Distance measurement device and cleaning apparatus

Abstract

Provided in the present disclosure are a distance measurement device and a cleaning apparatus. The distance measurement device comprises an emitting module, a receiving module and a first light-homogenizing device; the emitting module is configured to emit a sensing light beam for distance measurement within a measurement range; the receiving module is configured to receive the reflected light beam from the measurement range and output a corresponding light sensing signal on the basis of the received reflected light beam; the first light-homogenizing device is arranged on a receiving path of the receiving module for receiving the reflected light beam, and the first light-homogenizing device is configured to homogenize the reflected light beam.

Description

Distance measuring devices and cleaning equipment

[0001] Cross-reference to related applications

[0002] This disclosure is based on and claims the priority of Chinese patent application with application number 202410022446.8 and application date January 5, 2024. The entire content of the Chinese patent application is hereby incorporated into this disclosure by reference. Technical Field

[0003] The present disclosure relates to the field of distance measurement technology, and in particular to a distance measurement device and a cleaning device. Background Art

[0004] Time of flight (TOF) is a technology that measures the distance between a target object and a reference position by using the time of flight of light. It is widely used due to its advantages such as long sensing distance and large measurement range.

[0005] A TOF device usually includes a transmitting module and a receiving module. The transmitting module is used to emit detection light into the detection range. The detection light is reflected after encountering an object. The sensor calculates the time difference or phase difference between the emission and reflection of the light to convert the distance of the photographed scene to generate depth information.

[0006] However, the sensing accuracy of existing TOF devices is low and cannot meet the needs of higher precision scenarios.

[0007] It should be noted that the information disclosed in the above background technology section is only used to enhance the understanding of the background of the present disclosure, and therefore may include information that does not constitute prior art known to ordinary technicians in the field. Summary of the Invention

[0008] The purpose of the present disclosure is to provide a distance measuring device and a cleaning device.

[0009] According to one aspect of the present disclosure, a distance measuring device is provided, the distance measuring device comprising:

[0010] an emitting module, the emitting module being configured to emit a sensing light beam for distance detection into a detection range;

[0011] a receiving module, the receiving module being configured to receive a reflected light beam from within a detection range and output a corresponding light sensing signal according to the received reflected light beam;

[0012] A first light homogenizing device is provided on a receiving path of the receiving module for receiving the reflected light beam, and the first light homogenizing device is configured to homogenize the reflected light beam.

[0013] In an exemplary embodiment of the present disclosure, the distance measuring device further includes:

[0014] The second light homogenizing device is provided on an emission path of the sensing light beam emitted by the emission module, and the second light homogenizing device is configured to homogenize the sensing light beam.

[0015] In an exemplary embodiment of the present disclosure, the first light homogenizer includes at least one of a frosted light homogenizer, an optical material light homogenizer, a diffraction optical light homogenizer, a thin film light homogenizer, and a coated light homogenizer; and / or the second light homogenizer includes at least one of a frosted light homogenizer, an optical material light homogenizer, a diffraction optical light homogenizer, a thin film light homogenizer, and a coated light homogenizer.

[0016] In an exemplary embodiment of the present disclosure, the transmitting module includes a transmitting lens and a transmitter, and the second light homogenizing device is located between the transmitting lens and the transmitter.

[0017] In an exemplary embodiment of the present disclosure, the second light homogenizing device is provided on the emitting lens or the emitter.

[0018] In an exemplary embodiment of the present disclosure, the receiving module includes a receiving lens and a detector, and the first light homogenizing device is located between the receiving lens and the detector.

[0019] In an exemplary embodiment of the present disclosure, the first light homogenizing device is provided on the receiving lens or the detector.

[0020] In an exemplary embodiment of the present disclosure, the receiving module includes a receiving lens and a detector, and the transmitting module includes a transmitting lens and a transmitter; the transmitting module and the receiving module are coaxially arranged; the first light homogenizing device is located on the receiving path between the receiving lens and the detector, or the first light homogenizing device is located on the receiving path between the receiving lens and the detector and on the transmitting path between the transmitting lens and the transmitter.

[0021] In an exemplary embodiment of the present disclosure, the distance measuring device further includes:

[0022] The processing module is configured to output the distance between the object reflecting the light beam within the detection range and the distance measuring device according to the light sensing signal within one detection cycle.

