Distance measuring device and robot

Abstract

The utility model relates to the technical field of robots, in particular to a distance measuring device which comprises a mounting assembly, a transmitting assembly and a receiving assembly, the transmitting assembly comprises a transmitter and a first reflecting piece, the transmitter and the first reflecting piece are both arranged on the mounting assembly, the transmitter corresponds to the first reflecting piece, and the receiving assembly is arranged on the mounting assembly. Measurement light emitted by the emitter has an emission optical axis, the receiving assembly comprises a receiver, a second reflection piece and a receiving lens, the receiver and the second reflection piece are both arranged on the installation assembly, and the emission optical axis and the central axis of the receiving lens are collinearly arranged. When the distance measuring device is used, the emitter emits measuring light to the first reflecting piece, the first reflecting piece reflects the measuring light to the outside, when the measuring light encounters an obstacle in the outside, the obstacle reflects the measuring light to the second reflecting piece, and then the second reflecting piece reflects the measuring light to the receiving lens. The measuring light passes through the receiving lens capable of focusing and then is emitted to the receiver, and the receiver receives the measuring light, so that distance measurement is realized.

Description

Technical Field

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

[0002] In the prior art, a radar includes an installation component, a transmitting component, a receiving component and a reflector. The transmitting component, the receiving component and the reflector are all arranged on the installation component. When the radar works, the transmitting component emits measuring light, which is reflected by the reflector to the outside world. When the measuring light encounters an obstacle, the obstacle reflects the measuring light back to the reflector, and the reflector further reflects it to the receiving component, thereby realizing ranging.

[0003] However, in the process of implementing the present utility model, the inventor found that: the reflector not only reflects the measuring light emitted by the transmitting component to the outside world, but also reflects the measuring light reflected back from the outside world to the receiving component, resulting in stray light interference on the reflector and affecting the ranging accuracy of the radar. For example, some of the measuring light emitted by the transmitting component is reflected by the reflector to the receiving component, resulting in inaccurate ranging data of the radar. Summary of the Utility Model

[0004] The present utility model provides a ranging device, which can reduce the interference of stray light and improve the ranging accuracy of the ranging device.

[0005] To solve the above technical problems, a technical solution adopted by the present utility model is: to provide a ranging device, including an installation component; a transmitting component, including a transmitter and a first reflector, both the transmitter and the first reflector are arranged on the installation component, the transmitter corresponds to the first reflector, the transmitter is used to emit measuring light to the first reflector, so that the first reflector reflects the measuring light to the outside world, and the measuring light emitted by the transmitter has an emission optical axis; a receiving component, including a receiver, a second reflector and a receiving lens, both the receiver and the second reflector are arranged on the installation component, and the emission optical axis is collinear with the central axis of the receiving lens; wherein, when the measuring light encounters an obstacle in the outside world, the obstacle reflects the measuring light to the second reflector, and the second reflector further reflects the measuring light to the receiving lens, and the measuring light passes through the receiving lens capable of focusing processing and then shoots towards the receiver, and the receiver receives the measuring light.

[0006] Optionally, the mounting assembly includes a base and a rotating assembly. The rotating assembly is rotatably connected to the base. The transmitter and the receiver are disposed on the base, and the first reflector and the second reflector are disposed on the rotating assembly. The ranging device further includes a driving assembly for driving the rotating assembly to rotate relative to the base. Along the direction of the rotation axis of the rotating assembly, the first reflector, the second reflector, the transmitter, and the receiver are sequentially arranged at intervals.

[0007] Optionally, both the first reflector and the second reflector have a reflection plane. The reflection plane of the first reflector and the reflection plane of the second reflector both form an angle with the rotation axis of the rotating assembly, and the angle is an acute angle.

[0008] Optionally, the reflection plane of the first reflector is parallel to the reflection plane of the second reflector.

[0009] Optionally, the mounting assembly is provided with a light output channel. The light output channel includes a first channel and a second channel that are connected and communicate with each other. The first reflector is disposed at one end of the second channel, and the transmitter is located at the other end of the second channel. The measurement light emitted by the transmitter passes through the second channel and is incident on the first reflector. The first reflector reflects the measurement light, and the measurement light passes through the first channel and then is incident on the outside.

