Distance measuring device and robot

Abstract

The embodiment of the utility model relates to the technical field of distance measuring devices, and particularly discloses a distance measuring device and a robot, the distance measuring device comprises a support, a transmitting assembly and a receiving assembly, the transmitting assembly comprises a laser and a transmitting lens, the receiving assembly is arranged on the support, and the receiving assembly is provided with a through groove. The through groove and the receiving assembly are coaxially arranged, and the laser and the transmitting lens are arranged in the through groove, so that the laser, the transmitting lens and the receiving assembly are coaxially arranged. Through the above mode, coaxial alignment of the laser, the transmitting lens and the receiving assembly can be facilitated.

Description

Technical Field

[0001] This application relates to the field of ranging device technology, and in particular to a ranging device and a robot. Background Technology

[0002] A ranging device generates an environmental map by emitting a probe light and receiving the probe light reflected back from an object, thereby calculating information such as the object's distance, speed, and shape.

[0003] However, in the process of implementing the embodiments of this application, the inventors discovered that: currently, in order to improve measurement accuracy, the transmitting component and the receiving component of the ranging device are coaxially arranged, but the transmitting component and the receiving component are independent of each other, which leads to the problem of difficulty in aligning the transmitting component and the receiving component. Utility Model Content

[0004] The main technical problem addressed by this application is to provide a ranging device and robot that can solve the problem of alignment difficulties between the transmitting and receiving components.

[0005] To solve the above-mentioned technical problems, one technical solution adopted in this application is: to provide a ranging device, including a bracket, a transmitting component and a receiving component, wherein the receiving component includes a laser and a transmitting lens, the receiving component is disposed on the bracket, the receiving component is provided with a through slot, the through slot is coaxially disposed with the receiving component, the through slot is provided for the laser and the transmitting lens to be disposed, so that the laser, the transmitting lens and the receiving component are coaxially disposed.

[0006] Optionally, the receiving component includes a receiving lens and a receiver. The receiving lens is disposed on the bracket and has the through slot. The receiving lens, the receiver, and the through slot are coaxially disposed.

[0007] The transmitting assembly includes a transmitter frame disposed in the through slot. The transmitter frame is provided with a first receiving slot and a second receiving slot. The first receiving slot communicates with the second receiving slot. The first receiving slot receives the transmitting lens, and the second receiving slot receives the laser.

[0008] Optionally, the transmitter is provided with a first ring portion that abuts against the receiver assembly.

[0009] Optionally, the transmitting assembly includes a pressure ring, one end of which is received in the first receiving groove, and the pressure ring is sleeved on the transmitting lens.

[0010] Optionally, the launching assembly includes a first connector, a first gap exists between the side of the pressure ring and the wall of the first receiving groove, the first connector is disposed in the first gap, and the first connector is fixed to the side of the pressure ring and the wall of the first receiving groove.

[0011] Optionally, the receiving lens and the transmitting frame are manufactured as a single piece;

[0012] And / or, the pressure ring and the emitting lens are integrally manufactured;

[0013] Alternatively, the receiving lens, the transmitting frame, the pressure ring, and the transmitting lens may be manufactured as a single piece.

[0014] Optionally, the emitting assembly includes a first adjusting member and a second connecting member. The first adjusting member carries the laser, and a second gap exists between the first adjusting member and the wall of the through groove. The second connecting member fills the second gap and is fixed to the first adjusting member and the wall of the through groove.

[0015] Optionally, the receiving component includes optical elements, all of which are disposed on the bracket and between the receiving lens and the receiver. The optical elements have a first surface and a second surface, wherein the first surface is used for filtering light and the second surface is used for uniform light distribution.

[0016] Along the incident direction of the probe light, the receiving lens, the second surface of the optical element, the first surface of the optical element, and the receiver are arranged in sequence.