[0023] According to another aspect of the present disclosure, a cleaning device is provided, which includes the above-mentioned distance measuring device.

[0024] The present disclosure provides a ranging device in which a first light homogenizing device is provided on the receiving path of a receiving module for receiving a reflected light beam. After the reflected light beam passes through the first light homogenizing device, the normalized intensity difference of the echo on the photosensitive surface of the detector is small, that is, the intensity becomes evenly distributed, thereby reducing the intensity difference of the reflected light beam, thereby improving the measurement accuracy through the reflected light beam with uniform light intensity; at the same time, it can avoid the increase in product performance differences caused by misalignment between the transmitter and the receiver, thereby improving the production yield.

[0025] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The accompanying drawings are incorporated into and constitute a part of the specification, illustrate embodiments consistent with the present disclosure, and together with the specification, are used to explain the principles of the present disclosure. Obviously, the drawings described below are only some embodiments of the present disclosure, and those skilled in the art can derive other drawings based on these drawings without inventive effort.

[0027] FIG1 is a diagram showing the distance measurement principle of the distance measurement device provided by the present disclosure.

[0028] FIG2 is a schematic diagram of the distribution of data points received by the photosensitive surface when the light homogenizing device provided by the present disclosure is not provided.

[0029] FIG3 is a schematic diagram of the axial arrangement of the transmitting module and the receiving module provided by the present disclosure.

[0030] FIG4 is a schematic diagram of the coaxial arrangement of the transmitting module and the receiving module provided by the present disclosure.

[0031] FIG5 is a schematic diagram showing that light homogenizing devices are respectively provided on the transmitting module and the receiving module provided by the present disclosure.

[0032] FIG6 is a schematic diagram of the echo uniformity on the photosensitive surface when no light homogenizing device is provided in the present disclosure.

[0033] FIG7 is a schematic diagram of the echo uniformity on the photosensitive surface when a light homogenizing device is provided in the present disclosure.

[0034] FIG8 is a schematic diagram of the pixel structure of the detector provided by the present disclosure.

[0035] FIG9 is a schematic diagram of the light sensing signal processing flow provided by the present disclosure.

[0036] FIG10 is a schematic diagram of the energy of each pixel structure when no light homogenizing device is provided in the present disclosure.

[0037] FIG11 is a schematic diagram of the energy of each pixel structure when a light homogenizing device is provided in the present disclosure. DETAILED DESCRIPTION

[0038] Example embodiments will now be described more fully with reference to the accompanying drawings. However, example embodiments can be implemented in many forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete and will fully convey the concepts of the example embodiments to those skilled in the art. Like reference numerals in the figures represent like or similar structures, and thus their detailed description will be omitted.

[0039] Although relative terms such as "upper" and "lower" are used in this specification to describe the relationship of one illustrated component to another, these terms are used herein for convenience only, such as in accordance with the orientation of the illustrations in the accompanying drawings. It will be understood that if the illustrated device were flipped upside down, the component described as "upper" would become the component "lower." When a structure is referred to as "on" another structure, this may mean that the structure is integrally formed with the other structure, that the structure is "directly" disposed on the other structure, or that the structure is "indirectly" disposed on the other structure via the other structure.

[0040] The terms "a", "an", "the", "said" and "at least one" are used to indicate the presence of one or more elements / components / etc.; the terms "including" and "having" are used to express open-ended inclusion and mean that additional elements / components / etc. may be present in addition to the listed elements / components / etc.; the terms "first", "second", etc. are used only as labels and are not intended to limit the quantity of their objects.

[0041] The embodiments of the present disclosure first provide a ranging device, as shown in Figures 1 and 3. The ranging device includes: a transmitting module 100, a receiving module 200 and a first light homogenizing device 410. The transmitting module 100 is configured to emit a sensing light beam for distance detection into a detection range, and the receiving module 200 is configured to receive a reflected light beam from within the detection range and output a corresponding light sensing signal based on the received reflected light beam; the first light homogenizing device 410 is arranged on a receiving path of the receiving module 200 for receiving the reflected light beam, and the first light homogenizing device 410 is configured to homogenize the reflected light beam.