[0010] Optionally, the first channel is disposed on the rotating assembly, and the second channel is disposed on the base or the rotating assembly. The first channel and the second channel are perpendicularly arranged.

[0011] Optionally, the transmitting assembly further includes a transmitting lens. The transmitting lens is disposed in the first channel or the second channel and is used to keep the measurement light emitted by the transmitter straight.

[0012] Optionally, the mounting assembly is provided with a third channel. The light output channel and the second reflector are disposed in the third channel. The receiving assembly is provided with a fourth channel. The fourth channel is connected and communicates with the third channel and is perpendicularly arranged. The receiver is disposed in the fourth channel, and the receiving lens is disposed in the third channel or the fourth channel. The measurement light reflected back by an external obstacle passes through the third channel and is incident on the second reflector. The second reflector then reflects the measurement light to the fourth channel, and the measurement light passes through the fourth channel and is incident on the receiver.

[0013] Optionally, the installation component includes an adjustment frame; the adjustment frame includes a first enclosure wall, a second enclosure wall, and a third enclosure wall connected in sequence, and the first enclosure wall, the second enclosure wall, and the third enclosure wall jointly enclose to form the third channel.

[0014] Optionally, the second reflector is provided with an avoidance hole, and the first channel and / or the second channel penetrate through the avoidance hole.

[0015] Optionally, the second reflector is in a U shape, an H shape, or an n shape.

[0016] To solve the above technical problems, a technical solution adopted by the present utility model is: to provide a robot including the above distance measuring device.

[0017] The beneficial effects of the embodiments of the present application are: to provide a distance measuring device including an installation component, a transmitting component, and a receiving component. The transmitting component includes a transmitter and a first reflector. Both the transmitter and the first reflector are arranged on the installation component, and the transmitter corresponds to the first reflector. The measuring light emitted by the transmitter has an emission optical axis. The receiving component includes a receiver, a second reflector, and a receiving lens. Both the receiver and the second reflector are arranged on the installation component, and the emission optical axis is collinear with the central axis of the receiving lens. When using the distance measuring device, the transmitter is used to emit measuring light to the first reflector, so that the first reflector reflects the measuring light to the outside. When the measuring light encounters an obstacle in the outside world, the obstacle reflects the measuring light to the second reflector, and the second reflector then reflects the measuring light to the receiving lens. The measuring light passes through the receiving lens capable of focusing processing and then shoots towards the receiver, and the receiver receives the measuring light, thereby realizing distance measurement. Compared with the prior art, the path of the measuring light emitted from the transmitting component to the outside does not overlap and does not interfere with the path of the measuring light reflected back by the external obstacle, thereby improving the measurement accuracy of the distance measuring device. Description of the Drawings

[0018] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required to be used in the embodiments of the present application will be briefly introduced below. Obviously, the following described drawings are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained according to the drawings without creative efforts.

[0019] Figure 1 is a perspective view of the distance measuring device provided by the present utility model;

[0020] Figure 2 is a sectional view of the distance measuring device provided by the present utility model;

[0021] Figure 3 is an exploded view of a part of the internal structure of the distance measuring device provided by the present utility model;

[0022] Figure 4 It is an exploded view of the rotating member, the transmitting assembly and the adjusting frame of the distance measuring device provided by the present utility model;

[0023] Figure 5 It is a view of the transmitting assembly of the distance measuring device provided by the present utility model installed on the adjusting frame.

[0024] Reference numerals:

[0025] 100, distance measuring device;

[0026] 10, transmitting assembly; 11, transmitter; 12, first reflector; 13, transmitting frame; 14, transmitting lens;

[0027] 20, receiving assembly; 21, receiver; 22, second reflector; 23, receiving lens; 24, receiving frame; 24a, lens groove; 20a, fourth channel; 22a, first avoidance hole; 22b, second avoidance hole;

[0028] 30, mounting assembly; 31, base; 32, rotating assembly; 30a, light emitting channel; 30b, third channel; 34, elastic member; 311, base; 312, outer cover; 321, rotating member; 322, adjusting frame; 30a1, first channel; 30a2, second channel; 341, elastic arm; 342, convex part; 321a, second annular groove; 321b, rotating teeth; 3221, first surrounding wall; 3222, second surrounding wall; 3223, third surrounding wall; 3224, inclined wall; 3225, first cylindrical member; 3226, second cylindrical member; 35, bearing;

