CN111060917B - Laser ranging device and construction robot - Google Patents
Laser ranging device and construction robot Download PDFInfo
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- CN111060917B CN111060917B CN201911379565.4A CN201911379565A CN111060917B CN 111060917 B CN111060917 B CN 111060917B CN 201911379565 A CN201911379565 A CN 201911379565A CN 111060917 B CN111060917 B CN 111060917B
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- chamfer
- receiving mirror
- ranging device
- optical axis
- laser ranging
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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
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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
- 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
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- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Electromagnetism (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Optical Radar Systems And Details Thereof (AREA)
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 a detector for converting the laser beam focused by the receiving mirror into an electrical signal. Through setting up first chamfer face with between receiver's outer disc and working face, can increase laser rangefinder's angle of view, reduce the blind area scope, on the basis that does not increase laser rangefinder complexity, effectively solved the great technical problem of blind area under the optical axis off-axis structure, manufacturing cost is lower, and realizes easily.
Description
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 emitting module and a laser receiving module, and the working principle of the laser ranging device is that the emitting module emits laser beams; the laser beam is received by the receiving module after being reflected by the object; the distance to the object is calculated from the time difference of the laser beam from the emission to the reception. The receiving module can not receive the field of view range of the reflected laser beam, namely a blind area of the laser ranging device.
Currently, the transmitting module and the receiving module in the laser ranging device can be set to be in an optical axis off-axis structure. Because the optical 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 smaller, and the blind area is larger.
In the prior art, the dead zone can be reduced by designing a complex light path or adding a circuit structure and the like. The prior method at least comprises the following steps: the complexity of the laser ranging device is increased, and the manufacturing cost of the laser ranging device is increased.
Disclosure of Invention
In view of the above, the embodiment of the invention provides a laser ranging device and a construction robot, which effectively solve the technical problem of larger blind area under an optical axis off-axis structure on the basis of not increasing the complexity of the laser ranging device, and have lower manufacturing cost and easy realization.
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 ranging device and the robot body disclosed in the embodiment of the present invention, where the laser ranging 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 a detector for converting the laser beam focused by the receiving mirror into an electrical signal. Through setting up first chamfer face with between receiver's outer disc and working face, can increase laser rangefinder's angle of view, reduce the blind area scope, on the basis that does not increase laser rangefinder complexity, effectively solved the great technical problem of blind area under the optical axis off-axis structure, manufacturing cost is lower, and realizes easily.
Drawings
Fig. 1 is a schematic structural diagram of a laser ranging device according to a first embodiment of the present invention;
fig. 2 is a schematic view of a setting position of a first chamfer in a laser ranging device according to an embodiment of the present invention;
fig. 3 is a schematic view illustrating a setting position of a second chamfer in the laser ranging device according to an embodiment of the invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described by means of implementation examples with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments, and descriptions of well-known components are omitted in this patent so as to avoid unnecessary limitations. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention. In the following embodiments, optional features and examples are provided in each embodiment at the same time, and the features described in the embodiments may be combined to form multiple alternatives, and each embodiment should not be considered as only one technical solution.
Example 1
Fig. 1 is a schematic structural diagram of a laser ranging device according to an embodiment of the present invention. The laser ranging device provided by the embodiment of the invention can be suitable for the situation of laser ranging, and a specific application scene can be, for example, the laser ranging device provided by the embodiment of the invention is mounted in equipment such as vehicles, unmanned aerial vehicles, robots and the like to perform operations such as positioning, obstacle avoidance, drawing and the like.
