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 receiving assembly comprises a receiver and a first reflecting piece, and the receiver and the first reflecting piece are both arranged on the mounting assembly; the transmitting assembly comprises a transmitter and a second reflecting piece, and the transmitter and the second reflecting piece are both arranged on the mounting assembly; wherein the emitter is used for generating measuring light and emitting the measuring light to the second reflecting piece, the second reflecting piece reflects the measuring light to the outside, when the measuring light encounters a detection object in the outside, the detection object reflects the measuring light to the first reflecting piece, the first reflecting piece reflects the measuring light to the receiver, and the receiver receives the measuring light. Compared with the prior art, the emission light path of the measurement light emitted from the emitter to the outside and the receiving light path of the measurement light reflected from the outside detection object to the receiving assembly do not interfere with each other and are not overlapped, so that the measurement precision of the distance measuring device is improved.

Description

[0001] Cross - reference to related applications

[0002] This application claims the priority of a Chinese patent application titled "Distance Measuring Device and Robot" with an application number of 202421908731.1, which was filed with the Chinese Patent Office on August 7, 2024. The entire content of which is incorporated herein by reference. Technical Field

[0003] The present utility model relates to the technical field of robots, and particularly to a distance measuring device and a robot. Background Art

[0004] In the prior art, a radar includes a mounting assembly, a transmitting assembly, a receiving assembly, and a reflector. The transmitting assembly, the receiving assembly, and the reflector are all disposed on the mounting assembly. When the radar operates, the transmitting assembly emits measurement light, which is reflected to the outside by the reflector. When the measurement light encounters a detection object, the detection object reflects the measurement light back to the reflector, and the reflector further reflects it to the receiving assembly, thereby achieving distance measurement.

[0005] However, in the process of implementing the present utility model, the inventor found that: the reflector not only reflects the measurement light emitted by the transmitting assembly to the outside, but also reflects the measurement light reflected back by the detection object to the receiving assembly, resulting in stray light interference on the reflector and affecting the ranging accuracy of the radar. For example, some of the measurement light emitted by the transmitting assembly is reflected by the reflector to the receiving assembly, causing inaccurate ranging data of the radar. Summary of the Utility Model

[0006] The present utility model provides a distance measuring device, in which the receiving optical path and the reflecting optical path of the distance measuring device do not interfere with each other, thereby reducing the interference of stray light and improving the measurement accuracy of the distance measuring device.

[0007] To solve the above technical problems, one technical solution adopted by the present utility model is: to provide a distance measuring device, including a mounting assembly; a receiving assembly, including a receiver and a first reflector, both the receiver and the first reflector are disposed on the mounting assembly, and the receiver corresponds to the first reflector; a transmitting assembly, including a transmitter and a second reflector, both the transmitter and the second reflector are disposed on the mounting assembly, and the transmitter corresponds to the second reflector; wherein, the transmitter is used to generate measurement light and emit the measurement light to the second reflector, the second reflector reflects the measurement light to the outside, when the measurement light encounters a detection object in the outside, the detection object reflects the measurement light to the first reflector, and the first reflector reflects the measurement light to the receiver, and the receiver receives the measurement light.

[0008] Optionally, the distance measuring device further includes a driving mechanism; the mounting assembly includes a base and a rotating assembly, the rotating assembly is rotatably connected to the base, the driving mechanism is connected to the rotating assembly, the first reflector and the second reflector are both disposed on the rotating assembly, the transmitter and the receiver are both disposed on the base, and the driving mechanism is configured to drive the rotating assembly to rotate, so that the rotating assembly drives the first reflector and the second reflector to rotate relative to the base.

[0009] Optionally, along the direction of the rotation axis of the rotating assembly, the transmitter, the second reflector, the first reflector, and the receiver are sequentially arranged.

[0010] Optionally, the base includes a base plate and an outer cover, the outer cover is connected to the base plate, the receiver is disposed on the base plate, the transmitter is disposed on the outer cover, the outer cover and the base plate enclose a receiving cavity, and the transmitting assembly and the receiving assembly are received in the receiving cavity.

[0011] Optionally, the rotating assembly includes a bracket, the bracket is provided with a first emission channel and a second emission channel that communicate with each other, the first emission channel extends from the transmitter to the second reflector, the second emission channel extends from the second reflector toward the inner wall of the outer cover, the second reflector is disposed at the communication position of the first emission channel and the second emission channel, the measurement light generated by the transmitter is emitted through the first emission channel to the second reflector, and the second reflector then reflects the measurement light to the outside through the second emission channel.

[0012] Optionally, the outer cover is provided with a first emission channel; the rotating assembly includes a bracket, the bracket is provided with a second emission channel, the first emission channel extends from the outer cover to the bracket and is in communication with the second emission channel, the second reflector is disposed at the communication position of the first emission channel and the second emission channel, the measurement light generated by the transmitter is emitted through the first emission channel to the second reflector, and the second reflector then reflects the measurement light to the outside through the second emission channel.

[0013] Optionally, when the measurement light is emitted from the transmitter to the outside, an emission optical path is formed;

[0014] The transmitting assembly further includes a transmitting lens, the transmitting lens is disposed on the emission optical path, and the transmitting lens is configured to keep the measurement light emitted by the transmitter to the outside straight.

[0015] Optionally, the emission lens is disposed in front of the emitter, between the emitter and the second reflector, and the measurement light emitted by the emitter passes through the emission lens and then enters the second reflector.

[0016] Optionally, the emission lens is disposed in the second emission channel or the first emission channel.