[0029] 40, control mechanism; 41, circuit board; 42, angle detection assembly;

[0030] 50, drive mechanism; 51, drive member; 52, driving wheel; 53, belt; 52a, first annular groove. Detailed implementation manners

[0031] For the convenience of understanding the present utility model, the present utility model will be described in more detail below with reference to the accompanying drawings and specific embodiments. It should be noted that when an element is expressed as "fixed to" another element, it can be directly on the other element, or there can be one or more intermediate elements therebetween. When an element is expressed as "connected to" another element, it can be directly connected to the other element, or there can be one or more intermediate elements therebetween. The terms "vertical", "horizontal", "left", "right" and similar expressions used in this specification are only for the purpose of illustration.

[0032] Unless otherwise defined, all technical and scientific terms used in this specification have the same meaning as commonly understood by those of ordinary skill in the technical field to which this utility model pertains. The terms used in this specification in the description of the utility model are only for the purpose of describing specific embodiments and are not intended to limit the utility model. The term "and / or" used in this specification includes any and all combinations of one or more of the related listed items.

[0033] Please refer to Figure 1 - Figure 2 , the ranging device 100 includes a transmitting component 10, a receiving component 20, a mounting component 30, and a control mechanism 40. The transmitting component 10, the receiving component 20, and the control mechanism 40 are all disposed on the mounting component 30. When using the ranging device 100, the transmitting component 10 emits measurement light to the outside. When the measurement light encounters an obstacle in the outside world, the obstacle in the outside world reflects the measurement light to the receiving component 20. The control mechanism 40 processes the electrical signal of the measurement light emitted from the transmitting component 10 and the electrical signal of the measurement light received by the receiving component 20, thereby outputting ranging information and then achieving ranging.

[0034] For the above-mentioned transmitting component 10, please refer to Figure 2 - Figure 3 , the transmitting component 10 includes a transmitter 11 and a first reflector 12. The transmitter 11 and the first reflector 12 are both disposed on the mounting component 30, and the transmitter 11 corresponds to the first reflector 12. The transmitter 11 is used to generate measurement light. The measurement light emitted by the transmitter 11 has an emission optical axis and emits the measurement light to the first reflector 12. The first reflector 12 reflects the measurement light emitted by the transmitter 11 to the outside.

[0035] For the above-mentioned first reflector 12, the first reflector 12 has a reflection plane. When the measurement light is incident on the reflection plane of the first reflector 12, the reflection plane reflects the measurement light out, and the measurement light reflected by the reflection plane is in a ray shape. An angle is formed between the first reflector 12 and the measurement light reflected by the first reflector 12 to the outside, and the angle is an acute angle.

[0036] The above-mentioned transmitting component 10 further includes a transmitting lens 14. The transmitting lens 14 is disposed on the mounting component 30. The transmitting lens 14 is used to keep the measurement light emitted by the transmitter 11 straight, so as to reduce the risk of the measurement light emitted by the transmitter 11 deviating.

[0037] For the above-mentioned receiving component 20, please refer to Figure 2 - Figure 3, the receiving component 20 includes a receiver 21, a second reflector 22, and a receiving bracket 24. The receiving bracket 24 and the second reflector 22 are arranged on the mounting component 30, and the receiver 21 corresponds to the second reflector 22. The measurement light reflected back by the external reflection is reflected to the second reflector 22, and the second reflector 22 then reflects the measurement light to the receiver 21, and the receiver 21 receives the measurement light. An angle is formed between the second reflector 22 and the measurement light reflected back by the external obstacle, and the angle is an acute angle.

[0038] The above-mentioned receiver 21 is a light-sensing component and can adopt a cmos / ccd / SPAD image sensor.

[0039] The above-mentioned second reflector 22 has a reflection plane. When the measurement light is incident on the reflection plane of the second reflector 22, the reflection plane of the second reflector 22 reflects the measurement light, and the measurement light reflected by the reflection plane is in a ray shape. An angle is formed between the reflection plane of the second reflector 22 and the measurement light reflected back by the external obstacle, and the angle is an acute angle, for example: 45 degrees.