Referring to fig. 1, a laser ranging apparatus includes: a transmitting module 10 and a receiving module 20, an optical axis Ax of the transmitting module 10 1 And an optical axis Ax of the receiving module 20 2 Off-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 chamfer surface PQ is provided between the outer circumferential surface C of the receiving mirror 21 and the working surface a;
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 collimator mirror 12. The laser 11 is used to emit a laser beam. The collimator lens 12 may be used to shape the laser beam of the large divergence angle emitted from the laser 11 into a parallel laser beam. The collimator lens 12 may be a refractive optical element, for example, a refractive optical element of a different type such as a spherical lens group, an aspherical lens, or a cylindrical lens, and the number of refractive optical elements is determined by the collimation of the collimator lens 12, and the number of refractive optical elements in the collimator lens 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., photosurface) of the detector 22. The detector 22 may convert the optical energy of the laser beam into an electrical signal and transmit the electrical signal to the data acquisition and data processing circuitry so that the data acquisition and data processing circuitry converts the electrical signal into a digital signal and determines parameters such as distance from 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 rotationally symmetric around the optical axis, which may be well spherical aberration-corrected, to better converge the collected laser beam to a focal position (i.e., the target surface position of the detector 22 in fig. 1).
The emission 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 placed, and the optical axis Ax of the emission module 10 1 With the optical axis Ax of the receiving module 20 2 Parallel to each other, i.e. the transmitting module 10 and the receiving module 20 are arranged in an off-axis and parallel configuration.
While the cross section of the conventional receiving mirror is composed of a busbar of the outer circular surface and a busbar of the working surface, the receiving mirror 21 provided by the embodiment of the present invention is shown in fig. 1, and the cross section thereof is composed of a busbar of the outer circular surface C, a busbar of the first chamfer surface PQ, a busbar of the working surface a, and a busbar of another working surface opposite to the working surface a. The first chamfer surface PQ is cut and processed by chamferingIs cut by art and is around the optical axis Ax 2 The rotary symmetry is that the shape is the conical surface without the conical apex angle, connects working face A and excircle face C.
By providing the first chamfer surface PQ between the working surface a and the outer circumferential surface C of the receiving mirror 20, a laser beam that cannot be collected by the conventional receiving mirror (e.g., approaching the optical axis Ax shown in fig. 1 2 The laser beam at angle alpha) is successfully focused on the target surface of the detector 22, thereby increasing the angle of view of the receiving mirror 21 and reducing the blind area range of the receiving mirror 21. The light path structure in the receiving module 20 is simple, and complicated light path and circuit design are not required to be added, so that the technical problem that the dead zone is large under the optical axis off-axis structure is effectively solved. The laser ranging device provided by the embodiment of the invention has the advantages of compact structure, lower manufacturing cost and easiness in realization of a chamfering cutting process while reducing blind areas.
Referring again to fig. 1, optionally, the first chamfer surface PQ is aligned with the optical axis Ax of the receiver mirror 21 2 An acute angle α therebetween satisfies the following condition:
wherein alpha is an acute angle between the first chamfer 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; f' is the focal length of the receiving mirror.
The first chamfer surface PQ and the optical axis Ax of the receiving mirror 21 2 The acute angle α therebetween is understood to be the cutting slope of the first chamfer surface PQ, which is required to be less than 90 °. When the first chamfer surface PQ is cut, the cutting slope has a critical value such that the laser beam incident along the first chamfer surface PQ is exactly critical between total internal reflection of the receiving mirror 21 and refraction to the target surface edge of the detector 22.
In fig. 1, ω is an angle between the laser beam received by the first chamfer surface PQ and the first chamfer surface normal N, that is, an incident angle of the laser beam to the receiving mirror 21, λ is an angle of refraction of the incident laser beam, δ is an incident angle outside the laser beam to the receiving mirror 21, and θ is an angle of refraction of the laser beam to the receiving mirror 21. The derivation process of the condition met by alpha is as follows:
as is known from the law of refraction of light,and sin (θ) =nsin (δ);
when the laser beam incident along the first chamfer 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 without thickness, and the triangular relationship can be obtained
From the complement angle of the triangle with two interior angles equal to the third interior angle, λ+δ=90 ° - α;
substituting the above formula into the condition that the laser beam is near grazing incidenceThe formula (1) can be obtained through operation.
When the laser beam incident along the first chamfer surface PQ is totally reflected exactly in the receiving mirror 21, stray light will be formed in the receiving mirror 21, causing a useful laser beam signal to be submerged, resulting in a decrease in detection sensitivity.
