Distance measuring device and distance measuring equipment

Abstract

According to the distance measuring device and the distance measuring equipment provided by the embodiment of the invention, the main board sends the driving pulse signal to control the rotating shaft of the stepping motor to rotate at a constant speed, so that the rotating shaft drives the distance measuring plate to rotate at a constant speed; when the distance measuring plate rotates to a preset azimuth angle, the limit switch is triggered to send a limit switch signal to the mainboard, so that the mainboard is triggered to adjust the phase of the driving pulse signal, the rotating shaft is controlled to adjust the rotating direction, and the rotating direction of the distance measuring plate is adjusted by adjusting the phase of the driving pulse signal; according to the invention, movement delay caused by steering adjustment of the distance measuring plate can be reduced, constant-speed reciprocating scanning of the distance measuring plate in a field angle is realized, the distance measuring accuracy is further improved, and the stepping motor can convert the driving pulse signal into angular displacement with a fixed size, so that the azimuth angle of the distance measuring plate can be directly determined based on the driving pulse signal, and the distance measuring accuracy is improved. No additional code disc or photoelectric reading head is needed to read the scanning angle, and the device is simple in structure and low in cost.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to ranging technology, radar detection technology, and in particular to a ranging device and a ranging apparatus. BACKGROUND

[0002] There are two kinds of single-line laser radars used in electronic devices (such as a sweeping robot, a vehicle, etc.): one is a single-line laser radar with a large detection distance and a 360° field of view, which is usually used for mapping and positioning; and the other is a single-line laser radar with a small detection distance and a small field of view, which is usually used for obstacle avoidance.

[0003] At present, the scanning single-line laser radar used for obstacle avoidance usually combines a direct current motor and a code disc to perform scanning ranging. Specifically, the direct current motor is used to rotate at a constant speed for scanning, and the code disc and a photoelectric reader are used to read the scanning angle to determine the object position. However, this scanning method is suitable for one-way scanning, and if reciprocating swing scanning within a preset angle is required, the driving complexity is increased, and it is difficult to achieve constant speed when changing the scanning direction, thereby causing the problem of low ranging accuracy. UTILITY MODEL CONTENT

[0004] Embodiments of the present disclosure provide a ranging device and a ranging apparatus, which can improve the ranging accuracy and reduce the cost of the ranging device.

[0005] In one aspect of the embodiments of the present disclosure, a ranging device is provided, which includes a main board, a ranging board, a stepping motor, and a limit switch arranged on the stepping motor; the ranging board is fixed on a rotating shaft of the stepping motor, the main board is connected with the limit switch through a wire, and the main board is electrically connected with the stepping motor.

[0006] The ranging board includes a ranging chip, the ranging chip emits a detection signal in a working mode, and a distance value between the ranging device and a signal reflection surface is obtained based on a reflection signal of the detection signal, the signal reflection surface being a surface of an object that reflects the detection signal;

[0007] The main board sends a driving pulse signal to the stepping motor at a preset frequency, the driving pulse signal being used to drive the rotating shaft of the stepping motor to rotate the ranging board by a preset angle;

[0008] The limit switch is triggered when the ranging board rotates to a preset azimuth angle, and sends a limit switch signal to the main board, the limit switch signal being used to trigger the main board to adjust the phase of the driving pulse signal, the phase of the driving pulse signal being used to indicate the rotating direction of the rotating shaft of the stepping motor.

[0009] Optionally, the mainboard comprises a main control module and a motor driving module, the main control module is connected with the limit switch through a wire, and the motor driving module is electrically connected with the stepper motor.

[0010] The main control module is used for sending a control signal to the motor driving module according to the preset frequency, and sending a commutation signal to the motor driving module based on the limit switch signal.

[0011] The motor driving module is used for converting the control signal into the driving pulse signal, and adjusting the phase of the driving pulse signal based on the commutation signal.

[0012] Optionally, the main control module is connected with the distance measuring board through a wire.

[0013] The main control module is used for receiving the distance value sent by the distance measuring board, and generating a point cloud based on the distance value and the azimuth angle of the distance measuring board.

[0014] Optionally, the mainboard further comprises a power management module, and the power management module is electrically connected with a power supply.

[0015] The power management module comprises:

[0016] A main control module power supply unit is electrically connected with the main control module.

[0017] A driving module power supply unit is electrically connected with the motor driving module.

[0018] Optionally, the stepper motor is provided with a limit switch.

[0019] The limit switch is triggered when the distance measuring board rotates to a scanning starting azimuth angle, and sends the limit switch signal to the mainboard.