[0040] The above-mentioned receiving component 20 further includes a receiving lens 23. The receiving lens 23 is arranged at one end of the receiving bracket 24, and the receiver 21 is located at the other end of the receiving bracket 24. The receiving lens 23 is used to focus the measurement light reflected from the external obstacle to the receiver 21 and reduce the dispersion of the measurement light. Specifically, the receiving bracket 24 is provided with a communicating lens groove 24a and a through hole (not shown in the figure). The through hole is arranged at the bottom of the lens groove 24a and communicates with the lens groove 24a. The receiver 21 corresponds to the through hole. The receiving lens 23 is slidably arranged in the lens groove 24a, and the receiving lens 23 can slide along the lens groove 24a to achieve focusing.

[0041] For the above-mentioned mounting component 30, please refer to Figure 3 - Figure 5 , the mounting component 30 is provided with a light output channel 30a. The first reflector 12 reflects the measurement light towards the light output channel 30a. After passing through the light output channel 30a, the measurement light is emitted to the outside. The light output channel 30a can independently isolate the measurement light from the measurement light reflected back by the external obstacle or other interference light signals, reduce the interference of other light signals received by the receiver 21, and improve the ranging data of the ranging device 100.

[0042] The above-mentioned light output channel 30a includes a first channel 30a1 and a second channel 30a2 arranged vertically. The first reflector 12 is arranged at one end of the second channel 30a2. The other end of the second channel 30a2 corresponds to the emission lens 14 of the mounting emission bracket 13. The emitter 11 and the emission lens 14 are arranged at the other end of the second channel 30a2. The measurement light emitted by the emitter 11 passes through the second channel 30a2 and is emitted to the second reflector 22. The second reflector 22 reflects the measurement light, and the measurement light passes through the first channel 30a1 and is emitted to the outside.

[0043] In some embodiments, the emission lens 14 is disposed in the first channel 30a1. Compared with the emission lens 14 being disposed in the second channel 30a2, the distance between the first reflector 12 and the emitter 11 can be reduced, so that the height of the ranging device 100 can be effectively reduced, and the ranging device 100 can be made smaller in size and more miniaturized.

[0044] In some embodiments, the mounting assembly 30 is further provided with a third channel 30b, and the light-emitting channel 30a and the second reflector 22 are disposed in the third channel 30b.

[0045] The above-mentioned mounting assembly 30 includes a base 31 and a rotating assembly 32. The rotating assembly 32 is rotatably connected to the base 31. The light-emitting channel 30a and the third channel 30b are both disposed in the rotating assembly 32. The emitter 11 and the receiver 21 are disposed on the base 31. The first reflector 12 and the second reflector 22 are disposed in the rotating assembly 32. By driving the rotating assembly 32 to rotate relative to the base 31, the first reflector 12 and the second reflector 22 rotate synchronously with the rotating assembly 32, so that the measurement light reflected by the first reflector 12 circulates along the rotation axis of the rotating assembly 32, thereby realizing 360-degree scanning of the ranging device 100. In addition, the rotating assembly 32 rotates relative to the base 31 so that the rotating assembly 32 forms a rotation central axis and a rotation plane, and the rotation central axis is perpendicular to the rotation plane. Both the first reflector 12 and the second reflector 22 form an angle with the rotation plane of the rotating assembly 32, and the angle is an acute angle, for example: 45 degrees. The first reflector 12 rotates relative to the base 31 to form a rotation plane and a rotation central axis that are perpendicular to each other. The rotation plane of the first reflector 12 is parallel to the rotation plane of the rotating assembly 32. The rotation central axis of the first reflector 12 is parallel to the rotation central axis of the rotating assembly 32. And the measurement light reflected by the first reflector 12 to the outside has a reflected optical axis. Both the reflection plane of the first reflector 12 and the reflection plane of the second reflector 22 form an angle with the reflected optical axis, and the angle is an acute angle. The central axis of the emission lens 14 is parallel to the emission optical axis. The second reflector 22 rotates relative to the base 31 to form a rotation plane and a rotation central axis that are perpendicular to each other. The rotation plane of the second reflector 22 is parallel to the rotation plane of the rotating assembly 32. The rotation central axis of the second reflector 22 is parallel to the rotation central axis of the rotating assembly 32. The central axis of the receiving lens 23 is parallel to the rotation central axis of the second reflector 22.

