Line laser ranging device and robot

Abstract

The embodiment of the utility model relates to the technical field of line laser distance measuring devices, and particularly discloses and provides a line laser distance measuring device which comprises a support module and a photoelectric module. The support module comprises a support body, a light-emitting lens assembly and a light-entering lens assembly, the light-emitting lens assembly and the light-entering lens assembly are arranged on the support body, and the light-emitting lens assembly and the light-entering lens assembly are integrally formed with the support body; the photoelectric module comprises an emitter and a receiver, the emitter and the light-emitting lens assembly are oppositely arranged, detection light output by the emitter is emitted through the light-emitting lens assembly, and the detection light emitted from the light-emitting lens assembly is a linear light beam; the receiver and the light inlet lens assembly are oppositely arranged, and the returned detection light penetrates through the light inlet lens assembly and enters the receiver. According to the embodiment of the utility model, the assembly efficiency can be improved.

Description

Technical Field

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

[0002] Line laser rangefinders are commonly used in fields such as distance measurement, velocity monitoring, and 3D imaging. Current line laser rangefinders consist of a transmitting component and a receiving component. The transmitting component emits a probe beam, which is reflected back when it encounters a target object. The returning probe beam is received by the receiving component, thereby measuring the distance to the target object and identifying information such as the type of target object.

[0003] In the process of realizing this utility model, the inventors discovered that the current assembly process of the transmitting and receiving components is cumbersome and inefficient. Utility Model Content

[0004] This utility model provides a line laser ranging device and a robot, which can improve assembly efficiency.

[0005] To solve the above-mentioned technical problems, the present invention provides a line laser ranging device, which includes a support module and a photoelectric module. The support module includes a frame, an emitting lens assembly, and an incoming lens assembly. The emitting lens assembly and the incoming lens assembly are disposed on the frame and are integrally formed with the frame. The photoelectric module includes a transmitter and a receiver. The transmitter and the emitting lens assembly are arranged opposite to each other. The detection light output by the transmitter passes through the emitting lens assembly and is emitted as a line beam. The receiver and the incoming lens assembly are arranged opposite to each other, and the returned detection light passes through the incoming lens assembly and enters the receiver.

[0006] Optionally, the line laser ranging device further includes a circuit board, with both the transmitter and receiver fixed to the circuit board and electrically connected to it; the circuit board is disposed on the support module so that the light-emitting lens assembly is positioned opposite to the transmitter, and the light-receiving lens assembly is positioned opposite to the receiver; or, the photoelectric module further includes a circuit board, with the transmitter disposed on the frame, the light-emitting lens assembly positioned opposite to the transmitter; the receiver is disposed on the circuit board, with both the transmitter and receiver electrically connected to it; the circuit board is disposed on the support module so that the light-receiving lens assembly is positioned opposite to the receiver.

[0007] Optionally, the frame is provided with an output light channel and an input light channel, with the output light lens assembly installed in the output light channel, the input light lens assembly installed in the input light channel, the transmitter set in the output light channel, and the receiver set in the input light channel.

[0008] Optionally, the circuit board has a clearance opening, and at least a portion of the light emission channel is located in the clearance opening.

[0009] Optionally, a first aperture is provided on the inner wall of the light output channel of the frame, and / or a second aperture is provided on the inner wall of the light input channel of the frame.

[0010] Optionally, the light-emitting lens assembly includes a collimating lens and a wave mirror, with the transmitter, collimating lens, and wave mirror arranged sequentially at intervals along the emission direction of the probe light from the transmitter.

[0011] Optionally, at least one of the transmitter's probe light emission direction, the collimating lens's thickness direction, and the wave mirror's thickness direction is inclined to the circuit board layout, while the others are perpendicular to the circuit board layout; or, the transmitter's probe light emission direction, the collimating lens's thickness direction, and the wave mirror's thickness direction are all perpendicular to the circuit board layout.

[0012] Optionally, the light-gathering lens assembly includes a receiving lens and a filter, with the receiving lens, filter, and receiver arranged sequentially along the incident direction of the returned probe light, or the filter, receiving lens, and receiver arranged sequentially.

