Distance measuring device, lidar, and mobile robot

Abstract

Distance measuring device (100) comprising a laser emission unit (10), a first receiving unit (20), a second receiving unit (30) and a computing unit (40), wherein the laser emission unit (10) is configured to emit a laser pulse to a target object whose distance is to be measured; the first receiving unit (20) is configured to receive the laser pulse reflected from the target object and to generate a corresponding first signal; the second receiving unit (30) is configured to receive the laser pulse reflected by the target object and to generate a corresponding second signal; and the processing unit (40) is configured to receive the first signal and the second signal and to perform distance calculation and determination according to a triangular distance principle and a time-of-flight principle, respectively; wherein the first signal is used to calculate and determine a first distance according to the triangular distance principle; the second signal is used to calculate and determine a second distance according to the time-of-flight principle; characterized in that the distance measuring device shall further comprise the following feature (a) or feature (b): (a) the distance measuring device further comprises a printed circuit board (50) wherein the first receiving unit (20), the second receiving unit (30) and the laser emission unit (10) are all arranged on the printed circuit board (50) at different positions; (b) at least two of the laser emission unit (10), the first receiving unit (20) and the second receiving unit (30) are mounted on different printed circuit boards.

Description

Area

[0001] The present disclosure relates to the technical field of distance measurement and in particular to a distance measuring device, a lidar comprising the distance measuring device, and a mobile robot comprising the distance measuring device. State of the art

[0002] With the miniaturization of components and parts and the reduction in costs, spatial positioning technology is becoming increasingly popular. Spatial positioning technology can be used in the field of autonomous navigation, for example, in mobile household robots, unmanned aerial vehicles, unmanned vehicles, and similar applications. Optical positioning technology is widely used in spatial positioning due to its high precision and fast response time.

[0003] In optical positioning technology, the most common distance measuring device essentially comprises a light-emitting assembly and a light-receiving assembly. The method associated with the distance measuring device is typically a triangulation method, where the measurement distance and accuracy are moderate, the response is fast, and the hardware costs are relatively low. Therefore, most consumer optical positioning devices, such as lidars for robotic floor cleaners, largely utilize the triangulation principle.

[0004] As in Fig. Figure 1 shows a prior art distance measuring device 1. The distance measuring device 1 can be based on the principle of triangular distance measurement and mainly comprises a laser emission assembly 2 and an image sensor assembly 3. The measuring principle of the distance measuring device 1 is that the laser is emitted by the laser emission assembly 2, the light reflected from the target is detected by the image sensor assembly 3 via a light receiving assembly 4, and a signal response is generated at a specific surface position of the image sensor assembly 3.

[0005] The distance measuring device 1 can further comprise a module carrier 7 with a base 5 and a top cover 6. The module carrier 7 is configured such that the laser emission assembly 2, the light reception assembly 4 and the image sensor assembly 3 can be mounted on it.

[0006] Although the rangefinder that uses the triangle principle has high measurement precision for short distances, the measurement precision for long distances is poor, which makes the application of the rangefinder that uses the triangle principle for long-distance measurement difficult.WO 2020 / 098771 A1 discloses a laser radar system comprising several transmit / receive modules for sending pulsed laser beams and for receiving echo signals reflected from a target to be detected; and at least one scan module for reflecting the pulsed laser beams sent by the several transmit / receive modules into a three-dimensional space and for reflecting the echo signals to corresponding transmit / receive modules, wherein the several transmit / receive modules are arranged side by side and the scan module is arranged on one side of the several transmit / receive modules, the pulsed lasers of the several transmit / receive modules all face the at least one scan module, each transmit / receive module accordingly detects a partial field of view and several partial fields of view form a total field of view of the laser radar system by field-of-view splicing.EP2711667 discloses a distance measuring device comprising a transmitter and two receivers on one side of the transmitter. Summary

[0007] One embodiment of the present disclosure provides a distance measuring device comprising: a laser emission unit configured to emit a laser pulse at a target object to be removed; a first receiving unit configured to receive the laser pulse reflected from the target object and generate a corresponding first signal; a second receiving unit configured to receive the laser pulse reflected from the target object and generate a corresponding second signal; and a computing unit configured to receive the first signal and the second signal and to perform a distance calculation and determination according to a triangulation or...The distance measuring device operates according to a time-of-flight principle; wherein the first signal is used to calculate and determine a first distance according to the triangular distance principle; the second signal is used to calculate and determine a second distance according to the time-of-flight principle. The distance measuring device further includes the following feature (a) or feature (b):. (a) The distance measuring device further comprises a printed circuit board, wherein the first receiving unit, the second receiving unit and the laser emission unit are all arranged on the printed circuit board at different positions; (b) at least two of the laser emission units, the first receiving unit and the second receiving unit are arranged on different printed circuit boards and a reflective mirror configured to reflect the pulsed laser reflected from the target object to at least one of the first receiving unit and the second receiving unit; wherein one of the first receiving unit and the second receiving unit is arranged to the left or right of the laser emission unit;the other of the first receiving unit and the second receiving unit is arranged behind the laser emission unit, and the reflecting mirror is configured to reflect the pulsed laser reflected from the target object to the other of the first receiving unit and the second receiving unit; the other of the first receiving unit and the second receiving unit is arranged vertically or at an angle; and the first receiving unit and the second receiving unit and the laser emission unit are arranged on the same circuit board or on different circuit boards.

[0008] Preferably the first receiving unit (20) and the second receiving unit (30) are arranged on opposite sides of the laser emission unit (10); or the first receiving unit (20) and the second receiving unit (30) are arranged on the same side of the laser emission unit (10).

[0009] Preferably, the computing unit (40) is configured to: analyze the first signal according to the triangulation distance principle to determine the first distance between the target object and the rangefinder, and analyze the second signal according to the time-of-flight principle to determine the second distance between the target object and the rangefinder; and determine a distance between the target object and the rangefinder in a weighted manner according to the first distance and the second distance.

[0010] Preferably, an optical axis (X3) of the laser emission unit (10) and an optical axis (X5) of the second receiving unit (30) are both perpendicular to the circuit board (50); wherein the distance measuring device further comprises a first lens (21) which allows the reflected pulsed laser to pass through the first receiving unit (20) and be projected onto it.

[0011] Preferably, an optical axis (X2) of the first receiving unit (20) is perpendicular to the circuit board (50), an optical axis (X1) of the first lens (21) and the optical axis (X2) of the first receiving unit (20) are parallel and offset, and the optical axis (X2) of the first receiving unit (20) is further away from the optical axis (X3) of the laser emission unit (10) than the optical axis (X1) of the first lens (21); or the optical axis (X2) of the first receiving unit (20) is perpendicular to the circuit board (50), and the optical axis (X1) of the first lens (21) intersects both the optical axis (X2) of the first receiving unit (20) and the optical axis (X3) of the laser emission unit (10), and the optical axis (X1) of the first lens (21) passes through a receiving surface of the first receiving unit (20);or the optical axis (X1) of the first lens (21) intersects with the optical axis (X3) of the laser emission unit (10), and the optical axis (X1) of the first lens (21) passes through a receiving surface of the first receiving unit (20) and is perpendicular to it.;

[0012] Preferably, the distance measuring device further comprises a second lens (31) through which the reflected pulse laser can pass and be projected onto the second receiving unit (30); the distance measuring device further comprises a third lens (11) through which the emitted pulse laser can pass; and the third lens (11) is attached to a third frame (12) which is attached to the circuit board (50).