[0046] In some embodiments, the first reflector 12 and the second reflector 22 are arranged in parallel.

[0047] In some embodiments, the rotation central axis of the first reflector 12 is collinearly arranged with the rotation central axis of the rotating assembly 32.

[0048] In some embodiments, the central axis of the emission lens 14 is collinear with the emission optical axis.

[0049] In some embodiments, the rotation central axis of the second reflector 22 is collinear with the rotation central axis of the rotation assembly 32.

[0050] In some embodiments, the central axis of the receiving lens 23 is collinear with the rotation central axis of the second reflector 22.

[0051] In some embodiments, the rotation central axis of the first reflector 12, the central axis of the receiving and emitting lens 14, the emission optical axis, the rotation central axis of the second reflector 22, the central axis of the receiving lens 23, and the central axis of the receiver 21 are collinear.

[0052] In some embodiments, along the axial direction of the rotation assembly 32, the first reflector 12, the second reflector 22, the emitter 11, and the receiver 21 are sequentially arranged at intervals.

[0053] For the above-mentioned base 31, please refer to Figure 2 - Figure 3 , the base 31 includes a base 311 and an outer cover 312. The outer cover 312 is connected to the base 311, the rotation assembly 32 is rotatably connected to the base 311, both the receiver 21 and the emitter 11 are arranged on the base 311, and the outer cover 312 covers the emission assembly 10 and the receiving assembly 20. The emitter 11 is electrically connected to the control mechanism 40 through a wire. Of course, the emitter 11 can also be powered wirelessly. For example, the ranging device 100 further includes a first coil and a second coil. The first coil is arranged on the control mechanism 40 and is electrically connected to the control mechanism 40. The second coil is arranged on the emitter 11 and is electrically connected to the emitter 11. When a current is passed through the first coil, the first coil emits a magnetic field, and the second coil receives the magnetic field and induces a current to supply power to the emitter 11. When realizing wireless power supply for the emitter 11, the fixed position of the emitter 11 is not limited. The above-mentioned outer cover 312 plays a role in waterproofing and dustproofing. The outer cover 312 is provided with a cover cavity. The outer cover 312 covers the emission assembly 10 and the receiving assembly 20, and the outer cover 312 has a protective effect on the covered components.

[0054] The outer cover 312 is generally made of a light-transmitting material and a diffuse reflection material. When the outer cover 312 is made of a light-transmitting material, the first channel 30a1 extends towards the inner wall of the outer cover 312, and the first channel 30a1 is disposed adjacent to the outer cover 312. When the emitting assembly 10 emits the measurement light, the measurement light passes through the outer cover 312 and irradiates the outside world. Part of the measurement light is reflected by the outer cover 312. When the first channel 30a1 extends to the outer cover 312, the side wall of the first channel 30a1 can block the measurement light reflected by the outer cover 312, reducing the outer cover 312 from allowing part of the measurement light to enter the first light-emitting channel 30a again, thereby reducing the interference of stray light. When the outer cover 312 is made of a diffuse reflection material, the outer cover 312 is provided with an opening (not shown in the figure), and the opening communicates with the cover cavity. The first light-emitting channel 30a corresponds to the opening. When the emitting assembly 10 emits the measurement light, the measurement light passes through the opening of the outer cover 312 and then irradiates the outside world, and the outer cover 312 absorbs the measurement light that has deviated.

[0055] For the above-mentioned rotating assembly 32, please refer to Figure 2 - Figure 4 , the rotating assembly 32 includes a rotating member 321 and an adjusting frame 322. The rotating member 321 is rotatably connected to the base 311 through a bearing 35. The adjusting frame 322 is mounted on the rotating member 321. The first reflector 12 and the second reflector 22 are both disposed on the adjusting frame 322. By driving the rotating member 321 to rotate relative to the base 311, the adjusting frame 322 rotates synchronously with the rotating member 321, thereby realizing the rotation of the first reflector 12 and the second reflector 22.

