Distance measuring device and robot

Abstract

The utility model relates to the technical field of distance measurement, in particular to a distance measurement device and a robot, the distance measurement device comprises a mounting seat and an optical module arranged on the mounting seat, and the optical module comprises a transceiving assembly and a camera assembly; the transceiving assembly comprises a transmitting component and a receiving component, the transmitting component is used for transmitting light, and the receiving component is used for receiving the light; the camera shooting assembly is arranged towards the rear upper portion of the distance measuring device, a first inclination angle alpha is formed between the optical axis of the camera shooting assembly and the horizontal plane, and alpha is larger than or equal to 120 degrees and smaller than or equal to 150 degrees. According to the distance measuring device or the robot, environment perception and obstacle avoidance are met, and meanwhile the size and the production cost of the distance measuring device or the robot are reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of distance measurement, in particular to a distance measurement device and a robot. Background Art

[0002] With the rapid development of artificial intelligence technology, robots are used in more and more commercial scenarios, such as shopping malls, hotels, museums, etc. Taking cleaning scenarios as an example, using cleaning robots or sweeping robots to perform automated cleaning tasks can save a lot of manpower and material resources and improve cleaning efficiency.

[0003] At present, thanks to its adaptability to all-weather environments, LiDAR is widely used in cleaning robots or sweeping robots. Therefore, a protruding LiDAR is installed at the end of a traditional cleaning robot or sweeping robot for positioning and navigation. Since LiDAR generally provides planar environmental information, for complex home environments, LiDAR cannot sense low obstacles under the cleaning robot or sweeping robot. Therefore, sweeping robots often need to use a LiDAR in combination with one or more obstacle avoidance sensors for navigation and obstacle avoidance. This solution can meet a certain degree of environmental perception and obstacle avoidance effects, but more sensors increase the cost of the sweeping robot and make the sweeping robot larger, making it difficult to effectively clean areas with small spaces. Utility Model Content

[0004] The embodiments of the utility model provide a distance measuring device and a robot. The distance measuring device or the robot of the utility model can reduce the volume and production cost of the distance measuring device or the robot while meeting the requirements of environmental perception and obstacle avoidance.

[0005] In order to solve the above technical problems, the present utility model provides the following technical solutions:

[0006] In a first aspect, an embodiment of the utility model provides a distance measuring device, including a mounting seat and an optical module disposed on the mounting seat, wherein the optical module includes:

[0007] Transceiver components and camera components;

[0008] The transceiver assembly includes a transmitting component and a receiving component, wherein the transmitting component is used to emit light and the receiving component is used to receive light;

[0009] The camera assembly is arranged toward the upper rear of the distance measuring device, and a first inclination angle α is formed between the optical axis of the camera assembly and a horizontal plane, wherein 120°≤α≤150°.

[0010] In some embodiments, the transmitting component is a surface light source, and the receiving component is an area array TOF sensor.

[0011] In some embodiments, the transmitting component is a linear light source, and the receiving component is one of a linear array TOF sensor, an area array CCD sensor, and a CMOS sensor.

[0012] In some embodiments, the distance measuring device further includes a transmitting and reflecting component, which is disposed in a light emitting path of the emitting component, and is used to reflect the light emitted by the emitting component.

[0013] In some embodiments, the light emitted by the emitting component includes a first light, and the receiving component is used to receive reflected light of the first light.

[0014] In some embodiments, the light emitted by the emitting component includes at least a first light and a second light, and there are two receiving components, and the two receiving components are used to receive reflected light of the first light and the second light respectively.

[0015] In some embodiments, the emitting and reflecting component is a reflecting lens, which is rotatably disposed on the mounting seat and is used to reflect the light emitted by the emitting component.

[0016] In some embodiments, the first light is emitted along a first direction, and the rotation axis of the reflective lens is perpendicular to the first direction;

[0017] And / or, the reflective lens includes two reflective surfaces, and the two reflective surfaces are respectively arranged on both sides of the rotation axis of the reflective lens.

[0018] In some embodiments, a shielding member is disposed at the connection portion of the two reflective surfaces, and the shielding member is made of a light-absorbing material, a diffuse reflective material or a dielectric film.