[0013] Preferably, the distance measuring device further comprises a first lens (21) that allows the reflected pulse laser to penetrate the first receiving unit (20) and be projected onto it, wherein the first lens (21) is mounted on a first frame (22) and the first frame (22) is mounted on the third frame (12); and / or the distance measuring device further comprises a second lens (31) through which the reflected pulse laser can pass and be projected onto the second receiving unit (30), wherein the second lens (31) is mounted on a second frame (32) and the second frame (32) is mounted on the third frame (12).

[0014] Preferably the first receiving unit (20) comprises an optical CMOS or CCD sensor; and / or the second receiving unit (30) comprises a single-photon avalanche diode or an avalanche photodiode or a fast photodiode.

[0015] Preferably the laser emission unit (10), the first receiving unit (20) and the second receiving unit (30) are each arranged on a first printed circuit board (51), a second printed circuit board (52) and a third printed circuit board (53).

[0016] Preferably, the distance measuring device further comprises a mounting structure (70) that holds the first printed circuit board (51), the second printed circuit board (52), and the third printed circuit board (53) relatively in place; or the laser emission unit (10) and the first receiving unit (20) are arranged on a fourth printed circuit board (54), and the second receiving unit (30) is arranged on a third printed circuit board (53); and the distance measuring device further comprises a mounting structure (70) that holds the fourth printed circuit board (54) and the third printed circuit board (53) relatively in place; or the laser emission unit (10) and the second receiving unit (30) are arranged on a fifth printed circuit board (55), and the first receiving unit (20) is arranged on the second printed circuit board (52); and the distance measuring device further comprises a mounting structure (70) that holds the fifth printed circuit board (55) and the second printed circuit board (52) relatively in place.

[0017] Preferably, one of the first receiving unit (20) and the second receiving unit (30) is arranged above or below the laser emission unit (10), and the other of the first receiving unit (20) and the second receiving unit (30) is arranged to the left or right of the laser emission unit (10); the various circuit boards are arranged so that they are parallel to each other; or at least two of the various circuit boards are arranged so that they are not parallel.

[0018] One embodiment of the present disclosure provides a lidar comprising: one of the aforementioned rangefinders; and a rotating pan-tilt device. The pan-tilt device comprises a base, a turntable, a transmission mechanism, and a rangefinder, wherein the turntable is rotatably mounted on the base, the rangefinder is mounted on the base, the transmission mechanism connects the turntable to the rangefinder, and the rangefinder is arranged on the turntable.

[0019] One embodiment of the present disclosure provides a mobile robot that includes one of the above-mentioned lidars. Brief description of the drawings

[0020] One or more implementations are illustrated by the corresponding accompanying drawings. These exemplary descriptions do not constitute a limitation of the embodiments. Elements with the same reference numbers in the drawings are identified as similar elements, and unless otherwise indicated, the drawings in the accompanying drawings do not represent a scale limitation. Fig. Figure 1 is a schematic perspective view of a prior art distance measuring device. Fig. Figure 2 is a schematic perspective view of a distance measuring device provided by a first embodiment of the present disclosure. Fig. Figure 3 is a schematic sectional view of a distance measuring device provided in a first embodiment of the present disclosure. Fig. Figure 4 is a schematic view of an optical path of the distance measuring device of Fig. 3. Fig. Figure 5 is a schematic top view of a distance measuring device provided in a second embodiment of the present disclosure. Fig. Figure 6 is a schematic top view of a distance measuring device provided in a third embodiment of the present disclosure. Fig. Figure 7 is a schematic top view of a distance measuring device provided in a fourth embodiment of the present disclosure. Fig. Figure 8 is a schematic top view of a distance measuring device provided in a fifth embodiment of the present disclosure. Fig. Figure 9 is another schematic top view of the distance measuring device provided in the fifth embodiment of the present disclosure. Fig. Figure 10 is a schematic top view of a distance measuring device provided in a sixth embodiment of the present disclosure. Fig. Figure 11 is a schematic sectional view of a distance measuring device provided in a seventh embodiment of the present disclosure. Fig. Figure 12 is a schematic sectional view of a distance measuring device provided in an eighth embodiment of the present disclosure. Fig. Figure 13 is a schematic sectional view of a distance measuring device provided in a ninth embodiment of the present disclosure. Fig. Figure 14 is a schematic perspective view of a lidar provided in an embodiment of the present disclosure. Fig. Figure 15 is a perspective exploded view of the lidar from Fig. 14. Detailed description

[0021] To facilitate understanding of the present disclosure, a more detailed description is given by reference to the accompanying drawings and specific embodiments. It should be noted that an element described as "attached to another element" may be directly attached to the other element, or one or more intermediate elements may be interposed. Similarly, when an element is described as "connected" to another element, it may be directly connected to the other element, or one or more intermediate elements may be interposed. The terms "vertical," "horizontal," "left," "right," "above," "below," "inside," "outside," "below," etc., are used for descriptive purposes only.The terms "first" and "second," as used in the description, indicate the orientation or positional relationship based on that shown in the drawings and serve only for the simplicity of describing the present disclosure, rather than indicating or implying that the device or element must have a particular orientation or be designed and operated in a particular orientation, and therefore cannot be understood as limiting the present disclosure. Furthermore, the terms "first" and "second," etc., serve only for descriptive purposes and are not to be understood as indicating a relative meaning.

[0022] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as generally understood by a person skilled in the art in the field to which this invention belongs. The terms used in the description of this disclosure serve only to describe certain embodiments and are not to be understood as limiting the present disclosure. As used herein, the term "and / or" includes all combinations of one or more of the points listed.

[0023] Furthermore, the technical features of different embodiments of the present disclosure, which are described below, can be combined with each other as long as they do not conflict with each other.

[0024] With reference to Fig. 2 and Fig. Figure 3 shows a schematic perspective view and a schematic sectional view of a distance measuring device 100 provided by a first embodiment of the present disclosure. The distance measuring device 100 can, in particular, include a laser emission unit 10, a first receiving unit 20, a second receiving unit 30, a computing unit 40, and a printed circuit board 50. The laser emission unit 10, the first receiving unit 20, the second receiving unit 30, and the computing unit 40 are all connected to the printed circuit board 50 to implement signal transmission, control, and the like.

[0025] The laser emission unit 10 is configured to emit pulsed lasers onto a target object within range. The laser emission unit 10 can be implemented as a laser diode that emits laser pulses for distance measurement. The pulsed laser emitted by the laser emission unit 10 can be a high-frequency pulsed laser, for example, a pulsed laser with a frequency of 1 kHz or higher. The laser emission unit 10, such as a laser diode, can be mounted on the printed circuit board 50 by soldering or integrated into the printed circuit board 50. The optical axis X3 of the laser emission unit 10 can be oriented perpendicular to the printed circuit board 50. A control device for controlling the laser pulse emitted by the laser emission unit 10 can be mounted on the printed circuit board 50, and such a control device can be integrated into the computing unit 40, thus making the computing unit 40 a main control device.It is clear that in other preferred embodiments other devices capable of emitting laser emissions can also be used as the laser emission unit 10.

[0026] The first receiving unit 20 is configured to receive the laser pulse reflected from the target object and generate a corresponding first signal. This first signal is used to calculate and determine the distance according to the principle of trigonometric distance measurement. That is, the first signal is transmitted to the processing unit 40, which then performs the distance calculation and determination based on the first signal and the principle of trigonometric distance measurement. The first receiving unit 20 can be mounted on the circuit board 50 by welding or be integrally integrated onto the circuit board 50. The optical axis X2 of the first receiving unit 20 can be oriented perpendicular to the circuit board 50. When it detects a laser pulse reflected from the target object, the first receiving unit 20 can generate a corresponding photoelectric signal and transmit it to the processing unit 40 via a path on the circuit board 50.The computing unit 40 can analyze and calculate the photoelectric signal according to the principle of trigonometric distance measurement in order to determine the distance between the target object and the distance measuring device 100.

