Distance measuring device and robot
By using ultralens and micro-nano units in the distance measuring device to adjust the detection light, the problem of large volume of the existing distance measuring device is solved, and a smaller volume and higher regulation is achieved.
Patent Information
- Application Number
- CN202420527395.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-03-18
- Publication Date
- 2025-03-11
- Estimated Expiration
- 2034-03-18
AI Technical Summary
In order to achieve the desired optical effect, existing ranging devices often need to design thicker lenses or multiple lenses, resulting in larger sizes of the emission components, which in turn makes the ranging device larger in size.
Using the superlens as the emission component, the micro-nano unit structure in the superlens is designed to adjust the parameters of the detected light to achieve the desired optical effect without increasing the lens thickness or matching with other lenses.
It effectively saves the space of the transmitting assembly, reduces the volume of the ranging device, and improves the compactness and controllability of the device.
Smart Images
Figure CN222599824U_ABST
Abstract
Description
Technical Field
[0001] The embodiments of the utility model relate to the technical field of distance measuring devices, and in particular to a distance measuring device and a robot. Background Art
[0002] With the rapid development of science and technology, the distance measuring device, as an important tool of measurement technology, has been widely used in many fields, such as industrial inspection, topographic mapping, unmanned driving, aerospace, etc. The distance measuring device usually includes a transmitting component and a receiving component. The transmitting component is used to emit detection light outward. The emitted detection light is reflected by the obstacle and enters the receiving component. The receiving component converts the received detection light into an electrical signal carrying obstacle information. The transmitting component mainly includes a transmitter and a lens. The lens realizes the focusing or diverging function of the detection light emitted by the transmitter by constructing a curved surface. Lenses of different materials or shapes can achieve different optical effects on the detection light.
[0003] However, in the process of realizing the present utility model, the inventors found that in order to make the output detection light obtain the desired optical effect (for example, adjusting a single-line laser to a multi-line laser, forming a single-point laser into a dot matrix laser, adjusting the field of view angle of the light, adjusting the energy distribution of the light, and adjusting the direction of the light), the ranging devices currently on the market often design the lens of the transmitting component to be a thicker curved surface or equip the transmitter with multiple different lenses. However, the thicker lens or multiple lenses require the transmitting component to be designed to be larger in size, which in turn makes the volume of the ranging device larger. Utility Model Content
[0004] In view of the above problems, the embodiments of the present utility model provide a distance measuring device and a robot, which overcome the above problems or at least partially solve the above problems.
[0005] According to one aspect of an embodiment of the utility model, a ranging device is provided, comprising a mounting component, a transmitting component and a receiving component, wherein the transmitting component is mounted on the mounting component, the transmitting component comprises a transmitter and a super lens, the super lens and the transmitter are arranged relative to each other, the transmitter is used to emit a detection light, the detection light is output after passing through the super lens, the super lens comprises a base layer and a micro-nano unit, the micro-nano unit is arranged on the base layer, and the micro-nano unit is used to adjust the detection light output through the super lens; the receiving component is mounted on the mounting component, and the receiving component is used to receive the detection light after being reflected by an external object.
[0006] In some embodiments, the superlens further includes a driver connected to the micro-nano unit, and the driver is used to drive the micro-nano unit to adjust the detection light output through the superlens.
[0007] In some embodiments, the driving element includes a first driving electrode, a second driving electrode and a driving circuit, the first driving electrode and the second driving electrode are respectively arranged on both sides of the micro-nano unit, the driving circuit is respectively connected to the first driving electrode and the second driving electrode, and the driving circuit is used to output power to the first driving electrode and the second driving electrode to form a voltage difference between the first driving electrode and the second driving electrode to drive the micro-nano unit to change the shape, and / or position, and / or direction of the micro-nano unit.
[0008] In some embodiments, the base layer, the first driving electrode, the micro-nano unit, and the second driving electrode are stacked in sequence, and the first driving electrode and the second driving electrode are made of transparent materials.
