CN111060917A - Laser ranging device and construction robot - Google Patents

Laser ranging device and construction robot Download PDF

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Publication number
CN111060917A
CN111060917A CN201911379565.4A CN201911379565A CN111060917A CN 111060917 A CN111060917 A CN 111060917A CN 201911379565 A CN201911379565 A CN 201911379565A CN 111060917 A CN111060917 A CN 111060917A
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chamfer
receiving mirror
laser
optical axis
receiving
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CN111060917B (en
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李璟
刘玉平
马如豹
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Guangdong Bozhilin Robot Co Ltd
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Guangdong Bozhilin Robot Co Ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/08—Systems determining position data of a target for measuring distance only
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G01S7/4811—Constructional features, e.g. arrangements of optical elements common to transmitter and receiver
    • G01S7/4812—Constructional features, e.g. arrangements of optical elements common to transmitter and receiver transmitted and received beams following a coaxial path

Abstract

The embodiment of the invention discloses a laser ranging device and a construction robot, wherein the ranging device comprises: the optical axis of the transmitting module and the optical axis of the receiving module are off-axis and parallel; the receiving module includes: the receiving mirror is used for focusing the laser beam reflected by the target object, and a first chamfer surface is arranged between the outer circular surface of the receiving mirror and the working surface; and the detector is used for converting the laser beam focused by the receiving mirror into an electric signal. The first chamfer surface is arranged between the outer circular surface of the receiving mirror and the working surface, so that the field angle of the laser ranging device can be increased, the blind area range is reduced, the technical problem that the blind area is large under an optical axis off-axis structure is effectively solved on the basis of not increasing the complexity of the laser ranging device, the manufacturing cost is low, and the laser ranging device is easy to realize.

Description

Laser ranging device and construction robot
Technical Field
The embodiment of the invention relates to a laser ranging technology, in particular to a laser ranging device and a construction robot.
Background
The laser ranging device generally comprises a laser transmitting module and a laser receiving module, and the working principle of the laser ranging device is mainly that the transmitting module transmits laser beams; the laser beam is reflected by an object and then received by the receiving module; and calculating the distance to the object according to the time difference between the emission and the reception of the laser beam. The field range in which the receiving module cannot receive the reflected laser beam is called a blind zone of the laser ranging device.
At present, a transmitting module and a receiving module in the laser ranging device can be arranged in an optical axis off-axis structure. Because the light paths of the transmitting module and the receiving module are not coaxial, and the photosensitive area of the detector in the receiving module is limited, the angle of view of the laser ranging device under the off-axis structure is small, and the blind area is large.
In the prior art, blind areas can be reduced by designing complex optical paths or increasing circuit structures and the like. The deficiencies of the prior methods include at least: the complexity of the laser ranging device is increased, and the manufacturing cost of the laser ranging device is improved.
Disclosure of Invention
In view of this, embodiments of the present invention provide a laser ranging device and a construction robot, which effectively solve the technical problem of a large blind area under an optical axis off-axis structure without increasing the complexity of the laser ranging device, and are low in manufacturing cost and easy to implement.
In a first aspect, an embodiment of the present invention provides a laser ranging apparatus, including: the optical axis of the transmitting module and the optical axis of the receiving module are off-axis and parallel;
the receiving module includes:
the receiving mirror is used for focusing the laser beam reflected by the target object, and a first chamfer surface is arranged between the outer circular surface of the receiving mirror and the working surface;
and the detector is used for converting the laser beam focused by the receiving mirror into an electric signal.
In a second aspect, an embodiment of the present invention provides a construction robot, including any one of the laser distance measuring devices disclosed in the embodiments of the present invention and a robot body, where the laser distance measuring device is disposed on the robot body.