[0020] The mainboard is used for adjusting the phase of the driving pulse signal and starting to record the rotation times of the distance measuring board when the limit switch signal is received, and adjusting the phase of the driving pulse signal when the rotation times indicate that the distance measuring board rotates to a scanning turning azimuth angle, so that the distance measuring board reciprocally rotates within the scanning field angle of the distance measuring device.

[0021] The scanning starting azimuth angle is an included angle between one side of the scanning field angle and a reference line, and the scanning turning azimuth angle is an included angle between the other side of the scanning field angle and the reference line.

[0022] Optionally, the stepper motor is provided with at least two limit switches, and the at least two limit switches comprise a first limit switch and a second limit switch.

[0023] The first limit switch is configured to be triggered when the ranging board rotates to a scanning starting azimuth angle and send a first limit switch signal to the main board.

[0024] The second limit switch is configured to be triggered when the ranging board rotates to a scanning turning azimuth angle and send a second limit switch signal to the main board.

[0025] The main board is configured to adjust the phase of the driving pulse signal when the first limit switch signal is received and adjust the phase of the driving pulse signal when the second limit switch signal is received, so that the ranging board reciprocates within the scanning field angle of the ranging device.

[0026] The scanning starting azimuth angle is the included angle between the two sides of the scanning field angle and the reference line, and the scanning turning azimuth angle is the included angle between the other side of the scanning field angle and the reference line.

[0027] Optionally, the detection signal comprises a laser signal, the reflected signal comprises a laser reflected signal, and the ranging board is provided with at least a laser, a detection chip and a mirror seat, and the mirror seat is provided with at least an emission lens and a receiving lens.

[0028] The laser is configured to emit the laser signal.

[0029] The emission lens is configured to collimate the laser signal emitted by the laser.

[0030] The receiving lens is configured to refract the received laser reflected signal to the photosensitive surface of the detection chip.

[0031] The detection chip is configured to calculate the distance value based on the laser reflected signal.

[0032] Optionally, the mirror seat is internally provided with a partition plate, and the partition plate is configured to divide the internal space of the mirror seat into an emission cavity and a receiving cavity.

[0033] The laser signal emitted by the laser passes through the emission cavity and the emission lens to be emitted to a target detection space.

[0034] The laser reflected signal passes through the receiving lens and the receiving cavity to reach the photosensitive surface of the detection chip.

[0035] Optionally, a transmission gear is arranged between the ranging board and the rotating shaft, the transmission gear is configured to drive the ranging board to rotate with the rotation of the rotating shaft, and the rotation angle of the ranging board is smaller than the rotation angle of the rotating shaft.

[0036] Optionally, the main board, the ranging board and the stepping motor are arranged in a housing of the ranging device, the housing comprises a lower housing and an optical window sheet, the detection signal comprises a laser signal, and the optical window sheet is used for transmitting a laser wave band corresponding to the laser signal and blocking a visible light wave band.

[0037] In another aspect of the embodiments of the present disclosure, a ranging device is provided, and the ranging device is provided with the ranging device as described in the above aspect.

[0038] According to the embodiments of the present disclosure, the rotation shaft of the stepping motor is controlled to rotate at a constant speed by the main board sending the driving pulse signal at a preset frequency, so that the ranging board is driven to rotate at a constant speed, and the limit switch is arranged on the stepping motor, and the limit switch sends a limit switch signal to the main board when the ranging board rotates to a preset azimuth angle, so that the main board adjusts the phase of the driving pulse signal to control the rotation direction of the rotation shaft, and the turning direction of the ranging board is adjusted by adjusting the phase of the driving pulse signal, which can reduce the moving delay caused by the turning adjustment of the ranging board, and the ranging board can be uniformly reciprocating scanned in the field of view, thereby improving the accuracy of the ranging, and since the stepping motor can convert the driving pulse signal into a fixed size of angular displacement, the azimuth angle of the ranging board can be directly determined based on the driving pulse signal, without the need of additional code disc and photoelectric reader to read the scanning angle, and the device structure is simple and the cost is low.

[0039] The technical solutions of the present disclosure will be further described in detail below with reference to the drawings and embodiments. BRIEF DESCRIPTION OF DRAWINGS

[0040] The accompanying drawings, which form a part of the specification, illustrate embodiments of the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0041] The present disclosure can be more clearly understood with reference to the following detailed description in conjunction with the accompanying drawings, in which:

[0042] Figure 1 A structural schematic diagram of a ranging device according to an exemplary embodiment of the present disclosure is provided;

[0043] Figure 2 A schematic diagram of a scanning field of view according to an exemplary embodiment of the present disclosure is provided;

[0044] Figure 3 A structural block diagram of a ranging device according to an exemplary embodiment of the present disclosure is provided;

[0045] Figure 4 A structural schematic diagram of a ranging device according to another exemplary embodiment of the present disclosure is provided;

[0046] Figure 5 A structural schematic diagram of a ranging device according to another exemplary embodiment of the present disclosure is provided;

[0047] Figure 6 The structural schematic diagram of the ranging device provided for another exemplary embodiment of the present disclosure.