[0056] For the above-mentioned adjusting frame 322, please refer to Figure 3 - Figure 5 , the adjusting frame 322 includes a first surrounding wall 3221, a second surrounding wall 3222, and a third surrounding wall 3223 that are sequentially connected. Along the direction of the second surrounding wall 3222 towards the first surrounding wall 3221, part of the second surrounding wall 3222 inclines towards the first surrounding wall 3221 to form an inclined wall 3224. The first reflector 12 is disposed on the inclined wall 3224, so that the first reflector 12 is stably mounted on the adjusting frame 322. In addition, the first surrounding wall 3221, the second surrounding wall 3222, and the third surrounding wall 3223 jointly enclose to form a third channel 30b. Along the direction of the second surrounding wall 3222 towards the first surrounding wall 3221, a first cylinder member 3225 protrudes from the second surrounding wall 3222. The first cylinder member 3225 is located in the third channel 30b. The second channel 30a2 is disposed in the first cylinder member 3225. Along the direction perpendicular to the second channel 30a2, the first cylinder member 3225 extends a second cylinder member 3226. The first channel 30a1 is disposed in the second cylinder member 3226. The second cylinder member 3226 is located in the third channel 30b.

[0057] It should be noted that the receiving component 20 is provided with a fourth channel 20a. The third channel 30b is communicated with and vertically arranged with the fourth channel 20a. The receiver 21 is arranged in the fourth channel 20a. The measurement light reflected back by the external obstacle passes through the third channel 30b and then shoots towards the second reflector 22. The second reflector 22 then reflects the measurement light to the fourth channel 20a. The measurement light passes through the fourth channel 20a and then shoots towards the receiver 21.

[0058] In some embodiments, the receiving lens 23 is arranged in the third channel 30b. Compared with the receiving lens 23 being arranged in the fourth channel 20a, the distance between the first reflector 12 and the receiver 21 can be reduced, so that the height of the ranging device 100 can be effectively reduced, and the ranging device 100 can be made smaller in size and more miniaturized.

[0059] In some embodiments, the above-mentioned adjusting frame 322 is rotatably connected to the rotating member 321, so that the adjusting frame 322 rotates to form a rotating plane, and the rotating plane of the adjusting frame 322 is perpendicular to the rotating plane of the rotating member 321. Please refer to Figure 5 , by providing a threaded hole 311a in the base 311, a through hole 322a in the adjusting frame 322, the mounting assembly 30 further includes a bolt (not shown in the figure) and an elastic member 34. One end of the elastic member 34 is connected to the adjusting frame 322, the other end of the elastic member 34 is connected to the base 311, and the elastic member 34 is adjacent to the through hole 322a. The bolt passes through the through hole 322a and is screwed into the threaded hole 311a. By driving the bolt to rotate with a manual tool, the adjusting frame 322 is moved towards or away from the base 311. When the adjusting frame 322 moves towards the base 311, the elastic member 34 generates an elastic force to resist the movement of the adjusting frame 322 towards the base 311. It can be understood that the adjusting frame 322 always abuts against the nut of the bolt, thereby ensuring the adjustment accuracy of the adjusting frame 322.

[0060] Optionally, in some embodiments, the base 311 protrudes with an interference portion 3111. The elastic member 34 includes an elastic arm 341 and a convex portion 342. One end of the elastic arm 341 is fixed to the adjusting frame 322, the convex portion 342 is fixed to the other end of the elastic arm 341, the convex portion 342 abuts against the interference portion 3111, and the elastic arm 341 deforms. When driving the adjusting frame 322 to move towards the base 311, the elastic arm 341 elastically deforms in the direction away from the base 311, and the elastic arm 341 generates an elastic force. The elastic force of the elastic arm 341 can resist the movement of the adjusting frame 322 towards the base 311, so that the adjusting frame 322 always abuts against the nut of the bolt, thereby ensuring the adjustment accuracy of the adjusting frame 322.

[0061] Optionally, the elastic member 34 is a spring.

[0062] In some embodiments, the second reflector 22 is provided with a first avoidance hole 22a, and the second cylinder 3226 is inserted into the first avoidance hole 22a. The first avoidance hole 22a is used to avoid the second cylinder 3226. It can be understood that the first channel 30a1 penetrates through the first avoidance hole 22a. The second reflector 22 provided with the first avoidance hole 22a is in an n shape or a u shape.

