Distance measurement apparatus and self-travelling device

Abstract

A distance measurement apparatus and a self-travelling device. The distance measurement apparatus (200) comprises an emission assembly (210), a receiving mirror (220), a detection assembly (230) and a controller, wherein the receiving mirror (220) is spaced apart from the emission assembly (210); the detection assembly (230) is positioned near a focal plane of the receiving mirror (220); the emission assembly (210) comprises at least two emission light sources, the light emission directions of which are not parallel to each other; the emission light sources are configured to emit toward a target object (300) detection light having a divergence angle; the detection assembly (230) comprises at least two photosensitive surfaces; the photosensitive surfaces are configured to receive information of reflected light that is reflected back by the target object (300) and passes through the receiving mirror (220); the controller is electrically connected to the emission light sources and the detection assembly (230); and the controller is configured to temporally control the operation of each emission light source and determine a measured distance of the target object (300) on the basis of the information of the reflected light of the same emission light source that is received by each photosensitive surface.

Description

Distance measuring devices and self-propelled equipment

[0001] This application claims priority to the Chinese patent application filed with the China Patent Office on July 26, 2023, with application number 202321988585.3 and application name “Distance-measuring device and self-propelled equipment”, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present application relates to the field of smart home technology, and in particular to a distance measuring device and a self-propelled device. Background Art

[0003] With the development and iteration of technology, mobile robots such as household smart cleaning robots, commercial cleaning robots and other service robots have been widely used in commercial places, homes and industrial plants. In many application scenarios, mobile robots need to be able to walk along walls to ensure good cleaning effects.

[0004] Application Contents

[0005] The content of this application introduces a series of simplified concepts that will be further described in the detailed description. This section of this application does not intend to limit the key features and essential technical features of the claimed technical solution, nor does it intend to determine the scope of protection of the claimed technical solution.

[0006] An embodiment of the first aspect of the present application provides a ranging device, which should be configured as a self-propelled device. The ranging device includes: a transmitting component, a receiving mirror, a detection component and a controller. The receiving mirror is arranged at an interval from the transmitting component, and the detection component is located near the focal plane of the receiving mirror. The transmitting component includes at least two transmitting light sources whose light emission directions are non-parallel to each other, and the transmitting light sources are configured to emit detection light with a divergent angle toward the target object. The detection component includes at least two photosensitive surfaces, and the photosensitive surfaces are configured to receive reflected light information reflected from the target object and passed through the receiving mirror; the controller is electrically connected to the transmitting light source and the detection component, and the controller is configured to time-share control the operation of each transmitting light source, and determine the measured distance of the target object based on the reflected light information of the same transmitting light source received by each photosensitive surface.

[0007] Furthermore, the photosensitive surface is arranged relative to the light-emitting side of the receiving mirror, and the reflected light information includes the energy value of the light spot distributed on each photosensitive surface by the same emitting light source, the energy value of the light spot on the photosensitive surface is associated with the measuring distance, and the energy value of the light spot on the photosensitive surface is associated with the position and / or area of ​​the distribution diagram of the light spot on the photosensitive surface.

[0008] Furthermore, each emitting light source includes a light-emitting body, and the wavelength ranges of the light-emitting bodies of the emitting light sources are different.

[0009] Furthermore, the ranging device also controls the aperture corresponding to the emitting light source, wherein the aperture is located on the outgoing light path of the emitting light source and is configured to limit the intensity and / or divergence angle of the outgoing light emitted by the emitting light source; and / or the aperture is located on the receiving light path of the photosensitive surface and is configured to limit the intensity and / or incident angle of the reflected light reflected back by the target object and received by the photosensitive surface.

[0010] Furthermore, each emitting light source includes a light emitting body and a collimating lens. The collimating lens is located on the outgoing light path of the light emitting body and is configured to change the outgoing angle and / or divergence angle of the light emitting body.

[0011] Furthermore, the emitting assembly further includes: a light shielding frame, which is located between the corresponding light emitting body and the collimating lens, and is arranged between two adjacent collimating lenses to separate the two adjacent collimating lenses.

[0012] Furthermore, the ranging device also includes: filters corresponding to the light-emitting bodies, and the filters are respectively arranged on the light channels between the target objects corresponding to each light-emitting body and the detection component; wherein, based on the different wavelength ranges of the light-emitting bodies of each emitting light source, the filters are configured to pass the light signals within the wavelength ranges of the corresponding light-emitting bodies.

[0013] Furthermore, the detection component is arranged parallel to or tilted to the focal plane of the receiving mirror; the detection component is located at the focal plane of the receiving mirror.

[0014] Furthermore, the tilt angle between each emitting light source and the receiving mirror is adjustable.

[0015] Furthermore, the emitting component further includes: a circuit board, and each emitting light source is mounted on the circuit board and electrically connected to the circuit board; wherein at least two emitting light sources are arranged in a straight line or a curve at intervals.

[0016] Furthermore, the multiple emitting light sources include a first emitting light source, a second emitting light source, and a third emitting light source distributed in sequence from top to bottom in the vertical direction. The light emitting direction of the first emitting light source is inclined upward, the light emitting direction of the second emitting light source is horizontally forward, and the light emitting direction of the third emitting light source is inclined downward.

[0017] Furthermore, the transmitting component also includes an encoder configured to encode the transmitting signals emitted by each transmitting light source; a processor configured to decode the receiving signals received by each photosensitive surface and calculate the distance value when the receiving signal matches the transmitting signal.

[0018] A second aspect of the present application provides a self-propelled device, comprising: a machine body, and any distance measuring device according to the first aspect, wherein the distance measuring device is arranged on the machine body.

[0019] The present application provides a distance measuring device and a self-propelled device, wherein the distance measuring device includes a transmitting component, a receiving mirror, a detection component and a controller, wherein the transmitting component includes at least two transmitting light sources with different light emission directions, and the detection component includes at least two photosensitive surfaces. The arrangement of each transmitting light source, the receiving mirror and the detection component is similar to the arrangement of each component in the oblique optical path diagram in triangulation ranging. Therefore, based on the same principle of triangulation ranging, the controller controls the operation of each transmitting light source in a time-sharing manner, and can achieve time-sharing multi-directional ranging of the target object according to the reflected light information of the same transmitting light source received by the detection component, that is, it can measure the distance of the same target object or different target objects from different directions, which is beneficial to improving the accuracy and stability of the target object ranging, so as to ensure a good cleaning effect and precise obstacle avoidance operation. This type of distance detection device has low cost of each component, simple structure, convenient assembly and debugging, and is suitable for mass production and popularization and application.