[0019] In some embodiments, the distance measuring device further comprises a driving assembly that is transmission-connected to the reflective lens, the driving assembly is disposed on the mounting seat, and the driving assembly is used to drive the reflective lens to rotate.

[0020] In some embodiments, the emitting and reflecting component is a galvanometer, which is disposed on the mounting base and is used to reflect the light emitted by the emitting component.

[0021] In some embodiments, the distance measuring device further comprises a support frame disposed on the mounting seat, the galvanometer is mounted on the support frame, and the support frame is used to support the galvanometer.

[0022] In some embodiments, the distance measuring device further includes a receiving and reflecting component, wherein the receiving and reflecting component is disposed in a path where the receiving component receives light, and the receiving and reflecting component is used to reflect the reflected light back to the receiving component.

[0023] In a second aspect, the utility model further provides a robot, comprising any distance measuring device proposed in the first aspect.

[0024] Beneficial effects of the embodiments of the utility model: Different from the prior art, the distance measuring device provided by the embodiments of the utility model includes: a mounting seat and an optical module arranged on the mounting seat, the optical module includes: a transceiver assembly and a camera assembly; the transceiver assembly includes a transmitting component and a receiving component, the transmitting component is used to emit light, and the receiving component is used to receive light; the camera assembly is arranged toward the upper rear of the distance measuring device, and there is a first inclination angle α between the optical axis of the camera assembly and the horizontal plane, wherein 120°≤α≤150°. The distance measuring device or robot of the utility model reduces the volume and production cost of the distance measuring device or robot while meeting the requirements of environmental perception and obstacle avoidance. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below only show certain embodiments of the utility model and therefore should not be regarded as limiting the scope of protection. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without paying creative work.

[0026] Figure 1 It is a schematic diagram of the structure of the distance measuring device provided by some embodiments of the utility model;

[0027] Figure 2 yes Figure 1 A cross-sectional view of the distance measuring device shown in the embodiment from another perspective;

[0028] Figure 3 It is a schematic diagram of the structure of the distance measuring device provided by other embodiments of the utility model;

[0029] Figure 4 yes Figure 3 A cross-sectional view of the distance measuring device shown in the embodiment from another perspective;

[0030] Figure 5 It is a schematic diagram of the structure of a reflective lens in a distance measuring device provided in some embodiments of the utility model;

[0031] Figure 6 It is a schematic diagram of the structure of the distance measuring device provided by other embodiments of the utility model;

[0032] Figure 7 yes Figure 6 A schematic structural diagram of the distance measuring device shown in the embodiment from another perspective;

[0033] Figure 8 It is a top view of the robot provided by some embodiments of the utility model.

[0034] Description of reference numerals:

[0035] 100. Distance measuring device;

[0036] 10. Mounting seat; 11. Mounting housing; 12. Mounting base; 121. Axial hole; 122. First end portion; 123. Accommodating groove; 13. First side plate; 14. Second side plate;

[0037] 20. Transceiver assembly; 21. Transmitter assembly; 22. Receiving assembly;

[0038] 30. Camera assembly;

[0039] 40. Transmitting and reflecting component; 41. First part; 42. Second part; 43. Third part; 44. Connecting part;

[0040] 50. driving assembly; 51. driving motor; 52. transmission belt;

[0041] A: first light; B: second light; X, first direction; Y, second direction; Z, third direction; C, first side; D, second side; M, forward direction. DETAILED DESCRIPTION

[0042] In order to have a clearer understanding of the technical features, purposes and effects of the utility model, the technical solutions in the embodiments of the utility model will be clearly and completely described below in conjunction with the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. The detailed description of the embodiments of the utility model in the drawings below does not limit the scope of protection claimed by the utility model, but only represents the selected embodiments of the utility model. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the utility model.

