this application embodiment is applied to a mobile robot 10. The mobile robot 10 can be a cleaning robot such as a sweeping robot, or a service robot such as a food delivery robot. The type of mobile robot 10 is not limited.

[0158] The detection module 100 can be installed on the front side, the rear side, the left side or the right side of the main body 200. The installation position of the detection module 100 on the main body 200 is not limited.

[0159] Figure 13 A schematic diagram of the structure of the robot system 1 provided in an embodiment of this application is shown, as follows: Figure 13As shown, based on the same inventive concept, this application also provides a robot system 1, including a base station 20 and the aforementioned mobile robot 10, wherein the mobile robot 10 can dock with the base station 20. This enables the base station 20 to charge the mobile robot 10. The base station 20 can also be used to place and accommodate the mobile robot 10. In the case that the mobile robot 10 is a sweeping robot, the base station 20 can also clean the cleaning components of the sweeping robot.

[0160] Based on the same inventive concept, this application also provides a ranging method. The ranging method provided in this application is applied to a mobile robot 10. The mobile robot 10 can be a cleaning robot such as a sweeping robot, or a service robot such as a food delivery robot; the type of mobile robot 10 is not limited. The mobile robot 10 includes a main body 200 and a detection module 100. The detection module 100 is installed in the main body 200 and includes a housing 110, a transmitter 130, and a receiver 120. The transmitter 130 and the receiver 120 are both disposed within the housing 110. The specific structure of the detection module 100 has been described in detail above and will not be repeated here. Refer to the above description for the specific structure of the detection module 100.

[0161] Figure 14 A flowchart of the ranging method is shown, such as Figure 14 As shown, the ranging method provided in this application includes:

[0162] Step S110: Obtain the first measured distance between the measured position of the mobile robot 10 and the obstacle.

[0163] The measurement position is the position of the detection module 100 receiving and / or transmitting the detection module 100. The measurement position is determined based on the position of the transmitter 130 and the position of the receiver 120. Specifically, since the transmitting surface 131 of the transmitter 130 and the receiving surface 121 of the receiver 120 are located on the same plane, the measurement position is located on the plane where the transmitting surface 131 and the receiving surface 121 are located.

[0164] Specifically, in some embodiments, since the transmitter 130 and the receiver 120 are very, very small and the distance between them is very, very close, the transmitter 130 and the receiver 120 can be ignored as two separate locations and can be considered as one equivalent location. The measured location is the equivalent location of the transmitter 130 and the receiver 120. Alternatively, in other embodiments, the measured location can be the center point between the transmitting surface 131 and the receiving surface 121.

[0165] If the measurement position is the location where the detection module 100 receives and / or transmits the detection module 100, then the flight distance of the detection signal is twice the distance between the measurement position and the obstacle. Based on the flight distance of the detection signal, a first measurement distance (half the flight distance of the detection signal) between the measurement position and the obstacle can be determined.

[0166] The first measurement distance can be obtained in real time by the mobile robot 10 during its movement, or it can be obtained when the mobile robot 10 is paused at a certain position.

[0167] The first measurement distance can be obtained by directly obtaining the distance between the measurement position and the obstacle, or by obtaining other parameters to calculate the first measurement distance.

[0168] For example, in some embodiments, the first measurement distance can be calculated by obtaining the flight time of the detection signal from the detection module 100 between the transmitter and the receiver 120. Specifically, the flight time of the detection signal is obtained, and the distance between the transmitter 130 and the receiver 120 is: flight distance = flight time * flight speed. Since the detection signal is in reciprocating motion, the distance between the measurement position and the obstacle is half of the flight distance.

[0169] Of course, in some other embodiments, the first measurement distance can be obtained in other ways, and the method of obtaining the first measurement distance is not limited.

[0170] Step S120: Obtain the second measurement distance between the measured position and the reference position of the mobile robot 10.

[0171] The reference position is the location of the reflected reference signal. The flight distance of the reference signal is twice the distance between the measurement position and the reference position. Therefore, based on the flight distance of the reference signal, a second measurement distance (half the flight distance of the reference signal) between the measurement position and the reference position can be determined.

