Distance measuring device and robot

Abstract

The embodiment of the utility model relates to the technical field of distance measuring devices, and particularly discloses a distance measuring device and a robot, the distance measuring device comprises a circuit board, a mounting seat, a transmitting assembly and a receiving mechanism, the mounting seat is arranged on the circuit board, the transmitting assembly is fixed on the mounting seat, the transmitting assembly is electrically connected with the circuit board, and the receiving mechanism is electrically connected with the circuit board. The receiving mechanism comprises a light splitting assembly and a receiver assembly, the light splitting assembly is arranged on the mounting seat, the receiver assembly is electrically connected with the circuit board, the transmitting assembly is used for transmitting detection light to a detection object, and the receiving assembly is used for receiving the detection light. The light splitting assembly is used for splitting detection light reflected by a detected object into first detection light and second detection light, and the first detection light and the second detection light are received by the receiver assembly. Through the above mode, the embodiment of the utility model can receive two types of light at the same time, and the detection capability and environmental adaptability of the distance measuring device are improved.

Description

TECHNICAL FIELD

[0001] The embodiment of the utility model relates to distance measuring device technical field, in particular to a kind of distance measuring device and robot. BACKGROUND

[0002] Distance measuring device is usually applied to distance measurement, speed monitoring and three-dimensional imaging etc. technical field.For example, distance measuring device sends out light by emitting component, the light that emits is reflected back after meeting obstacle, and the light that reflects back is received by the receiving component of distance measuring device, to measure the distance of obstacle and identify the kind of information such as detection object.

[0003] However, in the process of realizing the embodiment of the utility model, the inventor finds that: the receiving mechanism of the traditional distance measuring device only receives single type of light, which limits the detection capability and environmental adaptability of distance measuring device. UTILITY MODEL CONTENT

[0004] The utility model provides a kind of distance measuring device, can solve the problem that distance measuring device only receives single type of light, which limits the detection capability and environmental adaptability of distance measuring device.

[0005] To solve the above technical problem, one technical scheme of the utility model is: provide a kind of distance measuring device, including mounting seat, circuit board, emitting component and receiving mechanism, the mounting seat is set to the circuit board, the emitting component is fixed to the mounting seat, the emitting component is electrically connected with the circuit board, the receiving mechanism includes light splitting component and receiver component, the light splitting component is set to the mounting seat, the receiver component is electrically connected with the circuit board, wherein, the emitting component is used to emit detection light to detection object, the light splitting component is used to divide the return detection light that is reflected back by detection object into first detection light and second detection light, and the first detection light and the second detection light are received by the receiver component.

[0006] Optionally, the first detection light is infrared light, and the second detection light is visible light; or the first detection light is visible light, and the second detection light is infrared light.

[0007] Optionally, the light splitting component includes first lens, and the receiver component includes first receiver and second receiver, and the included angle between the first lens and the first receiver and the included angle between the first lens and the second receiver are both acute angle.

[0008] The first lens is used to reflect and transmit return detection light, so that part of return detection light is reflected by the first lens to form the first detection light, and part of return detection light is transmitted through the first lens to form the second detection light.

[0009] The first receiver receives the first probe light, and the second receiver receives the second probe light.

[0010] Optionally, an included angle between the first receiver and the second receiver is 90 degrees.

[0011] Optionally, the light splitting assembly comprises a second mirror, a first filter and a second filter, and the receiver assembly comprises a third receiver and a fourth receiver, the first filter is located between the second mirror and the third receiver, the second filter is located between the second mirror and the fourth receiver, and an included angle between the second mirror and the third receiver and an included angle between the second mirror and the fourth receiver are acute angles.

[0012] The second mirror is configured to reflect and transmit the returned probe light, so that part of the returned probe light is reflected by the second mirror, and transmitted through the first filter to form the first probe light, and part of the returned probe light is transmitted through the second mirror and the second filter to form the second probe light.

[0013] The third receiver receives the first probe light, and the fourth receiver receives the second probe light.

[0014] Optionally, an included angle between the third receiver and the fourth receiver is 90 degrees.