[0017] Optionally, the ranging device includes a rotating assembly, which includes a reflector rotatably mounted on the bracket. The reflector is disposed opposite to both the transmitting assembly and the receiving assembly. One surface of the reflector is set at an angle to the central axis of the transmitting assembly. The surface of the reflector is used to reflect the detection light emitted by the transmitting assembly outward and to reflect the reflected detection light back to the receiving assembly.

[0018] Optionally, the rotating assembly includes a partition cylinder disposed at the center of one surface of the reflector, the partition cylinder being used to cause the probe light emitted by the emitting assembly to be emitted outward along the partition cylinder.

[0019] Optionally, the rotating assembly includes a first rotating frame, which is rotatably mounted on the support and fixed to the reflector.

[0020] Optionally, the rotating assembly includes a second rotating frame and a second adjusting member. The second rotating frame is rotatably mounted on the support, and the second adjusting member is fixed to the reflector. The second adjusting member is connected to the second rotating frame and can rotate relative to the second rotating frame to adjust the angle between the reflector and the central axis of the emitting assembly.

[0021] Optionally, the rotating assembly includes a third connector, one end of the second adjusting member is rotatably connected to the second rotating frame, the other end of the second adjusting member is provided with a spring arm, the spring arm abuts against the second rotating frame, one end of the third connector abuts against the second adjusting member, and the other end of the third connector passes through the adjusting member and is connected to the second rotating frame.

[0022] To solve the above-mentioned technical problems, another technical solution adopted in this application is to provide a robot that includes the above-mentioned ranging device.

[0023] In this embodiment, the ranging device includes a bracket, a transmitting component, and a receiving component. The transmitting component includes a laser and a transmitting lens. The receiving component is disposed on the bracket and has a through slot coaxially with it. The through slot provides space for the laser and the transmitting lens, ensuring their coaxial alignment. By placing the transmitting component within the through slot of the receiving component, the laser, the transmitting lens, and the receiving component are easily aligned coaxially. Furthermore, integrating the laser and the transmitting lens into the receiving component increases integration density and reduces the space occupied by the ranging device, thus miniaturizing it. Attached Figure Description

[0024] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the embodiments of this application will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on the drawings without creative effort.

[0025] Figure 1 This is a schematic cross-sectional view of the ranging device provided in the embodiments of this application;

[0026] Figure 2 This is a schematic diagram of the structure of the bracket of the ranging device provided in the embodiments of this application;

[0027] Figure 3 This is a partial structural schematic diagram of the ranging device provided in the embodiments of this application;

[0028] Figure 4 This is a partial structural cross-sectional schematic diagram of the ranging device provided in the embodiments of this application;

[0029] Figure 5 This is an exploded view of the structure of the transmitting component of the ranging device provided in the embodiments of this application;

[0030] Figure 6 This is a schematic diagram of the structure of a rotating component of the ranging device provided in the embodiments of this application;

[0031] Figure 7 This is a schematic diagram of the structure of another rotating component of the ranging device provided in the embodiments of this application;

[0032] Figure 8 This is a schematic diagram of the structure of the driving component of the ranging device provided in the embodiments of this application.

[0033] Explanation of reference numerals in the attached figures:

[0034] 100. Distance measuring device;

[0035] 1. Support; 11. Receiving slot; 12. Third receiving slot; 13. First opening;

[0036] 2. Transmitting assembly; 21. Transmitting mount; 211. First receiving slot; 212. Second receiving slot; 213. Second opening; 214. First ring; 2141. First notch; 22. Transmitting lens; 23. Pressure ring; 231. Second ring; 2311. Second notch; 24. Laser; 25. First adjusting component;

[0037] 3. Receiving assembly; 31. Receiving lens; 311. Through slot; 32. Receiver; 33. Optical components;

[0038] 4. Rotating assembly; 41. First rotating frame; 42. Reflector; 43. Divider; 44. Second rotating frame; 45. Second adjusting component; 451. Spring arm;

[0039] 5. Drive assembly; 51. Drive component; 52. First transmission component; 53. Second transmission component;

[0040] 6. Circuit board;

[0041] 7. Outer cover. Detailed Implementation

[0042] To facilitate understanding of this application, a more detailed description is provided below with reference to the accompanying drawings and specific embodiments. It should be noted that when an element is described as "locked" to another element, it can be directly on the other element, or one or more intermediate elements may exist between them. When an element is described as "connected" to another element, it can be directly connected to the other element, or one or more intermediate elements may exist between them. The terms "vertical," "horizontal," "left," "right," and similar expressions used in this specification are for illustrative purposes only.

