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, comprising a laser radar module and a line laser module, the laser radar module is used for emitting detection light to the outside and receiving the detection light reflected by an external barrier, and the line laser module is used for emitting the detection light to the outside; the detection light is used for detecting the distance between an obstacle and the distance measuring device; the line laser module is arranged on the laser radar module, and the line laser module is used for detecting the height of an external obstacle. Through the above mode, the line laser module can be integrated on the laser radar module, so that the distance measuring device can realize height measurement of an external obstacle while ensuring normal operation of a distance measuring function under the condition that the size of the distance measuring device is not obviously increased.

Description

TECHNICAL FIELD

[0001] The embodiment of the utility model relates to the technical field of ranging device, especially to a ranging device and robot. BACKGROUND

[0002] The ranging device is a kind of sensor applied to sweeper, so that when SLAM (Simultaneous Location and Mapping, positioning and map construction) is carried out, the ranging device can be relied on to realize the obstacle avoidance and along wall movement function of sweeper, and in order to realize the miniaturization of sweeper, the technical scheme of embedding ranging device in sweeper is generally adopted.

[0003] The inventor of the utility model in the process of realizing the utility model, found that: at present, the way of embedding ranging device in sweeper makes the scanning line of ranging device lower than the upper edge of sweeper, further leads to the radar unable to detect the obstacle between the upper edge of sweeper and the scanning line of radar, so as to lead to the situation that sweeper collides with the above-mentioned obstacle, the existing technical scheme adopts a double-line or three-line line laser sensor separately added in sweeper, this kind of way can only detect the height of obstacle of specific angle, or need to cooperate with sweeper to rotate, which affects the cleaning efficiency of sweeper, and the installation space required by this kind of way is larger, which is not conducive to the setting of embedded ranging device. UTILITY MODEL CONTENT

[0004] The embodiment of the utility model provides a ranging device, and the technical problem to be mainly solved is that ranging device cannot measure height under the premise of small volume.

[0005] To solve the above technical problems, one technical scheme of the utility model is provided: a ranging device is provided, which comprises a laser radar module, which is used for emitting detection light to the outside world and receiving detection light reflected by obstacles in the outside world, and the detection light is used for detecting the distance between the obstacles and the ranging device;A line laser module is arranged in the laser radar module, and the line laser module is used for detecting the height of the obstacles in the outside world.

[0006] Optionally, the line laser module comprises at least one receiving unit, at least one emitting unit and at least one connecting piece, the receiving unit and the emitting unit are arranged on the connecting piece, and the connecting piece is fixed on the laser radar module.

[0007] Optionally, the number of the receiving unit and the connecting piece is one, when the number of the emitting unit is multiple, the receiving unit and multiple emitting units are arranged on the connecting piece, and the emitting angles of the line lasers emitted by multiple emitting units are different.

[0008] Optionally, when the number of the emitting units is two, the two emitting units are located at two ends of the receiving unit.

[0009] Optionally, when the number of the receiving units, the emitting units and the connecting pieces is two, one receiving unit and one emitting unit are arranged on one connecting piece, and the other receiving unit and the other emitting unit are arranged on the other connecting piece, and the one connecting piece and the other connecting piece are arranged at intervals on the laser radar module, and the emitting angle of the linear laser emitted by the one emitting unit is different from that of the linear laser emitted by the other emitting unit.

[0010] Optionally, the linear laser emitted by the one emitting unit is directed to a first direction, and the linear laser emitted by the other emitting unit is directed to a second direction, and the linear laser directed to the first direction is used to detect external obstacles higher than the position of the emitting unit, and the linear laser directed to the second direction is used to detect external obstacles lower than the position of the emitting unit.

[0011] Optionally, the connecting piece is a structural piece, or a circuit board, or a combination of a circuit board and a structural piece.

[0012] Optionally, the laser radar module comprises a frame body, a control board, a driving assembly, a rotating assembly and a ranging assembly, the driving assembly, the control board, the rotating assembly and the ranging assembly are arranged on the frame body, the driving assembly and the ranging assembly are electrically connected with the control board, the driving assembly is rotationally connected with the rotating assembly, and the rotating assembly is used to change the direction of the detection light emitted by the ranging assembly.

[0013] Optionally, the connecting piece is detachably connected with the frame body, or the connecting piece is integrally formed with the frame body.