[0017] Optionally, the rotation assembly includes a rotating member and an adjusting bracket. The rotating member is rotatably connected to the base, the adjusting bracket is mounted on the rotating member, the adjusting bracket is provided with a first receiving channel, the receiving assembly is provided with a second receiving channel, a part of the second receiving channel extends to the adjusting bracket, the first receiving channel communicates with the second receiving channel, the first receiving channel extends from the outer cover to the first reflector, and the second receiving channel extends from the first reflector to the receiver; the first reflector is disposed at the communication position of the first receiving channel and the second receiving channel, and the measurement light reflected by the external detection object is emitted to the first reflector through the first receiving channel, and the first reflector then reflects the measurement light to the receiver through the second receiving channel.

[0018] Optionally, the measurement light reflected from the external detection object to the receiving assembly forms a receiving optical path; the receiving assembly further includes a receiving lens, the receiving lens is disposed on the receiving optical path, and the receiving lens is used for focusing the measurement light reflected from the external detection object to the receiver.

[0019] Optionally, the receiving lens is disposed in the first receiving channel or the second receiving channel.

[0020] Optionally, 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 are arranged at an angle.

[0021] Optionally, the reflection plane of the first reflector is perpendicular to the reflection plane of the second reflector.

[0022] Optionally, the measurement light emitted by the emitter has an emission optical axis; the rotation center axis of the rotation assembly is parallel to the rotation center axis of the second reflector, and / or the rotation center axis of the second reflector is parallel to the emission optical axis.

[0023] Optionally, the rotation center axis of the rotation assembly and the rotation center axis of the second reflector are collinearly arranged, and / or the rotation center axis of the second reflector and the emission optical axis are collinearly arranged.

[0024] Optionally, the measurement light received by the receiver has a reception central axis; the rotation central axis of the rotation assembly is parallel to the rotation central axis of the first reflector, and / or the rotation central axis of the first reflector is arranged parallel to the reception central axis.

[0025] Optionally, the rotation central axis of the rotation assembly is collinear with the rotation central axis of the first reflector, and / or the rotation central axis of the first reflector is collinear with the reception central axis.

[0026] Optionally, the measurement light emitted by the emitter has an emission optical axis, and the measurement light received by the receiver has a reception central axis; the rotation central axes of the first reflector, the second reflector, the emission optical axis, and the reception central axis are collinear.

[0027] Optionally, the rotation assembly includes a rotating member and an adjusting bracket. The rotating member is rotatably connected to the base, the adjusting bracket is rotatably connected to the rotating member, the first reflector is arranged on the adjusting bracket, and the adjusting bracket is provided with a first through hole; the rotating member is provided with a first threaded hole; the mounting assembly further includes a first bolt and a first elastic member. One end of the first elastic member is connected to the adjusting bracket, the other end of the first elastic member is connected to the rotating member, and the first elastic member is adjacent to the first through hole. The first bolt passes through the first through hole and is screwed into the first threaded hole.

[0028] Optionally, the rotating member is provided with a first interference portion; the first elastic member includes a first elastic arm and a first convex portion. One end of the first elastic arm is fixed to the adjusting bracket, the first convex portion is fixed to the other end of the first elastic arm, and the first convex portion is used for abutting against the first interference portion so that the first elastic arm generates a preset deformation amount.

[0029] Optionally, the rotation assembly includes a rotating member and a bracket. The rotating member is rotatably connected to the base, the bracket is rotatably connected to the rotating member, the second reflector is arranged on the bracket, the bracket is provided with a second through hole, and the rotating member is provided with a second threaded hole; the mounting assembly further includes a second bolt and a second elastic member. One end of the second elastic member abuts against the bracket, the other end of the second elastic member abuts against the rotating member, and the second elastic member is adjacent to the second through hole. The second bolt passes through the second through hole and is screwed into the second threaded hole.

[0030] Optionally, the rotating member is provided with a second interference portion; the second elastic member includes a second elastic arm and a second convex portion. One end of the second elastic arm is fixed to the bracket, the second convex portion is fixed to the other end of the second elastic arm, and the second convex portion is used for abutting against the second interference portion so that the second elastic arm generates a preset deformation amount.

[0031] Optionally, the driving mechanism includes a motor, the motor includes a stator and a rotor, the stator is connected to the base, the rotor surrounds the stator or the stator surrounds the rotor, and the rotor is rotatable relative to the stator, and the rotor is connected to the rotating assembly.

[0032] Optionally, the rotating assembly includes a rotating member, the base is connected to the rotating member through a bearing, an inner ring of the bearing is sleeved on the rotating member, and an outer ring of the bearing is fixed to the base; or the base is provided with a mounting shaft, the rotating assembly includes a rotating member, the inner ring of the bearing is sleeved on the mounting shaft, and the outer ring of the bearing is connected to the rotating member.

[0033] Optionally, the first reflector is provided with an avoidance hole, the second reflector is disposed in the avoidance hole, and the avoidance hole is used to avoid a part of the second reflector.

[0034] 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.

[0035] The beneficial effects of the embodiments of the present application are: to provide a distance measuring device, the distance measuring device includes a mounting assembly, a transmitting assembly and a receiving assembly. The receiving assembly includes a receiver and a first reflector, both the receiver and the first reflector are disposed on the mounting assembly, and the receiver corresponds to the first reflector. The transmitting assembly includes a transmitter and a second reflector, both the transmitter and the second reflector are disposed on the mounting assembly, and the transmitter corresponds to the second reflector. When using the distance measuring device, the transmitter generates a measuring light and emits the measuring light to the second reflector, the second reflector reflects the measuring light to the outside, when the measuring light encounters a detection object in the outside, the outside detection object reflects the measuring light back to the first reflector, the first reflector reflects the measuring light to the receiver, and the receiver receives the measuring light. Compared with the prior art, the emission optical path of the measuring light from the transmitter to the outside and the receiving optical path of the measuring light from the outside detection object reflected to the receiving assembly do not interfere with each other and do not overlap, thereby improving the measurement accuracy of the distance measuring device. Description of the Drawings

[0036] 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 drawings described below are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained according to the drawings.