[0015] Optionally, the light splitting assembly comprises a third mirror, a third filter and a fourth filter, and the receiver assembly comprises a fifth receiver and a sixth receiver, the third filter is located between the third mirror and the fifth receiver, and the fourth filter is located between the third mirror and the sixth receiver.

[0016] The third mirror is configured to transmit the returned probe light to form part of the returned probe light with a first back focus and part of the returned probe light with a second back focus, so that part of the returned probe light with the first back focus is transmitted through the third filter to form the first probe light, and part of the returned probe light with the second back focus is transmitted through the fourth filter to form the second probe light.

[0017] The fifth receiver receives the first probe light, and the sixth receiver receives the second probe light.

[0018] Optionally, the third mirror is provided with a first inner mirror and a first outer mirror, the first outer mirror is fixed around the first inner mirror, the first outer mirror is configured to make part of the returned probe light transmitted through the third mirror have the first back focus, and the first inner mirror is configured to make part of the returned probe light transmitted through the third mirror have the second back focus.

[0019] Optionally, the third mirror, the third filter, the fifth receiver, the fourth filter and the sixth receiver are sequentially arranged along a transmission direction of the returned detection light.

[0020] Optionally, the light splitting assembly comprises a fourth mirror, a fifth filter and a sixth filter, and the receiver assembly comprises a seventh receiver, the fifth filter and the sixth filter are both located between the fourth mirror and the seventh receiver.

[0021] The fourth mirror is used for transmitting the returned detection light to form returned detection light with a third back focal length, so that part of the returned detection light with the third back focal length transmits the fifth filter to form the first detection light, and part of the returned detection light with the third back focal length transmits the sixth filter to form the second detection light.

[0022] The seventh receiver receives the first detection light and the second detection light.

[0023] Optionally, the fourth mirror is provided with a second inner mirror and a second outer mirror, the second outer mirror is fixed around the second inner mirror, and the second outer mirror is used for making part of the returned detection light transmitted through the fourth mirror have the third back focal length, and the second inner mirror is used for making part of the returned detection light transmitted through the fourth mirror have the third back focal length.

[0024] Optionally, the fifth filter and the sixth filter are located in the same plane, and the fifth filter and the sixth filter are both parallel to the seventh receiver.

[0025] To solve the above technical problems, another technical scheme adopted by the utility model is to provide a robot comprising the above distance measuring device.

[0026] In the embodiment of the utility model, the returned detection light reflected by the detected object is divided into the first detection light and the second detection light by the light splitting assembly, and is received by the receiver assembly, so that the receiving mechanism can receive two types of light at the same time, and the detection capability and environmental adaptability of the distance measuring device are improved. BRIEF DESCRIPTION OF DRAWINGS

[0027] In order to more clearly illustrate the technical scheme of the embodiments of the present application, the drawings needed to be used in the embodiments of the present application will be briefly introduced as follows. Obviously, the drawings described below are only some embodiments of the present application, and other drawings can be obtained by the drawings without creative labor for those skilled in the art.

[0028] Figure 1 is a structural schematic view of the distance measuring device of the utility model embodiment;

[0029] Figure 2 is an exploded schematic view of the structure of the distance measuring device according to an embodiment of the present application;

[0030] Figure 3 is a schematic view of the structure of the receiving mechanism of the distance measuring device according to an embodiment one of the present application;

[0031] Figure 4 is a schematic view of the structure of the receiving mechanism of the distance measuring device according to an embodiment two of the present application;

[0032] Figure 5 is a schematic view of the structure of the receiving mechanism of the distance measuring device according to an embodiment three of the present application;

[0033] Figure 6 is a schematic view of the structure of the receiving mechanism of the distance measuring device according to an embodiment four of the present application.