[0020] The above description is only an overview of the technical solution of the present application. In order to more clearly understand the technical means of the present application, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The following figures of the present application are used as part of the embodiments of the present application for understanding the present application. The figures show the embodiments of the present application and their descriptions, and are used to explain the principles of the present application. In the figures:

[0022] FIG1 is a schematic structural diagram of a self-propelled device according to an optional embodiment of the present application;

[0023] FIG2 is a schematic structural diagram of the embodiment shown in FIG1 from another perspective;

[0024] FIG3 is a schematic diagram of the arrangement of a distance measuring device according to an optional embodiment of the present application

[0025] FIG4 is a schematic diagram of energy distribution of a light spot received by a detection assembly at a first measurement distance according to an optional embodiment of the present application;

[0026] FIG5 is a schematic diagram of energy distribution of a light spot received by a detection assembly at a second measurement distance according to an optional embodiment of the present application;

[0027] FIG6 is a schematic structural diagram of a distance measuring device according to an optional embodiment of the present application;

[0028] FIG7 is a schematic structural diagram showing another perspective of the embodiment shown in FIG6 ;

[0029] FIG8 is a schematic structural diagram of a transmitting assembly according to an optional embodiment of the present application;

[0030] FIG9 is a schematic structural diagram showing another perspective of the embodiment shown in FIG8 ;

[0031] FIG10 is a schematic structural diagram showing another perspective of the embodiment shown in FIG8 ;

[0032] FIG11 is a schematic diagram showing a partial structure of the embodiment shown in FIG8 ;

[0033] FIG12 is a schematic structural diagram showing another perspective of the embodiment shown in FIG11 ;

[0034] FIG13 is a schematic diagram of an optical path of a triangulation ranging method according to an optional embodiment.

[0035] Explanation of the accompanying symbols 100 Self-propelled device, 110 Machine body, 111 Forward part, 112 Rear part, 120 Sensing system, 121 Position determination device, 122 Buffer, 130 Driving system, 131 Main driving wheel module, 132 Driven wheel, 140 Cleaning system, 141 Dry cleaning system, 142 Wet cleaning system, 143 Side brush, 160 Energy system, 170 Human-computer interaction system, 200 Distance measuring device, 210 Transmitting component, 211 First emitting light source, 212 Second emitting light source, 213 Third emitting light source, 214 Circuit board, 215 Collimating lens, 220 Receiving mirror, 230 Detection component, 231 First photosensitive surface, 232 Second photosensitive surface, 300 Target object, 310 Laser head, 320 Camera. DETAILED DESCRIPTION

[0036] In the following description, a number of specific details are given to provide a more thorough understanding of the technical solutions provided by this application. However, it is obvious to those skilled in the art that the technical solutions provided by this application can be implemented without one or more of these details.

[0037] It should be noted that the terms used herein are only for the purpose of describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should also be understood that when the terms "comprise" and / or "include" are used in this specification, they indicate the presence of the features, wholes, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or combinations thereof.

[0038] Now, exemplary embodiments according to the present application will be described in more detail with reference to the accompanying drawings. However, these exemplary embodiments may be implemented in a variety of different forms and should not be construed as being limited to the embodiments set forth herein. It should be understood that these embodiments are provided to make the disclosure of this application thorough and complete and to fully convey the concepts of these exemplary embodiments to those of ordinary skill in the art.

[0039] The embodiment of the present application provides a possible application scenario, which includes a self-propelled device 100. Specifically, the self-propelled device 100 includes a self-propelled cleaning device. For example, the self-propelled device 100 can be a sweeping robot, a mopping robot, a sweeping and mopping robot, etc. It is understandable that the self-propelled device 100 can also be other devices that meet the requirements. Among them, the embodiment of the present application uses the self-propelled device 100 as an example to illustrate the self-propelled cleaning robot. The self-propelled device 100 is generally controlled by the host button and APP to travel along the established cleaning path to perform corresponding functional operations.

[0040] Furthermore, as shown in FIG1 and FIG2 , the self-propelled device 100 may include a machine body 110 , a perception system 120 , a control module, a drive system 130 , a cleaning system 140 , an energy system 160 and a human-computer interaction system 170 .

[0041] As shown in FIG1 , the machine body 110 includes a forward portion 111 and a rearward portion 112 , and has an approximately circular shape (both the front and the back are circular). It may also have other shapes, including but not limited to an approximately D-shaped shape with a front and a rear circle, and a rectangular or square shape with a front and a rear circle.

[0042] As shown in Figures 1 and 2 , the perception system 120 includes a position determination device 121 located on the machine body 110, a collision sensor and a proximity sensor located on the bumper 122 of the forward portion 111 of the machine body 110, a cliff sensor located below the machine body 110, and sensing devices such as a magnetometer, accelerometer, gyroscope, and odometer located within the machine body 110. These sensors provide the control module with various machine position and motion status information. Position determination device 121 includes, but is not limited to, a camera 320 and a laser distance sensor 200 (LDS).

[0043] As shown in Figure 1, the forward portion 111 of the machine body 110 can carry a buffer 122. During the cleaning process, when the drive system 130 propels the self-propelled device 100 to walk on the ground, the buffer 122 detects one or more events in the driving path of the self-propelled device 100 via a sensor system provided thereon, such as an infrared sensor. The self-propelled device 100 can control the drive system 130 to respond to the events detected by the buffer 122, such as obstacles and walls, such as performing obstacle avoidance operations to move away from obstacles.

[0044] The control module is located on a circuit board within the machine body 110 and includes a computing processor, such as a central processing unit (CPU) or an application processor, that communicates with non-volatile memory, such as a hard drive, flash memory, or random access memory. The application processor utilizes a positioning algorithm, such as Simultaneous Localization and Mapping (SLAM), based on obstacle information fed back by the laser rangefinder 200 to create a real-time map of the environment in which the autonomous device 100 resides. Furthermore, the application processor combines distance and speed information fed back by sensors, cliff sensors, magnetometers, accelerometers, gyroscopes, and odometers installed on the buffer 122 to comprehensively determine the current operating state, location, and posture of the autonomous device 100, such as when crossing a threshold, on a carpet, on a cliff, stuck above or below, a full dust box, or being lifted. Specific next-step action strategies are also provided for each situation, ensuring better cleaning performance and user experience for the autonomous device 100.