[0027] The principle of trigonometric distance measurement is that the laser emission unit 10 emits a laser and the reflected light is received by the first receiving unit 20, for example a linear CCD (Charge Coupled Device), after irradiation of a target object, and since the laser emission unit 10 and the first receiving unit 20 are at a certain distance from each other, target objects at different distances and positions are imaged on the first receiving unit 20, for example the linear CCD, according to optical paths; furthermore, the distance between the measured target object and the distance measuring device 100 can be derived by calculation according to the trigonometric formula.

[0028] The second receiving unit 30 is configured to receive the pulse laser reflected from the target object and generate a corresponding second signal; the second signal is used to calculate and determine the distance according to the time-of-flight principle, i.e. the second signal is transmitted to the computing unit 40 so that the computing unit 40 can calculate and determine the distance according to the second signal and the time-of-flight principle.The second receiving unit 30 may differ from the first receiving unit 20; for example, the second receiving unit 30 includes a single-photon avalanche diode (SPAD). SPADs are uniquely designed image sensors in which each pixel has an electronic element. When a single photon arrives at a pixel, it is superimposed to create a single large electrical pulse. This ability to generate multiple electrons in a single photon provides many advantages, such as high-precision distance measurement and increased sensitivity during image acquisition. The second receiving unit 30 can be mounted on the circuit board 50 by welding or integrated into the circuit board 50. The optical axis X5 of the second receiving unit 30 can be oriented perpendicular to the circuit board 50.The second receiving unit 30, when it detects the laser pulse reflected from the target object, can generate a corresponding photoelectric signal and transmit it to the processing unit 40 via a line on the circuit board 50. The processing unit 40 can analyze and calculate the photoelectric signal according to the time-of-flight (TOF) principle in order to determine the distance between the target object and the rangefinder 100.

[0029] It is noted that the time-of-flight principle consists of the laser emission unit 10 emitting a laser pulse and the transmission time being recorded by a timer, and that after irradiation of the target object, the reflected light is received by the second receiving unit 30 and the reception time is recorded by the timer; the subtraction of the two times gives the “flight time” of the light, and since the speed of light is known, the distance between the target object and the rangefinder 100 can be easily calculated after the speed and time are known.

[0030] As described above, the computing unit 40 is configured to receive the first signal and the second signal and to perform a distance calculation and determination according to the triangulation distance principle or the time-of-flight principle.

[0031] For example, the computing unit 40 can be configured to perform the following operation.

[0032] The computing unit 40 can analyze the first signal according to the triangulation principle to determine a first distance between the target object and the rangefinder 100, and analyze the second signal according to the time-of-flight principle to determine a second distance between the target object and the rangefinder 100; in addition, the computing unit 40 can determine the distance between the target object and the rangefinder 100 weighted according to the first distance and the second distance.

[0033] In one example, the computing unit 40 can determine the distance between the target object and the rangefinder 100 by primarily using the second distance if both the first and second distances are greater than a first, predetermined distance. The first predetermined distance might be, for example, 10 meters. If the first distance is 11 meters and the second distance is 12 meters, the computing unit 40 determines the distance between the target object and the rangefinder 100 to be 12 meters. This is because if the distance between the target object and the rangefinder 100 is relatively large, the distance calculated using the time-of-flight principle is relatively accurate. Of course, the first distance can also be considered in the weighted calculation; furthermore, the weights of the first and second distances in the weighted calculation can be determined experimentally.

[0034] In one example, the computing unit 40 can determine the distance between the target object and the rangefinder 100 by primarily using the first distance if both the first and second distances are less than a second target distance, where the second target distance is smaller than the first. The first set distance might be, for example, 5 meters. If the first distance is 4 meters and the second distance is 3 meters, the computing unit 40 determines the distance between the target object and the rangefinder 100 to be 4 meters. This is because, when the distance between the target object and the rangefinder 100 is relatively small, the distance calculated using the triangular principle is relatively accurate. Of course, the second distance can also be considered in the weighted calculation; furthermore, the weights of the first and second distances in the weighted calculation can be determined experimentally.

[0035] In one example, if the first and second distances are both greater than the second set distance and less than the first set distance, the processing unit 40 can perform a weighted average of the distance between the target object and the rangefinder 100 by using the first and second distances to determine the final result. For example, if the first distance is 8 meters and the second distance is 9 meters, the processing unit 40 determines the distance between the target object and the rangefinder 100 as the average of 9 plus 8, or 8.5 meters. This is because, if the distance between the target object and the rangefinder 100 is in the middle, the weighted average is calculated from the two distances determined using the triangular distance principle and the time-of-flight principle, thus providing a more accurate distance.In weighted calculations, the weights of the first distance and the second distance can be determined experimentally.

[0036] In some embodiments, such as in Fig. As shown in Figure 3, the rangefinder 100 can further include a first lens 21 through which the pulsed laser reflected from the target object passes and is projected onto the first receiving unit 20. The first lens 21 can be mounted on a first frame 22, which can be attached to the circuit board 50, so that the first lens 21 is located essentially above the first receiving unit 20. The laser pulse reflected from the target object can be focused and collimated by the first lens 21 before being detected by the first receiving unit 20. Furthermore, the first lens 21 can be an aspherical lens, such as an aspherical glass lens; therefore, by using an aspherical lens, i.e.,The use of a single lens for the lens of the first receiving unit 20 effectively simplifies the structure of the camera lens of the rangefinder, and assembly is convenient, thus effectively reducing the cost of assembling the first receiving unit 20 and the entire rangefinder.

[0037] In some embodiments, such as in Fig. As shown in Figure 3, the optical axis X1 of the first lens 21 and the optical axis X2 of the first receiving unit 20 can be arranged parallel and offset, i.e., the first receiving unit 20 is biased with respect to the first lens 21. Furthermore, the optical axis X2 of the first receiving unit 20 is farther from the optical axis X3 of the laser emission unit 10 than the optical axis X1 of the first lens 21. For example, the optical axis X1 of the first lens 21 can be its central axis, the optical axis X2 of the first receiving unit 20 can be an axis passing through the central point of the first receiving unit 20 and perpendicular to it, and the optical axis X3 of the laser emission unit 10 can be its central axis. For example, in the Fig. In the embodiment shown in Figure 3, the optical axis X2 of the first receiving unit 20 and the optical axis X1 of the first lens 21 are both located on the left side of the optical axis X3 of the laser emission unit 10, and the optical axis X2 of the first receiving unit 20 is shifted further to the left than the optical axis X1 of the first lens 21. Furthermore, the first receiving unit 20 and the first lens 21 can also be located on the right side of the laser emission unit 10; in this case, the optical axis X2 of the first receiving unit 20 and the optical axis X1 of the first lens 21 are both located on the right side of the optical axis X3 of the laser emission unit 10, and the optical axis X2 of the first receiving unit 20 is shifted further to the right than the optical axis X1 of the first lens 21. In conjunction with the illustration in Figure 3, the optical axis X2 of the first receiving unit 20 and the optical axis X1 of the first lens 21 are both located on the right side of the optical axis X3 of the laser emission unit 10. Fig. 4. In a short measuring range, since the laser L emitted by the laser emission unit 10 is directed at the target object, the various reflected lights L1, L2, L3, etc., are mostly projected away from the laser emission unit 10 towards the first receiving unit 20 after passing through the first lens 21. The bias of the first receiving unit 20 away from the side of the laser emission unit 10 therefore maximizes the utilization of the sensor target area of ​​the first receiving unit 20.