The embodiment of the invention provides a laser ranging device and a construction robot, wherein the ranging device comprises: the optical axis of the transmitting module and the optical axis of the receiving module are off-axis and parallel; the receiving module includes: the receiving mirror is used for focusing the laser beam reflected by the target object, and a first chamfer surface is arranged between the outer circular surface of the receiving mirror and the working surface; and the detector is used for converting the laser beam focused by the receiving mirror into an electric signal. The first chamfer surface is arranged between the outer circular surface of the receiving mirror and the working surface, so that the field angle of the laser ranging device can be increased, the blind area range is reduced, the technical problem that the blind area is large under an optical axis off-axis structure is effectively solved on the basis of not increasing the complexity of the laser ranging device, the manufacturing cost is low, and the laser ranging device is easy to realize.
Drawings
Fig. 1 is a schematic structural diagram of a laser distance measuring device according to an embodiment of the present invention;
fig. 2 is a schematic diagram of a position of a first chamfer surface in a laser distance measuring device according to a first embodiment of the present invention;
fig. 3 is a schematic diagram of a position of a second chamfer surface in the laser distance measuring device according to the first embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described through embodiments with reference to the accompanying drawings in the embodiments of the present invention, it is obvious that the described embodiments are a part of the embodiments of the present invention, not all of the embodiments, and descriptions of well-known components are omitted in this patent to avoid unnecessary limitations. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention. In the following embodiments, optional features and examples are provided in each embodiment, and various features described in the embodiments may be combined to form a plurality of alternatives, and the embodiments should not be regarded as only one technical solution.
Example one
Fig. 1 is a schematic structural diagram of a laser distance measuring device according to an embodiment of the present invention. The laser ranging device provided by the embodiment of the invention can be suitable for laser ranging, and a specific application scenario can be, for example, that the laser ranging device provided by the embodiment of the invention is carried into equipment such as vehicles, unmanned aerial vehicles and robots to perform operations such as positioning, obstacle avoidance and drawing.
Referring to fig. 1, the laser ranging apparatus includes: a transmitting module 10 and a receiving module 20, the optical axis Ax of the transmitting module 101And the optical axis Ax of the receiving module 202Off-axis and parallel;
the receiving module 20 includes:
a receiving mirror 21 for focusing the laser beam reflected by the target object 30, and a first chamfered surface PQ is provided between an outer circumferential surface C of the receiving mirror 21 and the working surface a;
and a detector 22 for converting the laser beam focused by the receiving mirror 21 into an electrical signal.
As shown in fig. 1, the emission module 10 may include a laser 11 and a collimating mirror 12. The laser 11 is used to emit a laser beam. The collimator 12 may be used to shape the large divergence angle laser beam emitted by the laser 11 into a parallel laser beam. The collimator 12 may be a refractive optical element, such as a spherical lens group, an aspheric lens, or a cylindrical lens, and the number of the refractive optical elements is determined by the collimation property of the collimator 12, and the number of the refractive optical elements in the collimator 12 is not specifically limited herein.
The receiving module 20 may include modules such as a data acquisition and data processing circuit in addition to the receiving mirror 21 and the detector 22 shown in fig. 1. The receiving mirror 21 may be used to concentrate the light energy of the laser beam reflected or scattered by the target object 30 onto the target surface (i.e., the photosensitive surface) of the detector 22. The detector 22 converts the light energy of the laser beam into an electrical signal and transmits the electrical signal to the data acquisition and data processing circuitry such that the data acquisition and data processing circuitry converts the electrical signal into a digital signal and determines a parameter such as distance to the target object based on the digital signal. Wherein, the aperture of the receiving mirror 21 is large to sufficiently collect the light energy of the laser beam; the receiving mirror 21 may be a refractive optical element, for example, a lens with good spherical aberration correction and rotational symmetry around the optical axis, so as to better converge the collected laser beam to the focal position (i.e., the target surface position of the detector 22 in fig. 1).
The transmitting module 10 composed of the laser 11 and the collimator lens 12 and the receiving module 20 composed of the receiving lens 21 and the detector 22 are separately disposed, and the optical axis Ax of the transmitting module 101With the optical axis Ax of the receiving module 202Parallel to each other, i.e. the transmitting module 10 and the receiving module 20 are arranged in an off-axis and parallel configuration.