[0042] As shown in Figures 1 and 2, the light reflected or scattered from the target 500 is received by the photosensitive surface 211 of the detector 210 through the receiving lens 220. The data points received by the photosensitive surface 211 are relatively concentrated, as shown in Figure 6. This results in a large difference in the normalized intensity of the echoes on the photosensitive surface 211 of the detector 210, that is, the energy distribution uniformity is poor, which will directly affect the ranging performance of the ranging device. During the production of ranging device products, the product performance differences caused by the misalignment of the transmitting and receiving pairs increase, affecting the production yield.

[0043] In the ranging device provided by the present disclosure, a first light homogenizing device 410 is provided on the receiving path of the receiving module 200 for receiving the reflected light beam. After the reflected light beam passes through the first light homogenizing device 410, as shown in FIG7 , the normalized intensity difference of the echo on the photosensitive surface 211 of the detector 210 is small, that is, the intensity becomes evenly distributed, thereby reducing the intensity difference of the reflected light beam, thereby improving the measurement accuracy through the reflected light beam with uniform light intensity; at the same time, it can avoid the increase in product performance differences caused by misalignment between the transmitter and the receiver, thereby improving the production yield.

[0044] Specifically, as shown in FIG. 3 to FIG. 5 , the transmitting module 100 and the receiving module 200 of the distance measuring device may be arranged on separate axes or on the same axis.

[0045] In one embodiment, as shown in Figures 3 and 5, the transmitting module 100 and the receiving module 200 of the ranging device are arranged on separate axes.

[0046] As shown in FIG3 , the transmitting module 100 includes a transmitter 110 and a transmitting lens 120. The transmitter 110, which provides a light source, may be an LD (laser diode), a VCSEL (vertical cavity laser), or an LED (light-emitting diode). The receiving module 200 includes a receiving lens 220 and a detector 210. The detector 210 may be a PIN (photodiode), an APD (avalanche diode), a SPAD (single photon detector), or a SIPM (silicon photomultiplier).

[0047] As shown in Figure 3, the first light homogenizer 410 is located between the receiving lens 220 and the detector 210. By arranging the first light homogenizer 410 between the receiving lens 220 and the detector 210, the reflected light beam passes through the first light homogenizer 410 before the detector 210 receives the reflected light beam. The first light homogenizer 410 homogenizes the reflected light beam, making the intensity of the reflected light beam uniformly distributed, thereby reducing the intensity difference of the reflected light beam. A comparison of Figures 10 and 11 shows that the energy consistency of each pixel in the detector 210 is improved, the histogram shape is optimized, and the accuracy of time recognition is increased. Ultimately, the purpose of improving measurement accuracy is achieved by providing the first light homogenizer 410.

[0048] When the first light homogenizer 410 is disposed between the receiving lens 220 and the detector 210, a matching bracket can be provided in the receiving module 200 to secure the first light homogenizer 410 between the receiving lens 220 and the detector 210. The bracket can simultaneously support the receiving lens 220 and the detector 210, allowing the detector 210, the first light homogenizer 410, and the receiving lens 220 to be simultaneously installed on the same bracket, thereby improving the coaxiality of the detector 210, the first light homogenizer 410, and the receiving lens 220, and thereby improving the measurement accuracy of the receiving module 200. Of course, the bracket can also be used only to support the first light homogenizer 410, thereby facilitating improvement of the conventional receiving module 200. By providing the bracket and the first light homogenizer 410, the purpose of homogenizing the reflected light beam received by the receiving module can be achieved.

[0049] The light homogenizing area provided by the first light homogenizing device 410 is larger than the cross-sectional area of ​​the reflected light beam, so that the light homogenizing effect can be achieved for the entire reflected light beam, thereby further improving the measurement accuracy.

[0050] Among them, the first light homogenizing device 410 can be a sheet structure, which provides a sufficiently large light homogenizing surface to achieve light homogenization of the reflected light beam while avoiding excessive thickness and occupying more additional space, and avoids the excessive size of the receiving module 200 due to the provision of the first light homogenizing device 410, thereby avoiding the ranging device from occupying too much assembly space, so that the equipment using the ranging device can still maintain its original shape and size, and the equipment using the ranging device does not need to be changed in structure, thereby improving the adaptability and market competitiveness of the ranging device.

[0051] When multiple first light homogenizers 410 are provided, the multiple first light homogenizers 410 can be arranged in parallel and coaxially to enhance the homogenization effect on the reflected light beam. By providing multiple first light homogenizers 410, the reflected light beam is homogenized multiple times, thereby further enhancing the homogenization effect on the reflected light beam.