[0048] The reference signs are as follows:

[0049] Main board-1; ranging board-2; stepping motor-3; limit switch-4; rotating shaft-5; lower shell-6; optical window sheet-7;

[0050] Main control module-11; motor driving module-12; power management module-13; laser-21; detection chip-22; mirror seat-23; transmitting lens-24; receiving lens-25; partition-26; first limit switch-41; second limit switch-42. DETAILED DESCRIPTION

[0051] Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. It should be noted that the relative arrangement, numerical expressions, and values of the components and steps set forth in these embodiments do not limit the scope of the present disclosure unless specifically stated otherwise.

[0052] Those skilled in the art can understand that the terms "first", "second", and the like in the embodiments of the present disclosure are only used to distinguish different steps, devices, or modules, and neither represent any specific technical meaning nor indicate their inevitable logical sequence.

[0053] It should also be understood that in the embodiments of the present disclosure, "a plurality of" can refer to two or more, and "at least one" can refer to one, two, or more.

[0054] It should also be understood that for any component, data, or structure mentioned in the embodiments of the present disclosure, one or more can be generally understood unless specifically limited or the context before and after is given the opposite implication.

[0055] In addition, the term "and / or" in the present disclosure is only a description of the association relationship between the associated objects, which means that there can be three relationships, for example, A and / or B can represent the existence of A alone, the existence of A and B together, and the existence of B alone. In addition, the character " / " in the present disclosure generally represents an "or" relationship between the associated objects before and after it.

[0056] It should also be understood that the description of various embodiments of the present disclosure focuses on the differences between various embodiments, and the same or similar parts can be referred to each other, and for the sake of brevity, will not be repeated.

[0057] At the same time, it should be understood that, for the convenience of description, the size of each part shown in the drawings is not drawn in accordance with the actual proportional relationship.

[0058] The following description of at least one exemplary embodiment is merely exemplary in nature and is in no way intended to limit the disclosure or its application or uses.

[0059] Techniques and devices known to those of ordinary skill in the relevant art can not be discussed in detail, but should be considered part of the specification where appropriate.

[0060] It should be noted that like reference numerals and letters refer to like items throughout the several views, and each new use of a reference numeral and letter in the context of a particular drawing figure is not intended to be construed as a further discussion of the item in the drawing figure in which the reference numeral and letter is first presented.

[0061] Figure 1 is a structural block diagram of a ranging device provided by an exemplary embodiment of the disclosure. As shown in Figure 1 the ranging device includes a mainboard 1, a ranging board 2, a stepping motor 3, and a limit switch 4 arranged on the stepping motor 3. The ranging board 2 is fixed to a rotating shaft 5 of the stepping motor 3. The mainboard 1 is connected to the limit switch 4 through a wire, and the mainboard 1 is electrically connected to the stepping motor 3 (for example, the stepping motor 3 can be directly welded at a corresponding position of the mainboard 1, or the stepping motor 3 and the mainboard 1 can be connected through a wire). The ranging device can be applied to a single-line laser radar, and is arranged in devices such as a sweeping robot, a smart phone, a drone, and a smart car, for ranging and point cloud generation.

[0062] The ranging board 2 includes a ranging chip. The ranging chip emits a detection signal in a working mode, and obtains a distance value between the ranging device and a signal reflection surface based on a reflection signal of the detection signal. The signal reflection surface is a surface of an object that reflects the detection signal. Optionally, the ranging chip emits the detection signal to a preset direction according to a preset detection frequency, and obtains the distance value based on the reflection signal of the detection signal. The detection signal can include, but is not limited to, at least one of an optical signal and an acoustic signal. The ranging chip can include, but is not limited to, an ultrasonic sensor chip, an infrared sensor chip, a capacitive sensor chip, a laser radar sensor chip, and the like. Illustratively, an embodiment of the disclosure takes a laser Time-of-Flight (TOF) chip module as an example for description, and the detection signal thereof is a single-line laser signal. Taking the TOF chip module as an example, the ranging chip 5 continuously emits a laser signal to a preset direction, and the distance value between the ranging chip 5 and the signal reflection surface can be calculated based on a time length from emission to return of the same laser signal to the ranging chip 5.