[0014] Optionally, when the connecting piece is a circuit board, the circuit board is electrically connected with the control board.

[0015] Optionally, a part of the driving assembly extends into the frame body and is connected with the rotating assembly, and the other part of the driving assembly extends out of the frame body, and along the direction in which the driving assembly extends into the frame body, the projection of the driving assembly at least partially overlaps the projection of the rotating member.

[0016] Optionally, along the direction perpendicular to the direction in which the driving assembly extends into the frame body, the projection of the driving assembly at least partially overlaps the projection of the linear laser module.

[0017] Optionally, the distance measuring assembly comprises a transmitting end and a receiving end, the transmitting end is configured to transmit the probe light, and the receiving end is configured to receive the probe light reflected by the outside world; the linear laser emitted by the transmitting unit has a wavelength different from that of the probe light emitted by the transmitting end.

[0018] Optionally, when the probe light emitted by the distance measuring assembly is in a preset first area, the distance measuring assembly is turned on, and the linear laser module is turned off; when the probe light emitted by the distance measuring assembly is in a preset second area, the distance measuring assembly is turned off, and the linear laser module is turned on; and the area of the preset first area is greater than or equal to that of the preset second area.

[0019] To solve the above technical problems, another technical scheme adopted by the utility model provides a robot comprising the distance measuring device.

[0020] The utility model embodiment has the advantages that, different from the prior art, the utility model embodiment provides a distance measuring device comprising a laser radar module and a linear laser module, the laser radar module is configured to emit probe light to the outside world and receive probe light reflected by an obstacle in the outside world, and the probe light is used to detect the distance between the obstacle and the distance measuring device; the linear laser module is arranged on the laser radar module, and the linear laser module is configured to detect the height of the obstacle in the outside world. Through the above structure, the utility model embodiment can form a distance measuring device with height measuring function by combining the laser radar module and the linear laser module, and the height of the obstacle in the outside world can be measured while ensuring a small size. BRIEF DESCRIPTION OF DRAWINGS

[0021] In order to more clearly illustrate the technical scheme of the utility model embodiment, the following will briefly introduce the drawings needed to be used in the utility model embodiment. Obviously, the following described drawings are only some embodiments of the utility model, and other drawings can be obtained by the drawings without paying creative labor for the person skilled in the art.

[0022] Figure 1 is an exploded schematic view of the distance measuring device provided by the utility model embodiment;

[0023] Figure 2 is an assembly schematic view of the distance measuring device provided by the utility model embodiment;

[0024] Figure 3 is a sectional view schematic view of the distance measuring device provided by the utility model embodiment;

[0025] Figure 4 is Figure 3 the enlarged view of A part in the figure;

[0026] Figure 5is a magnified schematic view of the linear laser module.

[0027] Reference numerals:

[0028] 1000, range finding device;

[0029] 1, linear laser module; 11, receiving unit; 12, transmitting unit; 13, connecting piece; 131, main body; 1311, second screw hole; 132, screwing piece; 133, first receiving groove; 134, second receiving groove;

[0030] 2, laser radar module; 21, frame body; 211, first screw hole; 212, receiving cavity; 22, control panel; 23, driving assembly; 24, rotating assembly; 241, driving wheel; 242, belt; 243, driven wheel; 2431, reflecting mirror; 25, range finding assembly; 26, light-transmitting cover;

[0031] S, linear laser. DETAILED DESCRIPTION

[0032] In order to facilitate understanding of the present application, the present application will be described in more detail below in conjunction with the drawings and specific embodiments. It should be noted that when an element is described as "fixed to" another element, it can be directly on the other element or one or more intervening elements can be present therebetween. When an element is described as "connected to" another element, it can be directly connected to the other element or one or more intervening elements can be present therebetween. The terms "vertical", "horizontal", "left", "right" and similar expressions used in the specification are for illustrative purposes only.

[0033] Unless otherwise defined, all technical and scientific terms used in the specification are the same as those commonly understood by those skilled in the art to which the present application belongs. The terms used in the specification of the present application are only for the purpose of describing the specific embodiments and are not intended to limit the present application. The term "and / or" used in the specification includes any and all combinations of one or more related listed items.