[0052] When multiple first light homogenizing devices 410 are provided, a matching bracket can be provided in the receiving module 200, and the multiple first light homogenizing devices 410 can be fixed between the receiving lens 220 and the detector 210 via the same bracket to improve the coaxiality between the multiple first light homogenizing devices 410. The bracket can be used to simultaneously support the receiving lens 220 and the detector 210, so that the detector 210, the receiving lens 220, and the multiple first light homogenizing devices 410 can be installed simultaneously via the same bracket to improve the coaxiality of the detector 210, the receiving lens 220, and the multiple first light homogenizing devices 410, thereby improving the measurement accuracy of the receiving module 200. Of course, the bracket can also be used only to support the multiple first light homogenizing devices 410, thereby facilitating the improvement of the traditional receiving module 200. By providing the bracket and the first light homogenizing devices 410, the purpose of homogenizing the reflected light beam received by it can be achieved.

[0053] Specifically, the first light homogenizer 410 can be one of a frosted light homogenizer, an optical material light homogenizer, a diffraction optical light homogenizer, a thin film light homogenizer, and a coated light homogenizer; when multiple first light homogenizers 410 are arranged on the receiving module 200, the first light homogenizer 410 can be at least one of a frosted light homogenizer, an optical material light homogenizer, a diffraction optical light homogenizer, a thin film light homogenizer, and a coated light homogenizer, and multiple first light homogenizers 410 can be the same or different.

[0054] The frosted light homogenizer can achieve the purpose of light homogenization by grinding the surface of the optical substrate. The optical substrate can be an optical plastic (such as PMMA, PC, etc.) or an optical glass (such as quartz glass, float glass, etc.); the frosted surface of the frosted light homogenizer can be frosted on one side or both sides; the Ra value of the frosted surface of the frosted light homogenizer can be 0.05 to 2, such as 0.05, 0.1, 0.5, 1, 1.2, 1.5, 1.8, 2, etc., which are not listed in this disclosure.

[0055] Among them, the optical material light homogenizer can achieve the light homogenization function by adding light homogenizer, light homogenizer powder, scattering agent, scattering powder, etc. inside the optical base material; the optical base material can be optical plastic or optical glass.

[0056] Among them, the diffraction optical light homogenizer can achieve the light homogenization function by modulating the phase of the incident light beam; the optical substrate can be optical plastic or optical glass.

[0057] Among them, the thin film light homogenizer can be a thin film light homogenizer with a light homogenizing effect made by coating a coating containing optical particles or glass beads on PET (polyester film); PET can be made of polyethylene terephthalate as raw material, extruded into a thick sheet, and then biaxially stretched to form a thin film material.

[0058] Among them, the coated light homogenizer can achieve light beam homogenization by performing special coating on the optical substrate; the optical substrate can be optical plastic or optical glass.

[0059] Specifically, the first light homogenizing device 410 may be disposed on the receiving lens 220 or on the detector 210 .

[0060] The first light homogenizer 410 may be disposed on the surface of the receiving lens 220 to homogenize the reflected light beam passing through the receiving lens 220. The first light homogenizer 410 is preferably a thin film homogenizer or a coated homogenizer to facilitate the installation of the homogenizer on the receiving lens 220.

[0061] The first light homogenizer 410 can be provided at the receiving end of the reflected light beam of the detector 210, and the reflected light beam enters the detector 210 through the first light homogenizer 410. The first light homogenizer 410 is preferably a frosted light homogenizer, an optical material light homogenizer, or a diffraction optical light homogenizer, which facilitates the installation of the light homogenizer on the detector 210.

[0062] When multiple first light homogenizing devices 410 are provided, some of the first light homogenizing devices 410 may be provided on the receiving lens 220 or the detector 210 , and some of the first light homogenizing devices 410 may be provided on the receiving path between the receiving lens 220 and the detector 210 .

[0063] Specifically, as shown in FIG5 , the distance measuring device may further include: a second light homogenizing device 420 , which is provided on the emission path of the detection beam emitted by the emission module 100 , and is configured to homogenize the detection beam.