Therefore, the value of α cannot be equal to
Referring again to fig. 1, optionally, the first chamfer surface PQ is aligned with the optical axis Ax of the receiver mirror 21 2 The acute angle alpha between them approaches toAnd when the laser ranging device is used, the blind area L of the laser ranging device is as follows:
wherein L is a blind area of the laser ranging device; h is the minimum distance from the edge of the light-transmitting surface of the collimating mirror 12 of the transmitting module 10 to the edge of the light-transmitting surface of the receiving mirror 21.
The push step can be known from the above:the dead zone L can be obtained through operation as formula (2), and the coefficient 2 in the denominator of formula (2) expresses the laser beam round trip.
Referring again to fig. 1, optionally, the first chamfer surface PQ is aligned with the optical axis Ax of the receiver mirror 21 2 The acute angle alpha between them approaches toWhen the laser beam received by the first chamfer surface PQ and the normal line N of the first chamfer surface have an included angle ω:
where ω is the angle between the laser beam received by the first chamfer surface PQ and the first chamfer surface normal N.
The first chamfer surface PQ may be in a range of receiving the incident laser beam from grazing incidence along the first chamfer surface PQ to be parallel to the optical axis Ax 2 Incidence is carried out. When the laser beam is grazing incidence along the first chamfer surface PQ, the magnitude of ω is 90 °. When the laser beam is parallel to the optical axis Ax 2 When incident, the following conditions are satisfied:
as is known from the law of refraction of light,and sin (θ) =nsin (δ);
parallel to the optical axis Ax 2 The incident laser beam is just refracted to the upper edge of the target surface of the detector 22, and the receiving mirror 21 is regarded as an optical element without thickness, so that the triangular relationship can be obtained
Is obtained by complementing the two inner angles of the triangle with the complementary angle of the third inner angle
The method comprises the following steps of:
by providing the first chamfer surface PQ, the angle range of a certain received light energy is increased by the receiving mirror 21 on the basis of the original field angle, thereby reducing the dead zone.
Optionally, the setting position of the first chamfer surface PQ includes:
the outer circular surface C of the receiving mirror 21 and the working surface A close to the detector 22 1 Between, and/or the outer circumferential surface C of the receiving mirror 21 and the working surface A remote from the detector 22 2 Between them.
Fig. 2 is a schematic view illustrating an arrangement position of a first chamfer in the laser ranging device according to the first embodiment of the present invention. Referring to fig. 2, a first chamfer P in (a) is shown 1 Q 1 Is arranged on the outer circular surface C of the receiving mirror 21 and the working surface A close to the detector 22 1 Between, a first chamfer face P 1 Q 1 With the optical axis Ax of the receiving mirror 21 2 The acute angle between them is alpha 1 . (b) First chamfer P in the figure 2 Q 2 Is arranged on the outer circular surface C of the receiving mirror 21 and the working surface A far away from the detector 22 2 Between, a first chamfer face P 2 Q 2 With the optical axis Ax of the receiving mirror 21 2 The acute angle between them is alpha 2 . (c) In the figure there are two first chamfer faces, respectively P 1 Q 1 And P 2 Q 2 And a first chamfer face P 1 Q 1 Is arranged on the outer circular surface C of the receiving mirror 21 and the working surface A close to the detector 22 1 Between, a first chamfer face P 1 Q 1 With the optical axis Ax of the receiving mirror 21 2 The acute angle between them is alpha 1 The method comprises the steps of carrying out a first treatment on the surface of the First chamfer face P 2 Q 2 Arranged on the outer circular surface C of the receiving mirror 21 and the working surface A far away from the detector 22 2 Between, a first chamfer face P 2 Q 2 With the optical axis Ax of the receiving mirror 21 2 The acute angle between them is alpha 2 . In FIGS. 2 (a) - (c), a first chamfer plane P 1 Q 1 And a first chamfer face P 2 Q 2 The technical details and the achieved technical effects are the same as those of the above embodiments, and reference is made to the above embodiments for specific technical details, which are not repeated herein.