[0034] Explanation of reference signs:

[0035] 100, distance measuring device;

[0036] 1, circuit board; 11, avoiding opening; 12, positioning hole;

[0037] 2, mounting seat; 21, first through slot; 22, second through slot; 23, positioning column; 24, accommodating groove;

[0038] 3, transmitting assembly;

[0039] 4, receiving mechanism; 41, receiving lens; 411, lens support; 4111, light channel; 4122, light transmission port; 412, first lens; 413, second lens; 414, third lens; 42, light splitting assembly; 421, first lens; 422, second lens; 423, first light filter; 424, second light filter; 425, third lens; 4251, first inner lens; 4252, first outer lens; 426, third light filter; 427, fourth light filter; 428, fourth lens; 4281, second inner lens; 4282, second outer lens; 429, fifth light filter; 42a, sixth light filter; 43, receiver assembly; 431, first receiver; 432, second receiver; 433, third receiver; 434, fourth receiver; 435, fifth receiver; 436, sixth receiver; 437, seventh receiver;

[0040] 5, outer cover. DETAILED DESCRIPTION

[0041] For the convenience of understanding the utility model, the utility model will be explained in more detail below in combination with the drawings and specific embodiments. It should be noted that when an element is described as "locked to" another element, it can be directly on another element, or one or more intervening elements can exist therebetween. When an element is described as "connected to" another element, it can be directly connected to another element, or one or more intervening elements can exist therebetween. The terms "vertical", "horizontal", "left", "right" and similar expressions used in the specification are only for illustrative purposes.

[0042] Unless otherwise defined, all technical and scientific terms used in the specification are the same as the meanings commonly understood by those skilled in the art to which the utility model belongs. The terms used in the specification 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 the specification includes any and all combinations of one or more related listed items.

[0043] The application provides a ranging device 100, please refer to Figure 1 And Figure 2 The ranging device 100 includes a circuit board 1, a mounting seat 2, a transmitting assembly 3, a receiving mechanism 4 and an outer cover 5. The mounting seat 2 is arranged on the circuit board 1. The transmitting assembly 3, the receiving mechanism 4 and the outer cover 5 are all arranged on the mounting seat 2. When the ranging device 100 is used, the transmitting assembly 3 is used for transmitting probe light, the probe light is reflected when meeting a probe object, the receiving mechanism 4 receives the returned probe light reflected back, and the circuit board 1 processes the returned probe light received by the receiving mechanism 4, so as to realize ranging and identify the type of the probe object and the like information.

[0044] In some embodiments, the probe object is an external obstacle, which can be a vehicle, furniture, animal, plant and the like. As long as the object can reflect the probe light, it can be the probe object, which is not limited in the application.

[0045] For the above-mentioned circuit board 1, please refer to Figure 2 The circuit board 1 is provided with a avoiding opening 11 and a positioning hole 12. The avoiding opening 11 is used to provide an avoiding space for the transmitting assembly 3 to be arranged, so as to avoid between the circuit board 1 and the transmitting assembly 3. The positioning hole 12 is arranged for the mounting seat 2.

[0046] For the above-mentioned mounting seat 2, please refer to Figure 2The mounting base 2 is provided with a first through groove 21, a second through groove 22 and a positioning column 23. The first through groove 21 is arranged at one end of the mounting base 2, and the first through groove 21 is covered by the circuit board 1, and the first through groove 21 is provided for the part of the receiving mechanism 4. The second through groove 22 is communicated with the avoiding opening 11, and the second through groove 22 is provided for the emitting assembly 3. The positioning column 23 is inserted into the positioning hole 12 to position the mounting base 2 and the circuit board 1, so as to facilitate the installation of the mounting base 2 and the circuit board 1.

[0047] For the above-mentioned emitting assembly 3, please refer to Figure 2 The emitting assembly 3 is arranged in the second through groove 22, one end of the emitting assembly 3 extends out of the second through groove 22 and is located in the avoiding opening 11, and the emitting assembly 3 is electrically connected with the circuit board 1.

[0048] In some embodiments, the emitting assembly 3 is a laser, and the laser is used to emit a detection laser. The detection laser is diffusely reflected back after encountering a detection object, and the returned detection laser is received by the receiving mechanism 4. In addition, the laser is a surface array, a linear array or a point light source.

