CN215769015U

CN215769015U - Single-lens ranging device, laser radar and mobile robot

Info

Publication number: CN215769015U
Application number: CN202120963565.5U
Authority: CN
Inventors: 李乐; 韦晨曦; 周琨
Original assignee: Shenzhen Camsense Technologies Co Ltd
Current assignee: Shenzhen Huanchuang Technology Co ltd
Priority date: 2021-05-07
Filing date: 2021-05-07
Publication date: 2022-02-08
Anticipated expiration: 2031-05-07

Abstract

The embodiment of the utility model relates to the technical field of distance measurement, and discloses a single-lens distance measurement device, a laser radar and a mobile robot. Wherein, single lens range unit includes: the light emitting assembly is used for emitting light to a target object to be measured; a light receiving component comprising an image sensor and an aspheric lens for passing at least a portion of the light reflected from the target object and projecting to the image sensor. The single-lens distance measuring device provided by the embodiment of the utility model has the advantages that the light receiving component comprises the aspheric lens, namely, the light receiving component adopts the design of the single lens, so that the lens structure can be effectively simplified, the assembly is convenient, and the cost of the light receiving component and the cost of the whole distance measuring device can be effectively reduced.

Description

Single-lens ranging device, laser radar and mobile robot

Technical Field

The utility model relates to the technical field of distance measurement, in particular to a single-lens distance measurement device, a laser radar with the single-lens distance measurement device and a mobile robot.

Background

Along with the miniaturization and low cost of components, the space positioning technology is more and more popular, and the space positioning technology can be applied to the autonomous navigation fields such as household mobile robots, unmanned aerial vehicles and unmanned driving. Among the spatial positioning techniques, the optical positioning technique is widely used because of its characteristics of high precision and fast response.

In optical positioning technology, the most common distance measuring device basically comprises a light emitting component and a light receiving component. The positioning method related to the distance measuring device is generally a triangulation method, the distance measuring and precision is moderate, and the response is fast. Therefore, triangulation is widely used in most consumer-grade optical positioning devices, such as laser radars for sweeping robots and service robots.

In the triangulation distance measurement principle, the distance is calculated by measuring the landing point of a laser spot in an imaging area, the imaging quality of the laser spot depends on a lens, and a commonly used optical lens comprises a multi-lens group, so that the cost of the distance measurement device is relatively high.

SUMMERY OF THE UTILITY MODEL

The utility model mainly solves the technical problem of providing a single-lens distance measuring device, which can effectively simplify the lens structure of the distance measuring device and further reduce the cost.

The embodiment of the utility model provides the following technical scheme for solving the technical problem.

A single-lens ranging device comprising: the light emitting assembly is used for emitting light to a target object to be measured; a light receiving component comprising an image sensor and an aspheric lens for passing at least a portion of the light reflected from the target object and projecting to the image sensor.

As a further improvement of the above technical solution, the light emitting assembly includes a light emitter and a collimating lens, the light emitter is configured to emit the light, and the collimating lens is configured to allow the emitted light to pass through and collimate the light passing through the collimating lens.

As a further improvement of the above technical solution, the collimating lens is arranged to make the light emitted therefrom form a first included angle with the first optical axis of the light emitter.

As a further improvement of the above technical solution, the single-lens distance measuring device is arranged such that the first optical axis of the light emitter is in a horizontal direction and the second optical axis of the collimating lens is directly above the first optical axis.

As a further improvement of the above technical solution, the single-lens distance measuring device further includes a circuit board, and both the light emitting module and the light receiving module are electrically connected to the circuit board.

As a further improvement of the above technical solution, the light emitting module and the light receiving module are mounted on the circuit board by a bracket.

As a further improvement of the above technical solution, the image sensor and the light emitter are both disposed on the circuit board; or the image sensor is arranged on the circuit board, and the light emitter is electrically connected with the circuit board through a lead.

As a further improvement of the above technical solution, a third optical axis of the image sensor and a fourth optical axis of the aspheric lens are parallel and arranged in a staggered manner, and the third optical axis of the image sensor is farther away from the light emitting component than the fourth optical axis of the aspheric lens; and a third optical axis of the image sensor and the first optical axis of the light emitter are parallel, and the third optical axis of the image sensor is perpendicular to the circuit board.

As a further improvement of the above technical solution, the first optical axis of the light emitter and the second optical axis of the collimating lens are parallel and arranged in a staggered manner, and the first optical axis of the light emitter is farther away from the light receiving component than the second optical axis of the collimating lens; and the third optical axis of the image sensor and the fourth optical axis of the aspheric lens coincide, and the third optical axis of the image sensor is perpendicular to the circuit board.

As a further improvement of the above technical solution, a straight line passing through the fourth optical axis of the aspheric lens and the second optical axis of the collimating lens forms a second angle with the horizontal plane, the image sensor has an extending direction parallel to the straight line, and the third optical axis of the image sensor is perpendicular to the circuit board.