[0172] The second measurement distance can be obtained in real time by the mobile robot 10 during its movement, or it can be obtained when the mobile robot 10 is paused at a certain position.

[0173] As for how to obtain the second measurement distance, it can be either by directly obtaining the distance between the measurement position and the obstacle to obtain the first measurement distance, or by obtaining other parameters to calculate the first measurement distance.

[0174] For example, in some embodiments, the second measurement distance can be calculated by acquiring the flight time of the reference signal of the detection module 100 between the transmitter and receiver 120. Specifically, the flight time of the reference signal is acquired, and the distance between the transmitter 130 and receiver 120 is: flight distance = flight time * flight speed. The flight distance of the reference signal is twice the distance between the measurement position and the reference position, and thus, based on the flight distance of the reference signal, the second measurement distance between the measurement position and the reference position (half of the flight distance of the reference signal) can be determined.

[0175] Of course, in some other embodiments, the second measurement distance can be obtained in other ways, and the method of obtaining the second measurement distance is not limited.

[0176] The source (transmitter 130) and receiver (receiver 120) of the measurement signal and reference signal are the same. The difference lies in the main body 200 of the reflected signal during signal transmission, resulting in different signal transmission paths. The detection signal is reflected back to the receiver 120 by an obstacle, while the reference signal is reflected to the receiver 120 from a reference position. Therefore, during the measurement process, any deviation of the transmitter 130 or receiver 120 results in the same error for both the detection signal and the reference signal. This error can be offset by corrections made at the first and second measurement distances, thereby improving the measurement accuracy of the detection module 100.

[0177] Regarding the location of the reference position, it can be set anywhere between the obstacle and the measurement position. The reference position can be located inside the housing 110, on the housing 110, or outside the housing 110. Since the guide 140 is made of light-guiding material, in some embodiments, the reference position can be located on the outer surface of the guide 140.

[0178] In some embodiments, the housing 110 has a reflective surface 150, and a guide 140 is disposed behind the reflective surface 150 along the thickness direction Z of the housing 110. The reflective surface 150 is a plane that reflects a reference signal, and the reference position is located on the reflective surface 150. Specifically, the reference position can be set at any position on the reflective surface 150, and the guide 140 is disposed behind the reflective surface 150, so that the reference signal can be reflected by the reflective surface 150 and then enter the guide 140, so that the guide 140 can guide the reference signal to the second mounting cavity 1141 (guided to the transmitter 130).

[0179] In some embodiments, the housing 110 includes a frame 116, a first cover plate 117 and a second cover plate 118, a first mounting cavity 1121 and a second mounting cavity 1141 disposed in the frame 116, the frame 116 having a transmitting window 1122 communicating with the first mounting cavity 1121 and a receiving window 1142 communicating with the second mounting cavity 1141, the first cover plate 117 covering the transmitting window 1122, the second cover plate 118 covering the window, and a reflective surface 150 located on the side of the first cover plate 117 near the first mounting cavity 1121 and / or the reflective surface 150 located on the side of the second cover plate 118 near the second mounting cavity 1141.

[0180] The first cover plate 117 can be a glass cover plate. The first cover plate 117 covers the transmitting window 1122, making the first mounting cavity 1121 a closed cavity, thereby preventing external impurities from entering the first mounting cavity 1121. The glass cover plate has a certain light transmittance, so that the detection signal can be emitted from the glass cover plate to the outside of the housing 110.

[0181] Similarly, the second cover plate 118 can be a glass cover plate. The second cover plate 118 covers the receiving window 1142, making the second mounting cavity 1141 a closed cavity, thereby preventing external impurities from entering the second mounting cavity 1141. The glass cover plate has a certain light transmittance, so that the detection signal reflected by the obstacle can enter the second mounting cavity 1141 from the glass cover plate.