[0063] The mainboard 1 sends a driving pulse signal to the stepping motor 3 according to a preset frequency. The driving pulse signal is used to drive the rotating shaft 5 of the stepping motor 3 to drive the ranging board 2 to rotate by a preset angle. Figure 2As shown, the ranging plate 2 is fixedly mounted on the rotating shaft 5. When the rotating shaft 5 rotates, the ranging plate 2 rotates together with the rotating shaft 5. Optionally, the time interval between the drive pulse signals sent by the main board 1 is the duration of one rotation of the rotating shaft 5, and the stepper motor 3 converts the drive pulse signals into a fixed angular displacement, that is, it continuously rotates at the same angle. Therefore, the ranging plate 2 can achieve uniform speed scanning distance measurement.

[0064] Limit switch 4 is triggered when the ranging plate 2 rotates to a preset azimuth angle, sending a limit switch signal to the main board 1. The limit switch signal triggers the main board 1 to adjust the phase of the drive pulse signal, which indicates the rotation direction of the shaft 5 in the stepper motor 3. The azimuth angle of the ranging plate refers to the angle between the ranging plate 2 and the reference line of the ranging device.

[0065] Indicative, such as Figure 2 As shown, the ranging device is equipped with a fixed scanning field of view. The ranging plate 2 is controlled to rotate and scan within the scanning field of view to perform ranging. The preset azimuth angle includes the scanning start azimuth angle and the scanning turn azimuth angle. The scanning start azimuth angle and the scanning turn azimuth angle are the angles between the two sides of the scanning field of view and the baseline, respectively. When the rangefinder plate 2 rotates counterclockwise until its azimuth angle is the scanning start azimuth angle (i.e., the rangefinder plate 2 rotates to be parallel to the starting edge of the scanning field of view), the limit switch 4 is triggered, sending a limit switch signal to the main board 1. The main board 1 adjusts the phase of the drive pulse signal, causing the shaft 5 in the stepper motor 3 to rotate in the opposite direction, i.e., clockwise. Thus, the rangefinder plate 2 begins to rotate clockwise within the scanning field of view. When the azimuth angle of the rangefinder plate 2 is the scanning turning azimuth angle (i.e., the rangefinder plate 2 rotates to be parallel to the turning edge of the scanning field of view), the main board 1 is triggered to adjust the phase of the drive pulse signal, causing the shaft 5 in the stepper motor 3 to rotate in the opposite direction, i.e., counterclockwise. This process repeats, enabling the rangefinder plate 2 to rotate and scan at a uniform speed within the scanning field of view. Figure 2 Only one scanning field of view and preset azimuth angle are shown. The rangefinder plate 2 can also rotate counterclockwise from the scanning start azimuth angle to the scanning turn azimuth angle. The embodiments of this disclosure do not limit the angle of the scanning field of view and the preset azimuth angle, or the rotation direction of the rangefinder plate 2.

[0066] According to the embodiment of the present disclosure, the mainboard sends the driving pulse signal at a preset frequency to control the rotating shaft of the stepper motor to rotate at a constant speed, so that the rotating shaft drives the ranging board to rotate at a constant speed, and the limit switch is arranged on the stepper motor, and the limit switch sends a limit switch signal to the mainboard when the ranging board rotates to a preset azimuth angle, so that the mainboard adjusts the phase of the driving pulse signal to control the rotating shaft to adjust the rotating direction, and the ranging board is adjusted to change the direction by adjusting the phase of the driving pulse signal, so that the moving delay caused by the adjustment of the ranging board to change the direction is reduced, the ranging board is uniformly reciprocating scanned in the field of view, and the ranging accuracy is improved. In addition, since the stepper motor can convert the driving pulse signal into a fixed size angular displacement, the azimuth angle of the ranging board can be directly determined based on the driving pulse signal, and an additional code disc and photoelectric reader are not required to read the scanning angle, so that the device structure is simple and the cost is low.

[0067] In a possible implementation, as shown in Figure 3 The mainboard 1 includes a main control module 11 and a motor driving module 12. The main control module 11 is connected with the limit switch 4 through a wire, and the motor driving module 12 is electrically connected with the stepper motor 3.

[0068] The main control module 11 is configured to send a control signal to the motor driving module 12 at a preset frequency, and send a commutation signal to the motor driving module 12 based on the limit switch signal. The motor driving module 12 is configured to convert the control signal into a driving pulse signal, and adjust the phase of the driving pulse signal based on the commutation signal.