As a further improvement of the above technical solution, a straight line passing through the fourth optical axis of the aspherical mirror and the second optical axis of the collimating mirror is parallel to a horizontal plane, the image sensor has an extending direction parallel to the straight line, and the third optical axis of the image sensor is perpendicular to the circuit board.

As a further improvement of the above technical solution, a fourth optical axis of the aspheric lens intersects both the third optical axis of the image sensor and the first optical axis of the light emitter, and the fourth optical axis of the aspheric lens passes through a receiving surface of the image sensor, and the third optical axis of the image sensor and the first optical axis of the light emitter are perpendicular to the circuit board.

As a further improvement of the above technical solution, a third optical axis of the image sensor and a fourth optical axis of the aspheric lens are parallel and arranged in a staggered manner, the third optical axis of the image sensor is farther away from the light emitting component than the fourth optical axis of the aspheric lens, and the third optical axis of the image sensor is perpendicular to the circuit board; and the light receiving component is arranged on the circuit board through a bracket, the light emitting component is arranged on the bracket, and the first optical axis of the light emitter and the third optical axis of the image sensor form a third included angle.

As a further improvement of the above technical solution, the image sensor is a CMOS (Complementary Metal Oxide Semiconductor) sensor or a CCD (Charge Coupled Device) sensor.

As a further improvement of the above technical solution, the image sensor is a linear array sensor or an area array sensor.

As a further improvement of the above technical solution, the single-lens ranging device further includes a processing unit, and the processing unit is configured to receive the signal generated by the image sensor and perform distance calculation and determination according to a principle of triangulation ranging; the processing unit is electrically connected with the circuit board.

The embodiment of the utility model also provides the following technical scheme for solving the technical problem.

A lidar comprising: any of the above-described single-lens distance measuring devices; and the rotating tripod head comprises a base, a rotating seat, a transmission mechanism and a driving device, the rotating seat is rotatably installed on the base, the driving device is installed on the base, the transmission mechanism is connected with the rotating seat and the driving device, and the single-lens ranging device is arranged on the rotating seat.

A mobile robot, characterized in that it comprises the laser radar described above.

Compared with the prior art, in the single-lens distance measuring device provided by the embodiment of the utility model, the light receiving component comprises the aspheric lens, namely, the light receiving component adopts the design of the single lens, so that the lens structure can be effectively simplified, the assembly is convenient, and the cost of the light receiving component and the whole distance measuring device can be effectively reduced.

Drawings

One or more implementations are illustrated by way of example in the accompanying drawings, which are not to be construed as limiting the embodiments, in which elements having the same reference numerals are identified as similar elements, and in which the drawings are not to be construed as limited, unless otherwise specified.

Fig. 1 is a schematic plan view of a single-lens distance measuring device according to a first embodiment of the present invention;

FIG. 2 is a schematic plan view of one embodiment of a light emitting assembly of the single-lens distance measuring device of FIG. 1;

FIG. 3 is a schematic plan view of one embodiment of a light receiving assembly of the single-lens distance measuring device of FIG. 1;

FIG. 4 is a schematic plan view of a single-lens range finder according to a second embodiment of the present invention;

FIG. 5 is a schematic plan view of a single-lens range finder according to a third embodiment of the present invention;

FIG. 6 is a schematic plan view of a single-lens range finder according to a fourth embodiment of the present invention;

fig. 7 is a schematic plan view of a single-lens distance measuring device according to a fifth embodiment of the present invention;

FIG. 8 is a schematic plan view of a single-lens range finder according to a sixth embodiment of the present invention;

FIG. 9 is a schematic plan view of a single-lens range finder according to a seventh embodiment of the present invention;

FIG. 10 is a perspective view of the single-lens rangefinder of FIG. 9;

fig. 11 is a schematic perspective view of a laser radar according to an embodiment of the present invention;

fig. 12 is an exploded perspective view of the lidar shown in fig. 11.

Detailed Description

In order to facilitate an understanding of the utility model, the utility model is described in more detail below with reference to the accompanying drawings and specific examples. It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may be present. As used in this specification, the terms "vertical," "horizontal," "left," "right," "up," "down," "inner," "outer," "bottom," and the like are used in the orientation or positional relationship indicated in the drawings for convenience in describing the utility model and for simplicity in description, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting. Furthermore, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the utility model herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the utility model. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

Furthermore, the technical features mentioned in the different embodiments of the utility model described below can be combined with each other as long as they do not conflict with each other.