[0013] Optionally, at least one of the thickness direction of the receiver, the thickness direction of the receiving lens, and the thickness direction of the filter is inclined to the circuit board, while the others are perpendicular to the circuit board; or, the thickness direction of the receiver, the thickness direction of the receiving lens, and the thickness direction of the filter are all perpendicular to the circuit board.

[0014] Optionally, the support module also includes an outer cover, which is disposed on the frame and covers the light-emitting lens assembly and the light-entering lens assembly. The outer cover is assembled with the frame, or the outer cover is integrally formed with the frame.

[0015] Optionally, the outer surface of the frame can be set to black to absorb stray light.

[0016] Optionally, the optical axis of the probe light emitted through the light-emitting lens assembly is perpendicular to or inclined to the circuit board, and / or the optical axis of the probe light incident through the light-entry lens assembly is perpendicular to or inclined to the circuit board.

[0017] Optionally, the end of the light-emitting lens assembly away from the circuit board is tilted toward the light-incoming lens assembly, and the angle between the light-emitting lens assembly and the light-incoming lens assembly is 5° to 15°.

[0018] Optionally, there is one light-emitting lens assembly and multiple light-entry lens assemblies, with each light-entry lens assembly spaced circumferentially along the light-emitting lens assembly.

[0019] Optionally, multiple light-emitting lens assemblies are configured, and one light-entry lens assembly is configured, with each light-emitting lens assembly spaced circumferentially along the light-entry lens assembly.

[0020] To solve the above-mentioned technical problems, another technical solution adopted by this utility model is to provide a robot, including the line laser ranging device as described in any of the above embodiments.

[0021] The beneficial effects of this utility model embodiment are as follows: Unlike existing technologies, this utility model embodiment provides a line laser ranging device, which includes a support module and a photoelectric module. The support module includes a frame, an emitting lens assembly, and an incoming lens assembly. The emitting and incoming lens assemblies are mounted on the frame and are integrally formed with it. The photoelectric module includes a transmitter and a receiver. The transmitter and the emitting lens assembly are positioned opposite each other, and the detection light output by the transmitter passes through the emitting lens assembly. The receiver and the incoming lens assembly are positioned opposite each other, and the returned detection light passes through the incoming lens assembly and enters the receiver. Through this configuration, there is no need to assemble the emitting and incoming lens assemblies, and the coupling and focusing processes are also omitted, improving assembly efficiency. Attached Figure Description

[0022] 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.

[0023] Figure 1 This is a perspective view of the line laser ranging device according to an embodiment of the present invention;

[0024] Figure 2 This is an exploded view of the line laser ranging device according to an embodiment of this utility model;

[0025] Figure 3 This is an exploded view of the support module according to an embodiment of the present invention;

[0026] Figure 4 This is a perspective view of the frame of an embodiment of the present utility model;

[0027] Figure 5 This is an exploded view of the optoelectronic module according to an embodiment of this utility model.

[0028] Explanation of reference numerals in the attached figures:

[0029] 100. Line laser ranging device;

[0030] 1. Support module; 11. Frame; 111. Light output channel; 112. Light input channel; 113. First positioning part; 12. Light output lens assembly; 121. Collimating lens; 122. Wave mirror; 13. Light input lens assembly; 131. Receiving lens; 132. Filter; 14. Outer cover;

[0031] 2. Optoelectronic module; 21. Transmitter; 22. Receiver; 23. Circuit board; 231. Positioning hole; 232. Clearance opening. Detailed Implementation

[0032] To facilitate understanding of this utility model, 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 being "fixed 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 being "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.

[0033] 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 invention pertains. The terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the scope of the invention. The term "and / or" as used in this specification includes any and all combinations of one or more of the associated listed items.

[0034] Please see Figure 1 and Figure 2 The line laser rangefinder 100 includes a support module 1 and a photoelectric module 2, with the support module 1 mounted on top of the photoelectric module 2. When using the line laser rangefinder 100, the photoelectric module 2 emits a detection light to the outside of the device. When the detection light encounters a target object, it is reflected. The photoelectric module 2 receives the returned detection light and processes it to measure distance and identify the type of target object. It is understood that the target object is an external obstacle, such as a vehicle, furniture, animal, plant, etc. Any object that can reflect the detection light can be considered a target object, and this application does not limit the scope. This embodiment integrates the components of the line laser rangefinder 100 into the support module 1 and the photoelectric module 2. During assembly, only the support module 1 needs to be installed on top of the photoelectric module 2, simplifying the assembly process and improving assembly efficiency.