[0043] It should be noted that when an element is referred to as being "fixed to" another element, it may be directly on the other element or there may also be a centered element. When an element is considered to be "connected" to another element, it may be directly connected to the other element or there may be a centered element at the same time. The terms "vertical", "horizontal", "left", "right", "first", "second", "third" and other similar expressions used in this specification are only for the purpose of convenience of explanation and to distinguish between the same items or similar items with basically the same functions and effects, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features. The meaning of "multiple" refers to a number of two or more, unless otherwise clearly and specifically limited. In addition, although the functional module division is performed in the device schematic diagram, structural schematic diagram and other figures, in some cases, it can be divided into modules different from those in the device or structure.

[0044] Unless otherwise defined, the technical terms and scientific terms used in this specification have the same meanings as those generally understood by those of ordinary skill in the technical field of the present utility model. The terms used in this specification are only for the purpose of describing specific implementations and are not used to limit the present utility model. The term "and / or" used in this specification includes any and all combinations of one or more related listed items. It should be understood that the technical features involved in each implementation of the present utility model described below can be combined with each other as long as there is no conflict.

[0045] See also Figure 1 and Figure 2 The distance measuring device 100 provided by the present invention includes a mounting seat 10 and an optical module ( Figure 1 The optical module includes a transceiver assembly 20 and a camera assembly 30. The transceiver assembly 20 can emit light and receive light. The transceiver assembly 20 includes a transmitting component 21 and a receiving component 22. The transmitting component 21 is used to emit light, and the receiving component 22 is used to receive the light emitted by the transmitting component 21 and reflected by the object to be measured. The light emitted by the transmitting component 21 can detect the environmental feature information in front of the distance measuring device 100.

[0046] The camera assembly 30 can capture the characteristics of the surrounding environment. The camera assembly 30 is arranged toward the upper rear of the ranging device 100, and is used to obtain the characteristic information of the environment behind the ranging device 100. Among them, there is a first inclination angle α between the optical axis of the camera assembly 30 and the horizontal plane, which satisfies 120°≤α≤150°. Specifically, the camera assembly 30 includes a camera lens, and the first inclination angle α between the optical axis of the camera assembly 30 and the horizontal plane means that a first inclination angle α is formed between the optical axis of the camera lens and the horizontal plane where the first direction X and the second direction Y are located, which satisfies 120°≤α≤150°. Optionally, in other embodiments, the first inclination angle α can also be other angles, and is not limited to the angles given in the embodiments of the utility model.

[0047] In the above technical solution of the utility model, the light emitted by the transmitting component 21 can detect the environmental characteristic information in front of the ranging device 100, and the camera component 30 can be used to obtain the environmental characteristic information behind the ranging device 100, so as to fully obtain the environmental characteristic information in the space and provide more comprehensive environmental characteristic information, so that the ranging device 100 can realize the environmental perception and obstacle avoidance functions by relying on the transceiver component 2 and the camera component 30. That is, the utility model does not require various obstacle avoidance sensors, reduces the installation steps, and can improve the production and assembly efficiency of the ranging device 100. At the same time, since the top and bottom obstacle avoidance sensors are removed, the height of the ranging device 100 can be reduced, so that the ranging device 100 is more compatible with the ranging in a low space, which can facilitate the reduction of the production cost of the ranging device 100 while meeting the miniaturization design of the ranging device 100.

[0048] Please refer again Figure 1 Optionally, the mounting base 10 includes a mounting shell 11 and a mounting base 12 , the mounting base 12 is fixed to the mounting shell 11 , the transceiver assembly 20 is disposed on the mounting base 12 , and the camera assembly 30 is disposed on the mounting shell 11 .

[0049] In some embodiments, the transmitting component 21 is a surface light source, and the receiving component 22 is an area array TOF sensor. The surface light source is a light emitting source with an area, rather than a point-shaped or single-directional light source. The surface light source can provide uniform illumination, which helps to reduce shadows and reflections, thereby reducing the interference of the shadows and reflections of the light source on navigation and obstacle avoidance, and improving the performance of the ranging device 100. The area array TOF sensor can capture and measure the depth information of multiple points on the surface of the object to be measured at a high frame rate, with low power consumption, which is conducive to reducing motion blur, improving the real-time perception, and improving the accuracy and details of the depth image. It is more feasible to use it in mobile devices and battery-powered devices.