[0064] As shown in FIG5 , the second light homogenizer 420 is located between the emitter 110 and the emission lens 120. By placing the second light homogenizer 420 between the emitter 110 and the emission lens 120, after the emitter 110 emits the probe beam, the probe beam passes through the second light homogenizer 420. The second light homogenizer 420 homogenizes the probe beam, making the intensity of the probe beam uniformly distributed, thereby reducing the intensity difference of the probe beam. This can improve the consistency of the energy of each pixel after the reflected beam reaches the detector 210, optimize the histogram shape, and increase the accuracy of time recognition. Ultimately, the second light homogenizer 420 is provided to further improve the measurement accuracy.

[0065] When the second light homogenizer 420 is disposed between the transmitting lens 120 and the emitter 110, a matching bracket can be provided in the transmitting module 100 to fix the second light homogenizer 420 between the transmitting lens 120 and the emitter 110. The bracket can be used to support both the transmitting lens 120 and the emitter 110, so that the emitter 110, the second light homogenizer 420, and the transmitting lens 120 can be installed simultaneously on the same bracket, thereby improving the coaxiality of the emitter 110, the second light homogenizer 420, and the transmitting lens 120. Of course, the bracket can also be used only to support the second light homogenizer 420, thereby facilitating the improvement of the traditional transmitting module 100. By providing the bracket and the second light homogenizer 420, the purpose of homogenizing the detection beam emitted by the transmitting module can be achieved.

[0066] The light homogenization area provided by the second light homogenizer 420 is larger than the cross-sectional area of ​​the detection beam, so that the light homogenization effect can be achieved for the entire detection beam, thereby further improving the measurement accuracy.

[0067] Among them, the second light homogenizing device 420 can be a sheet structure, which provides a sufficiently large light homogenizing surface to achieve light homogenization of the detection light beam while avoiding excessive thickness and occupying more additional space, and avoids the excessive size of the appearance caused by the setting of the second light homogenizing device 420 in the transmitting module 100, thereby avoiding the ranging device from occupying too much assembly space, so that the equipment using the ranging device can still maintain its original shape and size, and the equipment using the ranging device does not need to be changed in structure, thereby improving the adaptability of the ranging device.

[0068] When multiple second light homogenizers 420 are provided, the multiple second light homogenizers 420 can be arranged in parallel and coaxially to improve the homogenization effect on the detection beam. By providing multiple second light homogenizers 420, the detection beam is homogenized multiple times, thereby further improving the homogenization effect on the detection beam.

[0069] When multiple second light homogenizers 420 are provided, a matching bracket can be provided in the transmitting module 100, and the multiple second light homogenizers 420 can be fixed between the transmitting lens 120 and the transmitter 110 via the same bracket to improve the coaxiality between the multiple second light homogenizers 420; the bracket can be used to simultaneously support the transmitting lens 120 and the transmitter 110, so that the transmitter 110, the transmitting lens 120, and the multiple second light homogenizers 420 can be installed simultaneously via the same bracket to improve the coaxiality of the transmitter 110, the transmitting lens 120, and the multiple second light homogenizers 420, thereby improving the measurement accuracy of the transmitting module 100. Of course, the bracket can also be used only to support the multiple second light homogenizers 420, thereby facilitating the improvement of the traditional transmitting module 100. By providing the bracket and the second light homogenizer 420, the purpose of homogenizing the received detection beam can be achieved.

[0070] Specifically, the second light homogenizer 420 can be one of a frosted light homogenizer, an optical material light homogenizer, a diffraction optical light homogenizer, a thin film light homogenizer, and a coated light homogenizer; when multiple second light homogenizers 420 are arranged on the transmitting module 100, the second light homogenizer 420 can be at least one of a frosted light homogenizer, an optical material light homogenizer, a diffraction optical light homogenizer, a thin film light homogenizer, and a coated light homogenizer, and multiple second light homogenizers 420 can be the same or different.

[0071] The second light homogenizing device 420 and the first light homogenizing device 410 may be completely identical, and only one light homogenizing device is required to reduce production costs.

[0072] Specifically, the second light homogenizing device 420 may be disposed on the emitting lens 120 or on the emitter 110 .

[0073] The second light homogenizer 420 may be provided on the surface of the emitting lens 120 to homogenize the detection beam passing through the emitting lens 120. The second light homogenizer 420 is preferably a thin film light homogenizer or a coated light homogenizer to facilitate attachment of the light homogenizer to the emitting lens 120.