[0034] The ranging device can be applied to the fields of automatic driving and transportation, industry and robots, security and monitoring, aerospace and military, etc. In this embodiment, the application of the ranging device in the field of industry and robots, especially in the sweeping robot, is explained. The ranging device is an electronic device for detecting and ranging as a detection light, which plays an important role in many fields. In the sweeping robot, in order to reduce the volume and height of the sweeping robot, the ranging device is arranged in the interior of the sweeping robot in an embedded manner. The embedded arrangement manner causes a gap between the upper edge of the sweeping robot and the ranging device, and the scanning line of the ranging device is lower than the upper edge of the sweeping robot. When the sweeping robot encounters an external obstacle suspended and located between the upper edge of the sweeping robot and the ranging device during the movement, the ranging device is difficult to detect the obstacle, thereby causing the collision between the sweeping robot and the obstacle, and the damage of the sweeping robot.

[0035] To solve the above problems, the embodiment provides a ranging device 1000, please refer to Figure 1 and Figure 2 The ranging device 1000 comprises a laser radar module 2 and a line laser module 1. The laser radar module 2 is used for emitting detection light to the outside world, and receiving the detection light reflected by the obstacle in the outside world. The detection light is used for detecting the distance between the obstacle and the ranging device 1000. The ranging method comprises a triangulation ranging method and a TOF ranging method. The specific process of the TOF ranging is as follows: the laser radar module 2 emits a beam of detection light and records the emission time. When the detection light encounters an external object and is reflected back, the laser radar module 2 receives and records the time of the reflected wave. Then, the laser radar module 2 calculates the distance between the target object and the laser radar module 2 by using the formula "distance = light speed x time difference / 2". Wherein, the light speed is the propagation speed of the detection light in the vacuum, and the time difference is the time required for the detection light to return to the target.

[0036] The line laser module 1 is arranged on the laser radar module 2. The line laser module 1 is used for detecting the height of the obstacle in the outside world. By arranging the line laser module 1 on the laser radar module 2, the ranging device 1000 can not only rely on the laser radar module 2 to realize the ranging function of the obstacle in the outside world, but also can realize the detection of the height of the obstacle, especially the suspended obstacle, in cooperation with the line laser module 1 arranged on the laser radar module 2, so that the movable robot such as the sweeping robot equipped with the ranging device 1000 can avoid the collision with the suspended obstacle.

[0037] For the above line laser module 1, please refer to Figure 1The line laser module 1 comprises at least one receiving unit 11, at least one emitting unit 12 and at least one connecting piece 13, the receiving unit 11 and the emitting unit 12 are arranged on the connecting piece 13, and the connecting piece 13 is fixed on the laser radar module 2. The emitting unit 12 is used for emitting line laser S at an angle with the vertical plane (referring to the plane perpendicular to the ground as the reference horizontal plane), and the receiving unit 11 is used for receiving the line laser S reflected by the obstacle in the outside world, so as to calculate the height of the measured obstacle.

[0038] It should be noted that the above-mentioned emitting unit 12 realizes the mode of emitting line laser S at an angle with the vertical plane, which includes but is not limited to adjusting the included angle between the line laser module 1 and the side wall of the laser radar module 2, adjusting the angle at which the emitting unit 12 is arranged on the connecting piece 13, etc.

[0039] It can be understood that the number of receiving units 11, emitting units 12 and connecting pieces 13 is a positive integer greater than or equal to one, and the number relationship of the receiving units 11, the emitting units 12 and the connecting pieces 13 can be combined in any number according to actual needs, so as to realize various collocation modes.

[0040] In order to facilitate understanding, several collocation modes are exemplified as follows:

[0041] When the number of receiving units 11 and connecting pieces 13 is one, and the number of emitting units 12 is multiple, the receiving unit 11 and the multiple emitting units 12 are arranged on the connecting piece 13, and the emitting angles of the line lasers S emitted by the multiple emitting units 12 are different, so that the multiple angle line lasers S emitted by the multiple emitting units 12 can measure the height of the obstacle at high density, thereby improving the measurement accuracy of the obstacle and improving the accuracy of the distance measuring device 1000, or the direction of the line lasers S emitted by the multiple emitting units 12 can be adjusted to realize the height measurement and obstacle avoidance function of the sweeping machine applied to the distance measuring device 1000.