[0050] In some embodiments, the transmitting component 21 is a linear light source, and the receiving component 22 is one of a linear array TOF sensor, an area array CCD sensor, and a CMOS sensor. Among them, the linear light source refers to a light emitting source with a linear shape, which generates a linear light beam, rather than a point light source or a surface light source. The light beam generated by the linear light source is narrow and concentrated, and propagates in a directional manner, which can reduce or avoid the multipath effect, that is, the light reaches the receiving component 22 through different paths, thereby reducing the ranging error, accurately obtaining the position information of the object to be measured, and improving the precision and accuracy of the ranging device 100. The linear array TOF sensor is suitable for measuring the distance of an object in some specific directions. It has the advantages of simple structure, low manufacturing cost, high precision, fast response, low power consumption and strong reliability. The area array CCD sensor refers to an image sensor using area array (or array) CCD (Charge-Coupled Device) technology, which has high sensitivity and can provide images with relatively high detail and color restoration capabilities and low noise levels. CMOS sensor is a sensor with high integration, low power consumption, fast reading speed, relatively low cost and small size. It is suitable for portable devices and battery-powered devices that need to operate for a long time, be lightweight and compact.

[0051] See also Figure 3 and Figure 4 In some embodiments, the distance measuring device 100 further includes a transmitting and reflecting component 40 , which is disposed in a light emitting path of the transmitting component 21 , and is used to reflect the light emitted by the transmitting component 21 .

[0052] In some embodiments, the emitting component 21 is a point laser, and the light emitted by the emitting component 21 includes a first light A, which can be emitted along the first direction X, and the receiving component 22 receives the light reflected by the first light A from the object to be measured. For example, when the ranging device 100 moves in the horizontal direction for ranging, the first direction X is parallel to the horizontal plane, the first light A can be parallel to the horizontal plane, or it can be at a certain angle with the horizontal plane, and the angle can be 0° to 2°. The first light A can detect the environmental feature information in the surrounding horizontal direction to perform navigation and obstacle avoidance operations. In addition, the focal length of the first light A can be set according to actual conditions. For example, if the first light A is emitted at a farther distance, it can use a long focus, and if the first light A is emitted at a shorter distance, it can use a short focus. Among them, the first direction X, the second direction Y, and the third direction Z are perpendicular to each other, and the error within 0° to 5° can be considered as vertical.

[0053] In some embodiments, the light emitted by the emitting component 21 includes at least a first light A and a second light B. The first light A can be emitted along the first direction X, and the second light B can be deflected and refracted downward from the first light A. There are two receiving components 22, and the two receiving components 22 respectively receive the first reflected light and the second reflected light reflected by the first light A and the second light B from the object to be measured. For example, when the distance measuring device 100 moves along the horizontal direction to measure the distance, the first direction X is parallel to the horizontal plane, the first light A can be parallel to the horizontal plane, or it can form a certain angle with the horizontal plane, and the angle can be 0° to 2°. The first light A can detect the environmental features in the surrounding horizontal direction. For the second light B, when observing along the second direction Y, there is a second inclination angle β between the first light A and the second light B, which satisfies 1°≤β≤30°. Since the second light B is deflected downward, the second light B can detect the environmental features in front of and below the distance measuring device 100, so that the low obstacles in front can be detected to perform obstacle avoidance operations. In addition, the focal lengths of the first light beam A and the second light beam B can be set according to actual conditions. For example, the first light beam A is emitted at a farther distance, so a long focal length can be used, and the second light beam B hits the ground and is closer to the transceiver assembly 20, so a short focal length can be used.