[0074] The second light homogenizer 420 can be provided at the receiving end of the detection beam of the transmitter 110, and the detection beam enters the transmitter 110 through the second light homogenizer 420. The second light homogenizer 420 is preferably a frosted light homogenizer, an optical material light homogenizer, or a diffraction optical light homogenizer, which facilitates the installation of the light homogenizer on the transmitter 110.

[0075] When multiple second light homogenizers 420 are provided, some of the second light homogenizers 420 may be provided on the transmitting lens 120 or the transmitter 110 , and some of the second light homogenizers 420 may be provided on the receiving path between the transmitting lens 120 and the transmitter 110 .

[0076] In one embodiment, as shown in Figure 4, the transmitting module 100 and the receiving module 200 of the ranging device are coaxially arranged. Below, the arrangement of the light homogenizing device will be described in detail when the transmitting module 100 and the receiving module 200 of the ranging device are coaxially arranged.

[0077] The transmitting module 100 includes a transmitter 110 and a transmitting lens 120. The transmitter 110, which provides a light source, may be an LD (laser diode), a VCSEL (vertical cavity laser), or an LED (light-emitting diode). The receiving module 200 includes a receiving lens 220 and a detector 210. The detector 210 may be a PIN (photodiode), an APD (avalanche diode), a SPAD (single photon detector), or a SIPM (silicon photomultiplier).

[0078] The transmitting lens 120 and the receiving lens 220 may be lenses nested together, or may be the same lens.

[0079] Specifically, the transmitter 110 and the transmitting lens 120 can be located on the same side of the first light homogenizer 410, that is, the transmitter 110 is arranged on one side of the transmitting lens 120, so that the first light homogenizer 410 can be located only on the receiving path between the receiving lens 220 and the detector 210; or, the transmitter 110 and the transmitting lens 120 can be located on opposite sides of the first light homogenizer 410, that is, the transmitter 110 is arranged on one side of the detector 210, so that the first light homogenizer 410 can be located simultaneously on the receiving path between the receiving lens 220 and the detector 210 and on the transmitting path between the transmitting lens 120 and the transmitter 110.

[0080] By locating the first light homogenizer 410 simultaneously on the receiving path between the receiving lens 220 and the detector 210 and on the transmitting path between the transmitting lens 120 and the transmitter 110, after the transmitter 110 transmits the detection beam, the detection beam passes through the first light homogenizer 410, and the detection beam is homogenized by the first light homogenizer 410, so that the intensity of the detection beam becomes evenly distributed, thereby reducing the intensity difference of the detection beam; before the detector 210 receives the reflected beam, the reflected beam passes through the first light homogenizer 410, and the reflected beam is homogenized by the first light homogenizer 410, so that the intensity of the reflected beam becomes evenly distributed, thereby reducing the intensity difference of the reflected beam, thereby improving the energy consistency of each pixel in the detector 210, optimizing the histogram shape, and increasing the accuracy of time recognition. Finally, the purpose of improving measurement accuracy is achieved by setting the first light homogenizer 410.

[0081] Among them, when the first light homogenizing device 410 is arranged on the receiving path between the receiving lens 220 and the detector 210 and on the transmitting path between the transmitting lens 120 and the transmitter 110, a matching bracket can be set on the path where the transmitting path and the receiving path are coaxial, and the first light homogenizing device 410 can be fixed on the transmitting path and the receiving path through the bracket; the bracket can be used to support the transmitter 110, the transmitting lens 120, the receiving lens 220 and the detector 210 at the same time, so that the transmitter 110, the transmitting lens 120, the receiving lens 220 and the detector 210 and the first light homogenizing device 410 can be installed at the same time through the same bracket, so as to improve the coaxiality of the transmitter 110, the transmitting lens 120, the receiving lens 220 and the detector 210 and the first light homogenizing device 410, thereby improving the measurement accuracy of the receiving module 200. Of course, the bracket can also be used only to support the first light homogenizing device 410, so as to facilitate the improvement of the traditional receiving module 200 and the transmitting module 100. By setting the bracket and the first light homogenizing device 410, the purpose of homogenizing the detection beam emitted and the reflected beam received can be achieved.