[0182] Since the first cover plate 117 covers the transmitting window 1122, the coverage area of ​​the first cover plate 117 can be larger than the opening area of ​​the transmitting window 1122, so that part of the first cover plate 117 covers the front of the guide member 140. Similarly, since the second cover plate 118 covers the receiving window 1142, the coverage area of ​​the second cover plate 118 can be larger than the opening area of ​​the receiving window 1142, so that part of the second cover plate 118 covers the front of the guide member 140.

[0183] In some embodiments, the connecting channel 1151 connects to the transmitting window 1122, so that the inner surface of the first cover plate 117 (the side near the first mounting cavity 1121) can contact the guide 140. The connecting channel 1151 can also connect to the receiving window 1142, so that the guide 140 contacts the inner surface of the second cover plate 118.

[0184] Since the guide element 140 is made of light-guiding material, its refractive index is very high, greater than that of the first cover plate 117. This causes the reference light rays to be refracted into the guide element 140 when passing through the contact surface between the guide element 140 and the first cover plate 117. Consequently, the reflecting surface 150 can be disposed on the inner surface of the first cover plate 117 (the side closer to the first mounting cavity 1121), meaning the reference position can be located on the inner surface of the first cover plate 117 (the side closer to the first mounting cavity 1121).

[0185] Similarly, the refractive index of the guide 140 is greater than that of the second cover plate 118, so that when the reference light passes through the contact surface of the guide 140 and the second cover plate 118, it will be deflected into the guide 140. Therefore, the reflecting surface 150 can be disposed on the inner surface of the second cover plate 118 (on the side near the second mounting cavity 1141), that is, the reference position can be disposed on the inner surface of the second cover plate 118 (on the side near the second mounting cavity 1141).

[0186] In some embodiments, the frame 116 has a first groove 1123 and a second groove 1143, a transmitting window 1122 is disposed on the bottom wall of the first groove 1123, and a first cover plate 117 is disposed within the first groove 1123. A receiving window 1142 is disposed on the bottom wall of the second groove 1143, and a second cover plate 118 is disposed within the second groove 1143.

[0187] In some embodiments, a partition 119 is provided between the receiving window 1142 and the transmitting window 1122, and a reflective surface 150 is disposed on the side of the partition 119 near the connecting channel 1151. One side of the partition 119 communicates with the connecting channel 1151, meaning that the side of the partition 119 near the connecting channel 1151 can contact the guide member 140. Since the guide member 140 is made of a light-guiding material, the refractive index of the guide member 140 is very large, greater than that of the partition 119. This causes the reference light to be refracted into the guide member 140 when it passes through the contact surface between the guide member 140 and the partition 119. Therefore, the reflective surface 150 can be disposed on the inner surface of the partition 119 (the side near the connecting channel 1151), meaning that the reference position can be disposed on the inner surface of the partition 119 (the side near the connecting channel 1151).

[0188] Step S130: Determine the actual distance between the obstacle and the measured position of the mobile robot 10 based on the first measured distance, the second measured distance, and the reference distance; wherein the reference distance is determined based on the relative position between the reference position and the measured position.

[0189] The reference distance is obtained when the mobile robot 10 is not in use. Specifically, the standard distance between the measurement position and the reference position is obtained, and the standard distance is configured as the reference distance.

[0190] This standard distance is obtained by the detection module 100 of the mobile robot 10 when it is not in use. "Not in use" means that the detection module 100 is obtained when it has just been assembled, is not working, and has not been tested. In this case, since the receiver 120 and the transmitter 130 are basically not offset, the standard distance is the accurate distance between the measurement position and the reference position.

[0191] Figure 15 A flowchart of the sub-steps of step S130 is shown, wherein step S130 may include steps S131 and S132.

[0192] Step S131: Determine the difference between the first measurement distance and the second measurement distance.