Fig. 1 is a schematic plan view of a single-lens distance measuring device 100 according to a first embodiment of the present invention. As shown in fig. 1, the single-lens ranging apparatus 100 may mainly include a light emitting module 10 and a light receiving module 20. The light emitting assembly 10 is used for emitting light to a target object to be measured. The light receiving member 20 includes an image sensor 21 and an aspherical lens 22. The aspheric surface lens 22 is used for allowing at least a part of the light reflected from the target object to pass through and project to the image sensor 21; for example, the aspheric lens 22 may be an aspheric glass lens. The light emitting module 10 and the light receiving module 20 may be used as a core ranging part of a ranging radar such as a triangulation method. The image sensor 21 of the light receiving assembly 20 is configured to sense the light reflected by the target object and generate a corresponding photoelectric signal, which can be used as a basis for calculating the distance between the target object and the single-lens ranging device 100 according to the principle of triangulation.

It is pointed out here that the principle of triangulation is: the light emitting assembly 10 emits light such as laser light, and after irradiating a target object, the reflected light is received by an image sensor 21 such as a linear CCD (Charge Coupled Device), and since the light emitting assembly 10 and the image sensor 21 are spaced apart by a certain distance, target objects at different distances will be imaged at different positions on the image sensor 21 such as a linear CCD according to an optical path; further, the distance between the target object to be measured and the single-lens ranging apparatus 100 can be derived by performing calculation according to the trigonometric formula.

In the single-lens distance measuring device 100 of this embodiment, the light receiving assembly 20 includes an aspheric lens 22, that is, the light receiving assembly 20 is designed as a single lens, so that the lens structure of the distance measuring device can be effectively simplified, and the assembly is also convenient, which can effectively reduce the cost of the light receiving assembly 20 and the whole distance measuring device.

In some embodiments, as shown in FIG. 1, the light emitting assembly 10 includes a light emitter 11 and a collimating optic 12. The light emitter 11 is used for emitting the light, and the collimating lens 12 is used for passing the emitted light and collimating the light passing through the collimating lens. For example, the light emitter 11 may be configured as a laser emitter, such as a laser diode, which may emit laser pulses for ranging. The pulsed laser emitted by the light emitter 11 may be a high-frequency pulsed laser, for example, a pulsed laser with a frequency of 1kHz or higher. It will be appreciated that in other embodiments, other devices capable of emitting light may be used as the light emitting assembly 10. By adopting one collimating lens 12 in the light emitting assembly 10, that is, adopting the design of a single lens for the light emitting assembly 10, the lens structure of the distance measuring device can be further effectively simplified, the assembly is also convenient, and the cost of the light emitting assembly 10 and the whole distance measuring device can be effectively reduced.

Referring to fig. 1 and 2, fig. 2 is a schematic plan view of an embodiment of the light emitting assembly 10 of the single-lens ranging apparatus 100 shown in fig. 1. In this embodiment of the light emitting assembly 10, the collimating lens 12 can be disposed such that the outgoing light L1 emitted therefrom makes a first angle a1 with the first optical axis X1 of the light emitter 11. The first optical axis X1 of the light emitter 11 may be its central axis. It is noted that FIG. 1 may be a top view of a single-lens ranging device 100, wherein the X-axis and Z-axis define a horizontal plane; FIG. 2 may be a side view of single-lens ranging device 100, where the Y-axis defines a height direction perpendicular to a horizontal plane. In this embodiment, by defining the first included angle a1, it is meant that the outgoing light ray L1 intersects the first optical axis X1, rather than being parallel to each other; for example, the first included angle a1 may be in a range of 0.5 degrees to 5 degrees, and specifically may be 0.5 degrees, 0.8 degrees, 1 degree, 1.2 degrees, 2 degrees, 5 degrees, and the like. By forming the first included angle a1, the first optical axis X1 of the light emitter 11 can be kept in a horizontal plane, and the alignment lens 12 is shifted to adjust the pitch angle of the outgoing light L1, which can prevent the light such as laser from hitting the ground and causing the failure of the construction of the distance measuring device. In other embodiments, the first optical axis X1 of the light emitter 11 may coincide with the second optical axis X2 of the collimating lens 12.

As an example, referring to fig. 1 and 2, the single-lens ranging apparatus 100 may be arranged such that the first optical axis X1 of the light emitter 11 is in a horizontal direction, and the second optical axis X2 of the collimating lens 12 is directly above the first optical axis X1; that is, the light emitter 11 and the collimating lens 12 are offset in the height direction Y, so that the desired first included angle a1 can be obtained. The second optical axis X2 of the collimating lens 12 can be its central axis. In addition, in some embodiments, the second optical axis X2 of the collimating lens 12 can be kept parallel to the first optical axis X1 of the light emitter 11. Furthermore, as shown in fig. 1, in a top view, the second optical axis X2 of the collimating lens 12 and the first optical axis X1 of the light emitter 11 may coincide.