[0043] Unless otherwise defined, all technical and scientific terms used in this specification have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the scope of this application. The term "and / or" as used in this specification includes any and all combinations of one or more of the associated listed items.

[0044] Please see Figure 1 This application provides a ranging device 100, which includes a bracket 1, a transmitting component 2, a receiving component 3, a rotating component 4, a driving component 5, and a circuit board 6. The transmitting component 2 emits detection light outwards. The receiving component 3 is mounted on the bracket 1 and sleeved on the transmitting component 2; the receiving component 3 receives the detection light reflected back from an object. The rotating component 4 is rotatably mounted on the bracket 1 and reflects the detection light emitted by the transmitting component 2 outwards and reflects the reflected detection light back to the receiving component 3. The driving component 5 is mounted on the bracket 1 and drives the rotating component to rotate 360°, thereby enabling the ranging device 100 to achieve 360° omnidirectional detection. The circuit board 6 is mounted on the bracket 1 and is electrically connected to the transmitting component 2, the receiving component 3, and the driving component 5.

[0045] For the aforementioned bracket 1, please refer to Figure 2 The bracket 1 is provided with a receiving slot 11, a third receiving slot 12, and a first opening 13. The receiving slot 11 and the third receiving slot 12 each receive a portion of the receiving component 3. The first opening 13 connects the receiving slot 11 and the third receiving slot 12, and is used to allow the reflected detection light to pass through.

[0046] For the aforementioned transmitting component 2, please refer to Figures 3-5The transmitting assembly 2 includes a transmitting frame 21, a transmitting lens 22, a retaining ring 23, a first connector, a laser 24, a first adjusting member 25, and a second connector. The transmitting frame 21 is disposed on the receiving assembly 3. The transmitting lens 22 is disposed on the transmitting frame 21 so that it is positioned on the receiving assembly 3. The retaining ring 23 is fitted onto the transmitting lens 22. The first connector is fixed to the retaining ring 23 and the transmitting frame 21 to connect and fix the transmitting frame 21 and the retaining ring 23; the retaining ring 23 also guides the emitted probe light. The laser 24 is disposed on the transmitting frame 21 so that it is positioned on the receiving assembly 3; the laser 24 is coaxially arranged with the transmitting lens 22 and is electrically connected to the circuit board 6. The first adjusting member 25 is disposed on the receiving assembly 3. The second connector is fixed to the first adjusting member 25 and the receiving assembly 3 so that the first adjusting member 25 is connected and fixed to the receiving assembly 3.

[0047] The transmitter 21 is provided with a first receiving slot 211, a second receiving slot 212, and a second opening 213. The second opening 213 communicates with both the first receiving slot 211 and the second receiving slot 212, thus enabling communication between them. The first receiving slot 211 receives one end of the transmitting lens 22 and the pressure ring 23. A first gap exists between the wall of the first receiving slot 211 and the side of the pressure ring 23. This first gap is provided for the placement of a first connecting member. The first gap facilitates the adjustment of the position of the pressure ring 23 and the transmitting lens 22 during installation. After adjustment, the first connecting member is placed in the first gap, ensuring that the transmitting lens 22 and the receiving assembly 3 are coaxially and precisely aligned. This prevents misalignment between the transmitting lens 22 and the receiving assembly 3 due to processing and assembly errors, thereby improving the measurement accuracy of the measuring device. The second receiving slot 212 receives the laser 24. By using the first receiving slot 211 to receive the pressure ring 23 and the transmitting lens 22, and the second receiving slot 212 to receive the laser 24, the space occupied by the ranging device 100 is reduced.