[0193] The detection signal and the reference signal have the same signal source (transmitter 130) and the same signal receiver (receiver 120). The difference lies in the main body 200 of the reflected signal during signal transmission, resulting in different signal transmission paths. The detection signal is reflected back to the receiver 120 from the obstacle, while the reference signal is reflected from the reference position to the guide 140 and then guided to the receiver 120. Therefore, during the measurement process, any deviation of the transmitter 130 or the receiver 120 results in the same error for both the detection signal and the reference signal. The difference between the first measurement distance obtained by the detection signal and the second measurement distance obtained by the reference signal can offset the error of the transmitter 130 or the receiver 120, thereby improving the measurement accuracy of the detection module 100.

[0194] Step S132: Determine the sum of the difference and the reference distance to obtain the actual distance.

[0195] The difference between the first and second measurement distances is the distance between the reference position and the obstacle. The actual distance between the obstacle and the detection module 100 is the distance between the measurement position and the obstacle. Therefore, a reference distance between the measurement position and the reference position needs to be added. This reference distance is obtained when the detection module 100 is newly assembled, not yet operational or tested. In this case, since the receiver 120 and transmitter 130 are essentially not offset, the reference distance is the accurate distance between the measurement position and the reference position.

[0196] Figure 16 A block diagram of the ranging device 300 is shown, as follows: Figure 16As shown, based on the same inventive concept, this application also provides a ranging device 300, which includes:

[0197] The first acquisition device 310 is used to acquire the first measured distance between the mobile robot 10 and the obstacle.

[0198] Step S110 of the ranging method provided in this application embodiment can be executed by the first acquisition unit 310.

[0199] The second acquisition unit 320 is used to acquire a second measured distance between the mobile robot 10 and the reference position.

[0200] Step S120 of the ranging method provided in this application embodiment can be executed by the second acquirer 320.

[0201] Determiner 330 is used to determine the actual distance between the obstacle and the mobile robot 10 based on a first measured distance, a second measured distance, and a reference distance; wherein the reference distance is determined based on a reference position and the mobile robot 10.

[0202] Step S130 of the ranging method provided in this application embodiment can be executed by the determiner 330.

[0203] Figure 17 A block diagram of the determinant 330 is shown, as follows: Figure 17 As shown, in some embodiments, the determiner 330 includes a first subunit 331 and a second subunit 332.

[0204] The first subunit 331 is used to determine the difference between the first measurement distance and the second measurement distance.

[0205] Step S131 of the ranging method provided in this application embodiment can be executed by the first subunit 331.

[0206] The second subunit 332 is used to determine the sum of the difference and the reference distance to obtain the actual distance.

[0207] Step S132 of the ranging method provided in this application embodiment can be executed by the second subunit 332.

[0208] It should be noted that although several modules or units of the device for execution have been mentioned in the detailed description above, this division is not mandatory. In fact, according to the embodiments of this application, the features and functions of two or more modules or units described above can be embodied in one module or unit. Conversely, the features and functions of one module or unit described above can be further divided and embodied by multiple modules or units.

[0209] Based on the same inventive concept, in the exemplary embodiments of this disclosure, an electronic device capable of implementing the above-described method is also provided. For example, the electronic device may be an intelligent robot capable of implementing the above-described method.

[0210] Those skilled in the art will understand that various aspects of this disclosure can be implemented as a system, method, or program product. Therefore, various aspects of this disclosure can be specifically implemented in the following forms: a completely hardware implementation, a completely software implementation (including firmware, microcode, etc.), or a combination of hardware and software aspects, collectively referred to herein as a "circuit," "module," or "system."

[0211] The following reference Figure 18 This description pertains to an electronic device 800 according to such an exemplary embodiment of the present disclosure. The electronic device 800 can be applied to the mobile robot 10 or robot system 1 described above. That is, the mobile robot includes the electronic device 800 or the robot system includes the electronic device 800. Figure 18 The electronic device 800 shown is merely an example and should not impose any limitation on the functionality and scope of use of the embodiments disclosed herein.

[0212] like Figure 18 As shown, the electronic device 800 is presented in the form of a general-purpose computing device. The components of the electronic device 800 may include, but are not limited to: at least one processor 810, at least one memory 820, a bus 830 connecting different system components (including memory 820 and processor 810), and a display unit 840.