[0038] In some embodiments, such as in Fig. As shown in Figure 3, the rangefinder 100 can further include a second lens 31 through which the pulsed laser reflected from the target object passes and is projected onto the second receiving unit 30. The second lens 31 can be mounted on a second frame 32, which can be attached to the circuit board 50, so that the second lens 31 is located above the second receiving unit 30. The optical axis X6 of the second lens 31 can be arranged so that it is perpendicular to the circuit board 50 and coincides with the optical axis X5 of the second receiving unit 30; alternatively, the second lens 31 can be arranged as an adjustable section, and the optical axis X6 of the second lens 31 may also not coincide completely with the optical axis X5 of the second receiving unit 30 if the second lens 31 is adjusted for a preferred effect.The laser pulse reflected from the target object can be focused and collimated by the second lens 31 before being detected by the second receiver 30. For example, the optical axis X6 of the second lens 31 can be a central axis of the second lens 31, and the optical axis X5 of the second receiver 30 can be an axis passing through the central point of the second receiver 30 and perpendicular to it.

[0039] In some embodiments, such as in Fig. As shown in Figure 3, the rangefinder 100 can further include a third lens 11 through which the emitted pulsed laser passes and is projected onto the target object. The third lens 11 can be mounted on a third frame 12, which can be attached to the circuit board 50, so that the third lens 11 is located above the laser emission unit 10. The optical axis X4 of the third lens 11 can be arranged so that it is perpendicular to the circuit board 50 and coincides with the optical axis X3 of the laser emission unit 10; alternatively, the optical axis X4 of the third lens 11 can also be positioned differently from the optical axis X3 of the laser emission unit 10, because the optical axis X4 of the third lens 11 can be arranged slightly higher than the optical axis X3 of the laser emission unit 10 in order to shift the laser tilt angle slightly upwards.The laser pulse emitted by the laser emission unit 10 can be transmitted outwards through the third lens 11, which is capable of focusing and collimating the laser pulse passing through it. The optical axis X4 of the third lens 11 can, for example, be the central axis.

[0040] The first lens 21, the second lens 31, and the third lens 11 can be lens-shaped and can also be combined with other lenses. For example, the third lens 11 can be combined with one or more lenses to form a lens group for focusing and collimating the laser pulse emitted by the laser emission unit 10 and then transmitting it externally. The second lens 31 can also be combined with one or more lenses to form a lens group for focusing and collimating the laser pulse reflected from the target object before the laser pulse is detected by the second receiving unit 30. Furthermore, in an embodiment where the optical axis X1 of the first lens 21 and the optical axis X2 of the first receiving unit 20 are offset, a single first lens 21 can be arranged above the first receiving unit 20.The focal length of the first lens 21 can be less than or equal to 16 mm and may be, for example, 16 mm, 14 mm, 12 mm, 10 mm, 9 mm, 8 mm, 7.5 mm, 7 mm, 6 mm or 5 mm, etc.

[0041] Furthermore, the first frame can be 22, the second frame 32, and the third frame 12 independent components. Alternatively, as in Fig. 2 and Fig. As shown in Figure 3, the second frame 32 and the third frame 12 are a single-piece element and form a space for receiving the first frame 22; accordingly, the first frame 22 can be mounted on such a single-piece element, which is then attached to the circuit board 50.

[0042] In some embodiments, such as in Fig. As shown in Figure 3, the first receiving unit 20 can include an optical CMOS sensor (Complementary Metal Oxide Semiconductor) or an optical CCD sensor; furthermore, the second receiving unit can include an avalanche photodiode (APD) or a fast photodiode.In the distance measuring device 100 of the present application, a reflected light signal is focused by the first lens 21 and then projected onto the surface, for example onto the surface on which the first receiving unit 20 of an optical CMOS or CCD sensor is located, at the focal point distance behind the first lens 21, wherein the surface of the first receiving unit 20 is generally perpendicular to the optical axis of the first lens 21; the reflected light signal produces a projection point on the surface of the first receiving unit 20; the position coordinate of the projection point on the imaging surface of the first receiving unit 20 can be obtained by photoelectric signal conversion by the first receiving unit 20.The optical CMOS or CCD sensor can convert a light image on a photographic surface into an electrical signal, proportional to the light image, through the photoelectric conversion function of the photoelectric device. The first receiving unit 20 can be mounted on the circuit board 50 by a conductive connection such as welding, soldering, or the like. The first receiving unit 20 can also be connected to the circuit board 50 by any type of conductive connection, for example, a conductive adhesive, conductive rubber, a spring contact, a flexible circuit board, a bond wire, or a through-hole (THT) connector, etc., or a combination thereof.

[0043] In some embodiments, such as in Fig. 2 and Fig. As shown in Figure 3, the first receiving unit 20 and the second receiving unit 30 can be arranged on either side of the laser emission unit 10; similarly, the first frame 22 and the second frame 32 are arranged on either side of the third frame 12. Since many radar products used by rangefinders have water- and dust-proof requirements, a translucent sealing cover must be fitted outside the radar. However, the sealing cover can create a refractive effect on the optical path, so that the light spot transmitting and receiving the signals can be distorted in addition to attenuation, generally resulting in the same effect as a cylindrical mirror effect, causing the light spot to expand horizontally and contract vertically.Accordingly, in this embodiment, the laser emission unit 10 emits the laser from the center, so that the light spot expands symmetrically without any shift in the center of the light spot, by arranging the laser emission unit 10 in the center. In contrast, if the laser emission unit 10 is arranged at an edge position, it leads to an asymmetric expansion of the light spot, thereby distorting the center of the light spot.

[0044] In other embodiments, the arrangement of the first receiving unit 20 and the second receiving unit 30 and the laser emission unit 10 can be changed; for example, the first receiving unit 20 and the second receiving unit 30 can be arranged on the same side of the laser emission unit 10.

[0045] In some embodiments, such as in Fig. 2 and Fig. As shown in Figure 3, the printed circuit board 50 can be a printed circuit board that can enclose a substrate made from the following materials: copper alloys such as brass and bronze; stainless steel, especially low-alloy stainless steel; magnesium alloys; aluminum; aluminum alloys, especially wrought aluminum alloys such as EN AW-6061 and the like. Furthermore, the substrate of the printed circuit board 50 can be made of glass, glass-ceramic or ceramic, and similar materials. If the substrate of the printed circuit board 50 is made of a metallic material, heat can be dissipated effectively to counteract thermal stress.

[0046] In the embodiments described above, the same printed circuit board 50 is used, which makes the structure compact and facilitates assembly and spacing adjustment between the components. In some other embodiments, at least two of the laser emission unit 10, the first receiver unit 20, and the second receiver unit 30 can also be arranged on different circuit boards to adapt to different structural arrangement requirements.