[0037] Figure 1 It is a view of the ranging device provided by the present utility model;

[0038] Figure 2 It is a sectional view of the ranging device provided by the present utility model;

[0039] Figure 3 It is an exploded view of a part of the internal structure of the ranging device provided by the present utility model;

[0040] Figure 4 It is a partial structural view of the mounting assembly of the ranging device provided by the present utility model;

[0041] Figure 5 It is another sectional view of the ranging device provided by the present utility model;

[0042] Figure 6 It is a sectional view of the ranging device of another embodiment provided by the present utility model;

[0043] Figure 7 It is a sectional view of the ranging device of yet another embodiment provided by the present utility model;

[0044] Figure 8 It is an exploded view of the ranging device of yet another embodiment provided by the present utility model.

[0045] Reference numerals:

[0046] 100, ranging device;

[0047] 10, receiving assembly; 11, receiver; 12, first reflector; 12a, avoidance hole; 13, receiving lens; 14, receiving bracket; 14a, lens groove;

[0048] 20, transmitting assembly; 21, transmitter; 22, second reflector; 23, transmitting lens;

[0049] 30, mounting assembly; 31, base; 32, rotating assembly; 33, first bolt; 34, first elastic member; 341, first elastic arm; 342, first convex portion; 35, bearing; 36, second bolt; 37, second elastic member; 371, second elastic arm; 372, second convex portion; 311, base; 312, outer cover; 31a, first screw hole; 31b, second screw hole; 313, first interference portion; 314, second interference portion; 312a, cover cavity; 321, bracket; 322, adjusting bracket; 323, rotating member; 3231, spiral teeth; 32a, second annular groove; 321a, first transmitting channel; 321b, second transmitting channel; 321c, second through hole; 322a, first receiving channel; 322b, second receiving channel; 322c, first through hole;

[0050] 40. Control mechanism; 41. Circuit board; 411. Angle detection component;

[0051] 50. Driving mechanism; 51. Driving part; 52. Driving wheel; 53. Belt; 52a. First annular groove; 54. Stator; 55. Rotor. Detailed implementation manner

[0052] 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.

[0053] Unless otherwise defined, all technical and scientific terms used in this specification have the same meaning as commonly understood by those skilled in the technical field to which the present utility model belongs. The terms used in this specification in the description of the present utility model are only for the purpose of describing specific embodiments 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 of the related listed items.

[0054] Please refer to Figures 1 - 3 , the ranging device 100 includes a receiving component 10, a transmitting component 20, a mounting component 30 and a control mechanism 40. Both the receiving component 10 and the transmitting component 20 are arranged on the mounting component 30, and the transmitting component 20 is used to emit measurement light to the outside. When using the ranging device 100, when the measurement light encounters a detection object in the outside world, the outside detection object reflects the measurement light to the receiving component 10, and the control mechanism 40 outputs ranging information by processing the electrical signal of the measurement light emitted from the transmitting component 20 and the electrical signal of the measurement light received by the receiving component 10, thereby realizing ranging. It should be noted that the detection object is an external obstacle, such as: vehicles, road piles, walls, trees, etc. As long as it is an object that can reflect the measurement light, it can be regarded as a detection object, which is not limited here.

[0055] For the above receiving component 10, please refer to Figures 2 - 3 , the receiving component 10 has a receiving central axis, and the receiving central axis is arranged parallel to the receiving central axis of the measurement light incident on the receiver 11. The receiving component 10 includes a receiver 11, a first reflector 12 and a receiving bracket 14. The receiving bracket 14 is arranged on the mounting component 30, and the receiver 11 corresponds to the first reflector 12. In some embodiments, the receiving central axis and the receiving central axis of the measurement light incident on the receiver 11 are collinearly arranged.

[0056] The above receiver 11 is a light-sensing component and can adopt a CMOS / CCD / SPAD image sensor.

[0057] The above 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, and the measurement light reflected by the reflection plane is in a ray shape.

[0058] In some embodiments, please refer to Figures 2 - 3 Combined with Figure 5 , the receiving component 10 further includes a receiving lens 13. The receiving lens 13 is disposed on the receiving optical path S2 where the measurement light is reflected from an external detection object to the receiving component 10. The receiving lens 13 is used to focus the measurement light reflected from the external detection object to the receiver 11, reducing the dispersion of the measurement light. Specifically, the receiving frame 14 is provided with a communicating lens groove 14a and a mounting hole (not shown in the figure). The mounting hole is disposed at the bottom of the lens groove 14a and communicates with the lens groove 14a. The receiver 11 corresponds to the mounting hole, and the central axis of the mounting hole is collinear with the receiving central axis. The receiving lens 13 is slidably disposed in the lens groove 14a, and the receiving lens 13 can slide along the lens groove 14a to achieve focusing. When the measurement light encounters an external detection object, the external detection object reflects the measurement light to the first reflector 12. The first reflector 12 focuses the measurement light reflected back by the external detection object through the receiving lens 13 and then projects it into the receiver 11. The receiver 11 processes the measurement light and converts it into an electrical signal and outputs the electrical signal.