[0213] The memory stores program code that can be executed by the processor 810, causing the processor 810 to perform the steps described in the "Exemplary Methods" section of this specification according to various exemplary embodiments of this disclosure. For example, the processor 810 can perform... Figures 14-15 The steps shown.

[0214] The memory 820 may include a readable medium in the form of volatile memory, such as random access memory (RAM) 821 and / or cache memory 822, and may further include read-only memory (ROM) 823.

[0215] The memory 820 may also include a program / utility 824 having a set (at least one) of program modules 825, including but not limited to: an operating system, one or more application programs, other program modules, and program data, each or some combination of these examples may include an implementation of a network environment.

[0216] Bus 830 can represent one or more of several types of bus structures, including a memory bus or memory controller, peripheral bus, graphics acceleration port, processor, or a local bus using any of the various bus structures.

[0217] Electronic device 800 can also communicate with one or more external devices 900 (e.g., keyboard, pointing device, Bluetooth device, etc.), and with one or more devices that enable a user to interact with electronic device 800, and / or with any device that enables electronic device 800 to communicate with one or more other computing devices (e.g., router, modem, etc.). This communication can be performed via input / output (I / O) interface 850. Furthermore, electronic device 800 can also communicate with one or more networks (e.g., local area network (LAN), wide area network (WAN), and / or public networks, such as the Internet) via network adapter 860. As shown, network adapter 860 communicates with other modules of electronic device 800 via bus 830. It should be understood that, although not shown in the figures, other hardware and / or software modules can be used in conjunction with electronic device 800, including but not limited to: microcode, device drivers, redundant processors, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0218] From the above description of the embodiments, those skilled in the art will readily understand that the exemplary embodiments described herein can be implemented by software or by combining software with necessary hardware. Therefore, the technical solutions according to the embodiments of this disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (such as a CD-ROM, USB flash drive, external hard drive, etc.) or on a network, including several instructions to cause a computing device (such as a personal computer, server, terminal device, or network device, etc.) to execute the methods according to the embodiments of this disclosure.

[0219] In exemplary embodiments of this disclosure, a computer-readable storage medium is also provided, on which a program product capable of implementing the methods described above is stored. In some possible implementations, various aspects of this disclosure may also be implemented as a program product including program code that, when the program product is run on a terminal device, causes the terminal device to perform the steps of the various exemplary embodiments of this disclosure described in the "Exemplary Methods" section above.

[0220] The program product for implementing the above-described method according to embodiments of the present disclosure may employ a portable compact disc read-only memory (CD-ROM) and include program code, and may run on a terminal device, such as a personal computer. However, the program product of the present disclosure is not limited thereto. In this document, the readable storage medium may be any tangible medium containing or storing a program that may be used by or in conjunction with an instruction execution system, apparatus, or device.

[0221] The program product may employ any combination of one or more readable media. A readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of readable storage media (a non-exhaustive list) include: an electrical connection having one or more wires, a portable disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0222] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, carrying readable program code. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A readable signal medium may also be any readable medium other than a readable storage medium, capable of sending, propagating, or transmitting programs for use by or in conjunction with an instruction execution system, apparatus, or device.

[0223] The program code contained on the readable medium may be transmitted using any suitable medium, including but not limited to wireless, wired, optical fiber, RF, etc., or any suitable combination thereof.

[0224] Program code for performing the operations of this disclosure can be written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Java and C++, and conventional procedural programming languages ​​such as C or similar languages. The program code can execute entirely on the user's computing device, partially on the user's computing device, as a standalone software package, partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server. In cases involving remote computing devices, the remote computing device can be connected to the user's computing device via any type of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computing device (e.g., via the Internet using an Internet service provider).

[0225] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. In addition, those skilled in the art can combine and integrate the different embodiments or examples described in this specification.

[0226] Furthermore, the technical solutions of the various embodiments can be combined with each other, but only if they are based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such combination of technical solutions does not exist and is not within the scope of protection claimed in this application.

[0227] Although embodiments of this application have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of this application, the scope of which is defined by the claims and their equivalents.