[0048] The pressure ring 23 is provided with a second ring portion 231, which is used to define the position of the pressure ring 23.

[0049] In some embodiments, the first connector is an adhesive, specifically glue or adhesive. The second ring portion 231 is provided with a second notch 2311, which communicates with the first receiving groove 211. The first notch 2141 is used to allow light to pass through and irradiate the adhesive to cure the adhesive, thereby fixing the pressure ring 23 to the transmitter 21.

[0050] It is understood that in some embodiments, the transmitting component 2 is not limited to the structure described above, and the transmitting component 2 may also be other structures. For example, the transmitting component 2 does not include the first connecting member described above. After the transmitting lens 22 and the receiving component 3 are precisely aligned coaxially, the pressure ring 23 is fixed to the transmitting frame 21 using an ultrasonic welding process.

[0051] For the receiving component 3 mentioned above, please refer to Figure 3 and Figure 4 The receiving assembly 3 includes a receiving lens 31, a receiver 32, and an optical element 33. The receiving lens 31 is housed in a receiving groove 11 so that it is mounted on a support 1. The receiving lens 31 is used to mount the transmitter 21 and the first adjustment member 25. The receiver 32 is mounted on the circuit board 6 and corresponds to the first opening 13. The receiver 32 is used to receive the probe light reflected back through the first opening 13. The optical element 33 is disposed between the receiving lens 31 and the receiver 32 and is housed in a third receiving groove 12. The optical element 33, the receiving lens 31, and the receiver 32 are coaxially arranged. The optical element 33 has a first surface and a second surface. The first surface faces the receiving lens 31 and is used for filtering light. The second surface faces the first surface. Along the incident direction of the probe light, the receiving lens 31, the second surface of the optical element 33, the first surface of the optical element 33, and the receiver 32 are arranged sequentially. The second surface is used for homogenizing light. The optical element eliminates stray light and other interference, improving the quality of the reflected probe light.

[0052] In some embodiments, the optical element 33 is in the 800-1000nm band.

[0053] The receiving lens 31 is provided with a through slot 311. The through slot 311 is coaxially arranged with the receiving lens 31 and is used to house the transmitting frame 21, so that the transmitting component 2 is integrated into the receiving lens 31, improving integration and reducing space occupation, thereby miniaturizing the ranging device 100. The through slot 311, the transmitting lens 22, and the laser 24 are coaxially arranged, so that the receiving lens 31, the receiver 32, the optical component 33, the transmitting lens 22, and the laser 24 are coaxially arranged. There is a second gap between the wall of the through slot 311 and the side of the first adjusting member 25. The second gap is used to house the second connecting member. The second gap is used to facilitate the adjustment of the position of the first adjusting member 25 during installation, thereby adjusting the position of the laser 24. After adjustment, the second connecting member is placed in the second gap, so that the receiving lens 31 and the laser 24 are precisely aligned coaxially, preventing the receiving lens 31 and the laser 24 from being misaligned due to processing errors and assembly errors, and improving the measurement accuracy of the measuring device.

[0054] It is understood that in some embodiments, the optical element 33 is not coaxially arranged with the receiving lens 31 and the receiver 32. That is, the optical element 33 is not coaxially arranged with the receiving lens 31, the receiver 32, the emitting lens 22 and the laser 24. As long as the detection light reflected back by the receiving lens 31 passes through the optical element 33, it will be received by the receiver 32.

[0055] In some embodiments, please refer to Figure 5The transmitter 21 is provided with a first ring portion 214, which abuts against the receiving lens 31, thereby limiting the position of the transmitter 21 when it is placed in the through slot 311.