[0069] Optionally, the main control module 11 can be a microcontroller unit (MCU), a system on chip (SOC), a microprocessor unit (MPU), or the like. The embodiment of the present disclosure takes the MCU as an example for description. The motor driving module 12 can be a THB6128, an L298N, or the like.

[0070] Optionally, the time interval between the driving pulse signals sent by the mainboard 1 is the time length for the rotating shaft 5 to rotate once. The control signal is sent to the motor driving module 12 at the preset frequency, so that the motor driving module 12 converts the control signal into a driving pulse signal and sends it to the stepper motor 3, thereby driving the rotating shaft 5 to rotate at a constant speed. When the limit switch signal is received, the mainboard 1 sends a commutation signal to the motor driving module 12 to adjust the phase of the driving pulse signal, thereby controlling the ranging board 2 to change the direction.

[0071] In a possible implementation, the main control module 11 is connected with the ranging board 2 through a wire. The main control module 11 is configured to receive the distance value sent by the ranging board 2, and generate a point cloud based on the distance value and the azimuth angle of the ranging board 2.

[0072] The main control module 11 can start recording the sending time of each control signal when the limit switch signal is received. Since the stepper motor 3 can convert the driving pulse signal into a fixed size angular displacement, the azimuth angle of the ranging board 2 at the time of distance value measurement can be calculated based on the time when the limit switch signal is received and the sending time of each control signal, and the position of the measured point in the target detection space can be determined based on the azimuth angle and the distance value of the ranging board 2, so as to generate a corresponding point cloud.

[0073] In a possible implementation, as shown in Figure 3 The main board further includes a power management module 13 electrically connected with the power supply.

[0074] The power management module 13 includes: a main control module power supply unit electrically connected with the main control module 11, configured to supply power for the main control module 11; and a driving module power supply unit electrically connected with the motor driving module 12, configured to supply power for the motor driving module 12.

[0075] Optionally, the power management module 13 further includes: a motor power supply unit electrically connected with the stepper motor 3, configured to supply power for the stepper motor 3; and a ranging power supply unit electrically connected with the ranging board 2, configured to supply power for the ranging board 2.

[0076] According to the embodiments of the present disclosure, by arranging the main control module and the motor driving module in the main board, the main control module sends the control signal to the motor driving module at a preset frequency, triggers the motor driving module to generate the driving pulse signal to drive the rotating shaft of the stepper motor to rotate, and the main control module sends the reversing signal to the motor driving module when the limit switch signal is received, triggers the motor driving module to adjust the phase of the driving pulse signal, so that the rotating shaft of the stepper motor reversely rotates, to realize the reciprocating scanning ranging of the ranging board within the ranging field of view angle.

[0077] In a possible implementation, as shown in Figure 1 The stepper motor 3 is provided with a limit switch 4.

[0078] The limit switch 4 is triggered when the ranging board 2 rotates to the scanning starting azimuth angle, and sends the limit switch signal to the main board 1 as the starting position of one reciprocating scanning of the ranging board 2.

[0079] The main board 1 is configured to adjust the phase of the driving pulse signal and start recording the rotating number of the ranging board when the limit switch signal is received, and adjust the phase of the driving pulse signal when the rotating number indicates that the ranging board 2 rotates to the scanning turning azimuth angle, so that the ranging board 2 reciprocally rotates within the scanning field of view angle of the ranging device. The scanning starting azimuth angle is the included angle between one side of the scanning field of view angle and the reference line, and the scanning turning azimuth angle is the included angle between the other side of the scanning field of view angle and the reference line.

[0080] In Figure 2 For example, the ranging field of view angle is 120°, and the preset angle of the rotation of the rotating shaft 5 controlled by the step motor 3 based on one driving pulse signal is 1°, when the number of rotations reaches 120, it is determined that the ranging board 2 rotates to the scanning turning azimuth angle, and the phase of the driving pulse signal needs to be adjusted again.

[0081] For example, the ranging field of view angle is 120°, and the preset angle of the rotation of the rotating shaft 5 controlled by the step motor 3 based on one driving pulse signal is 1°, when the number of rotations reaches 120, it is determined that the ranging board 2 rotates to the scanning turning azimuth angle, and the phase of the driving pulse signal needs to be adjusted again.

[0082] In another possible implementation, as shown in Figure 4 At least two limit switches 4 are arranged on the step motor 3, and the at least two limit switches 4 include a first limit switch 41 and a second limit switch 42.

[0083] The first limit switch 41 is used to be triggered when the ranging board 2 rotates to the scanning starting azimuth angle, and send a first limit switch signal to the main board 1.