[0047] For example, it shows Fig. Figure 5 shows a schematic top view of a distance measuring device 100 provided by a second embodiment of the present disclosure. The distance measuring device 100 provided in the second embodiment is essentially the same as the distance measuring device 100 provided in the first embodiment, with the following difference: In the second embodiment, the laser emission unit 10, the first receiving unit 20, and the second receiving unit 30 are arranged on a first printed circuit board 51, a second printed circuit board 52, and a third printed circuit board 53, respectively. The first printed circuit board 51, the second printed circuit board 52, and the third printed circuit board 53 can each be independent printed circuit boards and be connected by wires for signal transmission.By arranging different first circuit boards 51, second circuit boards 52 and third circuit boards 53, the positions of the laser emission unit 10, the first receiving unit 20 and the second receiving unit 30 can be arranged independently of one another; the second circuit board 52 and / or the third circuit board 53 can, for example, be arranged higher than the first circuit board 51 in order to raise the position of the first receiving unit 20 and / or the second receiving unit 30, which are located on the second circuit board 52 and / or the third circuit board 53 in the distance measuring device 100; alternatively, the first circuit board 51, the second circuit board 52 and the third circuit board 53 can be arranged at the same horizontal height.

[0048] In the second embodiment, the distance measuring device 100 can further include a first lens 21, a second lens 31, and a third lens 11, which are similar to those of the first embodiment. The relationship between the optical axes X1, X6, and X4 of the first lens 21, the second lens 31, and the third lens 11, as well as the optical axes X2, X5, and X3 of the first receiving unit 20, the second receiving unit 30, and the laser emission unit 10, can have the same arrangement mode as in the first embodiment. Furthermore, as described in Fig. Figure 5 shows that the optical axis X1 of the first lens 21 coincides with the optical axis X2 of the first recording unit 20.

[0049] Furthermore, the distance measuring device 100 can include a mounting structure 70 to hold the first circuit board 51, the second circuit board 52, and the third circuit board 53 relatively securely. The mounting structure 70 can be a single-piece structure or a structure in which several elements are joined together, as long as the first circuit board 51, the second circuit board 52, and the third circuit board 53 can be held relatively securely. In addition, the mounting structure 70 also serves to secure the first lens 21, the second lens 31, and the third lens 11.

[0050] With reference to Fig. Figure 6 shows a schematic top view of a distance measuring device 100 provided by a third embodiment of the present disclosure. The distance measuring device 100 provided in the third embodiment is essentially the same as the distance measuring device 100 provided in the first or second embodiments, with the following difference: In the third embodiment, the laser emission unit 10 and the first receiving unit 20 are arranged on a fourth circuit board 54, and the second receiving unit 30 is arranged on the third circuit board 53. That is, the fourth circuit board 54 corresponds to replacing the first circuit board 51 and the second circuit board 52 in the second embodiment with a single circuit board. The fourth circuit board 54 and the third circuit board 53 can each be independent circuit boards and be connected by wires for signal transmission.By arranging different fourth circuit boards 54 and third circuit boards 53, the position of the second receiving unit 30 can be determined independently. For example, the third circuit board 53 can be arranged higher than the fourth circuit board 54 to raise the position of the second receiving unit 30, which is located on the third circuit board 53, in the distance measuring device 100; alternatively, the fourth circuit board 54 and the third circuit board 53 can be arranged at the same horizontal height.

[0051] Furthermore, a mounting structure 70 can be included in the distance measuring device 100, which relatively secures the fourth circuit board 54 and the third circuit board 53. The mounting structure 70 in the third embodiment can be similar to that in the second embodiment and is not described in detail here.

[0052] With reference to Fig. Figure 7 shows a schematic top view of a distance measuring device 100 provided by a fourth embodiment of the present disclosure. The distance measuring device 100 provided in the fourth embodiment is essentially the same as the distance measuring device 100 provided in the first, second, or third embodiments, with the following difference: In the fourth embodiment, the laser emission unit 10 and the second receiving unit 30 are arranged on a fifth circuit board 55, and the first receiving unit 20 is arranged on the second circuit board 52. That is to say, the fifth circuit board 55 corresponds to replacing the third circuit board 53 and the first circuit board 51 in the second embodiment with a single circuit board. The fifth circuit board 55 and the second circuit board 52 can each be independent circuit boards and be connected by wires for signal transmission.By different arrangements of the fifth circuit board 55 and the second circuit board 52, the position of the first receiving unit 20 can be determined independently; for example, the second circuit board 52 can be arranged higher than the fifth circuit board 55 to raise the position of the first receiving unit 20, which is located on the second circuit board 52, in the distance measuring device 100; alternatively, the fifth circuit board 55 and the second circuit board 52 can be arranged at the same horizontal height.

[0053] Furthermore, a mounting structure 70 can be included in the distance measuring device 100, which relatively secures the fifth circuit board 55 and the second circuit board 52. The mounting structure 70 in the fourth embodiment can be similar to the mounting structure 70 in the second or third embodiment and is not described in detail here.

[0054] Furthermore, in the distance measuring device 100 of the second to fourth embodiments described above, the various circuit boards can be arranged parallel to each other. For example, the first circuit board 51, the second circuit board 52, and the third circuit board 53 can be mounted and arranged parallel to each other by means of the mounting structure 70.

[0055] Alternatively, in the distance measuring device 100 of the second to fourth embodiments described above, at least two of the different circuit boards are arranged non-parallel. For example, the second circuit board 52 or the third circuit board 53 cannot be mounted and arranged parallel to the first circuit board 51 due to the mounting structure 70. In one embodiment, the first lens 21, the first receiver 20, and the second circuit board 52 are each arranged obliquely with respect to the first circuit board 51, such that the optical axis X1 of the first lens 21 intersects the optical axis X3 of the laser emission unit 10, wherein the optical axis X1 of the first lens 21 passes through the receiving surface of the first receiver 20 and is perpendicular to it, and the optical axis X1 of the first lens 21 passes through the second circuit board 52 and is perpendicular to it.For example, the optical axis X1 of the first lens 21 can coincide with the optical axis X2 of the first receiver 20. The angle at which the optical axis X1 of the first lens 21 intersects with the optical axis X3 of the laser emission unit 10 can, for example, be in the range of 3 degrees to 30 degrees, such as 3 degrees, 5 degrees, 8 degrees, 10 degrees, 15 degrees, 20 degrees, 25 degrees, 30 degrees, etc. The arrangement mode also maximizes the utilization of the sensor target surface of the first receiver 20.

[0056] Furthermore, the distance measuring device 100 of the second to fourth embodiments can also include the computing unit 40 described above, which is configured to receive the first and second signals and to calculate and determine the distance according to the triangulation principle or the time-of-flight principle. The computing unit 40 can be similar to the computing unit in the first embodiment, with the following difference: The computing unit 40 can be connected to all circuit boards in one of the second to fourth embodiments to implement the transmission, control, etc., of the signal. In addition, the computing unit 40 can be mounted on the first circuit board 51, the second circuit board 52, the third circuit board 53, the fourth circuit board 54, or the fifth circuit board 55.

[0057] In the embodiment described above, the laser emission unit 10, the first receiving unit 20, and the second receiving unit 30 can all be arranged in a straight line. In some other embodiments, one of the first receiving unit 20 and the second receiving unit 30 can be arranged with the laser emission unit 10 facing up or down, and the other of the first receiving unit 20 and the second receiving unit 30 can be arranged with the laser emission unit 10 facing left or right.