[0056] In some embodiments, please refer to Figure 5 The transmitter 21 is fixed to the receiver lens 31 by adhesive bonding. The first ring portion 214 is provided with a first notch 2141, which connects to the through groove 311. The first notch 2141 is used to allow light to pass through and irradiate the adhesive to cure the adhesive, thereby fixing the transmitter 21 and the receiver lens 31. However, the transmitter 21 is not limited to being fixed to the receiver lens 31 by adhesive bonding; the transmitter 21 can also be connected and fixed to the receiver lens 31 by snap-fit ​​or screw connection. In some embodiments, the second connector is an adhesive, specifically glue or adhesive.

[0057] It is understood that in some embodiments, the transmitting component 2 is not limited to the structure described above, and the transmitting component 2 may also be other structures. For example, the transmitting component 2 does not include the second connecting member described above. After the receiving lens 31 and the laser 24 are precisely aligned coaxially, the receiving lens 31 and the first adjusting member 25 are fixed by ultrasonic welding.

[0058] In some embodiments, the transmitting lens 22 and the retaining ring 23 are integrally made of the same material, and the surface of the retaining ring 23 is coated with an ink to create a matte finish; and / or, the receiving lens 31 and the transmitting mount 21 are integrally made of the same material, and the surface of the transmitting mount 21 is coated with an ink to create a matte finish. Of course, the transmitting lens 22 and the retaining ring 23 may be integrally made of different materials, and / or the receiving lens 31 and the transmitting mount 21 may be integrally made of different materials. Furthermore, in some embodiments, the transmitting assembly 2 does not include the first connector, and the receiving lens 31, the transmitting mount 21, the transmitting lens 22, and the retaining ring 23 are integrally made, wherein the transmitting lens 22 and the receiving lens 31 are made of one material, and the transmitting mount 21 and the retaining ring 23 are made of another material.

[0059] For the rotating component 4 mentioned above, please refer to Figure 6The rotating assembly 4 includes a first rotating frame 41, a reflector 42, and a partition cylinder 43. The first rotating frame 41 is rotatably mounted on the support 1 and is connected to the drive assembly 5. The reflector 42 is fixed to the first rotating frame 41. The reflector 42 is used to emit the detection light emitted by the transmitting assembly 2 outward and to reflect the reflected detection light back to the receiving assembly 3. The partition cylinder 43 is disposed in the middle of the reflector 42 and is L-shaped. The partition cylinder 43 is used to ensure that the detection light emitted by the transmitting assembly 2 is emitted along the partition cylinder 43, reflected by the middle of the reflector 42, and then emitted outward along the partition cylinder 43. The reflected detection light is also reflected by other areas of the reflector 42 located on both sides of the partition cylinder 43 to the receiving assembly 3. This achieves isolation between the emitted and reflected detection light, preventing mutual interference, improving detection quality and stability, effectively isolating stray light, reducing interference, and improving detection accuracy.

[0060] One surface of the reflector 42 is set at an angle to the central axis of the transmitting assembly 2. The middle part of one surface of the reflector 42 is provided for the partition cylinder 43. One surface of the reflector 42 is used to emit the detection light emitted by the transmitting assembly 2 outward and to reflect the reflected detection light to the receiving assembly 3.

[0061] It is understood that in some embodiments, the rotating component 4 is not limited to the structure described above, and the rotating component 4 may also be other structures. Please refer to [link / reference]. Figure 7 The rotating assembly 4 does not include the first rotating frame 41 mentioned above. The rotating assembly 4 includes a second rotating frame 44, a second adjusting member 45, and a third connecting member. The second rotating frame 44 is rotatably mounted on the support 1 and connected to the drive assembly 5. The second adjusting member 45 is fixed to the reflector 42. One end of the second adjusting member 45 is rotatably connected to the second rotating frame 44, allowing the second adjusting member 45 to rotate relative to the second rotating frame 44. The other end of the second adjusting member 45 is provided with a spring arm 451, which abuts against the second rotating frame 44. One end of the third connecting member abuts against the second adjusting member 45, and the other end of the third connecting member passes through the second adjusting member 45 and connects to the second rotating frame 44, thus fixing the second adjusting member 45 and the second rotating frame 44 together. The connection depth between the third connecting member and the second rotating frame 44 is adjustable. The third connecting member and the spring arm 451 are used together to adjust the angle between a surface of the reflector 42 and the central axis of the transmitting assembly 2, thereby adjusting the detection angle of the ranging device 100 to adapt to different application scenarios.