[0009] In some embodiments, the number of the second driving electrodes is multiple, and the multiple second driving electrodes are distributed in a ring-shaped manner on the surface of the micro-nano unit; and / or the number of the first driving electrodes is multiple, and the multiple first driving electrodes are distributed in a ring-shaped manner on the surface of the micro-nano unit.
[0010] In some embodiments, the micro-nano unit is stacked on the base layer, the first driving electrode and the second driving electrode are attached to the periphery of the micro-nano unit in a curved shape, and the first driving electrode and the second driving electrode are arranged opposite to each other.
[0011] In some embodiments, the superlens further includes an anti-reflection film, wherein the anti-reflection film is disposed between the base layer and the micro-nano unit, and the superlens has a side of the base layer facing the emitter.
[0012] In some embodiments, the transmitting component also includes a grating, which is arranged on a side of the superlens away from the transmitter, and the transmitter, superlens and grating are on the same straight line, and the detection light emitted by the transmitter is output after passing through the superlens and the grating in sequence.
[0013] In some embodiments, the transmitting assembly further includes a shell, the shell is fixed to the mounting assembly, the shell is provided with a receiving cavity, and the transmitter and the super lens are both arranged in the receiving cavity.
[0014] In some embodiments, the shell includes a base and a lens cover, the lens cover is screwed to the base, the base and the lens cover together enclose the receiving cavity, the transmitter is arranged on the base, and the super lens is arranged on the lens cover.
[0015] In some embodiments, the ranging device also includes a control circuit, which is disposed in the mounting component and is electrically connected to the transmitter, the superlens, and the receiving component, respectively.
[0016] According to one aspect of the embodiments of the utility model, a robot is provided, comprising the above-mentioned distance measuring device.
[0017] The beneficial effects of the embodiments of the utility model are as follows: different from the prior art, the embodiments of the utility model provide a distance measuring device, including a mounting assembly, a transmitting assembly and a receiving assembly; the transmitting assembly is mounted on the mounting assembly, the transmitting assembly includes a transmitter and a super lens, the super lens and the transmitter are arranged relatively, the transmitter is used to emit a detection light, the detection light is output after passing through the super lens, the super lens includes a base layer and a micro-nano unit, the micro-nano unit is arranged on the base layer, the micro-nano unit can accurately control the parameters of the detection light (such as the polarization, phase and amplitude of the detection light), so as to adjust the parameters such as the emission position, emission direction, field of view angle range and number of laser lines of the detection light, so that the super lens outputs the detection light with the required optical effect; the receiving assembly is mounted on the mounting assembly, and the receiving assembly is used to receive the detection light after being reflected by an external object. In this way, the ranging device only needs one metalens. By designing the structure of the micro-nano units in the metalens (such as parameters such as shape, rotation direction and height), the detection light output by the ranging device can obtain the desired optical effect, without the need to design the metalens as a thicker curved surface or to match it with other lenses. This saves space for the transmitting component and reduces the volume of the ranging device. BRIEF DESCRIPTION OF THE DRAWINGS
[0018] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments of the present application will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the drawings without paying creative work.
[0019] Figure 1 It is a stereoscopic diagram of a distance measuring device provided by an embodiment of the utility model from one viewing angle;
[0020] Figure 2 is a stereogram of another viewing angle of the distance measuring device provided by an embodiment of the utility model;
[0021] Figure 3 is an exploded diagram of a distance measuring device provided by an embodiment of the utility model;
[0022] Figure 4 is a cross-sectional view of a metalens provided by an embodiment of the utility model;
[0023] Figure 5 It is a schematic diagram of the structure of the micro-nano unit provided by the embodiment of the utility model;
[0024] Figure 6 This is a schematic diagram of the structure of the second driving electrode provided by an embodiment of the utility model;
[0025] Figure 7 This is a schematic diagram of the structure of a metalens provided by an embodiment of the utility model;
[0026] Figure 8 It is a structural schematic diagram of a launch assembly provided in an embodiment of the utility model.