[0042] It should be noted that when the multiple emitting units 12 realize high-density measurement of the height of the obstacle, the emitting angles are all kept above the ground, and the emitting angles of each emitting unit 12 are different, so as to ensure high-density measurement of the obstacle in the outside world and improve the accuracy of the height measurement of the distance measuring assembly; when the multiple emitting units 12 realize the height measurement and obstacle avoidance function, the emitting angles of a part of the emitting units 12 are all kept below the ground, so as to realize the obstacle avoidance function, and the emitting angles of the other part of the emitting units 12 are all kept above the ground, so as to realize the height measurement function.

[0043] Further, when the number of receiving units 11 and the number of connecting pieces 13 are both one, and the number of transmitting units 12 is two, the receiving unit 11 and the two transmitting units 12 are both arranged on the connecting piece 13, the two transmitting units 12 are located at the two ends of the receiving unit 11, and the emission angles of the linear laser light S emitted by the two transmitting units 12 are different, that is, the emission angle of the linear laser light S emitted by one transmitting unit 12 is directed upward from the ground, and the emission angle of the linear laser light S emitted by the other transmitting unit 12 is directed downward from the ground.

[0044] When the number of receiving units 11, the number of transmitting units 12 and the number of connecting pieces 13 are all two, one receiving unit 11 and one transmitting unit 12 are arranged on one connecting piece 13, and the other receiving unit 11 and the other transmitting unit 12 are arranged on the other connecting piece 13, the one connecting piece 13 and the other connecting piece 13 are arranged at intervals in the laser radar module 2 (for example, arranged at intervals on the side wall), and the emission angles of the linear laser light S emitted by the one transmitting unit 12 and the other transmitting unit 12 are different, that is, similar to the case where the number of receiving units 11 and the number of connecting pieces 13 are both one and the number of transmitting units 12 is multiple, the two transmitting units 12 can jointly realize high-density measurement of external obstacles, or one transmitting unit 12 is used for height measurement and the other transmitting unit 12 is used for obstacle avoidance. For ease of description, the one receiving unit 11 and the one transmitting unit 12 arranged on the one connecting piece 13 are collectively referred to as “component one”, and the other receiving unit 11 and the other transmitting unit 12 arranged on the other connecting piece 13 are collectively referred to as “component two”, the component one and the component two are both arranged at intervals in the laser radar module 2, and the component one is used for height measurement and the component two is used for obstacle avoidance, or the component one is used for obstacle avoidance and the component two is used for height measurement, or the component one and the component two are jointly used for height measurement.

[0045] It can be understood that the specific positions of the component one and the component two arranged at intervals in the laser radar module 2 need to be selected according to actual application scenarios and needs, including but not limited to the outer top wall, the outer side wall or the outer bottom wall of the laser radar module 2. For example, the component one and the component two are arranged at intervals in the outer side wall of the laser radar module 2, thereby avoiding the increase of the height of the laser radar module 2. Specifically, when the component one is used for height measurement, it is arranged at the front end of the robot cleaner in the movement direction, and when the component two is used for obstacle avoidance, it is arranged at the side of the robot cleaner in the direction perpendicular to the movement direction of the robot cleaner and parallel to the ground. In addition, when the robot cleaner relies on the obstacle avoidance function of the component two, the movement direction and trajectory of the robot cleaner can also be controlled by combining the algorithm of the robot cleaner, to realize the wall-following movement of the robot cleaner.

[0046] Exemplarily, in the embodiment, the directions of the linear laser light S emitted by the at least two emitting units 12 are different, so that the linear laser light S can be divided into two types for obstacle avoidance and height measurement. Specifically, the linear laser light S emitted by one emitting unit 12 is directed to a first direction, and the linear laser light S emitted by another emitting unit 12 is directed to a second direction, and the linear laser light S directed to the first direction is used to detect external obstacles higher than the position of the emitting unit 12, and the first direction here means upward directed to the ground, and the linear laser light S directed to the second direction is used to detect external obstacles lower than the position of the emitting unit 12, and the second direction here means downward directed to the ground. Through the linear laser light S emitted by the emitting units 12 in different directions, the distance measuring assembly 1000 with at least two emitting units 12 can simultaneously realize the detection of the height of the external obstacles of the sweeping machine higher than the position of the emitting unit 12, that is, the height measurement function of the sweeping machine, and the detection of the position of the external obstacles of the sweeping machine lower than the position of the emitting unit 12, that is, the obstacle avoidance function of the sweeping machine to the cleaning plane (such as the ground, etc.), which enriches the functions of the sweeping machine and improves the use experience of the sweeping machine.