[0035] For the bracket module 1 mentioned above, please refer to... Figure 3 and Figure 4The support module 1 includes a frame 11, an emitting lens assembly 12, an incoming lens assembly 13, and an outer cover 14. The emitting lens assembly 12, the incoming lens assembly 13, and the outer cover 14 are all mounted on the frame 11, with the outer cover 14 covering the emitting lens assembly 12 and the incoming lens assembly 13. The probe light passes through the emitting lens assembly 12 and exits through the outer cover 14; the returning probe light passes through the outer cover 14 and the incoming lens assembly 13 in sequence. It should be noted that the probe light emitted from the emitting lens assembly 12 is a linear beam. The emitting lens assembly 12, the incoming lens assembly 13, and the outer cover 14 are all integrated with the frame 11 into a single module using an injection molding process. This eliminates the need for separate assembly of the emitting lens assembly 12 and the incoming lens assembly 13, and also simplifies the cumbersome coupling and focusing process between them, saving time and manpower. Furthermore, it avoids introducing assembly errors, thereby ensuring the accuracy and stability of the measurement. It is understandable that the outer cover 14 serves a waterproof and dustproof function, but it is also possible to omit the outer cover 14, as those skilled in the art can choose according to the circumstances. Optionally, the outer cover can also be combined and installed with the frame to achieve a detachable connection between the outer cover 14 and the frame 11.

[0036] The outer surface of the frame 11 is black to absorb stray light, thereby improving measurement accuracy. It is understood that the frame 11 can be made of black material, or its outer surface can be black through surface treatment processes such as ink coating. The frame 11 is provided with a light-emitting channel 111 and a light-entry channel 112, both of which extend through the frame 11. A first aperture is provided on the inner wall of the light-emitting channel 111 to control the amount of probe light passing through it; a second aperture is provided on the inner wall of the light-entry channel 112 to control the amount of probe light returning through it. Optionally, multiple first and second apertures can be provided. A first positioning structure is provided on the side of the frame 11 facing the photoelectric module 2.

[0037] The light-emitting lens assembly 12 described above is disposed within the light-emitting channel 111. The light-emitting lens assembly 12 includes a collimating lens 121 and a wave mirror 122, which are sequentially spaced apart along the emission direction of the probe light. The probe light is collimated by the collimating lens 121 and then modulated by the wave mirror 122 into a linear laser with a certain divergence angle and width. Both the collimating lens 121 and the wave mirror 122 are made of plastic. The collimating lens 121 can be a spherical or aspherical lens, and the wave mirror 122 is a cylindrical lens.

[0038] The aforementioned light-gathering lens assembly 13 is disposed within the light-gathering channel 112. The light-gathering lens assembly 13 includes a receiving lens 131 and a filter 132, arranged sequentially at intervals along the incident direction of the returned probe light. The receiving lens 131 receives and focuses the returned probe light, while the filter 132 filters out stray light, improving the signal-to-noise ratio of the received signal. Both the receiving lens 131 and the filter 132 are made of plastic. The receiving lens 131 can be a spherical or aspherical lens, and the filter 132 is a narrowband filter with a wavelength range of 800nm-1000nm.