The cross section of the conventional receiving mirror is composed of a generatrix of the outer circular surface and a generatrix of the working surface, while the receiving mirror 21 provided in the embodiment of the present invention is composed of a generatrix of the outer circular surface C, a generatrix of the first chamfered surface PQ, a generatrix of the working surface a, and a generatrix of another working surface opposite to the working surface a, as shown in fig. 1. The first chamfer surface PQ is formed by cutting through a chamfer cutting machining process and surrounds the optical axis Ax2The working surface A is connected with the outer circular surface C.
By providing the first chamfered surface PQ between the working surface A and the outer circumferential surface C of the receiving mirror 20, the laser beam that cannot be collected by the conventional receiving mirror (e.g., approaching the optical axis Ax as shown in FIG. 1)2α included angle laser beam) is successfully focused on the target surface of the detector 22, thereby increasing the field angle of the receiving mirror 21 and reducing the blind area range of the receiving mirror 21. the optical path in the receiving module 20 has simple structure, and the technical problem of larger blind area under the optical axis off-axis structure is effectively solved without increasing complex optical path and circuit design.
Referring again to fig. 1, optionally, the first chamfered surface PQ and the optical axis Ax of the receiving mirror 212An acute angle α therebetween, satisfying the following condition:
Figure BDA0002341895520000051
wherein α is an acute angle between the first chamfer surface and the optical axis of the receiving mirror, D is the clear aperture of the receiving mirror, R is the target surface radius of the detector, n is the refractive index of the optical material of the receiving mirror, and f' is the focal length of the receiving mirror.
The first chamfered surface PQ and the optical axis Ax of the receiving mirror 212The acute angle α therebetween is understood to be a cutting slope of the first chamfered surface PQ, which is less than 90 °, and the cutting slope has a critical value such that the laser beam incident along the first chamfered surface PQ is just critical between the total internal reflection of the receiving mirror 21 and the edge of the target surface refracted to the probe 22 when the first chamfered surface PQ is cut.
In fig. 1, ω is an angle between the laser beam received by the first chamfer PQ and the normal N to the first chamfer, i.e., an incident angle of the laser beam entering the receiving mirror 21, λ is a refraction angle of the incident laser beam, δ is an incident angle of the laser beam exiting the receiving mirror 21, and θ is a refraction angle of the laser beam exiting the receiving mirror 21, the derivation process of the satisfied condition of α is:
as can be seen from the law of refraction of light,
Figure BDA0002341895520000068
and sin (θ) ═ nsin (δ);
when the laser beam incident along the first chamfered surface PQ is just refracted to the lower edge of the target surface of the detector 22, the receiving mirror 21 is regarded as an optical element having no thickness, and a triangular relationship can be obtained
Figure BDA0002341895520000061
The two inner angles of the triangle are equal to the complementary angle of the third inner angle, so that lambda + delta is 90- α;
substituting the above formula into the condition that the laser beam is close to grazing incidence
Figure BDA0002341895520000062
The formula (1) can be obtained through operation.
When the laser beam incident along the first chamfered surface PQ is exactly totally reflected within the receiving mirror 21, stray light will be formed within the receiving mirror 21, causing the useful laser beam signal to be buried, resulting in a reduction in detection sensitivity.
Therefore, the value of α cannot be equal to
Figure BDA0002341895520000063
Referring again to FIG. 1, optionally, the first chamfered surface PQ is coincident with the optical axis Ax of the receiver mirror 212The acute angle α therebetween approaches infinity
Figure BDA0002341895520000064
In the meantime, the blind area L of the laser ranging device is:
Figure BDA0002341895520000065
wherein L is a blind area of the laser ranging device; h is the minimum distance from the clear edge of the collimator 12 of the transmitting module 10 to the clear edge of the receiving mirror 21.
The above-mentioned pushing steps show that:
Figure BDA0002341895520000066
the blind area L can be obtained by calculation according to the formula (2), and the coefficient 2 in the denominator of the formula (2) expresses the round trip of the laser beam.
Referring again to FIG. 1, optionally, the first chamfered surface PQ is coincident with the optical axis Ax of the receiver mirror 212The acute angle α therebetween approaches infinity
Figure BDA0002341895520000067
In the meantime, an included angle ω between the laser beam received by the first chamfer surface PQ and the first chamfer surface normal N is:
Figure BDA0002341895520000071
where ω is an angle between the laser beam received by the first chamfer surface PQ and the first chamfer surface normal N.