[0047] For the above-mentioned laser radar module 2, please refer to Figure 1 , the laser radar module 2 comprises a frame body 21, a control board 22, a driving assembly 23, a rotating assembly 24 and a distance measuring assembly 25, the driving assembly 23, the control board 22, the rotating assembly 24 and the distance measuring assembly 25 are all arranged on the frame body 21, the driving assembly 23 and the distance measuring assembly 25 are electrically connected with the control board 22, the driving assembly 23 is rotationally connected with the rotating assembly 24, and the rotating assembly 24 is used to change the direction of the detection light emitted by the distance measuring assembly 25, and the driving assembly 23 drives the rotating assembly 24 to rotate, so that the scanning range of the distance measuring assembly 25 is greatly improved.

[0048] Further, the frame body 21 is provided with a receiving cavity 212, the driving assembly 23, the control board 22, the rotating assembly 24 and the distance measuring assembly 25 are all received in the receiving cavity 212, and the laser radar module 2 further comprises a light-transmitting cover 26, the light-transmitting cover 26 covers the cavity opening of the receiving cavity 212 to protect the components received in the receiving cavity 212, and the light-transmitting cover 26 allows the detection light emitted by the distance measuring assembly 25 to pass through.

[0049] It should be noted that the connecting piece 13 is detachably connected with the frame body 21, or the connecting piece 13 is integrally formed with the frame body 21.

[0050] It can be understood that the detachable connection mode of the connecting piece 13 and the frame body 21 includes but is not limited to screwing, clamping and the like. Exemplarily, in the embodiment, please refer to Figure 3 and Figure 4The connecting piece 13 is detachably connected with the frame body 21 in a screwing mode. Specifically, the frame body 21 is provided with a first screw hole 211, the connecting piece 13 comprises a main body 131 and a screwing piece 132, the main body 131 is provided with a second screw hole 1311, and the screwing piece 132 is screwed to the first screw hole 211 after passing through the second screw hole 1311. The connecting piece 13 is detachably arranged on the frame body 21 through cooperation of the screwing piece 132 and the first screw hole 211 and the second screw hole 1311, thereby facilitating maintenance and replacement of the linear laser module 1.

[0051] It should be noted that the types of the laser radar module 2 that can be selected include but are not limited to a triangular laser radar or a TOF laser radar.

[0052] In some other embodiments, the connecting piece 13 is integrally formed with the frame body 21, thereby improving the structural strength of the linear laser module 1 arranged on the laser radar module 2 and improving the resistance of the distance measuring device 1000 to external impact load.

[0053] It can be understood that the manner of changing the direction of the probe light emitted by the distance measuring assembly 25 by the rotating assembly 24 includes but is not limited to that the rotating assembly 24 drives the distance measuring assembly 25 to rotate or that the rotating assembly 24 carries a reflecting mirror.

[0054] For example, in some embodiments, the rotating assembly 24 drives the distance measuring assembly 25 to rotate. Specifically, the rotating assembly 24 comprises a driving wheel 241, a belt 242 and a driven wheel 243, the driving wheel 241 is arranged on the output shaft of the driving assembly 23, the distance measuring assembly 25 is fixed to the driven wheel 243, the distance measuring assembly 25 can rotate with the driven wheel 243, one end of the belt 242 is sleeved on the driving wheel, the other end of the belt 242 is sleeved on the driven wheel 243, the driving wheel 241 is driven to rotate by the output shaft of the driving assembly 23, the belt 242 is in a tight state, the rotation of the driving wheel 231 is transmitted to the driven wheel 243, thereby driving the distance measuring assembly 24 to rotate.

[0055] In the present embodiment, the distance measuring assembly 25 is fixed to the frame body 21, the driven wheel 243 carries a reflecting mirror 2431, the reflecting mirror 2431 is arranged at an angle with the probe light emitted by the distance measuring assembly 25, and the reflecting mirror 2431 can rotate with the driven wheel 243, so that the reflecting mirror 2431 reflects the probe light according to a preset track. The driving wheel 241 is driven to rotate by the output shaft of the driving assembly 23, the belt 242 is in a tight state, the rotation of the driving wheel 231 is transmitted to the driven wheel 243, and then the reflecting mirror 2431 rotates with the driven wheel 243, so that the direction of the probe light emitted by the distance measuring assembly 25 changes.