[0045] As shown in FIG2 , the drive system 130 can manipulate the machine body 110 to travel across the ground based on a drive command having distance and angle information (e.g., x, y, and θ components). The drive system 130 includes a main drive wheel module 131, which can simultaneously control the left and right wheels. To more precisely control the movement of the machine, the main drive wheel module 131 can include a left drive wheel module and a right drive wheel module, respectively. The left and right drive wheel modules are arranged along the transverse axis defined by the machine body 110. To enable the self-propelled device 100 to move more stably on the ground or have greater mobility, the self-propelled device 100 can include one or more driven wheels 132, including but not limited to universal wheels. The main drive wheel module 131 includes a running wheel and a drive motor, as well as a control circuit that controls the drive motor. The main drive wheel module 131 can also be connected to a circuit for measuring the drive current and an odometer. The drive wheel may have a biased drop-down suspension system that is movably secured, for example, rotatably attached, to the machine body 110 and receives a spring bias that biases it downward and away from the machine body 110. The spring bias allows the drive wheel to maintain contact and traction with the ground with a certain ground force while the cleaning elements of the self-propelled device 100 also contact the ground with a certain pressure.

[0046] Energy system 160 includes rechargeable batteries, such as nickel-metal hydride batteries and lithium batteries. These batteries can be connected to a charging control circuit, a battery pack charging temperature detection circuit, and a battery undervoltage monitoring circuit. These circuits are then connected to the microcontroller control circuit. The host computer is charged via charging electrodes located on the side or bottom of the device, connected to a charging station.

[0047] The human-machine interaction system 170 includes buttons on the main unit panel for users to select functions; a display screen and / or indicator lights and / or a speaker to display the current machine status or function options; and a mobile client application. For a route-guiding autonomous vehicle 100, the mobile client can display a map of the vehicle's environment and its location, providing users with a richer and more user-friendly set of functions.

[0048] The cleaning system 140 may be a dry cleaning system 141 and / or a wet cleaning system 142 .

[0049] As shown in Figure 2, the dry cleaning system 141 provided in this embodiment of the present application may include a roller brush, a dust box, a fan, and an air outlet. The roller brush, which has a certain degree of interference with the ground, sweeps up debris from the ground and carries it to the front of the dust suction port between the roller brush and the dust box. The air is then sucked into the dust box by the suction force generated by the fan and passing through the dust box. The dry cleaning system 141 may also include a side brush 143 with a rotating shaft that is angled relative to the ground to move debris into the roller brush area of ​​the cleaning system 140.

[0050] As shown in Figure 2, the wet cleaning system 142 provided in an embodiment of the present application may include: a cleaning head, a drive unit, a water delivery mechanism, a liquid storage tank, etc. The cleaning head may be positioned below the liquid storage tank, with the cleaning liquid within the liquid storage tank being transferred to the cleaning head via the water delivery mechanism, allowing the cleaning head to wet clean the surface to be cleaned. In other embodiments of the present application, the cleaning liquid within the liquid storage tank may also be sprayed directly onto the surface to be cleaned, with the cleaning head cleaning the surface by evenly spreading the cleaning liquid.

[0051] The cleaning head is used to clean the surface to be cleaned, and the driving unit is used to drive the cleaning head to reciprocate along the target surface, which is a portion of the surface to be cleaned. The cleaning head reciprocates along the surface to be cleaned, and a cleaning cloth or cleaning plate is provided on the contact surface between the cleaning head and the surface to be cleaned. The reciprocating motion generates high-frequency friction with the surface to be cleaned, thereby removing stains on the surface to be cleaned.

[0052] As shown in Figures 3, 6, 7 and 8, the present application provides a ranging device 200, which is applied to a self-propelled device 100. The ranging device 200 includes: a transmitting component 210, a receiving mirror 220, a detection component 230 and a controller. The receiving mirror 220 is arranged at an interval from the transmitting component 210, and the detection component 230 is located near the focal plane of the receiving mirror 220. The transmitting component 210 includes at least two transmitting light sources whose light emission directions are not parallel to each other. The transmitting light source is used to emit detection light with a divergent angle to the target object 300. The detection component 230 includes at least two photosensitive surfaces, which are used to receive reflected light information reflected by the target object 300 and passing through the receiving mirror 220; the controller is electrically connected to the transmitting light source and the detection component 230, and the controller is used to time-share control the operation of each transmitting light source, and determine the measured distance of the target object 300 based on the reflected light information of the same transmitting light source received by each photosensitive surface.

[0053] In this embodiment, the arrangement of the receiving mirrors 220 and the detection assembly 230 of the transmitting assembly 210 is similar to the arrangement of the components in the oblique optical path diagram in triangulation ranging. As shown in Figure 13, taking a single-point laser as an example, the oblique optical path in triangulation ranging is described:

[0054] As shown in Figure 13, laser head 310 and camera 320 are on the same horizontal line (called the baseline), with a distance s between them. The focal length of camera 320 is f, and the angle between laser head 310 and the baseline is β. Assume that target object 300, illuminated by a point laser, is reflected back to the imaging plane of camera 320 at point P. Based on geometric knowledge, similar triangles can be constructed. The triangle formed by laser head 310, camera 320, and target object 300 is similar to the triangle formed by camera 320, imaging point P, and auxiliary point P'. Assuming PP' = x, q, and d as shown in Figure 13, similar triangles yield: f / x = q / s, or q = fs / x, where x = x + x = f / tanβ + pixelSize × position, where pixelSize is the pixel size and position is the position of the imaged pixel coordinate relative to the imaging center. Finally, the distance d can be calculated: d = q / sinβ.

[0055] In this embodiment, the positions of the various light sources and receiving mirrors 220 of the transmitting assembly 210 match those of the laser head 310 and the camera 320. Specifically, the light sources and receiving mirrors 220 are arranged at certain intervals and angles, such that the light sources and receiving mirrors 220 are spaced apart, and the detection assembly 230 is located near the focal plane of the receiving mirror 220. The light sources emit detection light toward the target object 300. After reflecting from the target object 300, the detection light is received by the detection assembly 230 through the receiving mirror 220. This allows the detection assembly 230 to receive the reflected light information from the target object 300 that passes through the receiving mirror 220. As the preset distance measurement changes, the reflected light information received by the detection assembly 230 also changes. Therefore, based on the same principle as triangulation distance measurement, the controller can determine the measured distance to the target object 300 based on the reflected light information received by the detection assembly 230, thereby achieving the distance measurement function. Therefore, the distance measuring device 200 can be used to detect obstacles near the self-propelled device 100, so that the self-propelled device 100 can walk along the wall. Alternatively, the short-range sensor cooperates with other sensors to enable the self-propelled device 100 to walk along the wall, thereby ensuring good cleaning effects and precise obstacle avoidance operations.