[0027] The reference numerals in the specific implementation manner are as follows:
[0028] 1000. Distance measuring device;
[0029] 100. Install components;
[0030] 200, emitting component; 21, super lens; 211, base layer; 212, micro-nano unit; 213, driving member; 2131, first driving electrode; 2132, second driving electrode; 2133, driving circuit; 214, anti-reflection film; 215, filling medium; 22, housing; 221, base; 222, lens cover;
[0031] 300, receiving component; 31, receiving lens; 32, photoelectric sensor;
[0032] 400. Control circuit. DETAILED DESCRIPTION
[0033] In order to facilitate the understanding of the utility model, the utility model is described in more detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that when an element is described as "fixed to" another element, it can be directly on the other element, or there can be one or more centered elements therebetween. When an element is described as "connected to" another element, it can be directly connected to the other element, or there can be one or more centered elements therebetween. The terms "vertical", "horizontal", "left", "right" and similar expressions used in this specification are for illustrative purposes only.
[0034] Unless otherwise defined, all technical and scientific terms used in this specification have the same meaning as those commonly understood by technicians in the technical field of the present invention. The terms used in this specification are only for the purpose of describing specific embodiments and are not used to limit the present invention. The term "and / or" used in this specification includes any and all combinations of one or more related listed items.
[0035] As an important tool of measurement technology, the distance measuring device has been widely used in many fields, such as industrial inspection, topographic mapping, unmanned driving, aerospace, etc. The distance measuring device usually includes a transmitting component and a receiving component. The transmitting component is used to emit detection light outward. The emitted detection light enters the receiving component after being reflected by the obstacle. The receiving component converts the received detection light into an electrical signal carrying obstacle information; the transmitting component mainly includes a transmitter and a lens. The lens realizes the focusing or diverging function of the detection light emitted by the transmitter by constructing a curved surface. Lenses of different materials or shapes can achieve different optical effects on the detection light.
[0036] In order to make the output detection light obtain the desired optical effect (for example, adjusting a single-line laser to a multi-line laser, forming a single-point laser into a dot matrix laser, adjusting the field of view angle of the light, adjusting the energy distribution of the light, and adjusting the direction of the light), existing ranging devices often design the lens of the transmitting component to be a thicker curved surface or equip the transmitter with multiple different lenses. However, the thicker lens or multiple lenses require the transmitting component to be designed to be larger in size, which in turn makes the size of the ranging device larger.
[0037] The transmitting component of the ranging device of the embodiment of the present application adopts a superlens. By designing the structure of the micro-nano unit in the superlens (such as parameters such as shape, rotation direction and height), the detection light output by the ranging device can obtain the desired optical effect, without the need to design the superlens as a thicker curved surface or to match it with other additional lenses, which effectively saves the space of the transmitting component and thus reduces the volume of the ranging device.
[0038] In order to facilitate readers to understand the inventive concept of the present application, the specific structure of the distance measuring device is described below:
[0039] See also Figure 1-4The distance measuring device 1000 includes a mounting component 100, a transmitting component 200 and a receiving component 300. The transmitting component 200 is mounted on the mounting component 100. The transmitting component 200 includes a transmitter (not shown) and a super lens 21. The super lens 21 and the transmitter are arranged relative to each other. The transmitter is used to emit a detection light, and the detection light is output after passing through the super lens 21. The super lens 21 includes a base layer 211 and a micro-nano unit 212. The micro-nano unit 212 is arranged on the base layer 211. The micro-nano unit 212 can accurately control the parameters of the detection light (such as the polarization, phase and amplitude of the detection light), so as to adjust the parameters such as the emission position, emission direction, field angle range and number of laser lines of the detection light, so that the super lens 21 outputs the detection light with the required optical effect; the receiving component 300 is mounted on the mounting component 100, and the receiving component 300 is used to receive the detection light after being reflected by an external object. In this way, the ranging device 1000 only needs one metalens 21. By designing the structure of the micro-nano unit 212 in the metalens 21 (such as parameters such as shape, rotation direction and height), the detection light output by the ranging device 1000 can obtain the desired optical effect, without the need to design the metalens 21 as a thicker curved surface or to match other additional lenses, which effectively saves the space of the transmitting component 200 and reduces the volume of the ranging device 1000.