[0084] The second limit switch 42 is used to be triggered when the ranging board 2 rotates to the scanning turning azimuth angle, and send a second limit switch signal to the main board 1.

[0085] The main board 1 is used to adjust the phase of the driving pulse signal when receiving the first limit switch signal, and adjust the phase of the driving pulse signal when receiving the second limit switch signal, so that the ranging board 2 rotates reciprocatingly in the scanning field of view angle of the ranging device. The scanning starting azimuth angle is the included angle between one side of the scanning field of view angle and the reference line, and the scanning turning azimuth angle is the included angle between the other side of the scanning field of view angle and the reference line.

[0086] Based on the embodiments of the present disclosure, the ranging board scanning start and stop positions are determined by using low-cost limit switches, and the rotating angle of the ranging board can be controlled based on the driving pulse signal. The rotating direction of the ranging board can be controlled by adjusting the phase of the driving pulse signal based on the limit switch signal of the limit switch, so that the ranging board rotates reciprocatingly at a constant speed, the scanning direction can be flexibly adjusted, the code disc and the photoelectric reader are not needed, and the cost of the device is reduced.

[0087] In a possible implementation, as shown in Figure 5 The ranging board 2 is provided with at least a laser 21, a detection chip 22 and a mirror seat 23. The mirror seat 23 is provided with at least a transmitting lens 24 and a receiving lens 25.

[0088] The laser 21 is configured to emit laser signals. Illustratively, the laser 21 can be a vertical-cavity surface-emitting laser (VCSEL), an edge-emitting laser (EEL) or the like. In the working mode, the laser 21 can emit laser signals at a preset frequency.

[0089] The transmitting lens 24 is configured to collimate the laser signals emitted by the laser 21. The transmitting lens 24 can refract the laser signals and collimate the divergent laser signals. Compared with the laser signals directly emitted with a large divergence angle, the laser signals emitted to the target detection space can be concentrated in a small range of light spots, so that most of the laser signals can be reflected by the signal reflection surface to the ranging board 2, thereby increasing the echo energy and improving the accuracy of the distance value.

[0090] The receiving lens 25 is configured to refract the received laser reflection signals to the light-sensitive surface of the detection chip 22. The receiving lens 25 can refract the laser reflection signals, thereby reducing the signal receiving field angle, reducing the background light entering the ranging board 2, improving the signal-to-noise ratio of the laser reflection signals received by the ranging board 2, and improving the anti-environmental light interference capability of the ranging board 2.

[0091] The detection chip 22 is configured to calculate the distance value based on the laser reflection signals. Based on the arrival time of the laser reflection signals refracted by the receiving lens 25 and reaching the light-sensitive surface of the detection chip 22, and the emission time of the laser signals corresponding to the laser reflection signals, the distance value between the ranging device and the signal reflection surface can be calculated. Illustratively, the detection chip 22 can be a single photon avalanche diode (SPAD) chip, an avalanche photon diode (APD) chip or the like.

[0092] In a possible implementation, as shown in Figure 5 The mirror seat 23 is internally provided with a partition 26, which is configured to divide the internal space of the mirror seat 23 into a transmitting cavity and a receiving cavity.

[0093] The laser signal emitted by the laser 21 is emitted to the target detection space through the emission cavity and the emission lens 24. The laser reflection signal reaches the photosensitive surface of the detection chip through the receiving lens 25 and the receiving cavity. Optionally, the baffle 26 is made of light-proof material. The internal space of the mirror seat is divided into two cavities by the baffle 26, which can ensure that stray light in the emission cavity does not enter the receiving cavity to reach the photosensitive surface of the detection chip 22, and can further improve the signal-to-noise ratio of the laser reflection signal and improve the accuracy of distance measurement.

[0094] According to the embodiments of the present disclosure, by adding the transceiver lens at the distance measurement plate, the divergent laser signal is concentrated in a small range of light spots, and the ambient light reaching the detection chip is reduced, thereby improving the signal-to-noise ratio of the laser reflection signal, improving the distance measurement performance and the ability to resist ambient light of the distance measurement device, and improving the accuracy of distance measurement.

[0095] In a possible implementation, a transmission gear is arranged between the distance measurement plate 2 and the rotating shaft 5, which is used to drive the distance measurement plate 2 to rotate with the rotation of the rotating shaft 5, and the rotation angle of the distance measurement plate 2 is smaller than that of the rotating shaft 5.