[0056] Self-propelled devices in the related art typically use infrared emitting diodes and infrared receiving transistors as transceivers to determine the distance between the self-propelled device and the target object, enabling wall-following. Because the infrared emitting diodes have a single emission angle, these distance measurement devices can typically only detect the distance to the target object at a single angle. For example, when performing parallel ranging, the self-propelled device is prone to misjudgment of distance when encountering complex contours of the target object (such as pet food containers, small toys, furniture handles, etc.), resulting in poor wall-following accuracy.

[0057] To this end, as shown in Figures 3, 6, 7, 8, 9 and 10, the ranging device 200 provided by the embodiment of the present application, the transmitting component 210 includes at least two emitting light sources. Since the light emitted by the emitting light sources has a divergence angle, the emission directions of each emitting light source are not parallel to each other, that is, the emission angles of each emitting light source are different. It can also be understood that the light-emitting surfaces of each emitting light source are not parallel and the light-emitting surfaces are perpendicular to the emission direction. As a result, each emitting light source can emit detection light toward the target object 300 from different directions, so that the detection light from different directions can be reflected by the target object 300 and received by the detection component 230 from different directions through the receiving mirror 220, thereby increasing the multidirectionality and comprehensiveness of the reflected light of the target object received by the detection component 230, which is conducive to improving the accuracy and comprehensiveness of the ranging. At the same time, since the detection component 230 includes at least two photosensitive surfaces, each photosensitive surface can receive the reflected light information reflected back from the target object 300 within the preset ranging range, and as the preset ranging range changes, the reflected light information received by the photosensitive surface will also change accordingly. Therefore, based on the same principle as triangulation, the controller can determine the measured distance of the target object 300 based on the reflected light information from the same emitting light source received by each photosensitive surface, thereby realizing the distance measurement function. The controller controls the operation of each emitting light source in a time-sharing manner, so that each emitting light source can time-share the detection component 230 to achieve distance detection. Furthermore, by cooperating with at least two emitting light sources and the detection component 230, the distance to the same target object 300 can be measured from multiple directions. This allows stable and accurate distance detection to be achieved for target objects 300 with complex contours (such as pet lunch boxes, small toys, furniture handles, angled chairs, etc.), or distance measurement can be performed for different target objects from multiple directions, allowing the autonomous device 100 to accurately walk along walls.

[0058] That is to say, in the embodiment of the present application, each emitting light source and the detection component 230 form a ranging device. Since the emitting angle of each emitting light source is different, it is possible to measure the distance to the same target object 300 or different target objects from different directions and different positions. Compared with the related art in which the detection component 230 can only achieve ranging in a single direction, resulting in inaccurate ranging of target objects with complex contours and target objects outside this direction are prone to collide with the machine body 110, the detection range and detection direction are expanded, and multi-directional obstacle detection can be achieved for the self-propelled device 100, so as to improve the ranging range and the accuracy of ranging of target objects 300 with relatively complex contours, thereby improving the obstacle avoidance performance of the self-propelled device 100, and is suitable for promotion and application.

[0059] At the same time, the control device controls each emitting light source to work in time-sharing manner, and each emitting light source and the detection component 230 form a ranging device 200. The ranging device 200 composed of multiple emitting light sources and the same detection component 230 realizes time-sharing ranging of the target object 300 in multiple directions, and realizes the reuse of the detection component 230, so that the structure of the entire ranging device 200 is simple, easy to assemble and debug, low in cost, convenient for large-scale mass production, and suitable for promotion and application.

[0060] Furthermore, because the detection assembly 230 includes at least two photosensitive surfaces, and the reflected light reflected from the target object 300 passes through the receiving mirror 220 and is received by the photosensitive surface of the detection assembly 230, the detection assembly 230 including at least two photosensitive surfaces increases the area over which the detection assembly 230 receives the reflected light, compared to the infrared receiving transistor including a single photosensitive surface in the related art. Thus, by properly setting the size of the receiving mirror 220 and the number of photosensitive surfaces in the detection assembly 230, such as by setting the size of the receiving mirror 220 to be sufficiently large and the number of photosensitive surfaces to ensure that the detection assembly 230 has a sufficient receiving area to receive the reflected light, the detection assembly 230 can relatively comprehensively receive the reflected light information reflected from the target object 300 in all directions, thereby ensuring the accuracy and stability of the ranging. At the same time, the larger receiving area of ​​the detection component 230 can effectively avoid the detection failure problem caused by large-angle return light caused by non-Lambertian scattering of mirrors, glass, and skirtings on special smooth surfaces, thereby ensuring the accuracy of ranging. Moreover, when the surface scattering characteristics of the target object 300 change, the ranging performance is relatively stable, which is conducive to improving the wall-walking accuracy of the self-propelled device 100.

[0061] The emitting assembly 210 may include two emitting light sources, three emitting light sources, four emitting light sources, or any other number of emitting light sources. As shown in Figures 5 to 12, the emitting assembly 210 includes three emitting light sources, namely a first emitting light source 211, a second emitting light source 212, and a third emitting light source 213, and the emission directions of the three emitting light sources are not parallel.

[0062] Among them, the detection component 230 may include two photosensitive surfaces, three photosensitive surfaces, four photosensitive surfaces, or other numbers of photosensitive surfaces. It is understandable that by reasonably setting the number of photosensitive surfaces in the detection component 230, it is ensured that the detection component 230 has a larger reflected light receiving area, and that the detection component 230 can receive the reflected light information reflected from the target object 300 from all directions. At the same time, it can avoid the problem of detection failure caused by large-angle return light caused by non-Lambertian scattering, and ensure the accuracy and stability of ranging. It should be noted that at least two photosensitive surfaces can be located on one detector at the same time, or they can be distributed on different detectors. This is not specifically explained in this application. Specifically, as shown in Figures 3 and 7, the detection component includes two photosensitive surfaces.