Referring again to fig. 2, further, when the first chamfer surface PQ is disposed at a position of the outer circumferential surface C of the receiving mirror 21 and the working surface a near the detector 22 1 And the outer circular surface C of the receiving mirror 21 and the working surface A far away from the detector 22 2 Between two first chamfer faces (P 1 Q 1 And P 2 Q 2 ) Acute angle (alpha) with the optical axis of the receiving mirror 21 1 And alpha 2 ) Is different in size.
Wherein, if alpha 1 And alpha 2 The same applies to the two first chamfer surfaces (P 1 Q 1 And P 2 Q 2 ) The light path of the laser beam of (a) is not changed much, so that the angle of view of the receiving mirror after the first chamfer is set is the same as that of the conventional receiving mirror, and the blind area is not reduced. Because, when cutting the two first chamfer surfaces, the two first chamfer surfaces (P 1 Q 1 And P 2 Q 2 ) Acute angle (alpha) with the optical axis of the receiving mirror 21 1 And alpha 2 ) Cutting into two numerical values with different sizes so as to change the ray path of the original laser beam, improve the angle of view and reduce the range of blind areas.
Optionally, the first chamfer has a surface roughness value greater than a 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 better than that of the first chamfer surface. Illustratively, the receiver mirror working surface may have a surface roughness RMS value of less than 1nm, the first chamfer surface may have a surface roughness RMS value of greater than 5nm, and the surface defect of the first chamfer surface may be set to a level v.
In one aspect, the first chamfer can be enlarged in angular range to receive scattered light by increasing the surface roughness value of the first chamfer to increase the angle of view. 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 excessive, the detector may be damaged, and by increasing the surface roughness value of the first chamfer surface, the excessive energy reflected or scattered by the target object is 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 chamfer 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 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 chamfer surface PQ along the optical axis of the receiving module) is generally less than 1/3 of the thickness of the outer circular edge of the receiving mirror.
Optionally, a second chamfer surface QP' is provided between the first chamfer surface PQ and the working surface C of the laser ranging device.
And (3) between the first chamfer surface and the working surface of the receiving mirror, a chamfer cutting processing process can be performed again to obtain a second chamfer surface. When the second chamfer is cut, the cutting depth is not more than 1/2 of that of the first chamfer, because when the cutting depth is too large, the effect of increasing the angle of view of the first chamfer surface can be weakened, and the process implementation difficulty is high. Meanwhile, the acute angle β between the second chamfer and the optical axis of the receiving mirror is larger than the acute angle PQ and the optical axis Ax of the receiving mirror 21 2 An acute angle alpha between them, and less than 90 deg.. And, the blind area L of the laser ranging device after passing through the second chamfer surface can be deduced by referring to the formula (2); the angle of view of the receiver mirror after passing through the second chamfer can be deduced with reference to equation (3). By setting the second chamfer surface, the field angle of the receiving mirror can be further increased, and the blind area range is reduced.
Further, the second chamfer surface may be provided between any one of the first chamfer surfaces provided in the above embodiments and the outer circumferential surface of the receiving mirror, and the surface roughness value of the second chamfer surface is also larger than that of the working surface.
Fig. 3 is an illustration showing a laser ranging apparatus according to an embodiment of the present inventionSchematic diagram of the installation position of the second chamfer surface. Referring to fig. 3, a second chamfer surface Q in (a) 1 P 1 ' being provided at the first chamfer plane P 1 Q 1 And working face A 1 Between, a second chamfer surface Q 1 P 1 ' and the optical axis Ax of the receiving mirror 21 2 The acute angle between them is beta 1 . (b) Second chamfer surface Q in the figure 2 P 2 ' being provided at the first chamfer plane P 2 Q 2 And working face A 2 Between, a second chamfer surface Q 2 P 2 ' and the optical axis Ax of the receiving mirror 21 2 The acute angle between them is beta 2 . (c) There are two second chamfer faces in the figure, Q 1 P 1 ' and Q 2 P 2 ' second chamfer surface Q 1 P 1 ' being provided at the first chamfer plane P 1 Q 1 And working face A 1 Between, a second chamfer surface Q 1 P 1 ' and the optical axis Ax of the receiving mirror 21 2 The acute angle between them is beta 1 The method comprises the steps of carrying out a first treatment on the surface of the Second chamfer surface Q 2 P 2 ' being provided at the first chamfer plane P 2 Q 2 And working face A 2 Between, a second chamfer surface Q 2 P 2 ' and the optical axis Ax of the receiving mirror 21 2 The acute angle between them is beta 2 . The technical details and the achieved technical effects of the second chamfer face and the first chamfer face are the same as those of the above-mentioned embodiments, and specific technical details are referred to the above-mentioned embodiments and are not repeated here.