[0049] For the above-mentioned receiving mechanism 4, please refer to Figure 3 The receiving mechanism 4 includes a receiving lens 41, a light splitting assembly 42 and a receiver assembly 43. The receiving lens 41 is arranged in the first through groove 21, so that the receiving lens 41 is arranged in the mounting base 2. At least part of the light splitting assembly 42 is arranged in the receiving lens 41. The receiver assembly 43 is arranged on the circuit board 1, and the receiver assembly 43 is electrically connected with the circuit board 1. When the distance measuring device 100 is used, the returned detection light is sequentially passed through the receiving lens 41 and the light splitting assembly 42, and the returned detection light is split into first detection light and second detection light by the light splitting assembly 42, and the first detection light and the second detection light are received by the receiver assembly 43.

[0050] In some embodiments, the first detection light is infrared light, and the second detection light is visible light; or the first detection light is visible light, and the second detection light is infrared light.

[0051] The receiving lens 41 includes a lens seat 411, a first lens 412, a second lens 413 and a third lens 414. The lens seat 411 is arranged in the first through groove 21, part of the lens seat 411 extends into the first through groove 21, and the lens seat 411 is provided with a light channel 4111 and a light transmission port 4112. The light channel 4111 is communicated with the light transmission port 4112. The light channel 4111 is used for the returned detection light to pass through. The light transmission port 4112 is used for the first detection light to pass through. The first lens 412, the second lens 413 and the third lens 414 are sequentially and spacedly arranged in the lens seat 411, so that the returned detection light sequentially passes through the first lens 412, the second lens 413 and the third lens 414.

[0052] In some embodiments, the first lens 412, the second lens 413 and the third lens 414 are all wide-angle lenses, thereby expanding the field of view of the distance measuring device 100 and increasing the coverage of the distance measuring device 100.

[0053] The light splitting assembly 42 comprises a first lens 421. The first lens 421 is disposed on the mounting frame 42. The first lens 421 is disposed obliquely. The first lens 421 is configured to reflect and transmit the return probe light, such that part of the return probe light is reflected by the first lens 421 to form first probe light, and the first probe light is received by the receiver assembly 43 after passing through the light transmission port 4112. The first lens 421 is also configured to transmit part of the return probe light to form second probe light, and the second probe light is received by the receiver assembly 43.

[0054] It should be noted that the first lens 421 is configured to reflect part of the probe light to form the first probe light, and to transmit part of the return probe light to form the second probe light.

[0055] In some embodiments, the first lens 421 is a double-bandpass filter lens.

[0056] The receiver assembly 43 comprises a first receiver 431 and a second receiver 432. The first receiver 431 and the second receiver 432 are both electrically connected to the circuit board 1. The included angle between the first receiver 431 and the first lens 421 and the included angle between the second receiver 432 and the first lens 421 are both acute angles. The first receiver 431 receives the first probe light. The second receiver 432 receives the second probe light. The performance and accuracy of the distance measuring device 100 in complex environments are improved by the first receiver 431 receiving the first probe light and the second receiver 432 receiving the second probe light.

[0057] In some embodiments, referring to Figure 2 The mounting seat 2 is provided with a receiving groove 24. The receiving groove 24 is disposed at one end of the mounting seat 2. The receiving groove 24 is in communication with the first through groove 21, and the receiving groove 24 receives part of the circuit board 1. The first receiver 431 is disposed on the part of the circuit board 1 located in the receiving groove 24.

[0058] In some embodiments, the included angle between the first receiver 431 and the second receiver 432 is 90 degrees.