[0063] For example, as shown in FIG6 , the light sources include a first light source 211, a second light source 212, and a third light source 213, and the light emission directions of the three light sources are non-parallel. In actual use, the controller controls the first light source 211 to be turned on at a first moment and the other light sources to be turned off. At this time, the controller can determine the measured distance of the target object 300 irradiated by the first light source 211 based on the reflected light information of the first light source 211 received by each photosensitive surface. The controller controls the second light source 212 to be turned on at a second moment and the other light sources to be turned off. At this time, the controller can determine the measured distance of the target object 300 irradiated by the second light source 212 based on the reflected light information of the second light source 212 received by each photosensitive surface. The controller controls the third light source 213 to be turned on at a third moment and the other light sources to be turned off. At this time, the controller can determine the measured distance of the target object 300 irradiated by the third light source 213 based on the reflected light information of the third light source 213 received by each photosensitive surface. By analogy, the controller controls only one emitting light source to be turned on at the same time, and controls each emitting light source to be turned on at different times according to a certain time sequence, so as to measure the distance of the same target object 300 and the distance of different target objects. It is understandable that at a certain moment, the controller can return to control the first emitting light source 211 to be turned on and the other emitting light sources to be turned off. At the next moment, the controller controls the second emitting light source 212 to be turned on and the other emitting light sources to be turned off. By analogy, each emitting light source can be controlled to be turned on separately according to the time sequence to measure the distance of the same target object 300 and the distance of different target objects. Then, by combining the measured distances of the same target object 300 corresponding to different emitting light sources, the shape of the target object 300 can be determined. Even if the shape of the target object 300 is complex, a stable and accurate distance measurement effect can be achieved. At the same time, by combining the measured distances of different target objects 300 corresponding to different emitting light sources, the distance detection of different target objects can be achieved, thereby improving the accuracy of the self-propelled device 100 walking along the wall.

[0064] As shown in Figures 6, 7, 8, 9, 10, 11 and 12, in some possible embodiments provided in the present application, the emitting component 210 also includes a circuit board 214, and each emitting light source is mounted on the circuit board 214 and electrically connected to the circuit board 214; at least two emitting light sources are arranged in a straight line or a curve at intervals.

[0065] The arrangement of the circuit board 214 provides an installation location for each emitting light source, and at the same time facilitates electrical connection between each light source and an external power source through the circuit board 214 , resulting in a simple structure and convenient connection.

[0066] Specifically, each emitting light source can be mounted on the circuit board 214 by welding, bonding, a clamping structure, a mortise and tenon structure, a bolt structure, etc. For example, the emitting light source can be a side-mounted LED light-emitting diode, which is welded on the circuit board 214 in different light-emitting directions. As shown in Figures 6, 11, and 12, three emitting light sources are installed on the circuit board 214 at intervals, and the light-emitting directions of the three emitting light sources are not parallel, so that the light-emitting directions of the three emitting light sources are different.

[0067] Among them, at least two emitting light sources can be arranged in a straight line or curve along the vertical direction; or, at least two emitting light sources can be arranged in a straight line or curve along the horizontal direction; or, at least two emitting light sources can be arranged in a straight line or curve along other directions that meet the requirements, so as to meet the distance measurement of the same target object 300 from different directions, or the distance measurement of target objects 300 at different positions from different directions.

[0068] For example, as shown in Figures 6, 8, 9, 11, and 12, taking the example of three emitting light sources spaced apart in a straight line along the vertical direction, the first emitting light source 211, the second emitting light source 212, and the third emitting light source 213 are spaced apart from top to bottom along the vertical direction, wherein the vertical direction can be as shown by arrow Z in Figure 8, the light emission direction of the first emitting light source 211 is obliquely upward, as shown by dotted arrow A1 in Figure 11; the light emission direction of the second emitting light source 212 is horizontally forward, as shown by dotted arrow A2 in Figure 11; and the light emission direction of the third emitting light source 213 is obliquely downward, as shown by dotted arrow A3 in Figure 11. By reasonably setting the on-state of the three emitting light sources and using a computer program, the distance to the same target object 300 or different target objects 300 can be detected from three directions while the self-propelled device 100 is walking along a wall. Thus, a more comprehensive distance detection is achieved, thereby improving the accuracy and comprehensiveness of the distance measurement of the target object 300 and improving the accuracy of the obstacle avoidance of the self-propelled device 100.

[0069] Specifically, in actual application scenarios, some toys have complex outlines. Therefore, by controlling the three emitting light sources in a certain order and time, only one emitting light source is controlled to be turned on at the same time, and each emitting light source is controlled to be turned on in turn at different times. The first emitting light source 211 is used in conjunction with the detection component 230 to measure the distance of the toy from the top, the second emitting light source 212 is used in conjunction with the detection component 230 to measure the distance of the toy from the horizontal direction, and the third emitting light source 213 is used in conjunction with the detection component 230 to measure the distance of the toy from the bottom. It is understandable that the time interval for controlling the turning on of each emitting light source in turn is short, and can be 0.05s to 2s, such as the time interval can be 0.05s, 0.1s, 0.5s, 1s, 2s, or other durations. Thus, by combining the measured distances of the toy in three directions obtained at different times by the three emitting light sources, time-sharing distance measurement of the toy in three directions can be achieved. Even if the toy has a complex outline, accurate distance measurement can be achieved, which facilitates the reasonable obstacle avoidance operation of the self-propelled device 100 and improves the accuracy of walking along the wall.

[0070] In some possible embodiments provided in the present application, as shown in Figure 3, the photosensitive surface faces the light-emitting side of the receiving mirror 220, and the reflected light information includes the energy value of the light spot distributed on the photosensitive surface by the same emitting light source, the energy value of the light spot on the photosensitive surface is associated with the measured distance, and the energy value of the light spot on the photosensitive surface is associated with the position and / or area of ​​the distribution diagram of the light spot on the photosensitive surface.

[0071] As shown in Figures 3 and 7, the photosensitive surface faces the light-emitting side of the receiving mirror 220, that is, the detection component 230 is located on the light-emitting side of the receiving mirror 220, and the receiving mirror 220 is located on the light-incident side of the detection component 230, thereby allowing the light transmitted by the receiving mirror 220 to be received by the photosensitive surface. The receiving mirror 220 can have a certain convergence effect, and the reflected light with a larger radiation area reflected from the target object 300 is converged by the receiving mirror 220 and radiated to the detection component 230 with a smaller radiation area. Thus, it can be ensured that the detection component 230 receives the reflected light information reflected from the target object 300 from all directions more completely and reliably, thereby ensuring the accuracy of the distance measurement. Thus, the volume of the detection component 230 can be minimized as much as possible, reducing the cost of the distance measuring device 200. At the same time, the distance measuring device 200 provided in the embodiment of the present application utilizes a receiving mirror 220 in conjunction with the detection component 230 to achieve distance measurement with a field of view angle greater than 110°, thereby reducing the complexity of the optical design. Specifically, the receiving mirror 220 may be a convex lens, or the receiving mirror 220 may be a combination of a convex lens and a concave lens or other lenses.