In some embodiments, as shown in conjunction with fig. 1 and 2, the single-lens ranging device 100 may further include a circuit board 40. The light emitting module 10 and the light receiving module 20 are electrically connected to the circuit board 40, and are used for transmitting and controlling signals. The light emitting assembly 10, such as a laser diode, may be mounted on the circuit board 40 by soldering, or integrally provided on the circuit board 40. The aspheric lens 22 may be mounted on a frame, such as a lens barrel, which may be secured to the circuit board 40 by a bracket 50, and such that the aspheric lens 22 is positioned generally above the image sensor 21. The laser pulses reflected back by the target object may be focused and collimated by an aspheric lens 22 before being sensed by an image sensor 21. The collimating lens 12 may be mounted on another frame, such as a lens barrel, which may be fixed on the circuit board 40 by a bracket 50, and such that the collimating lens 12 is located above the light emitter 11. The collimating optic 12 is capable of focusing and collimating the laser pulses passing therethrough. In addition, the two frames may be independent members; alternatively, the two frames may be integrally formed with the holder 50 and form a space for accommodating the collimating lens 12 and the aspherical lens 22; thus, the collimating lens 12 and the aspheric lens 22 can be mounted on such an integrally formed component, which is then mounted on the circuit board 40.

In some embodiments, as shown in FIG. 1, the light emitting assembly 10 and the light receiving assembly 20 are mounted on the circuit board 40 by a bracket 50. The bracket 50 may be any structure capable of fixing the light emitting module 10 and the light receiving module 20, and is then fixedly combined with the circuit board 40, so that the relative positions of the light emitting module 10 and the light receiving module 20 and the circuit board 40 can be fixed. The bracket 50 may be an integral structure or two separate structures; in the case of two separate structures, they may fix the light emitting module 10 and the light receiving module 20, respectively, and then be mounted on the circuit board 40, respectively.

In some embodiments, as shown in FIG. 1, the image sensor 21 and the light emitter 11 are both disposed on the circuit board 40. The circuit board 40 may be a printed circuit board, which may include a substrate, which may be prepared from the following materials: cu alloys such as brass and bronze; stainless steel, particularly low alloy stainless steel; a magnesium alloy; aluminum; aluminum alloys, specifically wrought (zero) aluminum alloys, such as, for example, EN AW-6061, and the like. In addition, the substrate of the circuit board 40 may be made of glass, glass ceramic, or ceramic. When the substrate of the circuit board 40 is made of a metal material, heat can be dissipated well, canceling out thermal tension. Since the circuit board 40 is generally a flat plate structure, when the image sensor 21 and the light emitter 11 are both disposed on the circuit board 40, the first optical axis X1 of the light emitter 11 and the third optical axis X3 of the image sensor 21 are parallel to each other. The third optical axis X3 of the image sensor 21 may be an axis passing through a center point of the image sensor 21 and perpendicular thereto.

Referring to fig. 1 and fig. 3, fig. 3 is a schematic plan view of an embodiment of the light receiving element 20 of the single-lens distance measuring device 100 shown in fig. 1. In this embodiment of the light receiving module 20, the third optical axis X3 of the image sensor 21 and the fourth optical axis X4 of the aspheric lens 22 are disposed in parallel and offset, and the third optical axis X3 of the image sensor 21 is farther from the light emitting module 10 than the fourth optical axis X4 of the aspheric lens 22. The fourth optical axis X4 of the aspheric lens 22 can be its central axis. In addition, the third optical axis X3 of the image sensor 21 is parallel to the first optical axis X1 of the light emitter 11, and the third optical axis X3 of the image sensor 21 is perpendicular to the circuit board 40. For example, in the embodiment shown in fig. 1 and 3, the third optical axis X3 of the image sensor 21 and the fourth optical axis X4 of the aspheric lens 22 are both on the left side of the first optical axis X1 of the light emitter 11, and the third optical axis X3 of the image sensor 21 is offset more to the left than the fourth optical axis X4 of the aspheric lens 22. In addition, the light receiving module 20 may also be located at the right side of the light emitting module 10; at this time, the third optical axis X3 of the image sensor 21 and the fourth optical axis X4 of the aspherical lens 22 are both on the right side of the first optical axis X1 of the light emitter 11, and the third optical axis X3 of the image sensor 21 is shifted more to the right than the fourth optical axis X4 of the aspherical lens 22. It is easy to understand that, in the near measurement range, since the laser emitted from the light emitting element 10 is mostly projected in the direction of the light emitting element 10 far away from the image sensor 21 after passing through the aspheric lens 22 after being irradiated to the target object, the sensor target surface of the image sensor 21 can be maximally utilized by biasing the image sensor 21 to the side far away from the light emitting element 10. In other embodiments, the third optical axis X3 of the image sensor 21 and the fourth optical axis X4 of the aspheric lens 22 may coincide.

Fig. 4 is a schematic plan view of a single-lens distance measuring device 100 according to a second embodiment of the present invention. The single-lens ranging apparatus 100 in this second embodiment may be substantially the same as the single-lens ranging apparatus 100 shown in fig. 1 to 3, except that the installation manner of the light emitter 11 in fig. 4 is changed. Specifically, the image sensor 21 of the single-lens ranging apparatus 100 in this second embodiment may be provided on the circuit board 40; the light emitter 11 may not be directly disposed on the circuit board 40, but electrically connected to the circuit board 40 through a wire 56. For example, the lead 56 may be a flexible lead or a flexible circuit board.