[0059] It can be understood that, in some embodiments, the light splitting assembly 42 and the receiver assembly 43 are not limited to the above structure, and can be other structures. Referring to Figure 4The light splitting component 42 includes a second mirror 422, a first filter 423 and a second filter 424. The receiver component 43 includes a third receiver 433 and a fourth receiver 434. The third receiver 433 and the fourth receiver 434 are electrically connected to the circuit board 1. The first filter 423 is located between the second mirror 422 and the third receiver 433, and the second filter 424 is located between the second mirror 422 and the fourth receiver 434. The included angle between the second mirror 422 and the third receiver 433 and the included angle between the second mirror 422 and the fourth receiver 434 are both acute angles. The second mirror 422 is used for reflecting and transmitting the return probe light, so that part of the return probe light is reflected by the second mirror 422, and the first probe light is formed by transmitting through the first filter 423, and part of the return probe light is transmitted through the second mirror 422 and the second filter 424 to form the second probe light. The third receiver 433 receives the first probe light, and the fourth receiver 434 receives the second probe light. By receiving the first probe light through the third receiver 433 and receiving the second probe light through the fourth receiver 434, the performance and accuracy of the distance measuring device 100 in a complex environment are improved.

[0060] It should be noted that the first mirror 422 is used to reflect part of the return probe light in the full wave band, and is used to transmit part of the return probe light in the full wave band.

[0061] In some embodiments, the second mirror 422 is arranged in the lens seat 411.

[0062] In some embodiments, the second mirror 422 is a semi-transparent and semi-reflective mirror, so that the third mirror 422 can reflect and transmit the return probe light.

[0063] In some embodiments, the first filter 423 and the second filter 424 are arranged in the lens seat 411. Furthermore, in some embodiments, the first filter 423 and the second filter 424 are accommodated in the first through groove 21.

[0064] In some embodiments, the first filter 423 is an infrared light filter, and the second filter 424 is a visible light filter.

[0065] In some embodiments, the third receiver 433 is arranged on the circuit board 1 at the part located in the accommodation groove 24, and the fourth receiver 434 is arranged on the circuit board 1.

[0066] In some embodiments, the included angle between the third receiver 433 and the fourth receiver 434 is 90 degrees.

[0067] It can be understood that, in some embodiments, the receiving mechanism 4 does not include the above-mentioned receiving lens 41, and the light splitting component 42 and the receiver component 43 are not limited to the above-mentioned structure, and the light splitting component 42 and the receiver component 43 can be other structures. Please refer to Figure 5The light splitting component 42 includes a third lens 425, a third filter 426 and a fourth filter 427. The receiver component 43 includes a fifth receiver 435 and a sixth receiver 436. The fifth receiver 435 and the sixth receiver 436 are electrically connected with the circuit board 1. The third filter 426 is located between the fifth receiver 435 and the third lens 425. The fourth filter 427 is located between the sixth receiver 436 and the third lens 425. The third lens 425 is used to transmit the returned probe light to form part of the returned probe light with a first back focus and part of the returned probe light with a second back focus, so that the part of the returned probe light with the first back focus passes through the third filter 426 to form the first probe light, and the part of the returned probe light with the second back focus passes through the fourth filter 427 to form the second probe light. In the transmission direction of the returned probe light, the third lens 425, the third filter 426, the fifth receiver 435, the fourth filter 427 and the sixth receiver 436 are sequentially arranged. The fifth receiver 435 receives the first probe light, and the sixth receiver 436 receives the second probe light. By receiving the first probe light through the fifth receiver 435 and receiving the second probe light through the sixth receiver 436, the performance and the accuracy of the distance measuring device 100 in a complex environment are improved.

[0068] In some embodiments, the third lens 425 is a free-form lens, the third lens 425 is a receiving lens, the third lens 425 is provided with a first inner lens 4251 and a first outer lens 4252, the first outer lens 4252 is fixedly arranged around the first inner lens 4251, the first inner lens 4251 is used to make part of the returned probe light transmitted through the third lens 425 have a first back focus, and the first outer lens 4252 is used to make part of the returned probe light transmitted through the third lens 425 have a second back focus. The returned probe light is imaged at two different distances by the first inner lens 4251 and the first outer lens 4252.