Claims

1. A detection module, characterized in that, include: Shell (110); The transmitter (130) and receiver (120) are both disposed within the housing (110); A guide (140) is disposed within the housing (110) and is used to guide the signal emitted by the transmitter (130) from within the housing (110) to the receiver (120).

2. The detection module according to claim 1, characterized in that, Along the length direction (X) of the housing (110), the transmitter (130) and the receiver (120) are arranged side by side, and the guide (140) is disposed between the transmitter (130) and the receiver (120).

3. The detection module according to claim 2, characterized in that, The guide (140) is inclined along the length direction (X) of the housing (110).

4. The detection module according to claim 2, characterized in that, The guiding direction of the guide (140) is set at an angle to the radial direction of the receiver (120).

5. The detection module according to claim 2, characterized in that, The guide (140) is misaligned with the detection area (122) of the receiver (120).

6. The detection module according to claim 5, characterized in that, The receiver (120) has a receiving surface (121), and the guide (140) is spaced apart from the cross section of the receiving surface (121) and the detection area (122) is spaced apart from the cross section of the receiving surface (121).

7. The detection module according to claim 2, characterized in that, The guide (140) is positioned along the edge of the receiver (120).

8. The detection module according to claim 2, characterized in that, Along the thickness direction (Z) of the housing (110), the projection of the transmitter (130) onto the housing (110) at least partially coincides with the projection of the guide (140) onto the housing (110).

9. The detection module according to any one of claims 1-8, characterized in that, The housing (110) has: a first mounting cavity (1121), a second mounting cavity (1141), and a connecting channel (1151), wherein the transmitter (130) is disposed in the first mounting cavity (1121), and the receiver (120) is disposed in the second mounting cavity (1141); the connecting channel (1151) connects the first mounting cavity (1121) and the second mounting cavity (1141), and at least a portion of the guide (140) is disposed in the connecting channel (1151).

10. The detection module according to claim 9, characterized in that, The guide member (140) includes a first guide portion (142) and a second guide portion (144), the first guide portion (142) and the second guide portion (144) are connected, the first guide portion (142) is disposed near the transmitter, and the second guide portion (144) is disposed near the receiver (120). Along the width direction (Y) of the housing (110), the width of the first guide portion (142) is greater than the width of the second guide portion (144).

11. The detection module according to claim 9, characterized in that, The housing (110) has a reflective surface, and along the thickness direction (Z) of the housing (110), the guide (140) is disposed behind the reflective surface.

12. The detection module according to claim 11, characterized in that, The housing (110) includes a frame (116), a first cover plate (117), and a second cover plate (118). The first mounting cavity (1121) and the second mounting cavity (1141) are disposed in the frame (116). The frame (116) has a transmitting window (1122) communicating with the first mounting cavity (1121) and a receiving window (1142) communicating with the second mounting cavity (1141). The first cover plate (117) covers the transmitting window (1122), and the second cover plate (118) covers the receiving window (1142). The reflective surface (150) is located on the side of the first cover plate (117) near the first mounting cavity (1121) and / or the reflective surface (150) is located on the side of the second cover plate (118) near the second mounting cavity (1141).

13. The detection module according to claim 12, characterized in that, A partition (119) is provided between the receiving window (1142) and the receiving window (1142), and the reflective surface (150) is provided on the side of the partition (119) near the connecting channel (1151).

14. A mobile robot, characterized in that, The device includes a main body (200) and a detection module (100) of any one of items 1-13, wherein the detection module (100) is mounted on the main body (200).

15. The mobile robot according to any one of claims 14, characterized in that, The mobile robot (10) includes a processor (810), the processor (810) being used for: Obtain the first measured distance between the measured position of the mobile robot (10) and the obstacle; Obtain the second measurement distance between the measured position and the reference position of the mobile robot (10); The actual distance between the obstacle and the measured position of the mobile robot (10) is determined based on the first measured distance, the second measured distance, and the reference distance; The measurement position is determined based on the position of the transmitter (130) and the position of the receiver (120), the reference position is located in the housing (110), and the reference distance is determined based on the relative position between the reference position and the measurement position.