The laser ranging device provided in this embodiment 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 a detector for converting the laser beam focused by the receiving mirror into an electrical signal. Through setting up first chamfer face with between receiver's outer disc and working face, can increase laser rangefinder's angle of view, reduce the blind area scope, on the basis that does not increase laser rangefinder complexity, effectively solved the great technical problem of blind area under the optical axis off-axis structure, manufacturing cost is lower, and realizes easily.
Example two
The embodiment of the invention provides a construction robot which comprises any one of the laser ranging device and a robot body, wherein the laser ranging device is arranged on the robot body.
By arranging any laser ranging device disclosed by the embodiment of the invention, the construction robot can effectively increase the field angle of the laser ranging device and reduce the blind area range, thereby being beneficial to the demands of positioning, obstacle avoidance and the like. In addition, the construction robot may be configured with other modules, such as 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, a welding head and the like can be included.
Note that the above is only a preferred embodiment of the present invention and the technical principle applied. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described 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, while the invention has been described in connection with the above embodiments, the invention is not limited to the embodiments, but may be embodied in many other equivalent forms without departing from the spirit or scope of the invention, which is set forth in the following 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;
a detector for converting the laser beam focused by the receiving mirror into an electrical signal;
the cutting slope of the first chamfer surface is smaller than 90 degrees, and the cutting slope is provided with a critical value, so that the laser beam incident along the first chamfer surface is just critical between total internal reflection of the receiving mirror and refraction to the target surface edge of the detector.
2. The laser ranging device as set forth in claim 1, wherein an acute angle between the first chamfer and an optical axis of the receiving mirror satisfies the following condition:
wherein α is an acute angle between the first chamfer 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; f' is the focal length of the receiving mirror.
3. The laser ranging device as claimed in claim 2, wherein an acute angle between the first chamfer and the optical axis of the receiving mirror approaches infinitelyAnd when the laser ranging device is used, the blind area of the laser ranging device is as follows:
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 ranging device as claimed in claim 2, wherein an acute angle between the first chamfer and the optical axis of the receiving mirror approaches infinitelyWhen the laser beam is received by the first chamfer surface, the included angle between the laser beam received by the first chamfer surface and the normal line of the first chamfer surface is as follows:
wherein ω is an angle between the laser beam received by the first chamfer and the normal of the first chamfer.
5. The laser ranging device as set forth in claim 1, wherein the set position of the first chamfer surface includes:
the outer circular surface of the receiving mirror is between the outer circular surface of the receiving mirror and the working surface close to the detector, and/or the outer circular surface of the receiving mirror is between the outer circular surface of the receiving mirror and the working surface far away from the detector.
6. The laser distance measuring device according to claim 5, wherein when the first chamfer surface is provided between the outer circumferential surface of the receiving mirror and the working surface near the detector and between the outer circumferential surface of the receiving mirror and the working surface far from the detector, the magnitudes of the acute angles between the two first chamfer surfaces and the optical axis of the receiving mirror are different.
7. The laser ranging device as recited in claim 1 wherein the first chamfer has a surface roughness value greater than a surface roughness value of the working surface.
8. The laser ranging device of 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 ranging device as claimed in 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 a laser ranging apparatus as claimed in any one of claims 1 to 9 and a robot body, and wherein the laser ranging apparatus is provided on the robot body.
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