[0059] For the above transmitting component 20, please refer to Figures 2 - 3 , the transmitting component 20 includes a transmitter 21 and a second reflector 22. Both the transmitter 21 and the second reflector 22 are disposed on the mounting component 30, and the transmitter 21 corresponds to the second reflector 22. The transmitter 21 is used to generate measurement light. The measurement light emitted by the transmitter 21 has an emission optical axis and emits the measurement light to the second reflector 22. The second reflector 22 reflects the measurement light emitted by the transmitter 21 to the detection object.

[0060] For the above second reflector 22, the second reflector 22 is in a plate-like structure. The 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.

[0061] For the above-mentioned transmitter 21, the measuring light emitted by the transmitter 21 is a point laser or a line laser or a surface laser. When the measuring light emitted by the transmitting component 20 is a point laser, the point laser reflected to the outside world by the second reflector 22 is in a point shape, and the measuring light reflected back by the detected object is also in a point shape. When the measuring light emitted by the transmitting component 20 is a line laser or a surface laser, the measuring light reflected to the outside world by the second reflector 22 is in a line or surface shape, and the measuring light reflected back by the external detected object can carry more contour information of the external detected object or the measured object, so that the distance measuring device 100 can obtain more details of the external object, and the measurement accuracy of the distance measuring device 100 can be improved.

[0062] The above-mentioned transmitting component 20 also includes a transmitting lens 23, which is arranged on the transmitting light path S1 of the measuring light emitted from the transmitter 21 to the external detection object. The transmitting lens 23 is used to keep the measuring light emitted by the transmitter 21 to the outside world straight to reduce the risk of deviation of the measuring light emitted by the transmitter 21.

[0063] For the above mentioned installation assembly 30, see Figures 2 - 4 The mounting assembly 30 includes a base 31 and a rotating assembly 32. The rotating assembly 32 is rotatably connected to the base 31, the transmitter 21 and the receiver 11 are both arranged on the base 31, the first reflector 12 and the second reflector 22 are both installed on the rotating assembly 32, and the rotating assembly 32 is used for being driven by an external force, for example: driven by a driving mechanism, the rotating assembly 32 is driven to rotate relative to the base 31, so that the first reflector 12 and the second reflector 22 rotate relative to the base 31. Along the rotation axis direction of the rotating assembly 32, the transmitter 21, the second reflector 22, the first reflector 12 and the receiver 11 are arranged in sequence, so that the transmitting optical path S1 and the receiving optical path S2 are separated.

[0064] The above-mentioned base 31 includes a base 311 and an outer cover 312. The receiving frame 14 is fixed to the base 311, the outer cover 312 is connected to the base 311, and the outer cover 312 covers the transmitting assembly 20 and the receiving assembly 10, so that the outer cover 312 and the base 311 jointly enclose a receiving cavity. Both the transmitting assembly 20 and the receiving assembly 10 are received in the receiving cavity. The rotating assembly 32 is rotatably connected to the base 311, the receiver 11 is arranged on the base 311, and the transmitter 21 is arranged on the outer cover 312. The transmitter 21 is electrically connected to the control mechanism 40 through a wire. Of course, the transmitter 21 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 in the control mechanism 40 and is electrically connected to the control mechanism 40. The second coil is arranged on the transmitter 21 and is electrically connected to the transmitter 21. When a current is applied to 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 transmitter 21. When realizing wireless power supply for the transmitter 21, the fixed position of the transmitter 21 is not limited.

[0065] The above-mentioned outer cover 312 functions to prevent water and dust. The outer cover 312 is provided with a cover cavity 312a. The outer cover 312 covers the transmitting assembly 20 and the receiving assembly 10, and the outer cover 312 plays a role in protecting the covered components.

[0066] For the above-mentioned rotating assembly 32, it includes a bracket 321, an adjusting frame 322 and a rotating member 323. The rotating member 323 is rotatably connected to the base 311 through a bearing 35. The adjusting frame 322 is installed on the rotating member 323, the bracket 321 is installed on the rotating member 323, and the adjusting frame 322 is located between the bracket 321 and the rotating member 323. The first reflector 12 is arranged on the adjusting frame 322, and the second reflector 22 is arranged on the bracket 321. By driving the rotating member 323 to rotate relative to the base 311, the first reflector 12 and the second reflector 22 rotate synchronously with the rotating member 323. The rotating member 323 rotates to form a rotating plane and a rotation central axis, and the rotating plane of the rotating member 323 is perpendicular to the rotation central axis of the rotating member 323; both the first reflector 12 and the second reflector 22 form a rotation central axis. The rotation central axis of the first reflector 12 is parallel to the rotation central axis of the rotating member 323, and the rotation central axis of the second reflector 22 is parallel to the rotation central axis of the rotating member 323. Moreover, the reflection planes of the first reflector 12 and the second reflector 22 respectively form an angle with the rotating plane of the rotating member 323, and the angle is an acute angle. For example: 35 degrees, 46 degrees, 60 degrees, etc. The angle is preferably 45 degrees.

[0067] Optionally, the inner ring of the bearing 35 is sleeved on the receiving frame 14, and the rotating member 323 is sleeved on the outer ring of the bearing 35.

[0068] In some embodiments, the rotation central axis of the second reflector 22 is parallel to the emission optical axis of the emitter 21. In some other embodiments, the rotation central axis of the second reflector 22 is collinear with the emission optical axis of the emitter 21.