16. The mobile robot according to claim 15, characterized in that, The processor (810) is further configured to: determine the difference between the first measured distance and the second measured distance; and determine the sum of the difference and the reference distance to obtain the actual distance.

17. The mobile robot according to claim 15, characterized in that, The guide (140) is used to guide the signal emitted by the transmitter (130) from inside the housing (110) to the receiver (120) to measure the second measuring distance.

18. A robot system, characterized in that, Includes a base station (20) and a mobile robot (10) as described in any one of claims 14-17, wherein the mobile robot (10) is capable of docking with the base station (20).

19. A ranging method applied to a mobile robot, characterized in that, The ranging method includes: Obtain the first measured distance between the measured position of the mobile robot (10) and the obstacle; Obtain the second measurement distance between the measured position and the reference position of the mobile robot (10); The actual distance between the obstacle and the measured position of the mobile robot (10) is determined based on the first measured distance, the second measured distance, and the reference distance; wherein the reference distance is determined based on the relative position between the reference position and the measured position.

20. The ranging method according to claim 19, characterized in that, The step of determining the actual distance between the obstacle and the measured position of the mobile robot (10) based on the first measured distance, the second measured distance, and the reference distance includes: Determine the difference between the first measured distance and the second measured distance; The actual distance is obtained by summing the difference with the reference distance.

21. The ranging method according to claim 19, characterized in that, The reference distance is determined in the following manner: When the mobile robot (10) is not in use, a standard distance between the measurement position and the reference position is obtained, and the standard distance is configured as the reference distance.

22. The ranging method according to claim 19, characterized in that, The mobile robot (10) includes a main body (200) and a detection module (100). The detection module (100) is installed on the main body (200). The detection module (100) includes a housing (110), a transmitter (130), and a receiver (120). The transmitter (130) and the receiver (120) are both disposed inside the housing (110). The reference position is located in the housing (110). The measurement position is determined based on the position of the transmitter (130) and the position of the receiver (120).

23. The ranging method according to claim 22, characterized in that, The housing (110) includes a frame (116), a first cover plate (117), and a second cover plate (118). The first mounting cavity (1121) and the second mounting cavity (1141) are disposed in the frame (116). The frame (116) has a transmitting window (1122) communicating with the first mounting cavity (1121) and a receiving window (1142) communicating with the second mounting cavity (1141). The first cover plate (117) covers the transmitting window (1122), and the second cover plate (118) covers the receiving window (1142). The reference position is located on the side of the first cover plate (117) near the first mounting cavity (1121) and / or the reference position is located on the side of the second cover plate (118) near the second mounting cavity (1141).

24. The ranging method according to claim 23, characterized in that, A partition (119) is provided between the receiving window (1142) and the transmitting window (1122), and the reference position is provided on the side of the partition (119) near the connecting channel (1151).

25. The ranging method according to claim 22, characterized in that, The transmitter (130) has a transmitting surface (131), and the receiver (120) has a receiving surface (121). The transmitting surface (131) and the receiving surface (121) are located in the same plane, and the measurement position is located in the plane where the transmitting surface (131) and the receiving surface (121) are located.

26. The ranging method according to claim 22, characterized in that, The detection module (100) includes a guide (140) disposed within the housing (110). The guide (140) is used to guide the signal emitted by the transmitter (130) from within the housing (110) to the receiver (120) to measure the second measurement distance.

27. The ranging method according to claim 26, characterized in that, Along the length direction (X) of the housing (110), the transmitter (130) and the receiver (120) are arranged side by side, and the guide (140) is disposed between the transmitter (130) and the receiver (120).

28. The ranging method according to claim 26, characterized in that, The housing (110) has: a first mounting cavity (1121), a second mounting cavity (1141), and a connecting channel (1151), wherein the transmitter (130) is disposed in the first mounting cavity (1121), and the receiver (120) is disposed in the second mounting cavity (1141); the connecting channel (1151) connects the first mounting cavity (1121) and the second mounting cavity (1141), and at least a portion of the guide (140) is disposed in the connecting channel (1151).