[0040] For the above-mentioned super lens 21, please also refer to Figure 5 The superlens 21 is a two-dimensional plane lens, which is made of an optical element that focuses light on a supersurface (a planar two-dimensional metamaterial with sub-wavelength thickness). There are many micro-nano units 212 (such as Figure 5 As shown in the figure, by adjusting the shape, rotation direction, height and other parameters of the micro-nano unit 212, the polarization, phase and amplitude of the light can be controlled, thereby adjusting the emission position, emission direction, field angle range and number of laser lines of the detection light, so as to adjust the detection light emitted by the transmitter to the required detection light. Compared with traditional lenses, the super lens 21 has the advantages of thinner volume, lighter weight, lower cost, better imaging and easier integration, which can make the transmitting component 200 with the super lens 21 more compact and integrated, thereby further reducing the volume of the distance measuring device 1000.
[0041] Furthermore, the super lens 21 also includes a driver 213, which is connected to the micro-nano unit 212, and the driver 213 is used to drive the micro-nano unit 212 to adjust the shape, rotation direction and height of the micro-nano unit 212, so as to adjust the polarization, phase and amplitude of the detection light output by the super lens 21, thereby adjusting the emission position, emission direction, field angle range and number of laser lines of the detection light. In this way, the user can adjust the parameters of the detection light emitted by the emission component 200 by simply adjusting the driver 213 of the super lens 21 without disassembling and replacing the transmitter, super lens 21 or emission component 200, thereby improving the simplicity of operation.
[0042] For the above-mentioned driving member 213, the driving member 213 includes a first driving electrode 2131, a second driving electrode 2132 and a driving circuit 2133. The first driving electrode 2131 and the second driving electrode 2132 are respectively arranged on both sides of the micro-nano unit 212. The driving circuit 2133 is respectively connected to the first driving electrode 2131 and the second driving electrode 2132. The driving circuit 2133 is used to output power to the first driving electrode 2131 and the second driving electrode 2132 to form a voltage difference between the first driving electrode 2131 and the second driving electrode 2132 to drive the micro-nano unit 212, so as to achieve stretching, compression and other operations on the micro-nano unit 212, and then adjust the position, shape, rotation direction, and / or height of the micro-nano unit 212. Parameters such as the emission position, emission direction, field of view angle range and the number of laser lines of the detection light are adjusted, so as to adjust the detection light emitted by the transmitter to the required detection light.
[0043] The adjustment of the detection light includes, but is not limited to: adjusting a single-line laser to a multi-line laser, forming a single-point laser into a dot matrix laser, adjusting the field of view angle of the light, adjusting the energy distribution of the light, and adjusting the direction of the light (for example, adjusting from a horizontal line laser to a vertical line laser, from one light ray to multiple parallel light rays, from one light ray to a cross line, and from multiple light rays to one light ray).