[0069] In some embodiments, the rotation central axis of the first reflector 12 is parallel to the reception central axis of the reception assembly 10. In some other embodiments, the rotation central axis of the first reflector 12 is collinear with the reception central axis of the reception assembly 10. If the reception central axis of the reception assembly 10 is not collinear with the rotation central axis of the first reflector 12, when the rotating member 323 rotates, the rotating member 323 rotates synchronously with the first reflector 12, and the measurement light reflected by the first reflector 12 to the receiver 11 cannot be completely received by the receiver 11, thereby affecting the reception of the measurement light by the receiver 11.

[0070] In some embodiments, the rotation central axis of the first reflector 12, the rotation central axis of the second reflector 22, the emission optical axis and the reception central axis are collinear.

[0071] In some embodiments, the above-mentioned adjusting frame 322 is rotatably connected to the rotating member 323. By an external force to drive the adjusting frame 322 to rotate relative to the rotating member 323, the adjusting frame 322 forms a rotating plane, and the rotating plane of the rotating member 323 is perpendicular to the rotating plane of the adjusting frame 322, so as to adjust the angle of the adjusting frame 322 relative to the rotating member 323, and further adjust the angle of the first reflector 12 relative to the rotating member 323, that is: adjust the pitch angle of the first reflector 12.

[0072] In some embodiments, the rotating member 323 is provided with a first screw hole 31a, the adjusting frame 322 is provided with a first through hole 322c, the mounting assembly 30 further includes a bolt 33 and a first elastic member 34. One end of the first elastic member 34 is connected to the adjusting frame 322, the other end of the first elastic member 34 is connected to the rotating member 323, and the first elastic member 34 is adjacent to the first through hole 322c. The bolt 33 passes through the first through hole 322c and is screwed into the first screw hole 31a. By driving the bolt 33 to rotate with a manual tool, the adjusting frame 322 is moved towards the rotating member 323 or away from the rotating member 323. When the adjusting frame 322 moves towards the rotating member 323, the first elastic member 34 generates an elastic force to resist the movement of the adjusting frame 322 towards the rotating member 323. It can be understood that the adjusting frame 322 always abuts against the nut of the bolt 33, thereby ensuring the adjustment accuracy of the adjusting frame 322.

[0073] In some embodiments, the rotating member 323 is provided with a first interference portion 313. The first elastic member 34 includes a first elastic arm 341 and a first convex portion 342. One end of the first elastic arm 341 is fixed to the adjusting bracket 322, the first convex portion 342 is fixed to the other end of the first elastic arm 341, the first convex portion 342 abuts against the first interference portion 313, and the first elastic arm 341 generates a preset deformation. When the adjusting bracket 322 is driven to move towards the rotating member 323, the first elastic arm 341 elastically deforms in a direction away from the rotating member 323, and the first elastic arm 341 generates an elastic force. The elastic force of the first elastic arm 341 can resist the movement of the adjusting bracket 322 towards the rotating member 323, so that the adjusting bracket 322 remains in contact with the nut of the bolt 33, thereby ensuring the adjustment accuracy of the adjusting bracket 322.

[0074] In some other embodiments, the first elastic member 34 is a spring.

[0075] For the above-mentioned bracket 321, please refer to Figure 2 Combined with Figure 5 , the bracket 321 is provided with a first emission channel 321a and a second emission channel 321b that are communicated with each other. The central axis of the first emission channel 321a is perpendicular to the central axis of the second emission channel 321b. The first emission channel 321a corresponds to the emitter 21, and the central axis of the first emission channel 321a is parallel to the emission optical axis of the measurement light emitted by the emitter 21. The second reflector 22 is disposed at the communication portion between the first emission channel 321a and the second emission channel 321b, and the rotation central axis of the second reflector 22 is parallel to the emission optical axis of the emitter 21 and the central axis of the first emission channel 321a respectively. The measurement light generated by the emitter 21 is emitted through the first emission channel 321a towards the second reflector 22, and the second reflector 22 then reflects the measurement light through the second emission channel 321b to the detection object, so that the emission optical path S1 of the measurement light from the emitter 21 to the detection object does not coincide or overlap with the reception optical path S2 of the measurement light reflected from the external detection object to the reception component 10, thereby reducing the interference of stray light and improving the ranging accuracy of the ranging device 100. It should be noted that the central axis of the first emission channel 321a, the emission optical axis of the measurement light emitted by the emitter 21, and the rotation central axis of the second reflector 22 are respectively perpendicular to the rotation plane of the rotating member 323, and the central axis of the second emission channel 321b is parallel to the rotation plane of the rotating member 323.

[0076] In some embodiments, the emission optical axis of the measurement light emitted by the emitter 21 is collinear with the central axis of the first emission channel 321a and the rotation central axis of the second reflector 22 respectively. When the emission optical axis of the emitter 21 is not collinear with the central axis of the first emission channel 321a, or the emission optical axis of the measurement light emitted by the emitter 21 is not collinear with the rotation central axis of the second reflector 22, part of the measurement light emitted by the emitter 21 cannot be completely reflected by the second reflector 22 to the outside, which will affect the area of the receiving component 10 receiving the measurement light, and further affect the ranging result of the ranging device 100.

[0077] In some embodiments, the first emission channel 321a extends from the emitter 21 to the second reflector 22, the second emission channel 321b extends from the second reflector to the inner wall of the outer cover 312, and the second emission channel 321b is disposed adjacent to the outer cover 312, and the outer cover 312 is made of a light-transmitting material. When the emission component 20 emits measurement light, the measurement light passes through the outer cover 312 and irradiates to the outside, and part of the measurement light is reflected by the outer cover 312. When the second emission channel 321b extends to the outer cover 312, the side wall of the second emission channel 321b can block the outer cover 312 from reflecting the measurement light, reducing the outer cover 312 from allowing part of the measurement light to enter the second emission channel 321b again, and further reducing the interference of stray light.