[0082] The light homogenization area provided by the first light homogenizer 410 is larger than the cross-sectional areas of the detection beam and the reflected beam, so that the light homogenization effect can be achieved for both the detection beam and the reflected beam, thereby further improving the measurement accuracy.

[0083] Among them, the first light homogenizing device 410 can be a sheet structure, which provides a sufficiently large light homogenizing surface to achieve light homogenization of the detection beam and the reflected beam, while avoiding excessive thickness and occupying more additional space, and avoids the receiving module 200 being provided with the first light homogenizing device 410, thereby avoiding the ranging device from occupying too much assembly space, so that the equipment using the ranging device can still maintain its original shape and size, and the equipment using the ranging device does not need to be changed in structure, thereby improving the adaptability and market competitiveness of the ranging device.

[0084] When multiple first light homogenizers 410 are provided, the multiple first light homogenizers 410 can be arranged in parallel and coaxially to enhance the homogenization effect on the detection beam and the reflected beam. By providing multiple first light homogenizers 410, the detection beam and the reflected beam are homogenized multiple times, thereby further enhancing the homogenization effect on the detection beam and the reflected beam.

[0085] Among them, when multiple first light homogenizing devices 410 are set, a matching bracket can be set on a path coaxial with the transmitting path and the receiving path, and the multiple first light homogenizing devices 410 can be fixed on a path coaxial with the transmitting path and the receiving path through the same bracket to improve the coaxiality between the multiple first light homogenizing devices 410; the bracket can be used to support the transmitter 110, the transmitting lens 120, the receiving lens 220 and the detector 210 at the same time, so as to simultaneously install the transmitter 110, the transmitting lens 120, the receiving lens 220 and the detector 210 and multiple first light homogenizing devices 410 through the same bracket to improve the coaxiality of the transmitter 110, the transmitting lens 120, the receiving lens 220 and the detector 210 and multiple first light homogenizing devices 410, thereby improving the measurement accuracy of the receiving module 200. Of course, the bracket can also be used only to support multiple first light homogenizing devices 410, so as to facilitate the improvement of the traditional receiving module 200 and the transmitting module 100. By setting the bracket and multiple first light homogenizing devices 410, the purpose of homogenizing the detection light beam emitted and the reflected light beam received can be achieved.

[0086] Specifically, the first light homogenizer 410 can be one of a frosted light homogenizer, an optical material light homogenizer, a diffraction optical light homogenizer, a thin film light homogenizer, and a coated light homogenizer; when multiple first light homogenizers 410 are arranged on the receiving module 200, the first light homogenizer 410 can be at least one of a frosted light homogenizer, an optical material light homogenizer, a diffraction optical light homogenizer, a thin film light homogenizer, and a coated light homogenizer, and multiple first light homogenizers 410 can be the same or different.

[0087] Specifically, when the transmitting lens 120 and the receiving lens 220 are lenses that are nested together, multiple first light homogenizers 410 can be provided on the surfaces of the transmitting lens 120 and the receiving lens 220, respectively, or a single first light homogenizer 410 can cover the surfaces of both the transmitting lens 120 and the receiving lens 220. When the transmitting lens 120 and the receiving lens 220 are the same lens, the first light homogenizer 410 can be provided on the lens. The first light homogenizer 410 is preferably a thin film light homogenizer or a coated light homogenizer to facilitate attachment of the light homogenizer to the lens.

[0088] The first light homogenizer 410 can be provided at the receiving end of the reflected light beam of the detector 210, and the reflected light beam enters the detector 210 through the first light homogenizer 410. The first light homogenizer 410 is preferably a frosted light homogenizer, an optical material light homogenizer, or a diffraction optical light homogenizer, which facilitates the installation of the light homogenizer on the detector 210.

[0089] When multiple first light homogenizers 410 are provided, some of the first light homogenizers 410 may be provided on the receiving lens 220 , the transmitting lens 120 or the detector 210 , and some of the first light homogenizers 410 may be provided on a path coaxial with the transmitting path and the receiving path.

[0090] In one embodiment, as shown in Figure 1, the ranging device further includes a processing module 300 configured to output, during a detection cycle, the distance between an object reflecting a light beam within the detection range and the ranging device based on the light sensing signal. The addition of a light diffuser to the ranging device improves the energy consistency of each pixel in the detector 210, thereby optimizing the histogram shape through the processing module 300 and increasing the accuracy of time recognition.