The first chamfered surface PQ may receive the incident laser beam in a range of glancing incidence parallel to the optical axis Ax along the first chamfered surface PQ2And (4) incidence. When the laser beam is glancing incident along the first chamfer surface PQ, the magnitude of ω is 90 °. When the laser beam is parallel to the optical axis Ax2When the light enters, the following conditions are satisfied:
as can be seen from the law of refraction of light,
Figure BDA0002341895520000075
and sin (θ) ═ nsin (δ);
parallel to the optical axis Ax2The incoming laser beam is refracted right to the upper edge of the target surface of the detector 22, and the triangular relationship can be obtained by considering the receiving mirror 21 as an optical element without thickness
Figure BDA0002341895520000072
The two inner angles of the triangle are equal to the complementary angle of the third inner angle, so that the triangle can be obtained
Figure BDA0002341895520000073
The following can be obtained through calculation:
Figure BDA0002341895520000074
by arranging the first chamfered surface PQ, the angle range of the receiving lens 21 for receiving light energy is enlarged on the basis of the original angle of view, and the blind area is reduced.
Optionally, the position where the first chamfered surface PQ is disposed includes:
the outer circle surface C of the receiving mirror 21 and the working surface A close to the detector 221And/or the outer circumferential surface C of the receiving mirror 21 and the working surface a remote from the detector 222In the meantime.
Exemplarily, fig. 2 is a schematic diagram of a setting position of a first chamfer surface in a laser distance measuring device according to a first embodiment of the present invention. Referring to fig. 2, (a) the first chamfer plane P in the figure1Q1Is arranged between the outer circular surface C of the receiving mirror 21 and the working surface A close to the detector 221First chamfer surface P1Q1To the optical axis Ax of the receiving mirror 212The acute angle therebetween is α1. (b) First chamfer plane P in the figure2Q2Is arranged between the outer circle surface C of the receiving mirror 21 and the working surface A far away from the detector 222First chamfer surface P2Q2And is connected withOptical axis Ax of the mirror 212The acute angle therebetween is α2. (c) Two first chamfer surfaces are present in the figure, P respectively1Q1And P2Q2And the first chamfer face P1Q1Is arranged on the outer circular surface C of the receiving mirror 21 and the working surface A close to the detector 221First chamfer surface P1Q1To the optical axis Ax of the receiving mirror 212The acute angle therebetween is α1(ii) a First chamfer plane P2Q2Is arranged on the outer circular surface C of the receiving mirror 21 and a working surface A far away from the detector 222First chamfer surface P2Q2To the optical axis Ax of the receiving mirror 212The acute angle therebetween is α2. In fig. 2(a) - (c), the first chamfer surface P1Q1And a first chamfer surface P2Q2The technical details and achieved technical effects of the present invention are the same as those of the above embodiments, and for the specific technical details, reference is made to the above embodiments, which are not described herein again.
Referring to fig. 2 again, further, when the first chamfered surface PQ is disposed between the outer circumferential surface C of the receiving mirror 21 and the working surface a close to the detector 221And the outer circular surface C of the receiving mirror 21 and the working surface a far from the detector 222In between, two first chamfer surfaces (P)1Q1And P2Q2) Acute angle (α) with the optical axis of the receiving mirror 211And α2) Are different in size.
Wherein, if α1And α2The same applies to the two first chamfer surfaces (P) passing through the surface of the receiving mirror 211Q1And P2Q2) The ray path of the laser beam of (1) is not greatly changed, which may result in that the angle of view of the receiving mirror after the first chamfered surface is provided is the same as that of the conventional receiving mirror, and the blind area is not reduced. Because, when cutting two first chamfer surfaces, two first chamfer surfaces (P) are needed1Q1And P2Q2) Acute angle (α) with the optical axis of the receiving mirror 211And α2) The cutting is two numerical values with different sizes so as to change the ray path of the original laser beam, improve the field angle and reduce the range of the blind area.