[0058] For example, with reference to the Fig. 8 and Fig. Figure 9 shows two schematic top views of a distance measuring device 100 provided by a fifth embodiment of the present disclosure. The distance measuring device 100 provided in the fifth embodiment is essentially the same as the distance measuring device 100 provided in the first to fourth embodiments; for example, in the fifth embodiment, the laser emission unit 10, the first receiving unit 20, and the second receiving unit 30 are all arranged on the same circuit board 50; alternatively, at least two of the laser emission unit 10, the first receiving unit 20, and the second receiving unit 30 are arranged on different circuit boards; or, if different circuit boards are used, the different circuit boards are arranged parallel to each other, or at least two of the different circuit boards are not arranged parallel.Alternatively, the distance measuring device 100 further includes a computing unit 40, which is configured to receive the first and second signals and perform a distance calculation and determination according to the triangular distance principle or the time-of-flight principle. The fifth embodiment differs from the distance measuring device 100 provided by the first to the fourth embodiments in that, in the fifth embodiment, the first receiving unit 20 can be arranged above the laser emission unit 10 and the second receiving unit 30 can be arranged on the left side of the laser emission unit 10.

[0059] In some other embodiments, the first receiving unit 20 can be arranged below the laser emission unit 10 and the second receiving unit 30 on the right side of the laser emission unit 10. Alternatively, the second receiving unit 30 can be arranged above or below the laser emission unit 10 and the first receiving unit 20 to the left or right of the laser emission unit 10.

[0060] It is noted that the arrangement of the first receiving unit 20, for example an optical CMOS sensor or an optical CCD sensor, above and below the laser emission unit 10 has the following advantageous effects. First, since the distance measuring device 100 is arranged in the translucent cover, the translucent cover causes the light spot to be split on a barrier after the light spot has expanded in the horizontal direction, which affects the extraction accuracy and further increases the calculation error;Accordingly, orienting the first receiving unit 20 and the laser emission unit 10 upwards or downwards causes the laser center of gravity calculation to change from a horizontal to a vertical direction, and therefore the calculation is not affected by the light spot that splits the barrier. Secondly, the first receiving unit 20 and the laser emission unit 10 are arranged in such a way that the problem of multipath reflection can be avoided more effectively; because the straight line passing through the optical axis of the laser emission unit 10 and the optical axis of the first receiving unit 20 is not parallel to the horizontal plane, the first reflected light, formed by the light emitted by the laser emission unit 10 striking the barrier surfaces at different distances, will always remain at a fixed height of the image sensor of the first receiving unit 20.It will be difficult for most of the second reflected light beam, generated by the multipath, to pass the optical axis of the first receiving unit 20 for imaging; even if a small portion is imaged at different line heights of the image sensor by passing the first receiving unit 20, information from other multipath reflections can be effectively filtered by capturing information about a particular line.

[0061] Furthermore, the vertical arrangement of the first receiving unit 20, for example an optical CMOS sensor or an optical CCD sensor, and the laser emission unit 10 results in a high structural height, which can have a structural appearance effect for some specific application scenarios (for example, in the application to the floor-cleaning robot), since the relevant structure for trigonometric distance measurement requires a certain baseline height. The embodiment of the present application can reduce the height by means of a reflective structural design, as described in detail below.

[0062] For example, it shows Fig. Figure 10 shows a schematic top view of a distance measuring device 100 provided by a sixth embodiment of the present disclosure. The distance measuring device 100 provided in the sixth embodiment is essentially the same as the distance measuring device 100 provided by the first to fifth embodiments; for example, the distance measuring device 100 further includes a computing unit 40 configured to receive the first signal and the second signal and to perform a distance calculation and determination according to the triangular distance principle and the time-of-flight principle, respectively.This sixth embodiment differs from the distance measuring device 100 provided from the first to the fifth embodiment in that the distance measuring device 100 in the sixth embodiment further includes a reflective mirror 73 which is configured to reflect the pulse laser reflected from the target object to at least one of the first receiving unit 20 and the second receiving unit 30.

[0063] The arrangement of the reflective mirror 73 allows for more flexible mounting positions of the first receiving unit 20 and the second receiving unit 30. For example, one of the first receiving unit 20 and the second receiving unit 30 is arranged to the left or right of the laser emission unit 10; the other of the first receiving unit 20 and the second receiving unit 30 is arranged behind the laser emission unit 10, and the reflective mirror 73 is configured to reflect the pulsed laser reflected from the target object to the other of the first receiving unit 20 and the second receiving unit 30. In the Fig. In the embodiment shown in Figure 10, the second receiving unit (see the second receiving unit 30 in Figure 10) can be used. Fig. 8) be arranged to the left or right of the laser emission unit 10; the first receiving unit 20 can be arranged behind the laser emission unit 10, and the reflection mirror 73 is configured to reflect the pulsed laser reflected from the target object to the first receiving unit 20.

[0064] As in Fig. As shown in Figure 10, the two components depicted with dashed lines are the first receiving unit 20 and the first lens 21, which must be arranged if the reflecting mirror 73 is not used. This corresponds in fact to the Fig. 8 and Fig. 9 structures shown. In the sixth embodiment, however, the vertical height of the laser emission unit 10 and the first receiving unit 20, such as an optical CMOS sensor or an optical CCD sensor, can be reduced by the arrangement of the reflecting mirror 73; in addition, the first receiving unit 20 can be arranged at other positions in the distance measuring device 100.

[0065] Furthermore, in the sixth embodiment, the other of the first receiving unit 20 and the second receiving unit 30 can be arranged vertically or at an angle. For example, if the reflection mirror 73 reflects the pulsed laser reflected from the target object to the first receiving unit 20, the first receiving unit 20 is arranged behind the laser emission unit 10, and the first receiving unit 20 is arranged vertically or at an angle.

[0066] Furthermore, in the sixth embodiment, the first receiving unit 20 or the second receiving unit 30 is arranged to the left or right of the laser emission unit 10, and the laser emission unit 10 can be arranged on the same circuit board or on different circuit boards. It is easy to understand that in the front-to-back arrangement, the first receiving unit 20 or the second receiving unit 30 must be located behind the laser emission unit 10, and the laser emission unit 10 must be located on different circuit boards.

[0067] With reference to Fig. Figure 11 provides a schematic sectional view of a distance measuring device 100, corresponding to a seventh embodiment of the present disclosure. The distance measuring device 100 in this embodiment can be essentially the same as the one described in Figure 11. Fig. 2 to Fig. 4 distance measuring device 100 shown, with the difference that the direction of the optical axis X1 of the first lens 21 in Fig. 11 is modified. In particular, the first lens 21 is arranged such that it is inclined with respect to the circuit board 50, such that the optical axis X1 of the first lens 21 intersects both the optical axis X2 of the first receiving unit 20 and the optical axis X3 of the laser emission unit 10, and the optical axis X1 of the first lens 21 passes through the receiving surface of the first receiving unit 20. For example, the optical axis X1 of the first lens 21 can intersect the optical axis X2 of the first receiving unit 20 on the receiving surface of the first receiving unit 20; The angle at which the optical axis X1 of the first lens 21 intersects with the optical axis X2 of the first receiving unit 20 and the optical axis X3 of the laser emission unit 10 can, for example, be in the range of 3 degrees to 30 degrees, for example 3 degrees, 5 degrees, 8 degrees, 10 degrees, 15 degrees, 20 degrees, 25 degrees, 30 degrees, etc.The arrangement mode also maximizes the utilization of the sensor target surface of the first receiving unit 20. It is noted here that the feature of the seventh embodiment also applies to the embodiments of . Fig. 5 to Fig. 10 applies.