[0054] In some embodiments, please refer again to Figure 3 The emission and reflection component 40 is a reflection lens, which is rotatably arranged on the mounting seat 10. Optionally, the reflection lens is specifically arranged on the mounting base 12 of the mounting seat 10, and the reflection lens is used to reflect the light emitted by the emission component 21. The mounting base 12 is provided with an axial hole 121 (see Figure 1 ), the axis of the shaft hole 121 may be parallel to the plane where the second light beam B and the first light beam A are located (it is also possible that the plane where the second light beam B and the first light beam A are located intersects with the axis of the shaft hole 121, or the axis of the shaft hole 121, the first light beam A, and the second light beam B are in the same plane), and the axis of the shaft hole 121 is perpendicular to the first direction X (that is, the axial direction of the shaft hole 121 is parallel to the third direction Z). The reflective lens is rotatably disposed in the shaft hole 121 and can rotate in the shaft hole 121, and the rotation axis of the reflective lens is parallel to the third direction Z.

[0055] In some embodiments, the emitting component 21 emits light along the first direction X, and the reflective lens is rotatably disposed on the mounting base 12 and is located in the light emission path of the emitting component 21, and the rotation axis of the reflective lens is perpendicular to the first direction X. Optionally, the reflective lens includes two reflective surfaces, and the two reflective surfaces are respectively disposed on two sides of the rotation axis of the reflective lens.

[0056] In some embodiments, see Figure 5The connecting portion 44 of the two reflective surfaces of the reflective lens is provided with a shielding member (not shown in the figure), which is used to reduce or eliminate the reflection of the light reflected back by the object to be measured, reduce the reflection interference, and help improve the measurement accuracy of the distance measuring device 100. Preferably, the shielding member can be made of light-absorbing material, diffuse reflection material or dielectric film.

[0057] Optionally, see Figure 5 As shown, the reflective lens includes a first portion 41 and a second portion 42 connected to each other, the second portion 42 is rotatably disposed in the shaft hole 121, and the first portion 41 extends out of the shaft hole 121 from above the shaft hole 121. When the light emitted by the emitting component 21 includes the first light A, the first portion 41 can reflect the first light A, and when the reflective lens rotates, the reflective lens can reflect the first light A to detect the position information of the object to be measured.

[0058] In some embodiments, please refer again to Figure 5 The reflective lens also includes a third portion 43, which is connected to the second portion 42 and extends from the bottom of the shaft hole 121 to the shaft hole 121. After the first light A emitted by the emitting component 21 is reflected by the object to be measured, it can be reflected by the third portion 43 to the receiving component 22, so as to detect the position information of the object to be measured.

[0059] When the light emitted by the emitting component 21 includes at least the first light A and the second light B, the first part 41 can reflect the first light A and the second light B. When the reflecting lens rotates, the reflecting lens can reflect the first light A and the second light B at different angles respectively, thereby expanding the field of view of the ranging device 100 to facilitate multi-directional detection.

[0060] In some embodiments, please refer again to Figure 5 The reflective lens also includes a third part 43, which is connected to the second part 42 and extends from the bottom of the shaft hole 121 to the shaft hole 121. After the first light A and the second light B emitted by the emitting component 21 are reflected by the object to be measured, they can be reflected to the receiving component 22 at different angles through the third part 43, thereby realizing the simultaneous measurement of the two signals and improving the measurement efficiency.

[0061] In some embodiments, please refer again to Figure 3 The distance measuring device 100 further includes a driving assembly 50, which is disposed on the mounting seat 10. For example, the driving assembly 50 is disposed on the mounting base 12 of the mounting seat 10. The driving assembly 50 is in transmission connection with the reflective lens, and is used to drive the reflective lens to rotate. Optionally, the driving assembly 50 includes a driving motor 51 and a driving belt 52, and the driving motor 51 is fixedly mounted on the first end 122 of the mounting base 12 (see Figure 1 ), and the output shaft of the driving motor 51 extends above the first end portion 122.

[0062] The shaft hole 121 of the mounting base 12 is provided with a bearing ( Figure 3 The reflective lens can be fixed in the bearing. The bearing is fixed in the receiving groove 123 of the mounting base 12, and the outer surface of the bearing is provided with an annular groove ( Figure 3 The transmission belt 52 is sleeved on the annular groove and the output shaft of the driving motor 51. Driven by the driving motor 51, the transmission belt 52 can be driven to drive the bearing to rotate, so that the reflective lens can be rotated.