[0078] In some other embodiments, the outer cover 312 is provided with an opening (not shown in the figure), the opening communicates with the cover cavity 312a, and the second emission channel 321b corresponds to the opening. When the emission component 20 emits measurement light, the measurement light passes through the opening of the outer cover 312 and then irradiates to the outside, and the material of the outer cover 312 is no longer limited. For example, for a diffusely reflecting outer cover 312, it can not only absorb stray light, thereby reducing the interference of stray light and improving the ranging accuracy.

[0079] In addition, the emission lens 23 is disposed in the second emission channel 321b, and the distance between the emitter 21 and the second reflector 22 can be effectively reduced, so that the height of the ranging device 100 can be effectively reduced, and the ranging device 100 can be made smaller and more miniaturized. In some embodiments, the emission lens 23 is disposed in front of the emitter 21, and the emission lens 23 is located between the emitter 21 and the second reflector 22. Of course, the emission lens 23 can also be disposed in the first emission channel 321a. It should be noted that the front of the emitter 21 is the direction in which the emitter 21 emits measurement light or the second emission channel 321b.

[0080] The above-mentioned adjusting frame 322 is provided with a first receiving channel 322a, and the receiving assembly 10 is provided with a second receiving channel 322b. The first receiving channel 322a communicates with the second receiving channel 322b. A part of the second receiving channel 322b extends to the adjusting frame 322, and another part of the second receiving channel 322b extends to the receiving frame 14. The receiving lens 13 is disposed in the second receiving channel 322b. In some embodiments, the receiving lens 13 is disposed in the first receiving channel 322a. The measurement light reflected back by the external detection object passes through the receiving lens 13 and then enters the first reflector 12. That is to say, when the measurement light encounters the external detection object, the external detection object reflects the measurement light to the receiving lens 13 for focusing and then shoots it towards the first reflector 12. This method can reduce the distance between the first reflector 12 and the receiving assembly 10, 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.

[0081] In some embodiments, please refer to Figures 7 - 8 , in order to reduce the overall height of the ranging device 100, the first reflector 12 is provided with an avoidance hole 12a, so that the first reflector 12 is in a U shape or an n shape or the first reflector is divided into two reflectors. The second reflector 22 is disposed in the avoidance hole 12a. The avoidance hole 12a is used to avoid part of the second reflector 22, so as to make full use of the space, and the ranging device 100 can be made more miniaturized and smaller in size.

[0082] The above-mentioned ranging device 100 further includes a driving mechanism 50. The driving mechanism 50 is connected to the rotating member 323. The driving mechanism 50 can drive the rotating member 323 to rotate, so that the rotating member 323 rotates relative to the base 311. The driving mechanism 50 includes a motor. The driving shaft of the motor is connected to the rotating member 323. By passing current into the motor, the motor drives the rotating member 323 to rotate.

[0083] In some embodiments, please refer to Figure 5 , 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 323 is provided with a second annular groove 32a. One end of the belt 53 is sleeved in the first annular groove 52a, and the other end of the belt 53 is sleeved in the second annular groove 32a. 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 323 to rotate relative to the base 311. The driving member 51 is a motor.

[0084] In some embodiments, the driving member 51 may be a brushless motor. The stator 54 of the brushless motor is disposed on the base 311, and the rotor 55 is disposed on the rotating member 323. The rotor 55 surrounds the stator 54, and the rotor 55 is rotatable relative to the stator 54. Optionally, the stator 54 is fixed to one end of the base 311 facing away from the receiving frame 14.

[0085] For the above control mechanism 40, 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 21 and the receiver 11 are electrically connected to the controller.

[0086] In some embodiments, referring to Figure 4 , an angle detection component 411 is provided on the circuit board 41. The angle detection component 411 is used to emit an optical signal. Along the circumferential direction of the rotation center axis of the rotating member 323, a plurality of rotating teeth 3231 are provided on the rotating member 323. The plurality of rotating teeth 3231 are arranged at intervals, and the rotating teeth 3231 can block the optical signal so that the optical signal is incident on the rotating teeth 3231. The angle detection component 411 realizes the function of angle detection by counting the number of times the rotating teeth 3231 block the optical signal.

[0087] The present utility model also provides a ranging device 100 according to another embodiment. Different from the above embodiment:

[0088] 1) Referring to Figure 6 , the first reflection channel 321a is disposed in the outer cover 312. The first reflection channel 321a extends from the outer cover 312 to the bracket 321. The second reflection channel 321b is disposed in the bracket 321. The first reflection channel 321a communicates with the second reflection channel 321b. The second reflector 22 is disposed at the communication portion of the first reflection channel 321a and the second reflection channel 321b. The measurement light generated by the transmitter 21 is emitted through the first reflection channel 321a to the second reflector 22, and the second reflector 22 reflects the measurement light through the second reflection channel 321b to the detection object.

[0089] 2) An installation shaft (not shown in the figure) is provided on the base 311. The stator 54 is sleeved on the installation shaft. In some embodiments, the installation shaft is the receiving frame 14. The stator 54 is sleeved on the receiving frame 14. The rotor 55 is fixed to the rotating member 323. The rotor 55 surrounds the stator 54. The rotating member 323 is sleeved on the stator 54. The inner ring of the bearing 35 is sleeved on the rotating member 323, and the outer ring of the bearing 35 is fixed to the base 311. Compared with the solution where the stator 54 is disposed at one end of the base 311 facing away from the receiving frame 14, this embodiment can reduce the overall height of the ranging device 100.