Optionally, the surface roughness value of the first chamfer surface is greater than the surface roughness value of the working surface.
The surface roughness grade of the first chamfer surface can be reduced through a surface roughness treatment process, so that the surface roughness value of the first chamfer surface is larger than that of the working surface, namely the surface smoothness of the working surface of the receiving mirror is superior to that of the first chamfer surface. For example, the RMS value of the surface roughness of the working surface of the receiving mirror may be less than 1nm, the RMS value of the surface roughness of the first chamfer surface may be greater than 5nm, and the surface defect of the first chamfer surface may be set to class v.
In one aspect, the first chamfered surface may be made to expand the angular range of receiving scattered light to increase the field of view by increasing the surface roughness value of the first chamfered surface. On the other hand, when the light energy of the laser beam reflected or scattered by the target object to the first chamfer surface is too much, the detector can be damaged, and by increasing the surface roughness value of the first chamfer surface, the excessive energy reflected or scattered by the target object can be prevented from being received by the detector, so that the risk of damage to the detector is reduced.
Referring again to fig. 1, optionally, the length a of the generatrix of the first chamfered surface PQ along the optical axis of the receiving module is less than one third of the length of the working surface C. In order to facilitate the chamfering and cutting process of the receiving mirror and the adjustment of the receiving mirror, the dimension a of the cut receiving mirror (i.e. the length a of the generatrix of the first chamfered surface PQ along the optical axis of the receiving module) is usually less than 1/3 of the thickness of the outer circumferential edge of the receiving mirror.
Optionally, a second chamfer plane QP' is disposed between the first chamfer plane PQ of the laser distance measuring device and the working plane C.
The cutting depth does not exceed 1/2 of the first chamfer, because when the cutting depth is too large, the effect of increasing the angle of view of the first chamfer is weakened, and the difficulty of realizing the process is greater, meanwhile, the acute angle β between the second chamfer and the optical axis of the receiving mirror is greater than the acute angle β between the first chamfer PQ and the optical axis Ax of the receiving mirror 212Acute angle therebetweenα, and is smaller than 90 DEG, and the blind area L of the laser ranging device is derived by referring to the formula (2) after passing through the second chamfer surface, and the field angle of the receiving mirror is derived by referring to the formula (3) after passing through the second chamfer surface.
Further, a second chamfer may be provided between any of the first chamfers provided in the above embodiments and the outer circumferential surface of the receiving mirror, and the surface roughness value of the second chamfer is also greater than the surface roughness value of the working surface.
Exemplarily, fig. 3 is a schematic diagram of a position of a second chamfer in a laser distance measuring device according to a first embodiment of the present invention. Referring to FIG. 3, the second chamfer plane Q in the (a) diagram1P1' is provided at the first chamfer plane P1Q1And working face A1A second chamfer plane Q1P1' with the optical axis Ax of the receiving mirror 212The acute angle therebetween is β1. (b) Second chamfer plane Q in the figure2P2' is provided at the first chamfer plane P2Q2And working face A2A second chamfer plane Q2P2' with the optical axis Ax of the receiving mirror 212The acute angle therebetween is β2. (c) There are two second chamfer planes, Q each1P1' and Q2P2', second chamfer plane Q1P1' is provided at the first chamfer plane P1Q1And working face A1A second chamfer plane Q1P1' with the optical axis Ax of the receiving mirror 212The acute angle therebetween is β1(ii) a Second chamfer plane Q2P2' is provided at the first chamfer plane P2Q2And working face A2A second chamfer plane Q2P2' with the optical axis Ax of the receiving mirror 212The acute angle therebetween is β2. The technical details and achieved technical effects of the second chamfer surface and the first chamfer surface are the same as those of the above embodiment, and the specific technical details refer to the above embodiment and are not described herein.