[0063] In some embodiments, the emission and reflection component 40 is a galvanometer, which is used to reflect the light emitted by the emission component 21. The galvanometer is arranged on the mounting seat 10. Optionally, the galvanometer is arranged on the mounting base 12 of the mounting seat 10 and is located on the light emission path of the emission component 21. Optionally, the galvanometer can be fixed above the axial hole 121 of the mounting base 12. It can be understood that the full name of the galvanometer is (Micro-Electro-Mechanical Systems, MEMS) MEMS galvanometer, which is used to control the direction of the light beam in the optical device. The galvanometer is composed of a tiny reflective surface, which can cause vibration or rotation through a tiny electric field or current to adjust or position the direction of the light beam, thereby realizing precise control of the direction of the light beam in the optical device.

[0064] In some embodiments, the distance measuring device 100 further includes a support frame (not shown in the figure), which is disposed on the mounting base 10. Optionally, the support frame can be fixed above the shaft hole 121 of the mounting base 12. The galvanometer is mounted on the support frame, which is used to support the galvanometer.

[0065] In some embodiments, the distance measuring device 100 further includes a receiving and reflecting component (not shown in the figure), which is arranged in the path of the receiving component 22 receiving the light, and is used to reflect the light reflected back from the object to be measured to the receiving component 22, so as to detect the position information of the object to be measured. Optionally, the reflective lens may not include the third part 43. In this case, the receiving and reflecting component may be arranged below the axial hole 121 of the mounting base 12 (i.e., the position where the third part 43 was originally arranged). After the first light A and / or the second light B are reflected back from the object to be measured, the receiving and reflecting component may reflect the reflected light back to the receiving component 22.

[0066] In some embodiments, see Figure 6 and Figure 7The mounting seat 10 further includes a first side plate 13 and a second side plate 14. The first side plate 13 and the second side plate 14 are arranged on both sides of the mounting housing 11 in a second direction Y. The first side plate 13 can be screwed and fixed to the mounting housing 11, and the second side plate 14 can be buckled and fixed to the mounting housing 11 to enclose a rectangular mounting seat. It can be understood that the fixing method of the first side plate 13 and the second side plate 14 to the mounting housing 11 is not limited to screwing and buckling, and can also be fixed to the mounting housing 11 by other fixing methods, such as clamping, welding, etc.

[0067] In the ranging device provided by the embodiment of the utility model, the light emitted by the emitting component can detect the environmental characteristic information in front of the ranging device, and the camera component can obtain the environmental characteristic information behind the ranging device, and fully obtain the environmental characteristic information in the space to provide comprehensive environmental characteristic information, so that the ranging device can reduce the volume and production cost of the ranging device while meeting the requirements of environmental perception and obstacle avoidance.

[0068] The embodiment of the utility model further provides a robot 1000, comprising any distance measuring device 100 provided in the above-mentioned embodiment of the utility model.

[0069] See also Figure 8 , the robot 1000 has a first side C and a second side D that are relatively arranged in a first direction X. When the robot 1000 moves in a forward direction M, the transceiver assembly 20 is used to emit light toward the first side C or the second side D, and can be used to receive light reflected by the object to be measured, so as to obtain the environmental feature information in front. The camera lens of the camera assembly 30 is set away from the forward direction M, and the optical axis of the camera assembly 50 is tilted away from the forward direction M. The camera assembly 30 can shoot the surrounding environmental features to obtain the environmental feature information behind the robot 1000. In the embodiment of the utility model, it is preferred that the forward direction M is parallel to the second direction Y, wherein the error within 0° to 5° can be regarded as parallel. In other embodiments, the forward direction M may have a certain angle with the second direction Y. It can be understood that when the forward direction M is parallel to the second direction Y and the first light A is parallel to the first direction X, it is more conducive to calculating the angle and can reduce the calculation burden.

[0070] As the robot 1000 is constantly moving, when the front environmental features detected by the transceiver component 20 gradually decrease, the camera component 30 can obtain more rear environmental feature information, which can make up for the shortcomings of the transceiver component 20 and provide more comprehensive environmental feature information, thereby accurately locating the position of the robot 1000 in space for navigation and obstacle avoidance.