[0090] In other embodiments, the stator 54 surrounds the rotor 55.

[0091] The present utility model further provides a ranging device 100 according to another embodiment. Different from the above embodiment:

[0092] 1) An installation shaft is provided on the base 311. In this embodiment, the installation shaft is the receiving frame 14. Please refer to Figure 7 . The receiving frame 14 is fixed to the base 311. The inner rings of the stator 54 and the bearing 35 are respectively sleeved on the receiving frame 14, and the bearing 35 is located above or below the stator 54. The rotor 55 surrounds the outside of the stator 54, and the rotor 55 is fixed to the rotating member 323. The rotating member 323 is respectively sleeved on the outer ring of the bearing 35 and the rotor 55. Compared with the solution where the stator 54 is arranged at one end of the base 311 away from the receiving frame 14, this embodiment can reduce the overall height of the ranging device 100.

[0093] 2) Please refer to Figures 7 - 8 . The bracket 321 is rotatably connected to the rotating member 323. The bracket 321 is provided with a second through hole 321c, and the rotating member 323 is provided with a second threaded hole 31b. The mounting assembly 30 further includes a second bolt 36 and a second elastic member 37. One end of the second elastic member 37 is connected to the bracket 321, and the other end of the second elastic member 37 abuts against the base 21. And the second elastic member 37 is adjacent to the second through hole 321c. The second bolt 36 passes through the second through hole 321c and is screwed into the second threaded hole 31b. Specifically, the rotating member 323 is provided with a second interference portion 314. The second elastic member 37 includes a second elastic arm 371 and a second convex portion 372. One end of the second elastic arm 371 is fixed to the bracket 321, and the second convex portion 372 is fixed to the other end of the second elastic arm 371. The second convex portion 372 is used to abut against the second interference portion 314, so that the second elastic arm 371 generates a preset deformation amount.

[0094] The present utility model further 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 embodiment, and details will not be repeated here.

[0095] 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 do not serve as 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. And, the above technical features continue to be combined with each other to form various embodiments not listed above, all of which are 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 transformations can be made according to the above description, and all such improvements and transformations 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 receiving component, including a receiver and a first reflector, both the receiver and the first reflector are disposed on the installation component, and the receiver corresponds to the first reflector; A transmitting component, including a transmitter and a second reflector, both the transmitter and the second reflector are disposed on the installation component, and the transmitter corresponds to the second reflector; Wherein, the transmitter is used to generate measurement light and emit the measurement light to the second reflector, the second reflector reflects the measurement light to the outside, when the measurement light encounters a detection object in the outside, the detection object reflects the measurement light to the first reflector, the first reflector reflects the measurement light to the receiver, and the receiver receives the measurement light.

2. The distance measuring device according to claim 1, wherein: The distance measuring device further includes a driving mechanism; The installation component includes a base and a rotating component, the rotating component is rotatably connected to the base, the driving mechanism is connected to the rotating component, the first reflector and the second reflector are both disposed on the rotating component, the transmitter and the receiver are both disposed on the base, and the driving mechanism is used to drive the rotating component to rotate, so that the rotating component drives the first reflector and the second reflector to rotate relative to the base.

3. The distance measuring device according to claim 2, wherein: Along the direction of the rotation axis of the rotating component, the transmitter, the second reflector, the first reflector and the receiver are arranged in sequence.

4. The distance measuring device according to claim 3, wherein: The base includes a base plate and an outer cover, the outer cover is connected to the base plate, the receiver is disposed on the base plate, the transmitter is disposed on the outer cover, the outer cover and the base plate enclose a receiving cavity, and the transmitting component and the receiving component are received in the receiving cavity.

5. The distance measuring device according to claim 4, wherein: The rotating component includes a bracket, the bracket is provided with a first emission channel and a second emission channel that communicate with each other, the first emission channel extends from the transmitter to the second reflector, the second emission channel extends from the second reflector toward the inner wall of the outer cover, the second reflector is disposed at the communication portion of the first emission channel and the second emission channel, the measurement light generated by the transmitter is emitted to the second reflector through the first emission channel, and the second reflector then reflects the measurement light to the outside through the second emission channel.

6. The distance measuring device according to claim 4, wherein: The outer cover is provided with a first emission channel; The rotating assembly includes a bracket, the bracket is provided with a second emission channel, the first emission channel extends from the outer cover to the bracket, and the first emission channel communicates with the second emission channel. The second reflector is arranged at the communication position of the first emission channel and the second emission channel. The measurement light generated by the emitter is emitted through the first emission channel towards the second reflector, and the second reflector then reflects the measurement light through the second emission channel to the outside.

7. The ranging device according to claim 5 or 6, characterized in that The measurement light forms an emission optical path from the emitter to the outside. The emission assembly further includes an emission lens, the emission lens is arranged on the emission optical path, and the emission lens is used to keep the measurement light emitted by the emitter to the outside straight.

8. The ranging device according to claim 7, characterized in that The emission lens is arranged in front of the emitter, the emission lens is located between the emitter and the second reflector, and the measurement light emitted by the emitter passes through the emission lens and then enters the second reflector.

9. The ranging device according to claim 7, characterized in that The emission lens is arranged in the second emission channel or the first emission channel.