[0072] The reflected light information includes the energy values ​​of the light spots distributed on the photosensitive surface by the same emitting light source. It is understood that the energy distribution of the light spots reflected from the target object 300 within the preset ranging range will be present on the photosensitive surface, and that the energy distribution on the photosensitive surface will change as the distance changes. For example, at different measuring distances, the position and / or area of ​​the distribution diagram of the light spots on each photosensitive surface will change, thereby causing the energy values ​​of the light spots on each photosensitive surface to vary with the measuring distance. Thus, the controller can determine the distance to the target object 300 based on the energy values ​​of the light spots on each photosensitive surface. It is understood that the target object 300 is the target object 300 irradiated by the emitting light source in the turned-on state.

[0073] Specifically, the relevant parameters and positions of each emitting light source, receiving mirror 220, and photosensitive surface in the ranging device 200 need to be reasonably designed, including the divergence angle and power of each emitting light source, the aperture and focal length of the receiving mirror 220, the distance and angle between the emitting light source and the receiving mirror 220, and the position of the photosensitive surface, so that the light spot of the reflected light within the preset ranging range has a certain energy distribution on each photosensitive surface, while ensuring the receiving efficiency.

[0074] As shown in Figures 3, 4, 5, and 7, in some possible embodiments provided by the present application, there are two photosensitive surfaces, such as a first photosensitive surface 231 and a second photosensitive surface 232. The energy value of the light spot on the first photosensitive surface 231 is I1, and the energy value of the light spot on the second photosensitive surface 232 is I2. It is understandable that at different measurement distances, the energy value I1 of the light spot on the first photosensitive surface 231 may be different, and the energy value I2 of the light spot on the second photosensitive surface 232 may also be different.

[0075] Taking the detection component 230 including two photosensitive surfaces as an example, the following light spot distribution can be achieved through reasonable design: when the measurement distance of the target object 300 is relatively close, as shown in FIG4 , after the light reflected by the target object 300 passes through the receiving mirror 220, most of the light spot of the reflected light is distributed on the second photosensitive surface 232, and a smaller part of the light spot of the reflected light is distributed on the first photosensitive surface 231; when the measurement distance of the target object 300 increases, as shown in FIG5 , the light spot of the reflected light moves upward along the focal plane of the receiving mirror 220 as a whole, and the energy distribution of the light spot received by the first photosensitive surface 231 and the second photosensitive surface 232 also changes accordingly, such that the light spots distributed on the photosensitive surfaces of the first photosensitive surface 231 and the second photosensitive surface 232 are similar. As a result, the energy value of the light spot on each photosensitive surface is different. Therefore, the controller can determine different measurement distances based on the relationship between the energy values ​​measured by the two channels of the two photosensitive surfaces.

[0076] It should be noted that the mapping relationship between the energy value 1I of the light spot on the first photosensitive surface 231 and the energy value I2 of the light spot on the second photosensitive surface 232 and the measurement distance can be reasonably set through the control program to achieve the determination of the measurement distance.

[0077] Specifically, the controller determines the distance of the target object 300 based on the energy value of the light spot on each photosensitive surface, including: the controller is used to determine the measurement distance according to the formula I1 / I2; or, the controller is used to determine the measurement distance according to the formula I12 / I22; or, the controller is used to determine the measurement distance according to the formula (I1+I2) / (I1-I2); or, the controller is used to determine the measurement distance according to the formula (I1-I2) / (I1+I2).

[0078] Therefore, the measurement distance of the target object 300 can be determined through the mapping relationship between the above-mentioned formulas and the measurement distance of the target object 300. Moreover, when detecting different materials of the target object 300, the ratio fluctuation in the above-mentioned formulas is small. Therefore, it is beneficial to improve the distance measurement accuracy and improve the wall-following accuracy of the self-propelled device 100.

[0079] As shown in FIG3 , FIG6 , FIG8 and FIG9 , in some possible embodiments provided in the present application, each emitting light source includes a light-emitting body, and the light-emitting bodies of the respective emitting light sources have different wavelength ranges.

[0080] The light-emitting body may be a light-emitting diode, such as an LED (light-emitting diode); or, the light-emitting body may be a semiconductor laser light source, such as an LD light source; or, the light-emitting body may be a vertical-cavity surface-emitting laser, i.e., a VCSEL (Vertical-Cavity Surface-Emitting Laser) light source. The wavelength ranges of the light-emitting bodies of the various emitting light sources are different, and thus, the wavelength ranges of the light-emitting bodies may be reasonably set according to needs. Specifically, the wavelength ranges of the light-emitting bodies may include the ultraviolet band, the visible band, the infrared band, etc. It is understandable that, in other embodiments, the wavelength ranges of the light-emitting bodies of the various emitting light sources may also be the same.

[0081] The detection component 230 may be a silicon-based detector, or an APD (Avalanche Photo Diode), a position sensor, or a CMOS (Complementary Metal Oxide Semiconductor) camera. Specifically, when the detection component 230 includes two photosensitive surfaces, the detection component 230 may be a dual silicon-based detector, such as a double-sided array SIPM (Silicon photomultiplier), a dual photomultiplier tube, a dual APD array, or the like.

[0082] In some possible embodiments provided in the present application, the distance measuring device further includes an aperture (not shown in the figure).

[0083] In one example, an aperture corresponds to the emitting light source and is located on the outgoing light path of the emitting light source. The aperture is used to limit the intensity and / or emission angle of the outgoing light emitted by the emitting light source. That is, one emitting light source corresponds to one aperture, and each aperture is located on the outgoing light path of the corresponding emitting light source. Thus, the aperture can be used to limit the intensity and / or divergence angle of the outgoing light emitted by the corresponding emitting light source. For example, only a portion of the light emitted by the emitting light source passes through the aperture and is radiated onto the target object 300 to form the detection light. In other words, the setting of the aperture can effectively filter out interfering light, eliminating the impact of interfering light or stray light on the detection light. At the same time, it can prevent crosstalk between the various emitting light sources in the emitting assembly 210, which is conducive to improving the accuracy and stability of ranging.

[0084] In another example, an aperture corresponds to a photosensitive surface and is located on the receiving light path of the photosensitive surface. The aperture is used to limit the intensity and / or incident angle of the reflected light reflected from the target object and received by the photosensitive surface. In other words, one aperture corresponds to each photosensitive surface, and each aperture is located on the receiving light path of the corresponding photosensitive surface. Thus, the aperture can be used to limit the intensity and / or incident angle of the reflected light reflected from the target object and received by the corresponding photosensitive surface. For example, only a portion of the reflected light passing through the aperture is received by the photosensitive surface to form reflected light information. In other words, the setting of the aperture can effectively filter out interfering light, eliminating the influence of interfering light or stray light on the reflected light information, which is conducive to improving the accuracy and stability of ranging.