[0071] The robot provided by the embodiment of the utility model includes any one of the distance measuring devices 100 provided by the above-mentioned embodiment of the utility model. The robot provided by the embodiment of the utility model detects the environmental feature information in front of the robot through the transceiver component of the distance measuring device and obtains the environmental feature information behind the robot through the camera component of the distance measuring device, and can fully obtain the environmental feature information in the space, so that the robot can reduce the size and production cost of the robot while meeting the requirements of environmental perception and obstacle avoidance.

[0072] It should be noted that the above-mentioned technical features can be used in any combination without limitation. The above embodiments are only for illustrating the technical concept and features of the utility model, and their purpose is to enable people familiar with this technology to more clearly understand the technical features, purposes and effects of the utility model and implement them accordingly. They cannot be used to limit the scope of protection of the rights of the utility model. Any equivalent structure or equivalent process transformation made by using the contents of the specification and drawings of the utility model, or directly or indirectly used in other related technical fields, should be included in the scope of protection of the claims of the utility model.

Claims

1. A distance measuring device, comprising a mounting seat and an optical module arranged on the mounting seat, It is characterized in that The optical module comprises: Transceiver components and camera components; The transceiver assembly includes a transmitting component and a receiving component, wherein the transmitting component is used to emit light and the receiving component is used to receive light; The camera assembly is arranged toward the upper rear of the distance measuring device, and a first inclination angle α is formed between the optical axis of the camera assembly and a horizontal plane, wherein 120°≤α≤150°.

2. The distance measuring device according to claim 1, It is characterized in that The transmitting component is a surface light source, and the receiving component is an area array TOF sensor.

3. The distance measuring device according to claim 1, It is characterized in that The transmitting component is a linear light source, and the receiving component is one of a linear array TOF sensor, an area array CCD sensor and a CMOS sensor.

4. The distance measuring device according to claim 1, It is characterized in that The distance measuring device also includes a transmitting and reflecting component, which is arranged in the light emitting path of the emitting component and is used to reflect the light emitted by the emitting component.

5. The distance measuring device according to claim 4, It is characterized in that The light emitted by the emitting component includes a first light, and the receiving component is used to receive reflected light of the first light.

6. The distance measuring device according to claim 4, It is characterized in that The light emitted by the emitting component includes at least a first light and a second light. There are two receiving components, and the two receiving components are used to receive reflected light of the first light and the second light respectively.

7. The distance measuring device according to claim 5 or 6, It is characterized in that The emission and reflection component is a reflection lens, which is rotatably arranged on the mounting seat and is used to reflect the light emitted by the emission component.

8. The distance measuring device according to claim 7, It is characterized in that The first light is emitted along a first direction, and the rotation axis of the reflective lens is perpendicular to the first direction; And / or, the reflective lens includes two reflective surfaces, and the two reflective surfaces are respectively arranged on both sides of the rotation axis of the reflective lens.

9. The distance measuring device according to claim 8, It is characterized in that A shielding member is provided at the connection portion of the two reflecting surfaces, and the shielding member is made of light-absorbing material, diffuse reflection material or dielectric film.

10. The distance measuring device according to claim 7, It is characterized in that The distance measuring device also includes a driving component that is transmission-connected to the reflective lens. The driving component is disposed on the mounting seat and is used to drive the reflective lens to rotate.

11. The distance measuring device according to claim 4, It is characterized in that The emission and reflection component is a galvanometer, which is arranged on the mounting seat and is used to reflect the light emitted by the emission component.

12. The distance measuring device according to claim 11, It is characterized in that The distance measuring device also includes a support frame arranged on the mounting seat, the galvanometer is mounted on the support frame, and the support frame is used to support the galvanometer.

13. The distance measuring device according to claim 1, It is characterized in that The distance measuring device further comprises a receiving and reflecting component, wherein the receiving and reflecting component is arranged in a path where the receiving component receives the light, and the receiving and reflecting component is used for reflecting the reflected light back to the receiving component.

14. A robot, It is characterized in that It comprises a distance measuring device as described in any one of claims 1-13.

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