[0068] With reference to Fig. Figure 12 provides a schematic sectional view of a distance measuring device 100, corresponding to an eighth embodiment of the present disclosure. The distance measuring device 100 in this embodiment can be essentially the same as the one described in Figure 12. Fig. 2 to Fig. 4 distance measuring device 100 shown, with the difference that the direction of the optical axis X1 of the first lens 21 and the direction of the optical axis X2 of the first receiving unit 20 in Fig. 11 Both are modified. In particular, both the first lens 21 and the first receiver 20 are arranged such that they are inclined to the circuit board 50, such that the optical axis X1 of the first lens 21 intersects the optical axis X3 of the laser emission unit 10, and the optical axis X1 of the first lens 21 passes through the receiving surface of the first receiver 20 and is perpendicular to it. For example, the optical axis X1 of the first lens 21 can coincide with the optical axis X2 of the first receiver 20. The angle at which the optical axis X1 of the first lens 21 intersects the optical axis X3 of the laser emission unit 10 can, for example, be in the range of 3 degrees to 30 degrees, e.g., 3 degrees, 5 degrees, 8 degrees, 10 degrees, 15 degrees, 20 degrees, 25 degrees, 30 degrees, etc. The arrangement mode can also maximize the utilization of the sensor target surface of the first receiving unit 20.It is pointed out here that the feature of the eighth embodiment also applies to the embodiments of . Fig. 5 to Fig. 10 applies.

[0069] With reference to Fig. Figure 13 provides a schematic sectional view of a distance measuring device 100, corresponding to a ninth embodiment of the present disclosure. The distance measuring device 100 in this embodiment can be essentially the same as the one described in Figure 13. Fig. 2 to Fig. 4 distance measuring devices shown, 100, with the difference that the first frame is 22, the second frame is 32 and the third frame is 12 in Fig. 13 have changed. In particular in the Fig. In the embodiment shown in Figure 13, the third frame 12 can be mounted as the main frame on the circuit board 50, and the first frame 22 and the second frame 32 are each mounted on the third frame 12. The first frame 22 can, for example, have an external thread for rotatable attachment in a threaded hole of the third frame 12; the second frame 32 can have an insertion section or an engagement section for insertion into an insertion hole of the third frame 12 or for connection with a corresponding engagement section of the third frame 12. According to the above mode, the first lens 21 and the second lens 31 can be conveniently adjusted, i.e.,By separating the first frame 22 and the second frame 32, which are mounted with the first lens 21 and the second lens 31, and the third frame 12, which is the main frame, it is possible to adjust the relative positions of the first lens 21 and the first receiving unit 20 and the relative positions of the second lens 31 and the second receiving unit 30 during assembly and then to fix them after adjustment with a binding agent such as adhesive. It should be noted here that the feature of the ninth embodiment also applies to the embodiments of... Fig. 5 to Fig. 10 applies.

[0070] In the distance measuring device 100 provided by the embodiment of the present disclosure, the distance measuring device 100 is suitable for the application by combining the advantages of the TOF distance measuring device and the trigonometric distance measuring device for measuring long and short distances with high measurement accuracy, since the TOF distance measuring device has the characteristics of high precision for long distances and low precision for short distances, and the trigonometric distance measuring device has high precision for short distances and low precision for long distances. In addition, the distance measuring device 100 provided by the embodiment of the present disclosure can make the structure more compact while simultaneously taking into account the measurement of long and short distances.

[0071] With reference to Fig. 14 and Fig. Figure 15 shows a schematic perspective view or a perspective exploded view of a lidar 200 provided by an embodiment of the present disclosure. As in Fig. 14 and Fig. 15, the Lidar 200 can mainly include one of the distance measuring devices 100 described above and a pan-tilt device 60.

[0072] The pan-tilt device 60 can include a base 61, a turntable 62, a transmission mechanism 63, and a drive unit 64. The turntable 62 is rotatably attached to the base 61, the rangefinder 64 is attached to the base 61, the transmission mechanism 63 connects the turntable 62 to the rangefinder 64, and the rangefinder 100 is provided on the turntable 62.

[0073] The laser emission unit 10 of the rangefinder 100 is configured to emit an optical signal from the laser. The first receiving unit 20 and the second receiving unit 30 are configured to receive the optical signal reflected from the target being measured and input the optical signal via the circuit board 50 to the processing unit 40. The processing unit 40 analyzes and processes the input optical signal. The transmission mechanism 63 transfers energy between the drive unit 64 and the turntable 62, and the drive unit 64 outputs energy to rotate the turntable 62 around its axis of rotation. Accordingly, the 360° scanning operation of the lidar 200 can be achieved by the arrangement of the pan-tilt device 60.

[0074] Furthermore, the swivel-tilt device 60 includes a deflector plate 65. The base 61 is provided with a receiving groove; the turntable 62 is rotatably mounted on the base 61 and covers part of the receiving groove; the turntable 62 can rotate about the axis of rotation relative to the base 61; and the mounting section of the turntable 62 can be rotatably mounted on the base 61 via a bearing 6201; the turntable 65 is mounted on the base 61 and covers the other part of the receiving groove, i.e., the turntable 62 and the turntable 65 jointly cover the notch of the receiving groove to prevent foreign objects from entering the receiving groove from the notch of the receiving groove. The drive device 64 is mounted on a side of the base 61 facing away from the receiving groove; the transmission mechanism 63 connects the turntable 62 to the drive device 64, and the transmission mechanism 63 is housed in the receiving groove.This arrangement prevents external contaminants from entering the recording groove and affecting the operation of the transmission mechanism 63, thus avoiding the phenomenon of the lidar 200 not being able to operate normally due to external contaminants.

[0075] In some embodiments, such as in Fig. 14 and Fig.As shown in Figure 15, the pan-tilt device 60 further includes a shell 66 which shields the rotatable base 62 and is rigidly connected to it, and the rangefinder 100 is housed in the shell 66. The shell 66 can be provided with a first through-hole 661, a second through-hole 662, and a third through-hole 663. The first through-hole 661 and the second through-hole 662 can be connected to the first receiving unit 20 and the third through-hole 663, respectively.The second receiving unit 30 corresponds to the third through-hole 663, which can correspond to the laser emission unit 10. The third through-hole 663 serves to radiate the optical signal emitted by the laser emission unit 10 into the interior of the shell 66. The first through-hole 661 serves to allow the optical signal reflected from the object to be measured to enter the interior of the shell 66 and be received by the first receiving unit 20. The second through-hole 662 serves to allow the optical signal reflected from the object to be measured to enter the interior of the shell 66 and be received by the second receiving unit 30. Alternatively, the shell 66 can have a closed structure, i.e.,The first through-hole 661, the second through-hole 662 and the third through-hole 663 are not arranged, but a solid structure is assumed through which the laser can penetrate; in this way, impurities can be prevented from penetrating the shell 66.

[0076] In some embodiments, the lidar 200 can further include a control panel that is electrically connected to the laser emission unit 10, the circuit board 50, and the drive device 64. The control panel can be used to control the laser emission unit 10 so that it emits a laser signal, to transmit the signal via the circuit board 50, and to rotate the turntable 62 via the drive device 64. Alternatively, the control board can also be integrated with the circuit board 50 as a single board.

[0077] One embodiment of the present disclosure also includes a mobile robot with the Lidar 200, which is provided by one of the embodiments described above.