[0056] In some embodiments, a part of the driving assembly 23 extends into the frame 21 and is connected to the rotating assembly 24, and another part of the driving assembly 23 extends out of the frame 21, i.e., a part of the driving assembly 23 extends into the receiving cavity 212, and another part of the driving assembly 23 extends out of the receiving cavity 212 and protrudes from the surface of the frame 21 away from the receiving cavity 212, and in the direction in which the driving assembly 23 extends into the receiving cavity 212, the projection of the driving assembly 23 at least partially overlaps the projection of the from wheel 243, thereby improving the space utilization of the distance measuring device 1000.

[0057] Further, in the direction perpendicular to the driving assembly 23 extending into the frame 21, i.e., in the direction perpendicular to the driving assembly 23 extending into the receiving cavity 212, the projection of the driving assembly 23 at least partially overlaps the projection of the line laser module 1, thereby further reducing the volume of the distance measuring device 1000 and improving the space utilization of the distance measuring device 1000.

[0058] In some embodiments, the distance measuring assembly 25 includes a transmitting end and a receiving end, the transmitting end is used for transmitting probe light, and the receiving end is used for receiving probe light reflected by the outside world; the wavelength of the line laser S emitted by the transmitting unit 12 is different from the wavelength of the probe light emitted by the transmitting end, and the receiving unit 11 and the receiving end are selected to have a corresponding wavelength band-pass filter, so that the laser radar module 2 and the line laser module 1 are frequency domain distinguished, avoiding interference between the laser radar module 2 and the line laser module 1, and affecting the distance measuring precision and accuracy of the distance measuring device 1000.

[0059] In some embodiments, the laser radar module 2 and the line laser module 1 can also be distinguished by time domain. When the probe light emitted by the distance measuring assembly 25 is in a preset first area, the distance measuring assembly 25 is turned on, and the line laser module 1 is turned off; when the probe light emitted by the distance measuring assembly 25 is in a preset second area, the distance measuring assembly 25 is turned off, and the line laser module 1 is turned on; and the area of the preset first area is greater than or equal to the area of the preset second area, so as to ensure that the detection range of the sweeping machine applied with the distance measuring device 1000 is large enough, and the possibility of collision is reduced.

[0060] Specifically, since the driving assembly 23 drives the ranging assembly 25 to rotate, the scanning range of the ranging assembly 25 is 360°, while in the sweeper, the effective field of view angle of the sweeper is less than 360°, and the scanning area covered by the ranging assembly 25 along the movement direction of the sweeper is at least greater than or equal to 180°, which is the effective area, i.e. the preset first area, so when the probe light emitted by the ranging assembly 25 rotates into the effective area, the ranging assembly 25 is turned on, and the linear laser module 1 is turned off, at this time, the ranging assembly 25 detects the distance of the external obstacle facing the movement direction of the sweeper. Correspondingly, the scanning of the ranging assembly 25 to the environment away from the movement direction of the sweeper is invalid scanning, and the scanning area away from the movement direction of the sweeper less than or equal to 180° is designated as the invalid area, i.e. the preset second area, so when the probe light emitted by the ranging assembly 25 rotates into the invalid area, the ranging assembly 25 is turned off, and the linear laser module 1 is turned on, at this time, the linear laser module 1 measures the height and / or avoids obstacles of the external obstacle facing the movement direction of the sweeper. The change of the rotation direction of the probe light emitted by the ranging assembly 25 is periodic change relying on the rotation of the driving assembly 23, so the alternation of the preset first area and the preset second area is divided by the working time of the driving assembly 23, which reduces the power consumption of the sweeper by means of time domain division, and also reduces the pressure of processing data of the sweeper, and avoids the interference between the ranging assembly 25 and the linear laser module 1.

[0061] It should be noted that the effective field of view angle, i.e. the preset first area, is selected according to the design requirements of the product, for example, it can be 180°, 210°, etc.

[0062] It can be understood that the connecting member 13, as a component for carrying the emitting unit 12 and the receiving unit 11, includes but is not limited to any one of a circuit board, a structural member, or a combination of a circuit board and a structural member.