29. A ranging device, characterized in that, include: The first acquisition unit (310) is used to acquire the first measured distance between the mobile robot (10) and the obstacle; The second acquisition unit (320) is used to acquire a second measured distance between the mobile robot (10) and the reference position; A determiner (330) is used to determine the actual distance between the obstacle and the mobile robot (10) based on the first measured distance, the second measured distance, and the reference distance; wherein the reference distance is determined based on the reference position and the mobile robot (10).

30. The ranging device according to claim 29, characterized in that, The determiner (330) includes: The first subunit (331) is used to determine the difference between the first measured distance and the second measured distance; The second subunit (332) is used to determine the actual distance by summing the difference and the reference distance.

31. The ranging device according to claim 29, characterized in that, The reference distance is determined in the following manner: When the mobile robot (10) is not in use, a standard distance between the measurement position and the reference position is obtained, and the standard distance is configured as the reference distance.

32. The ranging device according to claim 29, characterized in that, The mobile robot (10) includes a main body (200) and a detection module (100). The detection module (100) is installed on the main body (200). The detection module (100) includes a housing (110), a transmitter (130), and a receiver (120). The transmitter (130) and the receiver (120) are both disposed inside the housing (110). The reference position is located in the housing (110). The measurement position is determined based on the position of the transmitter (130) and the position of the receiver (120).

33. The ranging device according to claim 32, characterized in that, The housing (110) includes a frame (116), a first cover plate (117), and a second cover plate (118). The first mounting cavity (1121) and the second mounting cavity (1141) are disposed in the frame (116). The frame (116) has a transmitting window (1122) communicating with the first mounting cavity (1121) and a receiving window (1142) communicating with the second mounting cavity (1141). The first cover plate (117) covers the transmitting window (1122), and the second cover plate (118) covers the receiving window (1142). The reference position is located on the side of the first cover plate (117) near the first mounting cavity (1121) and / or the reference position is located on the side of the second cover plate (118) near the second mounting cavity (1141).

34. The ranging device according to claim 33, characterized in that, A partition (119) is provided between the receiving window (1142) and the transmitting window (1122), and the reference position is provided on the side of the partition (119) near the connecting channel (1151).

35. The ranging device according to claim 32, characterized in that, The transmitter (130) has a transmitting surface (131), and the receiver (120) has a receiving surface (121). The transmitting surface (131) and the receiving surface (121) are located in the same plane, and the measurement position is located in the plane where the transmitting surface (131) and the receiving surface (121) are located.

36. The ranging device according to claim 32, characterized in that, The detection module (100) includes a guide (140) disposed within the housing (110). The guide (140) is used to guide the signal emitted by the transmitter (130) from within the housing (110) to the receiver (120) to measure the second measurement distance.

37. The ranging device according to claim 36, characterized in that, Along the length direction (X) of the housing (110), the transmitter (130) and the receiver (120) are arranged side by side, and the guide (140) is disposed between the transmitter (130) and the receiver (120).

38. The ranging device according to claim 36, characterized in that, The housing (110) has: a first mounting cavity (1121), a second mounting cavity (1141), and a connecting channel (1151), wherein the transmitter (130) is disposed in the first mounting cavity (1121), and the receiver (120) is disposed in the second mounting cavity (1141); the connecting channel (1151) connects the first mounting cavity (1121) and the second mounting cavity (1141), and at least a portion of the guide (140) is disposed in the connecting channel (1151).

39. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores program code that is loaded and executed by a processor to implement the method as described in any one of claims 19-30.

40. A computer program product, characterized in that, The computer program product includes computer instructions stored in a computer-readable storage medium and adapted to be read and executed by a processor to cause a computer device having the processor to perform the method as described in any one of claims 19-30.

41. An electronic device, characterized in that, include: Memory (820) is used to store computer programs; A processor (810) is configured to execute a computer program stored in the memory (820) to implement the method as described in any one of claims 19-30.

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