[0044] In some embodiments, the base layer 211, the first driving electrode 2131, the micro-nano unit 212 and the second driving electrode 2132 are stacked in sequence (eg, Figure 4As shown), that is, the first driving electrode 2131 and the second driving electrode 2132 are stacked on both sides of the micro-nano unit 212 along the thickness direction of the micro-nano unit 212. Because the thickness of the micro-nano unit 212 is generally small, the distance between the first driving electrode 2131 and the second driving electrode 2132 is relatively small at this time. In this way, a relatively stable voltage difference can be formed between the first driving electrode 2131 and the second driving electrode 2132, thereby driving the micro-nano unit 212 more sensitively; the first driving electrode 2131 and the second driving electrode 2132 can be made of transparent materials, so that the first driving electrode 2131 and the second driving electrode 2132 will not block the detection light. At this time, the first driving electrode 2131 and the second driving electrode 2132 can cover the surface of the micro-nano unit 212 in a large area or completely, so that the first driving electrode 2131 and the second driving electrode 2132 can drive most or all of the micro-nano units 212, thereby better adjusting the parameters of the detection light.
[0045] It can be understood that the positional relationship between the first driving electrode 2131 and the second driving electrode 2132 is not limited to the above-mentioned manner. For example, the micro-nano unit 212 is superimposed on the base layer 211, and the first driving electrode 2131 and the second driving electrode 2132 are bent and attached to the periphery of the micro-nano unit 212, and the first driving electrode 2131 and the second driving electrode 2132 are arranged opposite to each other. In this way, a voltage difference can be formed in the width direction of the micro-nano unit 212, thereby driving the micro-nano unit 212 in the width direction of the micro-nano unit 212; or, the first driving electrode 2131 and the second driving electrode 2132 are bent and attached to the periphery of the micro-nano unit 212. There are two driving electrodes 2131 and two second driving electrodes 2132. The first driving electrode 2131 and the second driving electrode 2132 are stacked on both sides of the micro-nano unit 212 along the thickness direction of the micro-nano unit 212. The first driving electrode 2131 and the second driving electrode 2132 are curved and relatively attached to the periphery of the micro-nano unit 212. In this way, a voltage difference can be formed in the thickness and width directions of the micro-nano unit 212 at the same time, thereby driving the micro-nano unit 212 in the thickness and width directions of the micro-nano unit 212 at the same time.
[0046] For further information, please also refer to Figure 6 In order to allow different parts of the micro-nano unit 212 to produce different changes, the second driving electrode 2132 can be multiple, and the multiple second driving electrodes 2132 are distributed in a ring shape at intervals on one side of the micro-nano unit 212 (such as Figure 6As shown in the figure), different voltage differences are formed in different parts of the micro-nano unit 212; further, the first driving electrode 2131 can be multiple, and the multiple first driving electrodes 2131 are distributed in a ring-shaped interval on the other side of the micro-nano unit 212, and the multiple first driving electrodes 2131 correspond to the multiple second driving electrodes 2132. It can be understood that the shape of the second driving electrode 2132 of the first driving electrode 2131 is not limited to a ring shape, for example, it can be a strip, a square or a circle.
[0047] For the above-mentioned drive circuit 2133, please also refer to Figure 7 When the base layer 211, the first driving electrode 2131, the micro-nano unit 212 and the second driving electrode 2132 are stacked in sequence, the driving circuit 2133 can be arranged on the side of the second driving electrode 2132 away from the micro-nano unit 212, so that the driving circuit 2133 is directly connected to the second driving electrode 2132 to better output power to the second driving electrode 2132. At the same time, the driving circuit 2133 can be electrically connected to the first driving electrode 2131 through a wire or solder to output power to the first driving electrode 2131 to regulate the voltage difference between the first driving electrode 2131 and the second driving electrode 2132; further, the driving circuit 2133 can be arranged in a ring shape near the edge of the second driving electrode 2132 (such as Figure 7 As shown), the possibility of the driving circuit 2133 blocking the detection light is reduced; it can be understood that the number and shape of the driving circuit 2133 are not limited. For example, the driving circuit 2133 can be split into multiple ones. The shape of the driving circuit 2133 can be strip-shaped, square-shaped or circular. Multiple driving circuits 2133 are arranged at intervals on the second driving electrode 2132. The multiple driving circuits 2133 are electrically connected through wires or solder. In this way, the area of each driving circuit 2133 can be smaller, reducing the proportion of each driving circuit 2133 blocking the detection light; the position of the driving circuit 2133 is also not limited. For example, the driving circuit 2133 can be arranged around the second driving electrode 2132 or the first driving electrode 2131. In this way, on the basis of conveniently supplying power to the second driving electrode 2132 or the first driving electrode 2131, the driving circuit 2133 will not block the detection light in the thickness direction of the super lens 21.