Fig. 5 is a schematic plan view of a single-lens distance measuring device 100 according to a third embodiment of the present invention. The single-lens ranging apparatus 100 in the third embodiment may be substantially the same as the single-lens ranging apparatus 100 shown in fig. 1 to 3, except that the position relationship between the first optical axis X1 of the light emitter 11 and the second optical axis X2 of the collimating lens 12 in fig. 5 is changed. Specifically, the first optical axis X1 of the light emitter 11 and the second optical axis X2 of the collimating lens 12 of the single-lens distance measuring device 100 in this third embodiment are parallel and offset, and the first optical axis X1 of the light emitter 11 is farther from the light receiving module 20 than the second optical axis X2 of the collimating lens 12. In addition, the third optical axis X3 of the image sensor 21 and the fourth optical axis X4 of the aspheric lens 22 may coincide and be located on the same straight line, and the third optical axis X3 of the image sensor 21 is perpendicular to the circuit board 40. By making the first optical axis X1 of the light emitter 11 farther from the light receiving component 20 than the second optical axis X2 of the collimating lens 12, the outgoing light L1 exiting through the collimating lens 12 forms an included angle with the first optical axis X1 of the light emitter 11 in the horizontal direction, that is, the outgoing light L1 of, for example, laser generates a heading angle.

Fig. 6 is a schematic plan view of a single-lens distance measuring device 100 according to a fourth embodiment of the present invention. The single-lens ranging apparatus 100 in the fourth embodiment may be substantially the same as the single-lens ranging apparatus 100 shown in fig. 1 to 3, except that the positional relationship between the light emitting device 10 and the light receiving device 20 in fig. 6 is changed. Specifically, in the single-lens distance measuring device 100 of the fourth embodiment, a straight line X5 passing through the fourth optical axis X4 of the aspheric lens 22 and the second optical axis X2 of the collimating lens 12 forms a second angle a2 with the horizontal plane P. In addition, the image sensor 21 has an extending direction X6 parallel to the straight line X5, and a third optical axis X3 of the image sensor 21 is perpendicular to the circuit board 40. For example, the second included angle a2 may be greater than 0 degree and equal to or less than 90 degrees, such as 5 degrees, 10 degrees, 15 degrees, 30 degrees, 45 degrees, 60 degrees, 70 degrees, 90 degrees, and the like. The line X5 may be defined as a baseline. In addition, the extending direction X6 of the image sensor 21 may be the extending direction of the surface thereof receiving the light; for example, the image plane of the image sensor 21 receiving light may be a rectangle, and the extending direction X6 may be the longitudinal direction of the rectangle. More precisely, the extension direction X6 may be a row direction of imaging units in the image sensor 21. By arranging the line X5 to have a second angle a2 with the horizontal plane P, which is actually the case when the line X5 is not parallel to the horizontal plane, the influence of multipath reflections on the ranging radar can be reduced, thereby improving the robustness of the ranging system.

Fig. 7 is a schematic plan view of a single-lens distance measuring device 100 according to a fifth embodiment of the present invention. The single-lens ranging apparatus 100 in this fifth embodiment may be substantially the same as the single-lens ranging apparatus 100 shown in fig. 6, except that the positional relationship between the light emitting element 10 and the light receiving element 20 in fig. 7 is changed. Specifically, in the single-lens ranging apparatus 100 in this fifth embodiment, a straight line X5 passing through the fourth optical axis X4 of the aspherical lens 22 and the second optical axis X2 of the collimating lens 12 is parallel to the horizontal plane P. In addition, the image sensor 21 has an extending direction X6 parallel to the straight line X5, and a third optical axis X3 of the image sensor 21 is perpendicular to the circuit board 40. In this embodiment, the light emitting module 10 and the light receiving module 20 may be flush in the horizontal direction such that the straight line X5 as a base line is parallel to the horizontal plane P; correspondingly, the image sensor 21 does not need to be placed at any inclination.