[0039] For the aforementioned optoelectronic module 2, please refer to... Figure 5 , and then combine Figures 2 to 4The optoelectronic module 2 includes a transmitter 21, a receiver 22, and a circuit board 23. The circuit board 23 includes a mounting plane for a mounting bracket 11, to which the bracket 11 is fixed. The receiver 22 is electrically connected to the circuit board 23. A receiving lens 131 focuses the returned probe light onto the receiver 22, which converts the received optical signal into an electrical signal. The receiver 22 can be a CMOS sensor. The transmitter 21 is also electrically connected to the circuit board 23. The transmitter 21 outputs a diverging beam with a certain divergence angle. The transmitter 21 can be a vertical-cavity surface-emitting laser (VCSEL) or a line laser transmitter. The transmitter 21 is fixed to the circuit board 23, and the receiver 22 is fixed to the mounting plane, so that the positions of the transmitter 21 and receiver 22 relative to the circuit board 23 are fixed. The transmitter 21, receiver 22, and circuit board 23 are integrated into the optoelectronic module 2. Thus, when the bracket module 1 is installed on the optoelectronic module 2, the transmitter 21 is positioned in the light-emitting channel 111, the light-emitting lens assembly 12 is positioned opposite to the transmitter 21, the receiver 22 is positioned in the light-entry channel 112, and the light-entry lens assembly 13 is positioned opposite to the receiver 22. Along the emission direction of the probe light, the transmitter 21, collimating lens 121, and wave mirror 122 are arranged alternately. Along the incident direction of the returning probe light, the receiving lens 131, filter 132, and receiver 22 are arranged alternately. It can be understood that the filter 132 is positioned between the receiving lens 131 and the receiver 22, and the filter 132 can also be positioned on the side of the receiver 22 facing the receiving lens 131. The circuit board 23 is provided with a clearance opening 232, which is used to avoid the frame 11. A portion of the light emission channel 111 is located within the clearance opening 232. The position of the transmitter 21 matches the position of the clearance opening 232, and at least a portion of the transmitter 21 extends into the clearance opening 232, so that the transmitter 21 is positioned within the light emission channel 111. The circuit board 23 is provided with a second positioning structure. During assembly, the first positioning structure is connected to the second positioning structure to achieve positioning of the bracket module 1 and the optoelectronic module 2 during installation, facilitating the alignment of the light emission lens assembly 12 with the transmitter 21 and the light intake lens assembly 13 with the receiver 22. The first and second positioning structures make the installation operation more convenient. Optionally, one of the first and second positioning structures is a first positioning part 113, and the other is a positioning hole 231. There are multiple first positioning parts 113 and positioning holes 231, with one first positioning part 113 inserted into one positioning hole 231. The first positioning part 113 can be configured as a pin.

[0040] In some embodiments, the transmitter 21 may also be disposed on the frame 11, with the transmitter 21 opposite to the light-emitting lens assembly 12, and the transmitter 21 electrically connected to the circuit board 23. A clearance opening 232 is used to clear the frame 11, and at least a portion of the light-emitting channel 111 is located within the clearance opening 232. Optionally, the transmitter 21 may also be at least partially disposed within the clearance opening 232.

[0041] In some embodiments, the filter 132, the receiving lens 131, and the receiver 22 are arranged sequentially along the incident direction of the returned probe light.

[0042] In some embodiments, the line laser ranging device 100 further includes screw connectors. One of the frame 11 and the circuit board 23 is provided with a screw hole, and the other with a connecting hole. Multiple screw connectors, screw holes, and connecting holes are provided. A screw connector passes through a connecting hole and is screwed into a screw hole to fix the bracket module 1 and the photoelectric module 2 together. It is understood that the connection between the bracket module 1 and the photoelectric module 2 is not limited to the above method; the bracket module 1 and the photoelectric module 2 can also be connected by snap-fit ​​or adhesive bonding.

[0043] In some embodiments, the number of light-emitting lens assembly 12 and light-entry lens assembly 13 is one. Optionally, there is one light-emitting lens assembly 12 and multiple light-entry lens assemblies 13, with each light-entry lens assembly 13 evenly spaced along the circumference of the light-emitting lens assembly 12. The number of receivers 22 is the same as the number of light-entry lens assemblies 13, with one receiver 22 positioned opposite to one light-entry lens assembly 13. Optionally, there are multiple light-emitting lens assemblies 12 and one light-entry lens assembly 13, with each light-emitting lens assembly 12 evenly spaced along the circumference of the light-entry lens assembly 13. The number of transmitters 21 is the same as the number of light-emitting lens assemblies 12, with one transmitter 21 positioned opposite to one light-emitting lens assembly 12.