[0048] For the above-mentioned superlens 21, the superlens 21 also includes an anti-reflection film 214, which is mainly used to enhance the transmittance of the superlens 21; the anti-reflection film 214 is arranged between the base layer 211 and the micro-nano unit 212, and the superlens 21 has one side of the base layer 211 facing the emitter, so that the detection light can pass through the base layer 211, the anti-reflection film 214 and the micro-nano unit 212 in sequence, so that the reflection of the detection light from the base layer 211 into the micro-nano unit 212 can be reduced, and the transmission can be increased, so that the micro-nano unit 212 can receive more detection light. The principle of the anti-reflection film 214 is mainly based on the interference property of light. When light hits the interface of two transparent media, if the light is emitted from the optically dense medium to the optically sparse medium, total reflection may occur; and when the light is emitted from the optically sparse medium to the optically dense medium, the reflected light will have a half-wave loss; the design of the anti-reflection film 214 is to utilize this interference effect, by adjusting the thickness of the film layer, so that the optical path difference of the reflected light on both sides of the film is half a wavelength, thereby offsetting each other, reducing reflection, and increasing transmission. Further, the super lens 21 also includes a filling medium 215, and the filling medium 215 is filled in the gaps between the multiple micro-nano units 212 to protect the micro-nano units 212; in addition, the filling medium 215 can also be filled between the micro-nano unit 212 and the first driving electrode 2131 and / or the second driving electrode 2132 to provide a buffering effect when the first driving electrode 2131 and the second driving electrode 2132 drive the micro-nano unit 212.
[0049] For the above-mentioned transmitting component 200, the transmitting component 200 also includes a grating (not shown in the figure), which is arranged on the side of the superlens 21 away from the transmitter, and the transmitter, superlens 21 and grating are on the same straight line. The detection light emitted by the transmitter passes through the superlens 21 and the grating in sequence and is output. The grating can adjust the detection light passing through the superlens 21 again to achieve the array point detection light effect; it can be understood that the grating can be replaced with other optical devices, such as a prism or a glass slide, to meet other multi-scenario applications.
[0050] For further information, please also refer to Figure 8The transmitting assembly 200 further includes a housing 22, which is fixed to the mounting assembly 100. The housing 22 is provided with a receiving cavity, and the transmitter and the super lens 21 are both provided in the receiving cavity. The housing 22 can protect the transmitter and the super lens 21, and reduce the possibility of external objects directly colliding with the transmitter and the super lens 21. In addition, the housing 22 can also isolate external impurities such as dust layers to reduce the possibility of impurities being adsorbed on the transmitter and the super lens 21. Further, the housing 22 includes a base 221 and a lens cover 222, and the lens cover 222 is screwed to the base 221. The base 221 and the lens cover 222 jointly enclose the receiving cavity, the transmitter is provided on the base 221, and the super lens 21 is provided on the lens cover 222, so that the user can adjust the distance between the base 221 and the lens cover 222 by screwing, and then adjust the distance between the transmitter and the super lens 21.
[0051] For the above-mentioned ranging device 1000, the ranging device 1000 also includes a control circuit 400, which is arranged in the installation component 100, and the control circuit 400 is electrically connected to the transmitter, the driving component 213 and the receiving component 300 respectively. The user can adjust the driving component 213 through the control circuit 400, and then adjust the structure of the micro-nano unit 212, and then adjust the detection light output by the transmitting component 200.