Fig. 8 is a schematic plan view of a single-lens distance measuring device 100 according to a sixth embodiment of the present invention. The single-lens ranging apparatus 100 in the sixth embodiment may be substantially the same as the single-lens ranging apparatus 100 shown in fig. 1 to 3, except that the arrangement of the light receiving element 20 in fig. 8 is changed. Specifically, in the single-lens distance measuring device 100 in this sixth embodiment, the fourth optical axis X4 of the aspherical lens 22 intersects both the third optical axis X3 of the image sensor 21 and the first optical axis X1 of the light emitter 11; that is, the fourth optical axis X4 of the aspherical lens 22 and the third optical axis X3 of the image sensor 21 may not be parallel in the horizontal direction. In addition, the fourth optical axis X4 of the aspheric lens 22 may pass through the receiving surface of the image sensor 21, and the third optical axis X3 of the image sensor 21 and the first optical axis X1 of the light emitter 11 are perpendicular to the circuit board 40. For example, the angle at which the fourth optical axis X4 of the aspheric lens 22 intersects the third optical axis X3 of the image sensor 21 and the first optical axis X1 of the light emitter 11 may be, for example, in the range of 3 degrees to 30 degrees, such as 3 degrees, 5 degrees, 8 degrees, 10 degrees, 15 degrees, 20 degrees, 25 degrees, 30 degrees, and the like. This arrangement also maximizes the use of the sensor target surface of the image sensor 21.

Fig. 9 and fig. 10 are a schematic plan view and a schematic perspective view of a single-lens distance measuring device 100 according to a seventh embodiment of the present invention. The single-lens ranging apparatus 100 in this seventh embodiment may be substantially the same as the single-lens ranging apparatus 100 shown in fig. 1 to 3, except that the relative arrangement of the light emitting module 10 and the light receiving module 20 is changed in fig. 9 and 10. Specifically, in the single-lens distance measuring device 100 in this seventh embodiment, the third optical axis X3 of the image sensor 21 and the fourth optical axis X4 of the aspheric lens 22 are arranged in parallel and offset, the third optical axis X3 of the image sensor 21 is farther from the light emitting module 10 than the fourth optical axis X4 of the aspheric lens 22, and the third optical axis X3 of the image sensor 21 is perpendicular to the circuit board 40. In addition, the light receiving module 20 is mounted on the circuit board 40 through a bracket 50, the light emitting module 10 is mounted on the bracket 50, and the first optical axis X1 of the light emitter 11 and the third optical axis X3 of the image sensor 21 form a third included angle A3. In this embodiment, the third angle A3 is formed by the third optical axis X3 of the image sensor 21 and the first optical axis X1 of the light emitter 11 by tilting the light receiving module 20 as a whole with respect to the light emitting module 10. The third included angle a3 may be, for example, in a range of 3 degrees to 30 degrees, such as 3 degrees, 5 degrees, 8 degrees, 10 degrees, 15 degrees, 20 degrees, 25 degrees, 30 degrees, and the like. This arrangement also maximizes the use of the sensor target surface of the image sensor 21.

Specifically, as shown in fig. 10, a perspective view of the light emitting module 10, the light receiving module 20, and the holder 50 of the single-lens ranging apparatus 100 of this embodiment is shown. The light emitting assembly 10 may include a light emitter and a collimating optic 12; the light receiving member 20 may include an image sensor 21 and an aspherical lens 22. The holder 50 may include a base 51 and an upper cover 52 to mount the light emitting module 10 and the light receiving module 20 thereon. Wherein the bracket 50 mounts the light emitting module 10 such that the light emitting module 10 as a whole is inclined with respect to the light receiving module 20 and the circuit board 40. In addition, the light emitting module 10 and the light receiving module 20 may be installed at different height positions of the bracket 50 such that the aforementioned base line and the horizontal plane are not parallel, thereby reducing the multipath reflection phenomenon.

In some embodiments, referring to fig. 1, the image sensor 21 may be a CMOS (Complementary Metal-Oxide semiconductor) sensor or a CCD (Charge Coupled Device) sensor. In addition, the image sensor 21 may be a line array sensor or an area array sensor. For example, the image sensor 21 may be a linear CMOS sensor, an area CMOS sensor, a linear CCD sensor, an area CCD sensor, or the like. These image sensors can convert the optical image on the photosensitive surface into an electrical signal in a proportional relationship with the optical image by the photoelectric conversion function of the photoelectric device.

In some embodiments, as shown in fig. 1, the single-lens ranging apparatus 100 may further include a processing unit 30. The processing unit 30 is configured to receive the signal generated by the image sensor 21 and perform distance calculation and determination according to a triangulation distance measuring principle, and the processing unit 30 is electrically connected to the circuit board 40 and is configured to implement signal transmission, control, and the like. In addition, a control device for controlling the light emitting assembly 10 to emit, for example, laser pulses may be mounted on the circuit board 40, and such a control device may be integrated in the processing unit 30, so that the processing unit 30 becomes a master control device.

Referring to fig. 11 and fig. 12, a perspective view and an exploded perspective view of a laser radar 200 according to an embodiment of the present invention are shown. As shown in fig. 11 and 12, the laser radar 200 may mainly include any one of the above-described single-lens ranging devices 100, and the rotating pan/tilt head 60.

The rotating tripod head 60 may include a base 61, a rotating base 62, a transmission mechanism 63 and a driving device 64, wherein the rotating base 62 is rotatably installed on the base 61, the driving device 64 is installed on the base 61, the transmission mechanism 63 is connected with the rotating base 62 and the driving device 64, and the single-lens ranging device 100 is disposed on the rotating base 62.