[0096] Illustratively, the rotation angle of the distance measurement plate 2 can be reduced to 1 / 5 of the rotation angle of the rotating shaft 5 by adjusting the size of the transmission gear. For example, the rotating shaft 5 rotates 1° after receiving one driving pulse signal, and the distance measurement plate 2 is driven to rotate 0.2° by the transmission gear. By increasing the transmission gear, the rotation accuracy of the distance measurement plate 2 can be improved, so that the distance measurement plate 2 can measure the distance of objects in more directions, thereby obtaining more detailed detection data and improving the accuracy of the point cloud.

[0097] In a possible implementation, as shown in Figure 6 The main plate 1, the distance measurement plate 2 and the stepping motor 3 are arranged in a housing of the distance measurement device, and the housing includes a lower housing 6 and an optical window sheet 7. The housing 6 and the optical window sheet 7 combine to form a sealed housing.

[0098] The detection signal emitted by the distance measurement plate 2 includes a laser signal, and the optical window sheet 7 is used to transmit the laser wave band corresponding to the laser signal and block the visible light wave band, thereby reducing the interference of other wave bands of visible light in the target detection space, improving the signal-to-noise ratio of the laser reflection signal, and further improving the accuracy of distance measurement.

[0099] The embodiments of the present disclosure also provide a distance measurement device, and the distance measurement device is provided with the distance measurement device provided in the above embodiments. Optionally, the distance measurement device can be a laser radar, an infrared radar or the like, and can be applied to electronic devices such as a sweeping robot, a smart phone, a drone, a smart car and the like, and can be used for functions such as detection and distance measurement and point cloud generation.

[0100] The above describes the basic principles of the present disclosure in conjunction with specific embodiments, but it should be noted that the advantages, benefits, effects and the like mentioned in the present disclosure are merely examples and are not limiting, and these advantages, benefits, effects and the like cannot be considered as necessary for each embodiment of the present disclosure. In addition, the above specific details of the disclosure are only for the purpose of example and understanding, and are not limiting, and the above details do not limit the disclosure to be necessarily implemented with the above specific details.

[0101] Each embodiment in the specification is described in a progressive manner, and each embodiment focuses on the difference from other embodiments. For the same, similar or corresponding parts between the embodiments, mutual reference can be made. The above describes the basic principles of the present disclosure in conjunction with specific embodiments, but it should be noted that the advantages, benefits, effects and the like mentioned in the present disclosure are merely examples and are not limiting, and these advantages, benefits, effects and the like cannot be considered as necessary for each embodiment of the present disclosure. In addition, the above specific details of the disclosure are only for the purpose of example and understanding, and are not limiting, and the above details do not limit the disclosure to be necessarily implemented with the above specific details.

[0102] Each embodiment in the specification is described in a progressive manner, and each embodiment focuses on the difference from other embodiments. For the same, similar or corresponding parts between the embodiments, mutual reference can be made.

[0103] The block diagrams of the devices, apparatuses, equipment, systems involved in the present disclosure are only illustrative examples and are not intended to require or imply the connection, arrangement, configuration as shown in the block diagram. As those skilled in the art will recognize, these devices, apparatuses, equipment, systems can be connected, arranged, configured in any manner. Words such as "include", "contain", "have" and the like are open-ended words, meaning "including but not limited to", and can be used interchangeably. The words "or" and "and" used herein mean the word "and / or", and can be used interchangeably unless the context clearly indicates otherwise. The word "such as" used herein means the phrase "such as but not limited to", and can be used interchangeably.

[0104] The devices and equipment of the present disclosure can be implemented in many ways. For example, the devices and equipment of the present disclosure can be implemented by software, hardware, firmware or any combination of software, hardware and firmware.

[0105] It should also be noted that in the devices and equipment of the present disclosure, each component or each step can be decomposed and / or recombined. These decompositions and / or recombinations should be considered as equivalent solutions of the present disclosure.

[0106] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use the disclosure. Various modifications to these aspects will be readily apparent to those skilled in the art, and the generic principles defined herein can be applied to other aspects without departing from the scope of the disclosure. Thus, the present disclosure is not intended to be limited to the aspects shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

[0107] The above description has been presented to enable any person skilled in the art to make or use the disclosure. Furthermore, the purpose of the above description is not intended to limit the embodiments of the present disclosure to the form disclosed herein. Although various example aspects and embodiments have been discussed above, those of ordinary skill in the art will appreciate a variety of modifications, alternatives, permutations, additions, and sub-combinations of the described aspects and features.