[0062] For the aforementioned driver component 5, please refer to Figure 8The drive assembly 5 includes a drive component 51, a first transmission component 52, and a second transmission component 53. The drive component 51 is mounted on the bracket 1 and is electrically connected to the circuit board 6. The first transmission component 52 is connected to the drive component 51, and the second transmission component 53 is connected to the first transmission component 52 and the second rotating frame 44 or the first rotating frame 41. The drive component 51 drives the second rotating frame 44 or the first rotating frame 41 to rotate, thereby causing the reflector 42 to rotate 360°.

[0063] In some embodiments, the drive element 51 is a motor.

[0064] In some embodiments, the first transmission member 52 is a pulley, and the second transmission member 53 is a transmission belt. The second transmission member 53 is wound around the first transmission member 52 and the second rotating frame 44, or the second transmission member 53 is wound around the first transmission member 52 and the first rotating frame 41. Furthermore, in some embodiments, both the first transmission member 52 and the second transmission member 53 are gears, and both the second rotating frame 44 and the first rotating frame 41 are provided with meshing teeth. The second transmission member 53 meshes with both the first transmission member 52 and the second rotating frame 44, or the second transmission member 53 meshes with both the first transmission member 52 and the first rotating frame 41.

[0065] In some embodiments, please refer to Figure 1 and Figure 2 The ranging device 100 includes an outer cover 7, which is disposed on the bracket 1 and covers the rotating assembly 4.

[0066] In this embodiment, the ranging device 100 includes a bracket 1, a transmitting component 2, and a receiving component 3. The transmitting component 2 includes a laser 21 and a transmitting lens 22. The receiving component 3 is disposed on the bracket 1 and has a through slot 311. The through slot 311 is coaxially arranged with the receiving component 3, and both the laser 21 and the transmitting lens 22 are accommodated in the through slot 311, so that the transmitting component 2 and the receiving component 3 are coaxially arranged. By placing the transmitting component 2 in the through slot 311 of the receiving component 3, it is convenient to align the laser 21, the transmitting lens 22, and the receiving component 3 coaxially. Furthermore, the laser 21 and the transmitting lens 22 are integrated into the receiving component 3, improving the integration level and reducing the space occupied by the ranging device 100, thereby achieving miniaturization of the ranging device 100.

[0067] This application also provides a robot embodiment, which includes the above-described ranging device 100. The structure and function of the ranging device 100 can be found in the above embodiments, and will not be described in detail here.

[0068] It should be noted that while preferred embodiments of this application are provided in the specification and accompanying drawings, this application can be implemented in many different forms and is not limited to the embodiments described herein. These embodiments are not intended to impose additional limitations on the content of this application; their purpose is to provide a more thorough and comprehensive understanding of the disclosure of this application. Furthermore, the above-described technical features can be combined with each other to form various embodiments not listed above, all of which are considered to be within the scope of this application's specification. Moreover, those skilled in the art can make improvements or modifications based on the above description, and all such improvements and modifications should fall within the protection scope of the appended claims.

Claims

1. A ranging device, characterized by, The application relates to a ranging device, comprising: a support; a transmitting assembly; a laser and a transmitting lens; a receiving assembly arranged on the support, the receiving assembly is provided with a through slot coaxial with the receiving assembly, the through slot is arranged for the laser and the transmitting lens, so that the laser, the transmitting lens and the receiving assembly are coaxially arranged.