[0085] It is understandable that in other examples, the aperture may include a first aperture and a second aperture, the first aperture being located on the outgoing light path of the emitting light source, and being used to limit the intensity and / or emission angle of the outgoing light emitted by the emitting light source, and the second aperture being located on the receiving light path of the photosensitive surface, and being used to limit the intensity and / or incident angle of the reflected light received by the photosensitive surface and reflected back from the target object. Thus, the first aperture and the second aperture are used to jointly limit the illumination to further improve the accuracy and stability of the ranging. As shown in Figures 8 and 9, in some possible embodiments provided by the present application, each emitting light source further includes a light source and a collimating lens 215, and the collimating lens 215 is located on the outgoing light path of the light source, and is used to change the outgoing angle and / or divergence angle of the light source.

[0086] The setting of the collimating lens 215 can change the emission angle and / or divergence angle of the light source, thereby ensuring that the light emitted by the light source is irradiated on the target object 300 and has a certain radiation area, and the reflected light reflected back from the target object 300 will be completely received by the detection component 230 after passing through the receiving mirror 220, avoiding the detection failure problem caused by the detection component 230 being unable to receive the large-angle return light, thereby ensuring the accuracy of the distance measurement. It is understandable that the collimating lens 215 corresponding to each light source can be installed on a mounting frame, or the collimating lens 215 corresponding to each light source can be installed on different mounting frames respectively.

[0087] It can be understood that when the ranging device 200 includes an aperture and an accurate lens, the aperture can be located between the light source and the corresponding collimating lens 215, or the aperture can be located on the side of the collimating lens 215 away from the light source, that is, the aperture can be on the light incident side of the collimating lens 215, or on the light exit side of the collimating lens 215.

[0088] In some possible embodiments provided in the present application, the emitting component 210 further includes: a light shielding frame (not shown in the figure), which is located between the corresponding light-emitting body and the collimating lens 215, and is arranged between two adjacent collimating lenses 215 to separate the two adjacent collimating lenses 215.

[0089] Among them, the setting of the light-shielding frame confines the corresponding light-emitting body and the collimating lens 215 in a space, so that the light emitted by the light-emitting body is projected after the light distribution is changed by the corresponding collimating lens 215, avoiding the situation where the light emitted by the current light-emitting body is projected onto the collimating lens 215 corresponding to the light-emitting body adjacent to the light-emitting body. That is, the setting of the light-shielding frame can filter out the stray light of the adjacent light-emitting body, reduce the interference of the stray light generated by the adjacent light-emitting body on the collimating lens 215, prevent crosstalk among the various emitting light sources in the emitting component 210, and help improve the accuracy and stability of ranging.

[0090] Furthermore, the distance measuring device 200 further includes: filters corresponding to the light emitters, which are respectively arranged on the light channels through which the detection light emitted by the corresponding light emitters is reflected by the target object 300 to the detection component 230 .

[0091] The filters have the function of filtering stray light. Distributed along the illumination path from the detection light emitted by the corresponding illuminants and reflected from the target object 300 to the detection assembly 230, the filters can filter the detection light from each illuminant reflected from the target object 300 to reduce stray light before radiating it to the detection assembly 230. This ensures that each photosensitive surface of the detection assembly 230 can accurately and reliably receive the reflected light information from the target object 300, thereby improving the accuracy of the light spot energy value on the photosensitive surface and thereby enhancing the accuracy of ranging.

[0092] In which, the filter is set on the light path of the detection light emitted by the corresponding light source and reflected by the target object to the detection component. Specifically, the filter can be located between the detection component 230 and the receiving mirror 220, or the filter can be set on the light incident side of the receiving mirror 220, that is, the filter is located between the receiving mirror and the target object.

[0093] Furthermore, based on the different wavelength ranges of the light-emitting bodies of the respective light sources, the filter is used to pass the light signal within the wavelength range of the corresponding light-emitting body.

[0094] That is to say, when the wavelength ranges of the light emitters of each emitting light source are different, the filter located on the light path of the detection light emitted by the corresponding light emitter and reflected by the target object to the detection component can allow the light signal with the same wavelength range as the light emitter to pass through, while filtering out the light signal with a wavelength range different from that of the light emitter, further reducing the interference of stray light, reducing the interference of stray light generated by adjacent light emitters on the collimating lens 215, preventing crosstalk among the various emitting light sources in the emitting component 210, and helping to improve the accuracy and stability of ranging.

[0095] It is understandable that a computer program can also be used to control the luminous intensity of a light source. For example, for a light source in a direction where the ranging capability is not required, the luminous intensity of the light source can be appropriately attenuated to reduce the impact of the reflected light from the light source on the target object 300 on the light path corresponding to other light sources, thereby improving the accuracy and stability of ranging.

[0096] In some possible embodiments provided in this application, the detection assembly 230 is arranged parallel to or tilted to the focal plane of the receiving mirror 220.

[0097] Therefore, the focal planes of the detection component 230 and the receiving mirror 220 can be reasonably adjusted to be equal according to the positions of the emitting light source and the receiving mirror 220, as well as the emission angle of the emitting light source, to ensure that the light emitted by the light source is irradiated on the target object 300, and the reflected light reflected back from the target object 300 will be completely received by the detection component 230 after passing through the receiving mirror 220, thereby avoiding the detection failure problem caused by the detection component 230 being unable to receive large-angle return light, thereby ensuring the accuracy of ranging.

[0098] Specifically, the detection assembly 230 can also be located at the focal plane of the receiving mirror 220, and above or below the receiving mirror 220, to ensure the comprehensiveness of the reflected light received in the detection area and provide accuracy in ranging. It is understood that in other examples, the detection assembly 230 can be located in front of or behind the focal plane of the receiving mirror 220.

[0099] In some possible embodiments provided in the present application, the tilt angle between each emitting light source and the receiving mirror 220 is adjustable. Thus, the tilt angle between the receiving mirror 220 of each emitting light source can be reasonably adjusted according to the specific position and parameters of each component and the material of the target object 300 to ensure that the light emitted by each light source is irradiated on the target object 300, and the reflected light reflected back from the target object 300 will be received by the detection component 230 after passing through the receiving mirror 220, thereby avoiding the detection failure problem caused by the detection component 230 being unable to receive the return light at a large angle, thereby improving the accuracy of the ranging.