The laser ranging device that this embodiment provided includes: the optical axis of the transmitting module and the optical axis of the receiving module are off-axis and parallel; the receiving module includes: the receiving mirror is used for focusing the laser beam reflected by the target object, and a first chamfer surface is arranged between the outer circular surface of the receiving mirror and the working surface; and the detector is used for converting the laser beam focused by the receiving mirror into an electric signal. The first chamfer surface is arranged between the outer circular surface of the receiving mirror and the working surface, so that the field angle of the laser ranging device can be increased, the blind area range is reduced, the technical problem that the blind area is large under an optical axis off-axis structure is effectively solved on the basis of not increasing the complexity of the laser ranging device, the manufacturing cost is low, and the laser ranging device is easy to realize.
Example two
The construction robot provided by the embodiment of the invention comprises any one of the laser ranging devices disclosed by the embodiment of the invention and a robot body, and the laser ranging device is arranged on the robot body.
By arranging any one of the laser ranging devices disclosed by the embodiment of the invention, the construction robot can effectively increase the field angle of the laser ranging device and reduce the range of blind areas, thereby being beneficial to the requirements of positioning, obstacle avoidance and the like. In addition, the construction robot may be configured with other modules, for example, a base, a cover, a motor, a rotating shaft, a robot arm, a power supply module, a control module, a communication module, and the like. In addition, other modules can be added according to different functions of the construction robot, for example, when the construction robot is used for welding, the construction robot can comprise a welding head and the like.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments illustrated herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims (10)

1. A laser ranging device, comprising: the optical axis of the transmitting module and the optical axis of the receiving module are off-axis and parallel;
the receiving module includes:
the receiving mirror is used for focusing the laser beam reflected by the target object, and a first chamfer surface is arranged between the outer circular surface of the receiving mirror and the working surface;
and the detector is used for converting the laser beam focused by the receiving mirror into an electric signal.
2. The laser distance measuring device of claim 1, wherein an acute angle between the first chamfer and the optical axis of the receiving mirror satisfies the following condition:
Figure FDA0002341895510000011
α is an acute angle between the first chamfer surface and the optical axis of the receiving mirror, D is the clear aperture of the receiving mirror, R is the radius of the target surface of the detector, n is the refractive index of the optical material of the receiving mirror, and f' is the focal length of the receiving mirror.
3. The laser rangefinder apparatus of claim 2 wherein the acute angle between the first chamfer and the optical axis of the receiving mirror approaches infinity
Figure FDA0002341895510000012
In the meantime, the blind areas of the laser ranging device are:
Figure FDA0002341895510000013
wherein L is a blind area of the laser ranging device; h is the minimum distance from the edge of the light passing surface of the collimating mirror of the transmitting module to the edge of the light passing surface of the receiving mirror.
4. The laser rangefinder apparatus of claim 2 wherein the acute angle between the first chamfer and the optical axis of the receiving mirror approaches infinity
Figure FDA0002341895510000021
And when the first chamfering surface receives the laser beam, the included angle between the laser beam and the normal line of the first chamfering surface is as follows:
Figure FDA0002341895510000022
and omega is an included angle between the laser beam received by the first chamfering surface and the normal of the first chamfering surface.
5. The laser ranging device as claimed in claim 1, wherein the position where the first chamfer is provided comprises:
the detector is arranged between the outer circular surface of the receiving mirror and the working surface close to the detector, and/or between the outer circular surface of the receiving mirror and the working surface far away from the detector.
6. The laser distance measuring device of claim 5, wherein when the first chamfer is disposed between the outer circumferential surface of the receiving mirror and the working surface close to the detector and between the outer circumferential surface of the receiving mirror and the working surface far from the detector, the acute angles between the two first chamfers and the optical axis of the receiving mirror are different in size.
7. The laser ranging device as claimed in claim 1, wherein a surface roughness value of the first chamfer surface is greater than a surface roughness value of the working surface.
8. The laser ranging device as claimed in claim 1, wherein a length of a generatrix of the first chamfer surface along an optical axis of the receiving module is less than one third of a length of the working surface.
9. The laser distance measuring device of any one of claims 1 to 8, wherein a second chamfer is provided between the first chamfer and the working surface.
10. A construction robot comprising the laser ranging apparatus as claimed in any one of claims 1 to 9 and a robot body, wherein the laser ranging apparatus is provided on the robot body.
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