10. The ranging device according to claim 4, characterized in that The rotating assembly includes a rotating member and an adjusting bracket. The rotating member is rotatably connected to the base, the adjusting bracket is installed on the rotating member, the adjusting bracket is provided with a first receiving channel, the receiving assembly is provided with a second receiving channel, and part of the second receiving channel extends to the adjusting bracket. The first receiving channel communicates with the second receiving channel. The first receiving channel extends from the outer cover to the first reflector, and the second receiving channel extends from the first reflector to the receiver; The first reflector is arranged at the communication position of the first receiving channel and the second receiving channel. The measurement light reflected by the external detection object is emitted through the first receiving channel towards the first reflector, and the first reflector then reflects the measurement light through the second receiving channel to the receiver.

11. The ranging device according to claim 10, characterized in that The measurement light forms a receiving optical path from the external detection object reflected to the receiving assembly. The receiving assembly further includes a receiving lens, the receiving lens is arranged on the receiving optical path, and the receiving lens is used to focus the measurement light reflected by the external detection object to the receiver.

12. The ranging device according to claim 11, characterized in that The receiving lens is arranged in the first receiving channel or the second receiving channel.

13. The ranging device according to any one of claims 2-6, 8-12, 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 are arranged at an angle.

14. The ranging device according to claim 13, characterized in that The reflection plane of the first reflector is perpendicular to the reflection plane of the second reflector.

15. The ranging device according to any one of claims 2-6, 8-12, characterized in that the measurement light emitted by the emitter has an emission optical axis; the rotation central axis of the rotation assembly is parallel to the rotation central axis of the second reflector, and / or the rotation central axis of the second reflector is parallel to the emission optical axis.

16. The ranging device according to claim 15, characterized in that the rotation central axis of the rotation assembly and the rotation central axis of the second reflector are collinearly arranged, and / or the rotation central axis of the second reflector and the emission optical axis are collinearly arranged.

17. The ranging device according to any one of claims 2-6, 8-12, characterized in that the measurement light received by the receiver has a reception central axis; the rotation central axis of the rotation assembly is parallel to the rotation central axis of the first reflector, and / or the rotation central axis of the first reflector is parallel to the reception central axis.

18. The ranging device according to claim 17, characterized in that the rotation central axis of the rotation assembly and the rotation central axis of the first reflector are collinearly arranged, and / or the rotation central axis of the first reflector and the reception central axis are collinearly arranged.

19. The ranging device according to any one of claims 2-6, 8-12, characterized in that the measurement light emitted by the emitter has an emission optical axis, and the measurement light received by the receiver has a reception central axis; the rotation central axes of the first reflector, the second reflector, the emission optical axis and the reception central axis are collinearly arranged.

20. The ranging device according to any one of claims 4-6, 8-12, characterized in that the rotation assembly includes a rotating member and an adjusting bracket, the rotating member is rotatably connected to the base, the adjusting bracket is rotatably connected to the rotating member, the first reflector is disposed on the adjusting bracket, and the adjusting bracket is provided with a first through hole; the rotating member is provided with a first threaded hole; the mounting assembly further includes a first bolt and a first elastic member, one end of the first elastic member is connected to the adjusting bracket, the other end of the first elastic member is connected to the rotating member, and the first elastic member is adjacent to the first through hole, and the first bolt passes through the first through hole and is screwed into the first threaded hole.

21. The ranging device according to claim 20, characterized in that the rotating member is provided with a first interference portion; the first elastic member includes a first elastic arm and a first convex portion, one end of the first elastic arm is fixed to the adjusting bracket, the first convex portion is fixed to the other end of the first elastic arm, and the first convex portion is used for abutting against the first interference portion to cause a preset deformation amount of the first elastic arm.

22. The ranging device according to any one of claims 4-6, 8-12, characterized in that the rotation assembly includes a rotating member and a bracket, the rotating member is rotatably connected to the base, the bracket is rotatably connected to the rotating member, the second reflector is disposed on the bracket, the bracket is provided with a second through hole, and the rotating member is provided with a second threaded hole; The mounting assembly further includes a second bolt and a second elastic member. One end of the second elastic member abuts against the bracket, and the other end of the second elastic member abuts against the rotating member. The second elastic member is adjacent to the second through hole. The second bolt passes through the second through hole and is screwed into the second threaded hole.

23. The distance measuring device according to claim 22, wherein the rotating member is provided with a second interference portion; The second elastic member includes a second elastic arm and a second convex portion. One end of the second elastic arm is fixed to the bracket, and the second convex portion is fixed to the other end of the second elastic arm. The second convex portion is used to abut against the second interference portion, so that the second elastic arm generates a preset deformation amount.

24. The distance measuring device according to any one of claims 4-6, 8-12, wherein The driving mechanism includes a motor. The motor includes a stator and a rotor. The stator is connected to the base. The rotor surrounds the stator or the stator surrounds the rotor, and the rotor can rotate relative to the stator. The rotor is connected to the rotating assembly.

25. The distance measuring device according to claim 24, wherein the rotating assembly includes a rotating member. The base and the rotating member are connected by a bearing. The inner ring of the bearing is sleeved on the rotating member, and the outer ring of the bearing is fixed to the base; or the base is provided with a mounting shaft. The rotating assembly includes a rotating member. The inner ring of the bearing is sleeved on the mounting shaft, and the outer ring of the bearing is connected to the rotating member.

26. The distance measuring device according to any one of claims 2-6, 8-12, wherein The first reflector is provided with an avoidance hole, and the second reflector is disposed in the avoidance hole. The avoidance hole is used to avoid part of the second reflector.

27. A robot, characterized in that, including the distance measuring device according to any one of claims 1-26.

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