[0063] In some other embodiments, the second reflector 22 is further provided with a second avoidance hole 22b. The first avoidance hole 22a and the second avoidance hole 22b are spaced apart. The first cylinder 3225 is inserted into the second avoidance hole 22b to avoid the first cylinder 3225. It can be understood that the second channel 30a2 penetrates through the second avoidance hole 22b. The second reflector 22 provided with the first avoidance hole 22a and the second avoidance hole 22b is in an H shape. The second reflector 22 is provided with avoidance holes for the purpose of miniaturizing the distance measuring device 100 to overcome the problem of insufficient distance between the transmitter 11 and the first reflector 12.

[0064] The above-mentioned distance measuring device 100 further includes a driving mechanism 50. Please refer to Figure 2 - Figure 3 , the driving mechanism 50 is connected to the rotating member 321. The driving mechanism 50 can drive the rotating member 321 to rotate so that the rotating member 321 rotates relative to the base 31. The driving mechanism 50 includes a motor, and the driving shaft of the motor is connected to the rotating member 321. By passing an electric current into the motor, the motor drives the rotating member 321 to rotate.

[0065] In some embodiments, the driving mechanism 50 includes a driving member 51, a driving wheel 52, and a belt 53. The driving member 51 is connected to the driving wheel 52. The driving wheel 52 is provided with a first annular groove 52a. The outer surface of the rotating member 321 is provided with a second annular groove 321a. One end of the belt 53 is sleeved on the first annular groove 52a, and the other end of the belt 53 is sleeved on the second annular groove 321a. The driving member 51 can drive the driving wheel 52 to rotate so that the driving wheel 52 drives the belt 53 to move, and further drives the rotating member 321 to rotate relative to the base 31. The driving member 51 is a motor.

[0066] In some embodiments, the driving member 51 can be a brushless motor. The stator of the brushless motor is arranged on the base 31, and the rotor is arranged on the rotating assembly 32.

[0067] For the above control mechanism 40, please refer to Figure 3 - Figure 4 , the control mechanism 40 includes a controller (not shown in the figure) and a circuit board 41. The circuit board 41 is fixed to the base 31, and both the transmitter 11 and the receiver 21 are electrically connected to the controller.

[0068] In some embodiments, an angle detection component 42 is provided on the circuit board 41. The angle detection component 42 is used to emit an optical signal. Along the circumferential direction of the rotation center axis of the rotating member 321, a plurality of rotating teeth 321b are provided on the rotating member 321. The plurality of rotating teeth 321b are arranged at intervals, and the rotating teeth 321b can block the optical signal so that the optical signal is incident on the rotating teeth 321b. The angle detection component 42 realizes the function of angle detection by counting the number of times the rotating teeth 321b block the optical signal.

[0069] In an embodiment of the present application, a ranging device 100 is provided, which includes a transmitting component 10, a receiving component 20, and a mounting component 30. The transmitting component 10 includes a transmitter 11 and a first reflector 12. Both the transmitter 11 and the first reflector 12 are arranged on the mounting component 30. The first reflector 12 is arranged in the light-emitting channel 30a. The transmitter 11 corresponds to the first reflector 12. The measurement light emitted by the transmitter 11 has an emission optical axis. The receiving component 20 includes a receiver 21, a second reflector 22, and a receiving lens 23. Both the receiver 21 and the second reflector 22 are arranged on the mounting component 30, and the emission optical axis is parallel to the central axis of the receiving lens 23. When using the ranging device 100, the transmitter 11 is used to emit measurement light to the first reflector 12, so that the first reflector 12 reflects the measurement light to the outside. When the measurement light encounters an obstacle in the outside world, the obstacle reflects the measurement light to the second reflector 22, and the second reflector 22 then reflects the measurement light to the receiving lens 23. The measurement light passes through the receiving lens 23 that can perform focusing processing and then irradiates the receiver 21. The receiver 21 receives the measurement light, thereby realizing ranging. Compared with the prior art, the path of the measurement light emitted from the transmitting component 10 to the outside does not overlap and does not interfere with the path of the measurement light reflected back by the external obstacle, thereby improving the measurement accuracy of the ranging device 100.

[0070] The present utility model also provides a robot embodiment. The robot includes the above-mentioned ranging device 100. For the specific structure and function of the ranging device 100, reference can be made to the above embodiments, and details will not be repeated here.