[0044] In some embodiments, at least one of the probe light emission direction of the transmitter 21, the thickness direction of the collimating lens 121, and the thickness direction of the wave mirror 122 is inclined to the circuit board 23, while the others are arranged perpendicular to the circuit board 23; or, the probe light emission direction of the transmitter 21, the thickness direction of the collimating lens 121, and the thickness direction of the wave mirror 122 are all arranged perpendicular to the circuit board 23. Optionally, at least one of the thickness direction of the receiver 22, the thickness direction of the receiving lens 131, and the thickness direction of the filter 132 is inclined to the circuit board 23, while the others are arranged perpendicular to the circuit board 23; or, the thickness direction of the receiver 22, the thickness direction of the receiving lens 131, and the thickness direction of the filter 132 are all arranged perpendicular to the circuit board 22.

[0045] In some embodiments, the optical axis of the probe light emitted through the light-emitting lens assembly 12 can be perpendicular to or inclined to the circuit board 23; the optical axis of the probe light entering through the light-incoming lens assembly 13 can be perpendicular to or inclined to the circuit board 23. It is understood that the emission angle of the probe light can be changed by altering the emission direction of the probe light from the transmitter 21. The emission angle of the probe light can also be changed by altering the angles of the incident and emitting surfaces of at least one of the transmitter 21 and the wave mirror 122. The incident angle of the returned probe light can be changed by altering the angles of the incident and emitting surfaces of at least one of the receiving lens 131 and the filter 132. Alternatively, the optical design of the wave mirror 122, the receiving lens 131, and the collimating lens 121 can achieve the purpose of changing the angle of the probe light without changing the angles of the incident or emitting surfaces. Those skilled in the art can make selections according to the actual situation.

[0046] Optionally, the end of the light-emitting lens assembly 12 away from the circuit board 23 is tilted towards the light-incoming lens assembly 13. The angle between the extending direction of the light-emitting channel 111 and the extending direction of the light-incoming channel 112 is 5° to 15°, and the angle between the light-emitting lens assembly 12 and the light-incoming lens assembly 13 is 5° to 15°. That is, the angle between the optical axis of the probe light emitted through the light-emitting lens assembly 12 and the optical axis of the probe light entering through the light-incoming lens assembly 13 is 5° to 15°. This arrangement reduces the blind zone and increases the detection distance.

[0047] In this embodiment of the invention, the line laser ranging device 100 includes a support module 1 and a photoelectric module 2. The support module 1 includes a frame 11, an emitting lens assembly 12, and an incoming lens assembly 13. The emitting lens assembly 12 and the incoming lens assembly 13 are disposed on the frame 11 and are integrally formed with the frame 11. The photoelectric module 2 includes a transmitter 21 and a receiver 22. The transmitter 21 is disposed opposite to the emitting lens assembly 12, and the detection light output by the transmitter 21 is emitted through the emitting lens assembly 12. The receiver 22 is disposed opposite to the incoming lens assembly 13, and the returned detection light is emitted through the incoming lens assembly 13 and enters the receiver 22. With the above configuration, there is no need to assemble the emitting lens assembly 12 and the incoming lens assembly 13, and the coupling and focusing processes are also omitted, thus improving assembly efficiency.

[0048] This utility model provides an embodiment of a robot, which includes the above-mentioned line laser ranging device 100. The structure and function of the line laser ranging device 100 can be referred to the above embodiment, and will not be repeated here.

[0049] It should be noted that while the preferred embodiments of this utility model are provided in the specification and accompanying drawings, this utility model 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 utility model; their purpose is to provide a more thorough and comprehensive understanding of the disclosure of this utility model. 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 utility model 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 line laser ranging device, characterized in that, include: The support module includes a frame, a light-emitting lens assembly, and a light-receiving lens assembly. The light-emitting lens assembly and the light-receiving lens assembly are disposed on the frame, and both the light-emitting lens assembly and the light-receiving lens assembly are integrally formed with the frame. The optoelectronic module includes a transmitter and a receiver. The transmitter is disposed opposite to the light-emitting lens assembly. The probe light output by the transmitter is emitted through the light-emitting lens assembly and is a linear beam. The receiver is disposed opposite to the light-receiving lens assembly and the returned probe light is emitted through the light-receiving lens assembly and enters the receiver.