[0069] It can be understood that, in some embodiments, the receiving mechanism 4 does not include the receiving lens 41 described above, and the light splitting component 42 and the receiver component 43 are not limited to the structures described above, and the light splitting component 42 and the receiver component 43 can be other structures. Please refer to Figure 6The light splitting assembly 42 includes a fourth lens 428, a fifth filter 429 and a sixth filter 42a. The receiver assembly 43 includes a seventh receiver 437. The seventh receiver 437 is electrically connected with the circuit board 1. The fifth filter 429 and the sixth filter 42a are both located between the seventh receiver 437 and the fourth lens 428, the fifth filter 429 and the sixth filter 42a are located in the same plane, and the fifth filter 429 and the sixth filter 42a are both parallel to the seventh receiver 437. The fourth lens 428 is used for transmitting the returned probe light to form returned probe light with a third back focus, so that part of the returned probe light with the third back focus transmits through the fifth filter 429 to form first probe light, and part of the returned probe light with the third back focus transmits through the sixth filter 42a to form second probe light. The seventh receiver 437 receives the first probe light and the second probe light.

[0070] In some embodiments, the fourth lens 428 is a free-form lens, the fourth lens 428 is a receiving lens, the fourth lens 428 is provided with a second inner lens 4281 and a second outer lens 4282, the second outer lens 4282 is fixed around the second inner lens 4281, the second inner lens 4281 is used to make part of the returned probe light transmitted through the fourth lens 428 have a third back focus (for example, imaging in the lower half of the seventh receiver 437), and the second outer lens 4282 is used to make part of the returned probe light transmitted through the fourth lens 428 have a third back focus (for example, imaging in the upper half of the seventh receiver 437).

[0071] For the above-mentioned housing 5, refer to Figure 1 The housing 5 is covered on the mounting seat 2, so that the housing 5 is covered on the emitting assembly 3 and the receiving mechanism 4. The housing 5 is used to play a role of waterproof and dustproof.

[0072] In the embodiment of the utility model, the ranging device 100 includes a circuit board 1, a mounting seat 2, an emitting assembly 3 and a receiving mechanism 4, the mounting seat 2 is arranged on the circuit board 1, the emitting assembly 3 is fixed on the mounting seat 2, the emitting assembly 3 is electrically connected with the circuit board 1, the receiving mechanism 4 includes a light splitting assembly 42 and a receiver assembly 43, the light splitting assembly 42 is arranged on the mounting seat 2, and the receiver assembly 43 is electrically connected with the circuit board 1, wherein the emitting assembly 3 is used to emit probe light to a probe object, the light splitting assembly 42 is used to split returned probe light reflected by the probe object into first probe light and second probe light, and the first probe light and the second probe light are received by the receiver assembly 43. Through the above structure, the receiving mechanism 4 can receive two types of light at the same time, the detection capability and the environmental adaptability of the ranging device 100 are improved, the architecture of the ranging device 100 is optimized, the comprehensive performance of the ranging device 100 is improved, the application scenarios of the ranging device 100 are widened, the occupied space of the ranging device 100 is reduced, and the miniaturization of the ranging device 100 is realized.

[0073] The utility model also provides a kind of robot embodiment, robot includes the ranging device 100 described above, for the structure and function of ranging device 100 can refer to the above embodiment, here no longer one by one elaboration.

[0074] It should be noted that the utility model discloses a preferred embodiment in the specification and its drawings, but the utility model can be realized by many different forms, and is not limited to the embodiments described in the specification, and these embodiments are not as additional limitation to the content of the utility model, and the purpose of providing these embodiments is to make the understanding of the disclosure of the utility model more thorough and comprehensive.Also, the above technical features continue to combine, form various embodiments not listed above, which are considered to be within the scope of the utility model specification;Further, for those skilled in the art, the above description can be improved or transformed, and all these improvements and transformations should belong to the protection scope of the utility model claims.

Claims

1. A ranging device, characterized by, The application relates to a ranging device, comprising: a circuit board; a mounting seat arranged on the circuit board; a transmitting assembly fixed to the mounting seat and electrically connected to the circuit board; a receiving mechanism comprising a light splitting assembly arranged on the mounting seat and a receiver assembly electrically connected to the circuit board; wherein the transmitting assembly is used for transmitting probe light to a probe object, the light splitting assembly is used for splitting return probe light reflected by the probe object into first probe light and second probe light, and the first probe light and the second probe light are received by the receiver assembly.