[0100] In some possible embodiments provided in the present application, the ranging device also includes an encoder for encoding the transmission signals emitted by each emitting light source; a processor for decoding the received signals received by each photosensitive surface and calculating the distance value when the received signal matches the transmitted signal.

[0101] The transmitting component can encode the transmission signals emitted by each emitting light source according to the encoder's coding protocol, so that each emitting light source emits coded light. After the detection component's photosensitive surface receives the light signal (i.e., the received signal), the detection component transmits the received signal to the processor, which decodes the received signal and determines whether the code pattern of the received signal matches that of the transmitted signal. If so, data processing is performed to calculate the distance value; if not, no calculation is performed. This effectively avoids optical crosstalk from other devices, improving the accuracy and stability of ranging.

[0102] It is understandable that a computer program can also be used to control different ranging devices 200 composed of various emitting light sources and detection components 230 to have different frequencies, so as to reduce internal signal crosstalk and improve the accuracy and stability of ranging.

[0103] In a second aspect of the present application, a self-propelled device 100 is provided, comprising: a machine body 110; and a distance measuring device 200 according to any embodiment of the first aspect, wherein the distance measuring device 200 is disposed on the machine body 110. Because the self-propelled device 100 includes the distance measuring device 200 according to any of the aforementioned embodiments, it has all the technical effects of the aforementioned distance measuring device 200.

[0104] Specifically, the distance measuring device 200 provided in the present application can perform close-range detection, such as detecting obstacles that are relatively close to the self-propelled device 100, so that the self-propelled device 100 can be controlled to walk along the wall according to the detection results of the distance detection device.

[0105] Furthermore, the number of the ranging device 200 can be at least one, such as the number of the ranging device 200 can be one, two, three or other numbers. The number and structure of the ranging device 200 can be reasonably set according to the detection requirements, the obstacle avoidance accuracy of the self-propelled device 100, etc.

[0106] The present application has been described through the above-described embodiments, but it should be understood that the above-described embodiments are for illustrative and illustrative purposes only and are not intended to limit the present application to the described embodiments. In addition, it will be understood by those skilled in the art that the present application is not limited to the above-described embodiments, and that various variations and modifications may be made based on the teachings of the present application, all of which fall within the scope of protection claimed in the present application. The scope of protection of the present application is defined by the appended claims and their equivalents.

Claims

1. A distance measuring device, applied to a self-propelled device, wherein: The distance measuring device comprises: An emitting assembly, a receiving mirror, a detecting assembly and a controller, wherein the receiving mirror and the emitting assembly are arranged at intervals, the detecting assembly is located near the focal plane of the receiving mirror, the emitting assembly comprises at least two emitting light sources whose emitting directions are not parallel to each other, the emitting light sources are configured to emit detection light with a divergence angle to a target object, and the detecting assembly comprises at least two photosensitive surfaces, the photosensitive surfaces are configured to receive reflected light information reflected by the target object and passing through the receiving mirror; The controller is electrically connected to the emitting light source and the detection component. The controller is configured to control the operation of each emitting light source in a time-sharing manner and determine the measurement distance of the target object based on the reflected light information of the same emitting light source received by each photosensitive surface.

2. The distance measuring device according to claim 1, wherein: The photosensitive surface faces the light-emitting side of the receiving mirror, The reflected light information includes energy values ​​of light spots distributed on each of the photosensitive surfaces by the same emitting light source, the energy values ​​of the light spots on the photosensitive surface are associated with the measuring distance, and the energy values ​​of the light spots on the photosensitive surface are associated with the positions and / or areas of the distribution diagram of the light spots on the photosensitive surface.

3. The distance measuring device according to claim 1, wherein: Each of the emitting light sources includes a light-emitting body, and the wavelength band range of the light-emitting body of each of the emitting light sources is different.

4. The distance measuring device according to claim 1, wherein: Also includes: Aperture, where The aperture corresponds to the emitting light source and is located on the emitting light path of the emitting light source, and is configured to limit the intensity and / or divergence angle of the emitting light emitted by the emitting light source; and / or The aperture corresponds to the photosensitive surface, is located on the receiving light path of the photosensitive surface, and is configured to limit the intensity and / or incident angle of the reflected light received by the photosensitive surface and reflected back by the target object.

5. The distance measuring device according to claim 1, wherein: Each of the emitting light sources includes a light emitter and a collimating lens. The collimating lens is located on the outgoing light path of the light emitter and is configured to change the outgoing angle and / or divergence angle of the light emitter.

6. The distance measuring device according to claim 5, wherein: The transmitting assembly also includes: The light shielding frame is located between the corresponding light emitting body and the collimating lens, and is arranged between two adjacent collimating lenses to separate the two adjacent collimating lenses.

7. The distance measuring device according to claim 3, wherein: Also includes: Optical filters corresponding to the luminous bodies, the optical filters are respectively arranged on the illumination channels of the detection illumination emitted by the corresponding luminous bodies and reflected by the target object to the detection assembly; Wherein, based on the different wavelength ranges of the light-emitting bodies of the respective light sources, the filter is configured to pass the light signal within the wavelength range of the corresponding light-emitting body.

8. The distance measuring device according to claim 1, wherein: The detection assembly is arranged parallel to or tilted to the focal plane of the receiving mirror; The detection assembly is located at the focal plane of the receiving mirror.

9. The distance measuring device according to claim 1, wherein: The tilt angle between each of the emitting light sources and the receiving mirror is adjustable.

10. The distance measuring device according to claim 1, wherein: The transmitting assembly also includes: A circuit board, each of the emitting light sources is mounted on the circuit board and electrically connected to the circuit board; Wherein, at least two of the emitting light sources are arranged in a straight line or a curve at intervals.

11. The distance measuring device according to claim 10, wherein: The multiple emitting light sources include a first emitting light source, a second emitting light source, and a third emitting light source distributed in sequence from top to bottom along the vertical direction. The light emitting direction of the first emitting light source is inclined upward, the light emitting direction of the second emitting light source is horizontally forward, and the light emitting direction of the third emitting light source is inclined downward.

12. The distance measuring device according to claim 1, wherein: Also includes: An encoder configured to encode the transmission signal emitted by each of the emission light sources; The processor is configured to decode the received signals received by each of the photosensitive surfaces and calculate the distance value when the received signal matches the transmitted signal.

13. A self-propelled device, wherein: include: A machine body, and a distance measuring device as claimed in any one of claims 1 to 12, wherein the distance measuring device is arranged on the machine body.

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