[0052] For the above-mentioned receiving component 300, the receiving component 300 includes a receiving lens 31 and a photoelectric sensor 32. The photoelectric sensor 32 corresponds to the receiving lens 31. The photoelectric sensor 32 is electrically connected to the control circuit 400. The receiving lens is used to receive the detection light reflected by the external object. The photoelectric sensor 32 is used to convert the received detection light into an electrical signal and transmit it to the control circuit 400.
[0053] In an embodiment of the utility model, a distance measuring device 1000 includes an installation component 100, a transmitting component 200 and a receiving component 300; the transmitting component 200 is installed on the installation component 100, the transmitting component 200 includes a transmitter and a super lens 21, the super lens 21 and the transmitter are arranged relative to each other, the transmitter is used to emit a detection light, and the detection light is output after passing through the super lens 21, the super lens 21 includes a base layer 211 and a micro-nano unit 212, the micro-nano unit 212 is arranged on the base layer 211, and the micro-nano unit 212 can accurately control the parameters of the detection light (such as polarization, phase and amplitude of the detection light), so as to adjust the parameters such as the emission position, emission direction, field of view angle range and number of laser lines of the detection light, so that the super lens 21 outputs the detection light with the desired optical effect; the receiving component 300 is installed on the installation component 100, and the receiving component 300 is used to receive the detection light after being reflected by an external object. In this way, the ranging device 1000 only needs one metalens 21. By designing the structure of the micro-nano unit 212 in the metalens 21 (such as parameters such as shape, rotation direction and height), the detection light output by the ranging device 1000 can obtain the desired optical effect, without the need to design the metalens 21 as a thicker curved surface or to match other additional lenses, which effectively saves the space of the transmitting component 200 and reduces the volume of the ranging device 1000.
[0054] The utility model further provides a robot embodiment, the robot comprises the distance measuring device 1000 mentioned above, the function and structure of the distance measuring device 1000 can be referred to the above embodiment, and will not be described in detail here.
[0055] In order to facilitate readers to understand the utility model concept of the utility model, the specific application of the distance measuring device is described below:
[0056] In traditional single-line laser obstacle avoidance devices, due to the propagation characteristics of line lasers having a large field of view in a single direction and a narrow laser line width in another direction, in applications in the field of industrial robots or sweeping robots, their scanning range is related to the height and assembly of the structure, but there is a problem of blind spots in the field of close vision. The distance measuring device in this application can realize the regulation of the line laser beam through the driving component. For example, by controlling the micro-nano unit of the super lens through the driving circuit, multi-angle parallel multi-line lasers are realized, and angle scanning with a large field of view is realized, solving the problem of single-line lasers having scanning blind spots at close range of robots.
[0057] In addition, during the mapping or cleaning process of the sweeping robot, it is necessary to map the front of the fuselage or the upper side of the fuselage to avoid collision between the robot body and obstacles. Since the traditional line laser obstacle avoidance device cannot realize simultaneous scanning of the horizontal and vertical fields of view, the robot solution needs to use two or more line laser obstacle avoidance devices, which are placed horizontally and vertically. The ranging device of the present application adjusts the output of multi-mode lasers of the super lens through the driving circuit, switches the output to a cross-line laser, and realizes the two functions of the horizontal scanning obstacle avoidance device and the vertical scanning device at the same time, reducing costs and increasing controllability. If the sweeping robot reaches an environment with few obstacles, the multi-line laser can be switched to a single-line laser. Of course, the ranging device of the present application is not limited to the use scenario of line laser obstacle avoidance. By adjusting the micro-nano structure of the super lens, the light source can be adjusted to a dot matrix laser, and a structured light scanning device can be formed in conjunction with the sensor to realize three-dimensional mapping with a large field of view.