Claims

1. A ranging device, characterized by, The application relates to a distance measuring device, which comprises a main plate, a distance measuring plate, a stepping motor and a limit switch arranged on the stepping motor; the distance measuring plate is fixed on the rotating shaft of the stepping motor, the main plate is connected with the limit switch through wires, and the main plate is electrically connected with the stepping motor; the distance measuring plate comprises a distance measuring chip; the distance measuring chip emits a detection signal in a working mode, and a distance value between the distance measuring device and a signal reflection surface is obtained based on a reflection signal of the detection signal; the signal reflection surface is the surface of an object which reflects the detection signal; the main plate sends a driving pulse signal to the stepping motor at a preset frequency; the driving pulse signal is used for driving the rotating shaft of the stepping motor to drive the distance measuring plate to rotate by a preset angle; the limit switch is triggered when the distance measuring plate rotates to a preset azimuth angle, and sends a limit switch signal to the main plate; the limit switch signal is used for triggering the main plate to adjust the phase of the driving pulse signal; and the phase of the driving pulse signal is used for indicating the rotating direction of the rotating shaft of the stepping motor. The main plate comprises a main control module and a motor driving module; the main control module is connected with the limit switch through wires; and the motor driving module is electrically connected with the stepping motor; the main control module is used for sending a control signal to the motor driving module at the preset frequency, and sending a reversing signal to the motor driving module based on the limit switch signal; the motor driving module is used for converting the control signal into the driving pulse signal, and adjusting the phase of the driving pulse signal based on the reversing signal. The main control module is connected with the distance measuring plate through wires; the main control module is used for receiving the distance value sent by the distance measuring plate, and generating a point cloud based on the distance value and the azimuth angle of the distance measuring plate. The main plate further comprises a power management module; the power management module is electrically connected with a power supply; the power management module comprises a main control module power supply unit which is electrically connected with the main control module; and a driving module power supply unit which is electrically connected with the motor driving module. The stepping motor is provided with at least two limit switches; the at least two limit switches comprise a first limit switch and a second limit switch; the first limit switch is used for being triggered when the distance measuring plate rotates to a scanning starting azimuth angle, and sending a first limit switch signal to the main plate; the second limit switch is used for being triggered when the distance measuring plate rotates to a scanning reversing azimuth angle, and sending a second limit switch signal to the main plate; the main plate is used for adjusting the phase of the driving pulse signal when receiving the first limit switch signal and the second limit switch signal; and the distance measuring plate reciprocally rotates within the scanning field angle of the distance measuring device.

2. The apparatus of claim 1, wherein, The scanning starting azimuth angle is the included angle between one side of the scanning field angle and a reference line; and the scanning reversing azimuth angle is the included angle between the other side of the scanning field angle and the reference line. ​ ​ 3. The apparatus of claim 2, wherein, ​ ​ 4. The apparatus of claim 2, wherein, ​ ​ ​ ​ 5. The apparatus of any one of claims 1 to 4, wherein, ​ ​ ​ ​ 6. The apparatus of any one of claims 1 to 4, wherein, ​ ​ The second limit switch is configured to be triggered when the ranging board rotates to a scanning turning azimuth angle and send a second limit switch signal to the main board; The main board is configured to adjust the phase of the driving pulse signal when the first limit switch signal is received and adjust the phase of the driving pulse signal when the second limit switch signal is received, so that the ranging board reciprocates within the scanning field angle of the ranging device. The scanning starting azimuth angle is the included angle between the two sides of the scanning field angle and the reference line, and the scanning turning azimuth angle is the included angle between the other side of the scanning field angle and the reference line.

7. The apparatus of any one of claims 1 to 4, wherein, The detection signal comprises a laser signal, and the reflection signal comprises a laser reflection signal. The laser is configured to emit the laser signal. The emission lens is configured to collimate the laser signal emitted by the laser. The receiving lens is configured to refract the received laser reflection signal onto the photosensitive surface of the detection chip. The detection chip is configured to calculate the distance value based on the laser reflection signal.

8. The apparatus of claim 7, wherein, The mirror seat is internally provided with a partition plate configured to divide the internal space of the mirror seat into an emission cavity and a receiving cavity. The laser signal emitted by the laser is emitted to the target detection space through the emission cavity and the emission lens. The laser reflection signal reaches the photosensitive surface of the detection chip through the receiving lens and the receiving cavity.

9. The apparatus of any one of claims 1 to 4, wherein, The transmission gear is configured to rotate the ranging board with the rotation of the rotating shaft, and the rotation angle of the ranging board is smaller than the rotation angle of the rotating shaft.

10. The apparatus of any one of claims 1 to 4, wherein, The main board, the ranging board and the stepping motor are arranged in the housing of the ranging device, and the housing comprises a lower housing and an optical window sheet.

11. A ranging device, characterized by The ranging device is provided with the ranging device as claimed in any one of claims 1 to 10.

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