2. The ranging device according to claim 1, wherein the first probe light is infrared light and the second probe light is visible light, or the first probe light is visible light and the second probe light is infrared light.

3. The ranging device according to claim 2, wherein the light splitting assembly comprises a first lens, and the receiver assembly comprises a first receiver and a second receiver, and the included angle between the first lens and the first receiver and the included angle between the first lens and the second receiver are both acute angles; the first lens is used for reflecting and transmitting the return probe light, so that part of the return probe light is reflected by the first lens to form the first probe light, and part of the return probe light is transmitted through the first lens to form the second probe light; the first receiver receives the first probe light, and the second receiver receives the second probe light.

4. The ranging device according to claim 3, wherein the included angle between the first receiver and the second receiver is 90 degrees.

5. The ranging device according to claim 2, wherein the light splitting assembly comprises a second lens, a first filter and a second filter, and the receiver assembly comprises a third receiver and a fourth receiver, the first filter is located between the second lens and the third receiver, the second filter is located between the second lens and the fourth receiver, and the included angle between the second lens and the third receiver and the included angle between the second lens and the fourth receiver are both acute angles; the second lens is used for reflecting and transmitting the return probe light, so that part of the return probe light is reflected by the second lens and transmitted through the first filter to form the first probe light, and part of the return probe light is transmitted through the second lens and the second filter to form the second probe light; the third receiver receives the first probe light, and the fourth receiver receives the second probe light.

6. The ranging device according to claim 5, wherein the included angle between the third receiver and the fourth receiver is 90 degrees.

7. The ranging device according to claim 2, wherein the light splitting assembly comprises a third lens, a third filter and a fourth filter, and the receiver assembly comprises a fifth receiver and a sixth receiver, the third filter is located between the third lens and the fifth receiver, and the fourth filter is located between the third lens and the sixth receiver. ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ The third lens is configured to transmit the returned probe light to form part of the returned probe light having a first back focal length and part of the returned probe light having a second back focal length, such that the part of the returned probe light having the first back focal length is transmitted through the third filter to form the first probe light, and the part of the returned probe light having the second back focal length is transmitted through the fourth filter to form the second probe light. The fifth receiver is configured to receive the first probe light, and the sixth receiver is configured to receive the second probe light.

8. The distance measuring device according to claim 7, wherein The third lens is provided with a first inner lens and a first outer lens, the first outer lens is fixed around the first inner lens, the first inner lens is configured to make part of the returned probe light transmitted through the third lens have a first back focal length, and the first outer lens is configured to make part of the returned probe light transmitted through the third lens have a second back focal length.

9. The distance measuring device according to claim 8, wherein The third lens, the third filter, the fifth receiver, the fourth filter and the sixth receiver are sequentially arranged along a transmission direction of the returned probe light.

10. The distance measuring device according to claim 2, wherein The light splitting assembly comprises a fourth lens, a fifth filter and a sixth filter, and the receiver assembly comprises a seventh receiver, the fifth filter and the sixth filter are both located between the fourth lens and the seventh receiver; The fourth lens is configured to transmit the returned probe light to form part of the returned probe light having a third back focal length, such that the part of the returned probe light having the third back focal length is transmitted through the fifth filter to form the first probe light, and the part of the returned probe light having the third back focal length is transmitted through the sixth filter to form the second probe light; The seventh receiver is configured to receive the first probe light and the second probe light.

11. The distance measuring device according to claim 10, wherein The fourth lens is provided with a second inner lens and a second outer lens, the second outer lens is fixed around the second inner lens, the second inner lens is configured to make part of the returned probe light transmitted through the fourth lens have a third back focal length, and the second outer lens is configured to make part of the returned probe light transmitted through the fourth lens have a third back focal length.

12. The distance measuring device according to claim 11, wherein The fifth filter and the sixth filter are located in the same plane, and the fifth filter and the sixth filter are both parallel to the seventh receiver.

13. A robot, characterized in that The distance measuring device according to any one of claims 1-12.

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