[0063] For example, in the present embodiment, referring to Figure 5 , the connecting member 13 is preferably a structural member, which includes a first receiving groove 133 and at least one second receiving groove 134, the receiving unit 11 is received in the first receiving groove 133 and is electrically connected to the control board 22 from the groove bottom of the first receiving groove 133, and the emitting unit 12 is received in the second receiving groove 134 and is electrically connected to the control board 22 from the groove bottom of the second receiving groove 134, and the second receiving groove 134 is arranged at an angle, so that the linear laser S emitted by the emitting unit 12 can be emitted to the outside at a preset angle. And through the control board 22 shared by the emitting unit 12 and the receiving unit 11, and the driving assembly 23 and the ranging assembly 25, the structure and volume of the ranging device 1000 are further simplified, which is beneficial to the application of the ranging device 1000 in equipment.

[0064] According to the number and position layout of the receiving units 11, the number and position of the first receiving grooves 133 and the second receiving grooves 134 are adjusted adaptively, which will not be illustrated one by one here.

[0065] In some other embodiments, the connecting member 13 is preferably a circuit board, and the transmitting unit 12 and the receiving unit 11 are arranged on the circuit board. The circuit board is used to supply power for the transmitting unit 12 and the receiving unit 11, and can also perform simple data processing on the transmitting unit 12 and the receiving unit 11, and control the start and stop and working time length of the transmitting unit 12 and the receiving unit 11. The circuit board is electrically connected with the control board 22, that is, the circuit board can be powered through the control board 22, or the circuit board can be directly connected with an external power supply, so that when the linear laser module 1 fails, the normal work of the laser radar module 2 will not be affected, and the arrangement of the transmitting unit 12 and the receiving unit 11 on the circuit board further reduces the volume of the linear laser module 1 and improves the integration of the distance measuring device 1000.

[0066] It can be understood that the number of the circuit board is one or more, so that the transmitting unit 12 and the receiving unit 11 can be arranged on one circuit board, or the transmitting unit 12 can be arranged on one circuit board and the receiving unit 11 can be arranged on another circuit board.

[0067] It should be noted that the circuit board and the control board 22 can be integrated into one circuit board, thereby improving the integration of the distance measuring device 1000.

[0068] In some other embodiments, the connecting member 13 is preferably a combination of a circuit board and a structural member, the transmitting unit 12 and the receiving unit 11 are arranged on the circuit board, the circuit board is fixed on the structural member, and the structural member is arranged on the frame 21 of the laser radar module 2. Specifically, the structural member is provided with the first receiving groove 133 and the second receiving groove 134, the receiving unit 11 is received in the first receiving groove 133 and is electrically connected with the circuit board from the groove bottom of the first receiving groove 133, and the transmitting unit 12 is received in the second receiving groove 134 and is electrically connected with the circuit board. Through the combination of the circuit board and the structural member, the linear laser module 1 realizes the control separation from the laser radar module 2 while improving the connection stability of the linear laser module 1 and the laser radar module 2.

[0069] It should be noted that the transmitting unit 12 and the receiving unit 11 are not limited to the above-mentioned connection with the control board 22 or the connecting member 13 of the circuit board for providing power and controlling corresponding functions, but can also be directly connected with devices such as floor cleaning machines. The specific connection structure will not be illustrated one by one in the present embodiment.

[0070] In the embodiment, the distance measuring device 1000 comprises a laser radar module 2 and a line laser module 1, the laser radar module 2 is used for emitting probe light to the outside world and receiving the probe light reflected by the obstacles in the outside world, and the probe light is used for detecting the distance between the obstacles and the distance measuring device 1000; the line laser module 1 is arranged on the laser radar module 2, and the line laser module 1 is used for detecting the height of the obstacles in the outside world; by combining the line laser module 1 with the laser radar module 2, the distance measuring device 1000 can measure the height of the obstacles in the outside world by using the line laser module 1 under the premise of reserving the original distance measuring function, and the volume of the distance measuring device 1000 is not greatly changed, and the achievable functions are increased.

[0071] The utility model further provides a robot embodiment, including above-mentioned distance measuring device 1000, about the specific structure and function of distance measuring device 1000, please refer to the above-mentioned embodiment, do not repeat again.