[0078] It should be noted that the description of the present disclosure and the accompanying drawings show preferred embodiments of the present disclosure, but the present disclosure can be implemented in many different forms and is not limited to the preferred embodiments described herein. These preferred embodiments are not intended as additional limitations on the content of the present disclosure, and the purpose of providing these preferred embodiments is to make the understanding of the present disclosure more thorough and comprehensive.Furthermore, the above-mentioned technical features can be combined to form various preferred embodiments not listed above, all of which are considered within the scope of the disclosure contained in the description of the present disclosure; furthermore, modifications and changes will occur for those who possess normal technical knowledge in view of the above explanations. QUOTES INCLUDED IN THE DESCRIPTION

[0000] This list of documents cited by the applicant was automatically generated and is included solely for the reader's convenience. The list is not part of the German patent or utility model application. The DPMA accepts no liability for any errors or omissions. Cited patent literature

[0000] WO 2020 / 098771 A1

[0006] EP 2711667

[0006]

Claims

[1] Distance measuring device (100) comprising a laser emission unit (10), a first receiving unit (20), a second receiving unit (30) and a computing unit (40), wherein the laser emission unit (10) is configured to emit laser pulses to a target object whose distance is to be measured; the first receiving unit (20) is configured to receive the laser pulse reflected from the target object and to generate a corresponding first signal; the second receiving unit (30) is configured to receive the laser pulse reflected by the target object and to generate a corresponding second signal; and the computing unit (40) is configured to receive the first signal and the second signal and to perform distance calculation and determination according to a triangular distance principle and a time-of-flight principle, respectively; wherein the first signal is used to calculate and determine a first distance according to the triangular distance principle; the second signal is used to calculate and determine a second distance according to the time-of-flight principle; characterized by , that the distance measuring device further comprises the following feature (a) or feature (b): (a) the distance measuring device further comprises a circuit board (50), wherein the first receiving unit (20), the second receiving unit (30) and the laser emitting unit (10) are all arranged on the circuit board (50) at different positions; (b) at least two of the laser emission unit (10), the first receiving unit (20) and the second receiving unit (30) are arranged on different circuit boards. [2] Distance measuring device (100) according to claim 1, characterized by , that: the first receiving unit (20) and the second receiving unit (30) are arranged on two sides of the laser emission unit (10); or the first receiving unit (20) and the second receiving unit (30) are arranged on the same side of the laser emission unit (10). [3] Distance measuring device (100) according to claim 1, characterized by that the computing unit (40) is configured to: to analyze the first signal according to the triangular distance principle to determine the first distance between the target object and the distance measuring device, and to analyze the second signal according to the time-of-flight principle to determine the second distance between the target object and the distance measuring device; and determine a distance between the target object and the distance measuring device in a weighted manner according to the first distance and the second distance. [4] Distance measuring device (100) according to claim 1, characterized by , that: an optical axis (X3) of the laser emission unit (10) and an optical axis (X5) of the second reception unit (30) are both perpendicular to the circuit board (50); wherein the distance measuring device further comprises a first lens (21) that allows the reflected laser pulse to pass through and be projected to the first receiving unit (20). [5] Distance measuring device (100) according to claim 4, characterized by , that: an optical axis (X2) of the first receiving unit (20) is perpendicular to the circuit board (50), an optical axis (X1) of the first lens (21) and the optical axis (X2) of the first receiving unit (20) are parallel and offset, and the optical axis (X2) of the first receiving unit (20) is further away from the optical axis (X3) of the laser emission unit (10) than the optical axis (X1) of the first lens (21); or the optical axis (X2) of the first receiving unit (20) is perpendicular to the circuit board (50), and the optical axis (X1) of the first lens (21) intersects both the optical axis (X2) of the first receiving unit (20) and the optical axis (X3) of the laser emission unit (10), and the optical axis (X1) of the first lens (21) passes through a receiving surface of the first receiving unit (20); or the optical axis (X1) of the first lens (21) intersects the optical axis (X3) of the laser emission unit (10), and passes through the optical axis (X1) of the first lens (21) and is perpendicular to a receiving surface of the first receiving unit (20). [6] Distance measuring device (100) according to one of claims 1 to 5, characterized by , that: the distance measuring device further comprises a second lens (31) which allows the reflected laser pulse to pass through and be projected to the second receiving unit (30); the distance measuring device further comprises a third lens (11) for passing through emitted laser pulse; and the third lens (11) is mounted on a third frame (12) which is fixed to the circuit board (50). [7] Distance measuring device (100) according to claim 6, characterized by , that: the distance measuring device further comprises a first lens (21) that allows the reflected laser pulse to pass through and be projected to the first receiving unit (20), wherein the first lens (21) is mounted on a first frame (22), and the first frame (22) is mounted on the third frame (12); and / or the distance measuring device further comprises a second lens (31) that allows the reflected laser pulse to pass through and be projected to the second receiving unit (30), wherein the second lens (31) is mounted on a second frame (32), and the second frame (32) is mounted on the third frame (12). [8] Distance measuring device (100) according to one of claims 1 to 7, characterized by , that: the first receiving unit (20) comprises an optical CMOS or CCD sensor; and / or the second receiving unit (30) comprises a single-photon avalanche diode or an avalanche photodiode or a fast photodiode. [9] Distance measuring device (100) according to claim 1, characterized by , that: the laser emission unit (10), the first receiving unit (20) and the second receiving unit (30) are each arranged on a first circuit board (51), a second circuit board (52) and a third circuit board (53). [10] Distance measuring device (100) according to claim 9, characterized by , that: the distance measuring device further comprises a mounting structure (70) that holds the first circuit board (51), the second circuit board (52) and the third circuit board (53) relatively fixed; or the laser emission unit (10) and the first receiving unit (20) are arranged on a fourth circuit board (54), and the second receiving unit (30) is arranged on a third circuit board (53); and the distance measuring device further comprises a mounting structure (70) that holds the fourth circuit board (54) and the third circuit board (53) relatively fixed; or the laser emission unit (10) and the second reception unit (30) are arranged on a fifth circuit board (55), and the first reception unit (20) is arranged on the second circuit board (52); and the distance measuring device further comprises a mounting structure (70) that holds the fifth circuit board (55) and the second circuit board (52) relatively fixed. [11] Distance measuring device (100) according to claim 1, characterized by , that: one of the first receiving unit (20) and the second receiving unit (30) is arranged with the laser emission unit (10) facing upwards or downwards, and the other of the first receiving unit (20) and the second receiving unit (30) is arranged with the laser emission unit (10) to the left or right; the different circuit boards are arranged to be parallel to each other; or at least two of the different circuit boards are arranged not to be parallel. [12] Distance measuring device (100) according to claim 1, characterized by , that: the distance measuring device further comprises: a reflection mirror (73) configured to the laser pulse reflected by the target object, to at least one of the first receiving unit (20) and the second receiving unit (30). [13] Distance measuring device (100) according to claim 12, characterized by , that: one of the first receiving unit (20) and the second receiving unit (30) is arranged to the left or right with the laser emission unit (10); the other of the first receiving unit (20) and the second receiving unit (30) is arranged behind the laser emitting unit (10), and the reflection mirror (73) is configured to reflect the laser pulse reflected from the target object to the other of the first receiving unit (20) and the second receiving unit (30); the other of the first receiving unit (20) and the second receiving unit (30) is placed vertically or obliquely; and one of the first receiving unit (20) and the second receiving unit (30) and the laser emission unit (10) are arranged on the same circuit board or on different circuit boards. [14] Lidar (200), characterized by that it includes: the distance measuring device according to any one of claims 1-13; and a rotary-swivel tilter (60) comprising a base (61), a rotary plate (62), a transmission mechanism (63) and a drive device (64), wherein the rotary plate (62) is rotatably mounted on the base (61), the drive device (64) is mounted on the base (61), the transmission mechanism (63) connects the rotary plate (62) to the drive device (64), and the distance measuring device is arranged on the rotary plate (62); wherein the rotary tilt head (60) further comprises a housing (66) which is a rigid structure capable of to transmit laser light. [15] Mobile robot, characterized by that it comprises the lidar (200) according to claim 14.

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