[0058] It should be noted that the preferred embodiments of the utility model are given in the specification and drawings of the utility model, but the utility model can be implemented in many different forms and is not limited to the embodiments described in the specification. These embodiments are not used as additional restrictions on the content of the utility model. The purpose of providing these embodiments is to make the understanding of the disclosure of the utility model more thorough and comprehensive. In addition, the above-mentioned technical features continue to be combined with each other to form various embodiments not listed above, which are all regarded as the scope of the description of the utility model; further, for ordinary technicians in this field, they can be improved or transformed according to the above description, and all these improvements and transformations should belong to the scope of protection of the claims attached to the utility model.
Claims
1. A distance measuring device, characterized in that: include: Install components; An emitting assembly is installed on the mounting assembly, the emitting assembly includes an emitter and a super lens, the super lens and the emitter are arranged relative to each other, the emitter is used to emit a detection light, the detection light is output after passing through the super lens, the super lens includes a base layer and a micro-nano unit, the micro-nano unit is arranged on the base layer, and the micro-nano unit is used to adjust the detection light output through the super lens; A receiving component is installed on the mounting component, and the receiving component is used to receive the detection light after being reflected by an external object.
2. The distance measuring device according to claim 1, characterized in that: The superlens also includes a driver connected to the micro-nano unit, and the driver is used to drive the micro-nano unit to adjust the detection light output through the superlens.
3. The distance measuring device according to claim 2, characterized in that: The driving element includes a first driving electrode, a second driving electrode and a driving circuit, wherein the first driving electrode and the second driving electrode are respectively arranged on both sides of the micro-nano unit, and the driving circuit is respectively connected to the first driving electrode and the second driving electrode, and the driving circuit is used to output power to the first driving electrode and the second driving electrode to form a voltage difference between the first driving electrode and the second driving electrode to drive the micro-nano unit to change the shape, and / or position, and / or direction of the micro-nano unit.
4. The distance measuring device according to claim 3, characterized in that: The base layer, the first driving electrode, the micro-nano unit and the second driving electrode are stacked in sequence, and the first driving electrode and the second driving electrode are made of transparent materials.
5. The distance measuring device according to claim 4, characterized in that: There are multiple second driving electrodes, and the multiple second driving electrodes are distributed in a ring shape at intervals on the surface of the micro-nano unit; and / or, There are multiple first driving electrodes, and the multiple first driving electrodes are distributed in a ring shape at intervals on the surface of the micro-nano unit.
6. The distance measuring device according to claim 3, characterized in that: The micro-nano unit is stacked on the base layer, the first driving electrode and the second driving electrode are attached to the periphery of the micro-nano unit in a curved shape, and the first driving electrode and the second driving electrode are arranged opposite to each other.
7. The distance measuring device according to claim 1, characterized in that: The superlens further includes an anti-reflection film, which is disposed between the base layer and the micro-nano unit, and the superlens has a side of the base layer facing the emitter.
8. The distance measuring device according to claim 1, characterized in that: The transmitting component also includes a grating, which is arranged on a side of the superlens away from the transmitter, and the transmitter, superlens and grating are on the same straight line. The detection light emitted by the transmitter passes through the superlens and the grating in sequence and is then output.
9. The distance measuring device according to claim 1, characterized in that: The transmitting assembly also includes a shell, which is fixed to the mounting assembly. The shell is provided with a receiving cavity, and the transmitter and the super lens are both arranged in the receiving cavity.
10. The distance measuring device according to claim 9, characterized in that: The shell includes a base and a lens cover, the lens cover is screwed to the base, the base and the lens cover together enclose the accommodating cavity, the transmitter is arranged on the base, and the super lens is arranged on the lens cover.
11. The distance measuring device according to any one of claims 1 to 10, characterized in that: The distance measuring device also includes a control circuit, which is arranged on the mounting component and is electrically connected to the transmitter, the super lens and the receiving component respectively.
12. A robot, characterized in that: Comprising a distance measuring device as claimed in any one of claims 1-11.