[0072] It can be understood that the robot includes but is not limited to a sweeping machine, a meal delivery machine, a take-out delivery machine and other movable machines.

[0073] It should be noted that the specification and drawings of the utility model provide a preferred embodiment of the utility model, but the utility model can be realized in many different forms and is not limited to the embodiments described in the specification, and the embodiments are not additional limitations on the content of the utility model, and the purpose of providing these embodiments is to make the disclosure of the utility model more thorough and comprehensive. And, 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 changed, and all these improvements and changes 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, which comprises: a laser radar module, which is used for emitting probe light to the outside world and receiving the probe light reflected by obstacles in the outside world, and the probe light is used for detecting the distance between the obstacles and the ranging device; a line laser module, which is arranged on the laser radar module and is used for detecting the height of obstacles in the outside world.

2. The ranging device according to claim 1, wherein the line laser module comprises at least one receiving unit, at least one emitting unit and at least one connecting piece, the receiving unit and the emitting unit are arranged on the connecting piece, and the connecting piece is fixed on the laser radar module.

3. The ranging device according to claim 2, wherein the number of the receiving unit and the connecting piece is one, the number of the emitting unit is multiple, the receiving unit and the multiple emitting units are arranged on the connecting piece, and the emitting angles of the line lasers emitted by the multiple emitting units are different.

4. The ranging device according to claim 3, wherein when the number of the emitting unit is two, the two emitting units are located at the two ends of the receiving unit.

5. The ranging device according to claim 2, wherein when the number of the receiving unit, the emitting unit and the connecting piece is two, one receiving unit and one emitting unit are arranged on one connecting piece, and the other receiving unit and the other emitting unit are arranged on the other connecting piece, the one connecting piece and the other connecting piece are arranged on the laser radar module in a spaced mode, and the emitting angles of the line lasers emitted by the one emitting unit and the other emitting unit are different.

6. The ranging device according to claim 4 or 5, wherein the line laser emitted by the one emitting unit is directed to a first direction, the line laser emitted by the other emitting unit is directed to a second direction, the line laser directed to the first direction is used for detecting external obstacles which are higher than the positions of the emitting units, and the line laser directed to the second direction is used for detecting external obstacles which are lower than the positions of the emitting units.

7. The ranging device according to any one of claims 2-5, wherein the connecting piece is a structural piece, a circuit board or a combination of the circuit board and the structural piece.

8. The ranging device according to claim 7, wherein the laser radar module comprises a frame body, a control board, a driving assembly, a rotating assembly and a ranging assembly, the driving assembly, the control board, the rotating assembly and the ranging assembly are arranged on the frame body, the driving assembly and the ranging assembly are electrically connected with the control board, the driving assembly is rotationally connected with the rotating assembly, and the rotating assembly is used for changing the direction of the probe light emitted by the ranging assembly.

9. The ranging device according to claim 8, wherein the connecting piece is detachably connected with the frame body, or the connecting piece is integrally formed with the frame body.

10. The ranging device according to claim 8, wherein when the connecting piece is a circuit board, the circuit board is electrically connected with the control board.

11. The distance measuring device according to claim 8, wherein, a portion of the driving assembly extends into the frame and is connected to the rotating assembly, another portion of the driving assembly extends out of the frame, and along the direction in which the portion of the driving assembly extends into the frame, a projection of the driving assembly at least partially overlaps a projection of the rotating member.

12. The distance measuring device according to claim 8, wherein, along the direction perpendicular to the direction in which the portion of the driving assembly extends into the frame, a projection of the driving assembly at least partially overlaps a projection of the linear laser module.

13. The distance measuring device according to claim 8, wherein, the distance measuring assembly comprises a transmitting end and a receiving end, the transmitting end is configured to transmit a probe light, and the receiving end is configured to receive the probe light reflected by an external object; the linear laser emitted by the transmitting unit has a wavelength different from that of the probe light emitted by the transmitting end.

14. The distance measuring device according to claim 8, wherein, when the probe light emitted by the distance measuring assembly is in a preset first region, the distance measuring assembly is turned on, and the linear laser module is turned off; when the probe light emitted by the distance measuring assembly is in a preset second region, the distance measuring assembly is turned off, and the linear laser module is turned on; and the area of the preset first region is greater than or equal to that of the preset second region.

15. A robot, characterized in that The distance measuring device according to any one of claims 1-14.

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