The single-lens distance measuring device 100 has a light emitting module 10 for emitting a light signal such as a laser, a light receiving module 20 for receiving the light signal reflected by the target to be measured and inputting the light signal to a processing unit 30 via a circuit board 40, the processing unit 30 for analyzing and processing the input light signal, a transmission mechanism 63 for transmitting power between a driving device 64 and a rotating base 62, and the driving device 64 for outputting power to rotate the rotating base 62 around the rotation axis. Thus, by providing the rotating pan/tilt head 60, for example, 360 ° scanning work of the laser radar 200 can be realized.

Further, the rotating turret 60 may also include a baffle 65. The base 61 is provided with a containing groove, the rotating seat 62 is rotatably arranged on the base 61 and covers a part of the containing groove, the rotating seat 62 can rotate around a rotating axis relative to the base 61, and the mounting part of the rotating seat 42 can be rotatably arranged on the base 41 through a bearing 6201; the baffle 65 is mounted on the base 61 and covers another part of the receiving groove, that is, the rotary seat 62 and the baffle 65 together cover the notch of the receiving groove to prevent external impurities from entering the receiving groove from the notch of the receiving groove. The driving device 64 is mounted on the surface of the base 61 opposite to the accommodating groove, the transmission mechanism 63 is connected with the rotating base 62 and the driving device 64, and the transmission mechanism 63 is accommodated in the accommodating groove. Through the arrangement, the situation that external sundries enter the accommodating groove to influence the work of the transmission mechanism 63 can be prevented, and the phenomenon that the laser radar 200 cannot normally work due to the external sundries is avoided.

In some embodiments, as shown in fig. 11 and 12, the rotating platform 60 further includes a cover 66, the cover 66 is covered on the rotating base 62 and is fixedly connected with the rotating base 62, and the single-lens distance measuring device 100 is accommodated inside the cover 66. The housing 66 may be provided with a first through hole 661 and a second through hole 662, the first through hole 661 and the second through hole 662 may correspond to the light receiving module 20 and the light emitting module 10, respectively, for allowing the light signal emitted from the light emitting module 10 to exit the interior of the housing 66, and the first through hole 661 for allowing the light signal reflected by the object to be measured to enter the interior of the housing 66 and be received by the light receiving module 20. Alternatively, the housing 66 may be a closed structure, that is, the first through hole 661 and the second through hole 662 are not provided, but a solid structure that can transmit laser light is adopted; in this way, contaminants are prevented from entering the interior of the housing 66.

In some embodiments, the lidar 200 may further include a control board electrically connected to the light emitting assembly 10, the circuit board 40 and the driving device 64, wherein the control board may be used to drive the light emitting assembly 10 to emit, for example, laser signals, transmit signals through the circuit board 40, and control the rotation of the rotary base 62 through the driving device 64. Alternatively, the control board may be integrated with the circuit board 40 as a single circuit board.

The embodiment of the utility model also provides a mobile robot, which comprises the laser radar 200 provided by any one of the above embodiments.

It should be noted that the description of the present invention and the accompanying drawings illustrate preferred embodiments of the present invention, but the present invention may be embodied in many different forms and is not limited to the embodiments described in the present specification, which are provided as additional limitations to the present invention, and the present invention is provided for understanding the present disclosure more fully. Furthermore, the above-mentioned technical features are combined with each other to form various embodiments which are not listed above, and all of them are regarded as the scope of the present invention described in the specification; further, modifications and variations will occur to those skilled in the art in light of the foregoing description, and it is intended to cover all such modifications and variations as fall within the true spirit and scope of the utility model as defined by the appended claims.

Claims

1. A single-lens ranging device (100), comprising:

a light emitting assembly (10), the light emitting assembly (10) being used for emitting light to a target object to be measured; and

a light receiving assembly (20), the light receiving assembly (20) comprising an image sensor (21) and an aspheric lens (22), the aspheric lens (22) being configured to pass at least a portion of the light reflected from the target object and project the light to the image sensor (21).

2. The single-lens ranging apparatus (100) of claim 1, wherein:

the light emitting assembly (10) comprises a light emitter (11) and a collimating lens (12), wherein the light emitter (11) is used for emitting the light rays, and the collimating lens (12) is used for allowing the emitted light rays to pass through and collimating the light rays passing through the collimating lens.

3. The single-lens ranging apparatus (100) of claim 2, wherein:

the collimating optic (12) is arranged such that the light rays exiting therethrough make a first angle (A1) with a first optical axis (X1) of the light emitter (11).

4. The single-lens ranging apparatus (100) of claim 2, wherein:

the single-lens distance measuring device (100) is arranged such that a first optical axis (X1) of the light emitter (11) is in a horizontal direction and a second optical axis (X2) of the collimating lens (12) is directly above the first optical axis (X1).