2. The line laser ranging device according to claim 1, characterized in that, The optoelectronic module further includes a circuit board, on which both the transmitter and the receiver are fixed and electrically connected; the circuit board is disposed on the support module such that the light-emitting lens assembly is positioned opposite to the transmitter, and the light-receiving lens assembly is positioned opposite to the receiver; or... The optoelectronic module further includes a circuit board, the transmitter is disposed on the frame, and the light-emitting lens assembly is disposed opposite to the transmitter; the receiver is disposed on the circuit board, and both the transmitter and the receiver are electrically connected to the circuit board. The circuit board is disposed on the bracket module so that the light-incoming lens assembly is disposed opposite to the receiver.

3. The line laser ranging device according to claim 2, characterized in that, The frame is provided with a light-emitting channel and a light-receiving channel. The light-emitting lens assembly is installed in the light-emitting channel, the light-receiving lens assembly is installed in the light-receiving channel, the transmitter is located in the light-emitting channel, and the receiver is located in the light-receiving channel.

4. The line laser ranging device according to claim 3, characterized in that, The circuit board has an opening for clearance, and at least a portion of the light emission channel is located within the opening for clearance.

5. The line laser ranging device according to claim 3, characterized in that, The frame is provided with a first aperture on the inner wall of the light output channel, and / or the frame is provided with a second aperture on the inner wall of the light input channel.

6. The line laser ranging device according to claim 2, characterized in that, The light-emitting lens assembly includes a collimating lens and a wave mirror. The transmitter, the collimating lens, and the wave mirror are arranged sequentially at intervals along the emission direction of the probe light from the transmitter.

7. The line laser ranging device according to claim 6, characterized in that, At least one of the following orientations—the emission direction of the probe light from the transmitter, the thickness direction of the collimating lens, and the thickness direction of the wave mirror—is inclined to the circuit board, while the others are perpendicular to the circuit board; or, The direction of the probe light emitted by the transmitter, the thickness direction of the collimating lens, and the thickness direction of the wave mirror are all perpendicular to the circuit board.

8. The line laser ranging device according to claim 2, characterized in that, The light-gathering lens assembly includes a receiving lens and a filter. Along the incident direction of the returned probe light, the receiving lens, the filter, and the receiver are arranged in sequence, or the filter, the receiving lens, and the receiver are arranged in sequence.

9. The line laser ranging device according to claim 8, characterized in that, At least one of the thickness directions of the receiver, the receiving lens, and the filter is inclined to the circuit board, while the others are perpendicular to the circuit board; or, The thickness direction of the receiver, the thickness direction of the receiving lens, and the thickness direction of the filter are all perpendicular to the circuit board.

10. The line laser ranging device according to claim 1, characterized in that, The support module also includes an outer cover, which is disposed on the frame and covers the light-emitting lens assembly and the light-entering lens assembly. The outer cover is assembled with the frame or is integrally formed with the frame.

11. The line laser ranging device according to claim 1, characterized in that, The outer surface of the frame is set to black to absorb stray light.

12. The line laser ranging device according to claim 2, characterized in that, The optical axis of the probe light emitted through the light-emitting lens assembly is perpendicular to or inclined to the circuit board, and / or, The optical axis of the probe light incident through the light-incoming lens assembly is perpendicular to or tilted to the circuit board.

13. The line laser ranging device according to claim 2, characterized in that, The end of the light-emitting lens assembly away from the circuit board is tilted toward the light-incoming lens assembly, and the included angle between the light-emitting lens assembly and the light-incoming lens assembly is 5° to 15°.

14. The line laser ranging device according to any one of claims 1 to 11, characterized in that, The light-emitting lens assembly is configured as one, and the light-entering lens assembly is configured as multiple, with each light-entering lens assembly arranged at circumferential intervals along the light-emitting lens assembly.

15. The line laser ranging device according to claim 14, characterized in that, The light-emitting lens assembly is configured as a plurality of components, and the light-entering lens assembly is configured as a single component, with each light-emitting lens assembly arranged at circumferential intervals along the light-entering lens assembly.

16. A robot, characterized in that, Includes the line laser ranging device as described in any one of claims 1-15.

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