[0071] It should be noted that the description and drawings of the present utility model give preferred embodiments of the present utility model. However, the present utility model can be implemented in many different forms and is not limited to the embodiments described in this specification. These embodiments are not additional limitations to the content of the present utility model. The purpose of providing these embodiments is to make the understanding of the disclosed content of the present utility model more thorough and comprehensive. Furthermore, the above technical features continue to be combined with each other to form various embodiments not listed above, which are all regarded as within the scope described in the description of the present utility model; further, for those of ordinary skill in the art, improvements or changes can be made according to the above description, and all such improvements and changes should fall within the protection scope of the appended claims of the present utility model.

Claims

1. A ranging device, characterized in that, Comprising: An installation component; A transmitting component, including a transmitter and a first reflector, both the transmitter and the first reflector are arranged on the installation component, the transmitter corresponds to the first reflector, the transmitter is used to emit measurement light to the first reflector, so that the first reflector reflects the measurement light to the outside, and the measurement light emitted by the transmitter has an emission optical axis; A receiving component, including a receiver, a second reflector and a receiving lens, both the receiver and the second reflector are arranged on the installation component, and the emission optical axis is collinear with the central axis of the receiving lens; Wherein, when the measurement light encounters an obstacle in the outside world, the obstacle reflects the measurement light to the second reflector, and the second reflector then reflects the measurement light to the receiving lens, and the measurement light passes through the receiving lens capable of focusing processing and then shoots towards the receiver, and the receiver receives the measurement light.

2. The distance measuring device according to claim 1, characterized in that The installation component includes a base and a rotating component, the rotating component is rotatably connected to the base, the transmitter and the receiver are arranged on the base, and the first reflector and the second reflector are arranged on the rotating component; The distance measuring device further includes a driving component, and the driving component is used to drive the rotating component to rotate relative to the base; Along the direction of the rotation axis of the rotating component, the first reflector, the second reflector, the transmitter and the receiver are sequentially arranged at intervals.

3. The distance measuring device according to claim 2, characterized in that Both the first reflector and the second reflector have a reflection plane, and the reflection plane of the first reflector and the reflection plane of the second reflector both form an angle with the rotation axis of the rotating component, and the angle is an acute angle.

4. The distance measuring device according to claim 3, characterized in that The reflection plane of the first reflector and the reflection plane of the second reflector are parallel to each other.

5. The distance measuring device according to claim 4, characterized in that The installation component is provided with a light output channel, the light output channel includes a first channel and a second channel that are connected and communicated, the first reflector is arranged at one end of the second channel, the transmitter is located at the other end of the second channel, the measurement light emitted by the transmitter passes through the second channel and shoots towards the first reflector, and the first reflector reflects the measurement light, and the measurement light passes through the first channel and then shoots towards the outside.

6. The ranging device according to claim 5, wherein, The first channel is arranged on the rotating component, and the second channel is arranged on the base or the rotating component; the first channel is perpendicular to the second channel.

7. The distance measuring device according to claim 5, characterized in that The transmitting component further includes a transmitting lens, and the transmitting lens is arranged in the first channel or the second channel, and the transmitting lens is used to keep the measurement light emitted by the transmitter straight.

8. The distance measuring device according to claim 5, characterized in that The mounting component is provided with a third channel, and the light-emitting channel and the second reflector are arranged in the third channel; The receiving component is provided with a fourth channel, the fourth channel is communicated with and perpendicular to the third channel, the receiver is arranged in the fourth channel, the receiving lens is arranged in the third channel or the fourth channel, and the measurement light reflected back by an external obstacle passes through the third channel and then shoots towards the second reflector, and the second reflector reflects the measurement light to the fourth channel, and the measurement light passes through the fourth channel and then shoots towards the receiver.

9. The ranging device according to claim 8, wherein The mounting component includes an adjusting bracket; The adjusting bracket includes a first surrounding wall, a second surrounding wall and a third surrounding wall which are connected in sequence, and the first surrounding wall, the second surrounding wall and the third surrounding wall jointly enclose to form the third channel.

10. The ranging device according to claim 6, wherein The second reflector is provided with an avoidance hole, and the first channel and / or the second channel penetrate through the avoidance hole.

11. The ranging device according to any one of claims 1-10, wherein The second reflector is in a U shape, an H shape or an n shape.

12. A robot, characterized in that, Comprising the ranging device according to any one of claims 1-11.

Images