5. The single-lens ranging apparatus (100) of claim 2, further comprising:

a circuit board (40); the light emitting component (10) and the light receiving component (20) are both electrically connected with the circuit board (40).

6. The single-lens ranging apparatus (100) of claim 5, wherein:

the light emitting module (10) and the light receiving module (20) are mounted on the circuit board (40) through a bracket (50).

7. The single-lens ranging apparatus (100) of claim 5, wherein:

the image sensor (21) and the light emitter (11) are both disposed on the circuit board (40); or

The image sensor (21) is arranged on the circuit board (40), and the light emitter (11) is electrically connected with the circuit board (40) through a lead (56).

8. The single-lens ranging apparatus (100) of claim 5, wherein:

the third optical axis (X3) of the image sensor (21) and the fourth optical axis (X4) of the aspheric lens (22) are arranged in parallel and offset, and the third optical axis (X3) of the image sensor (21) is farther away from the light emitting module (10) than the fourth optical axis (X4) of the aspheric lens (22); and is

The third optical axis (X3) of the image sensor (21) and the first optical axis (X1) of the light emitter (11) are parallel, and the third optical axis (X3) of the image sensor (21) is perpendicular to the circuit board (40).

9. The single-lens ranging apparatus (100) of claim 5, wherein:

the first optical axis (X1) of the phototransmitter (11) and the second optical axis (X2) of the collimating lens (12) are arranged in parallel and offset, and the first optical axis (X1) of the phototransmitter (11) is farther away from the light receiving assembly (20) than the second optical axis (X2) of the collimating lens (12); and is

The third optical axis (X3) of the image sensor (21) and the fourth optical axis (X4) of the aspherical lens (22) coincide, and the third optical axis (X3) of the image sensor (21) is perpendicular to the circuit board (40).

10. The single-lens ranging apparatus (100) of claim 5, wherein:

a straight line (X5) passing through the fourth optical axis (X4) of the aspherical mirror (22) and the second optical axis (X2) of the collimating mirror (12) makes a second angle (a2) with the horizontal plane, the image sensor (21) has an extension direction parallel to the straight line (X5), and the third optical axis (X3) of the image sensor (21) is perpendicular to the circuit board (40).

11. The single-lens ranging apparatus (100) of claim 5, wherein:

a straight line (X5) passing through the fourth optical axis (X4) of the aspherical lens (22) and the second optical axis (X2) of the collimating lens (12) is parallel to a horizontal plane, the image sensor (21) has an extending direction parallel to the straight line (X5), and the third optical axis (X3) of the image sensor (21) is perpendicular to the circuit board (40).

12. The single-lens ranging apparatus (100) of claim 5, wherein:

the fourth optical axis (X4) of the aspherical lens (22) intersects both the third optical axis (X3) of the image sensor (21) and the first optical axis (X1) of the light emitter (11), and

the fourth optical axis (X4) of the aspherical mirror (22) passes through the receiving surface of the image sensor (21), and the third optical axis (X3) of the image sensor (21) and the first optical axis (X1) of the light emitter (11) are perpendicular to the circuit board (40).

13. The single-lens ranging apparatus (100) of claim 5, wherein:

the third optical axis (X3) of the image sensor (21) and the fourth optical axis (X4) of the aspheric lens (22) are arranged in parallel and offset, the third optical axis (X3) of the image sensor (21) is farther away from the light emitting assembly (10) than the fourth optical axis (X4) of the aspheric lens (22), and the third optical axis (X3) of the image sensor (21) is perpendicular to the circuit board (40); and is

The light receiving assembly (20) is mounted on the circuit board (40) by a bracket (50), the light emitting assembly (10) is mounted on the bracket (50), and the first optical axis (X1) of the light emitter (11) and the third optical axis (X3) of the image sensor (21) form a third included angle (A3).

14. The single-lens ranging apparatus (100) of any one of claims 1-13, wherein:

the image sensor (21) is a CMOS or CCD sensor.

15. The single-lens ranging apparatus (100) of any one of claims 1-13, wherein:

the image sensor (21) is a linear array sensor or an area array sensor.

16. The single-lens ranging apparatus (100) of any one of claims 1-13, further comprising:

a processing unit (30), said processing unit (30) being adapted to receive signals generated by said image sensor (21) and to perform distance calculations and determinations according to the principle of triangulation;

the processing unit (30) is electrically connected with the circuit board (40).

17. A lidar (200) comprising:

a single-lens ranging apparatus (100) according to any of claims 1-16; and

rotatory cloud platform (60), rotatory cloud platform (60) includes base (61), roating seat (62), drive mechanism (63) and drive arrangement (64), roating seat (62) rotationally install in base (61), drive arrangement (64) install in base (61), drive mechanism (63) are connected roating seat (62) and drive arrangement (64), single lens range unit (100) set up in roating seat (62).

18. A mobile robot, characterized in that it comprises a lidar (200) according to claim 17.