2. The ranging device according to claim 1, wherein: the receiving assembly comprises a receiving lens and a receiver, the receiving lens is arranged on the support, the receiving lens is provided with the through slot, and the receiving lens, the receiver and the through slot are coaxially arranged; the transmitting assembly comprises a transmitting frame, the transmitting frame is arranged in the through slot, the transmitting frame is provided with a first receiving groove and a second receiving groove, the first receiving groove is communicated with the second receiving groove, the first receiving groove receives the transmitting lens, and the second receiving groove receives the laser.

3. The ranging device according to claim 2, wherein: the transmitting frame is provided with a first ring part, and the first ring part abuts against the receiving lens.

4. The ranging device according to claim 2, wherein: the transmitting assembly comprises a compression ring, one end of the compression ring is received in the first receiving groove, and the compression ring is sleeved on the transmitting lens.

5. The ranging device according to claim 4, wherein: the transmitting assembly comprises a first connecting piece, a first gap is formed between the side surface of the compression ring and the wall surface of the first receiving groove, the first connecting piece is arranged in the first gap, and the first connecting piece is fixed to the side surface of the compression ring and the wall surface of the first receiving groove.

6. The ranging device according to claim 4, wherein: the receiving lens and the transmitting frame are integrally manufactured; and / or, the compression ring and the transmitting lens are integrally manufactured; or, the receiving lens, the transmitting frame, the compression ring and the transmitting lens are integrally manufactured.

7. The ranging device according to claim 2, wherein: the transmitting assembly comprises a first adjusting piece and a second connecting piece, the first adjusting piece carries the laser, a second gap is formed between the side surface of the first adjusting piece and the wall surface of the through slot, the second connecting piece is filled in the second gap, and the second connecting piece is fixed to the side surface of the first adjusting piece and the wall surface of the through slot.

8. The ranging device according to claim 2, wherein: the receiving assembly comprises an optical piece, the optical piece is arranged on the support, the optical piece is arranged between the receiving lens and the receiver, the optical piece has a first surface and a second surface, the first surface is used for light homogenization, and the second surface is used for light filtering; in the incident direction of the detection light, the receiving lens, the second surface of the optical piece, the first surface of the optical piece and the receiver are sequentially arranged.

9. The ranging device according to claim 2, wherein: The ranging device comprises a rotating assembly, the rotating assembly comprises a reflecting element, the rotating assembly is rotationally arranged on the support, the reflecting element is oppositely arranged with the emitting assembly and the receiving assembly, a surface of the reflecting element is arranged at an angle with the central axis of the emitting assembly, the surface of the reflecting element is used for reflecting the probe light emitted by the emitting assembly outward, and the reflected probe light is reflected to the receiving assembly.

10. The ranging device according to claim 9, wherein, The rotating assembly comprises a partition barrel, the partition barrel is arranged at the middle of the surface of the reflecting element, and the partition barrel is used for making the probe light emitted by the emitting assembly emit outward along the partition barrel.

11. The ranging device according to claim 10, wherein, The rotating assembly comprises a first rotating frame, the first rotating frame is rotationally arranged on the support, and the first rotating frame is fixed with the reflecting element.

12. The ranging device according to claim 10, wherein, The rotating assembly comprises a second rotating frame and a second adjusting element, the second rotating frame is rotationally arranged on the support, the second adjusting element is fixed with the reflecting element, the second adjusting element is connected to the second rotating frame, and the second adjusting element can rotate relative to the second rotating frame to adjust the angle between the reflecting element and the central axis of the emitting assembly.

13. The ranging device according to claim 12, wherein, The rotating assembly comprises a third connecting element, one end of the second adjusting element is rotationally connected to the second rotating frame, the other end of the second adjusting element is provided with an elastic arm, the elastic arm abuts against the second rotating frame, one end of the third connecting element abuts against the second adjusting element, and the other end of the third connecting element is connected to the second rotating frame through the adjusting element.

14. A robot, characterized in that The ranging device comprises the ranging device according to any one of claims 1-13.

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