[0091] Among them, the processing module 300 can perform signal processing and control, control the transmitter 110, turn on the laser driver 111, and control the light source 112 to emit laser; as shown in Figure 8, the reflected light beam reflected and scattered back from the target passes through the receiving lens 220 and is received by each pixel structure of the photosensitive surface 211 of the detector 210; then, as shown in Figure 9, the processing module 300 obtains the light sensing signal of the detector 210; after accumulating multiple pulses, the processing module 300 outputs a ranging histogram, and then obtains a processed signal based on the ranging histogram through algorithm processing and correction, and then outputs a ranging value.

[0092] The embodiments of the present disclosure also provide a cleaning device, which includes the above-mentioned distance measuring device. The cleaning device is, for example, a cleaning robot with an autonomous mobile cleaning function, such as a sweeping robot or a scrubbing robot. When performing autonomous mobile cleaning operations, the cleaning robot can use the distance measuring device to determine obstacles within the detection range. Obstacles such as sofas, tables and chairs, wardrobes, walls, etc. After obtaining the distance of the obstacle through the distance measuring device, the automatic movement program is assisted to control its movement. The distance measuring device with high measurement accuracy provided by the present disclosure can enable the cleaning device to have a high distance measurement accuracy, so that it can plan a more reasonable cleaning route when moving, improve its cleaning effect and cleaning efficiency, and thus enhance its market competitiveness.

[0093] Of course, the distance measuring device provided by the present disclosure can also be applied to other equipment with automatic driving and automatic movement, such as family cars, vending machines, automatic express delivery vehicles, automatic food delivery vehicles and other vehicles.

[0094] Those skilled in the art will readily appreciate other embodiments of the present disclosure after considering the specification and practicing the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the present disclosure that follow the general principles of the present disclosure and include common knowledge or customary techniques in the art not disclosed herein. The description and examples are to be considered as exemplary only, with the true scope and spirit of the present disclosure being indicated by the appended claims.

Claims

1. A ranging device, comprising: A transmitting module configured to transmit a sensing beam for distance detection within a detection range; A receiving module configured to receive a reflected beam from within the detection range and output a corresponding light induction signal according to the received reflected beam; A first light homogenizing device provided on the receiving path of the receiving module for receiving the reflected beam, the first light homogenizing device being configured to homogenize the reflected beam.

2. The ranging device according to claim 1, further comprising: A second light homogenizing device provided on the transmitting path of the transmitting module for transmitting the sensing beam, the second light homogenizing device being configured to homogenize the sensing beam.

3. The ranging device according to claim 2, wherein, The first light homogenizing device includes at least one of a frosted light homogenizing sheet, a light homogenizing sheet of optical material, a diffractive optical light homogenizing sheet, a thin film light homogenizing sheet, and a coated light homogenizing sheet; and / or, the second light homogenizing device includes at least one of a frosted light homogenizing sheet, a light homogenizing sheet of optical material, a diffractive optical light homogenizing sheet, a thin film light homogenizing sheet, and a coated light homogenizing sheet.

4. The ranging device according to claim 2, wherein, The transmitting module includes a transmitting lens and a transmitter, and the second light homogenizing device is located between the transmitting lens and the transmitter.

5. The ranging device according to claim 4, wherein The second light homogenizing device is provided on the transmitting lens or the transmitter.

6. The ranging device according to claim 1, wherein, The receiving module includes a receiving lens and a detector, and the first light homogenizing device is located between the receiving lens and the detector.

7. The ranging device according to claim 6, wherein, The first light homogenizing device is provided on the receiving lens or the detector.

8. The distance measuring device according to claim 1, wherein, The receiving module includes a receiving lens and a detector, and the transmitting module includes a transmitting lens and a transmitter; the transmitting module and the receiving module are coaxially arranged; the first light homogenizing device is located on the receiving path between the receiving lens and the detector, or the first light homogenizing device is simultaneously located on the receiving path between the receiving lens and the detector and on the transmitting path between the transmitting lens and the transmitter.

9. The ranging device according to claim 1, wherein, The ranging device further comprises: A processing module configured to output the distance between an object with a reflected beam within the detection range and the ranging device according to the light induction signal within one detection cycle.

10. A cleaning device, comprising the ranging device according to any one of claims 1 to 9.

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