CN217360311U

CN217360311U - Distance measuring device, laser radar and mobile robot

Info

Publication number: CN217360311U
Application number: CN202121436317.1U
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: 2021-05-31
Filing date: 2021-06-24
Publication date: 2022-09-02
Anticipated expiration: 2031-06-24

Abstract

The embodiment of the utility model provides a relate to range finding technical field, disclose a range unit, laser radar and mobile robot. Wherein, the range unit includes: a laser emitting unit for emitting pulsed laser to a target object to be measured; a first receiving unit for receiving the pulsed laser light reflected from the target object and generating a corresponding first signal; the first signal is used for calculating and determining the distance according to the principle of triangular distance measurement; a second receiving unit for receiving the pulsed laser light reflected from the target object and generating a corresponding second signal; the second signal is used for distance calculation and determination according to the time-of-flight principle. Wherein at least two of the laser emitting unit, the first receiving unit, and the second receiving unit are disposed on different circuit boards. The embodiment of the utility model provides a range unit is applicable to far and near distance's measurement, and measuring precision is higher.

Description

Distance measuring device, laser radar and mobile robot

Technical Field

The utility model relates to a range finding technical field especially relates to a range unit and laser radar and mobile robot that have this kind of range unit.

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, the response is fast, and the hardware cost is relatively low. Therefore, triangulation is widely used in most consumer-grade optical positioning devices, such as laser radars for sweeping robots.

As shown in fig. 1, a related art distance measuring device 1 is shown. The distance measuring device 1 can be based on triangulation and essentially comprises a laser emitting assembly 2 and an image sensor assembly 3. The distance measuring device 1 measures by emitting laser light through the laser emitting assembly 2, capturing target reflected light by the image sensor assembly 3 through the light receiving assembly 4, and generating a signal response at a certain area position of the image sensor assembly 3.

The distance measuring device 1 may further include a module bracket 7 having a base 5 and an upper cover 6 for mounting the laser emitting assembly 2, the light receiving assembly 4, and the image sensor assembly 3 on the module bracket 7.

However, although the distance measuring apparatus using the triangulation method has high measurement accuracy for a short distance, it has poor measurement accuracy for a long distance; this makes it difficult for a distance measuring apparatus using triangulation to be suitable for long-distance measurement.

SUMMERY OF THE UTILITY MODEL

The utility model discloses the main technical problem who solves provides a range unit, can be applicable to remote and closely accurate measurement.

The embodiment of the utility model provides a solve its technical problem and provide following technical scheme.

A ranging apparatus comprising: the laser emitting unit is used for emitting pulse laser to a target object to be measured; a first receiving unit for receiving the pulsed laser light reflected from the target object and generating a corresponding first signal; the first signal is used for calculating and determining the distance according to the principle of triangular distance measurement; a second receiving unit for receiving the pulsed laser light reflected from the target object and generating a corresponding second signal; the second signal is used for distance calculation and determination according to the time-of-flight principle. Wherein at least two of the laser emitting unit, the first receiving unit, and the second receiving unit are disposed on different circuit boards.

As a further improvement of the above technical solution, the laser emitting unit, the first receiving unit, and the second receiving unit are respectively disposed on a first circuit board, a second circuit board, and a third circuit board.

As a further improvement of the above technical solution, the distance measuring device further includes a mounting structure, and the mounting structure keeps the first circuit board, the second circuit board, and the third circuit board relatively fixed.

As a further improvement of the above technical solution, the laser emitting unit and the first receiving unit are disposed on a fourth circuit board, and the second receiving unit is disposed on a third circuit board.

As a further improvement of the above technical solution, the distance measuring device further includes a mounting structure, and the mounting structure keeps the fourth circuit board and the third circuit board relatively fixed.

As a further improvement of the above technical solution, the laser emitting unit and the second receiving unit are disposed on a fifth circuit board, and the first receiving unit is disposed on the second circuit board.

As a further improvement of the above technical solution, the distance measuring device further includes a mounting structure, and the mounting structure keeps the fifth circuit board and the second circuit board relatively fixed.

As a further improvement of the above technical solution, the different circuit boards are arranged parallel to each other; alternatively, at least two of the different circuit boards are arranged non-parallel.

As a further improvement of the above technical solution, the distance measuring apparatus further includes a calculating unit, and the calculating unit is configured to receive the first signal and the second signal and perform distance calculation and determination according to a triangle distance measuring principle and a time of flight principle, respectively.

The embodiment of the utility model provides a solve its technical problem and still provide following technical scheme.

A ranging device, comprising: the laser emitting unit is used for emitting pulse laser to a target object to be measured; a first receiving unit for receiving the pulsed laser light reflected from the target object and generating a corresponding first signal; the first signal is used for calculating and determining the distance according to the principle of triangular distance measurement; a second receiving unit for receiving the pulsed laser light reflected from the target object and generating a corresponding second signal; the second signal is used for distance calculation and determination according to the time-of-flight principle. One of the first receiving unit and the second receiving unit and the laser emitting unit are arranged up and down, and the other of the first receiving unit and the second receiving unit and the laser emitting unit are arranged left and right.

As a further improvement of the above technical solution, the laser emitting unit, the first receiving unit and the second receiving unit are all disposed on the same circuit board.

As a further improvement of the above technical solution, at least two of the laser emitting unit, the first receiving unit and the second receiving unit are disposed on different circuit boards.

As a further improvement of the above technical solution, the distance measuring apparatus further comprises a calculating unit, wherein the calculating unit is configured to receive the first signal and the second signal, and perform distance calculation and determination according to a triangulation distance measuring principle and a time-of-flight principle respectively

A ranging device, comprising: the laser emitting unit is used for emitting pulse laser to a target object to be measured; a first receiving unit for receiving the pulsed laser light reflected from the target object and generating a corresponding first signal; the first signal is used for calculating and determining the distance according to the principle of triangular distance measurement; a second receiving unit for receiving the pulsed laser light reflected from the target object and generating a corresponding second signal; the second signal is used for distance calculation and determination according to the time-of-flight principle; a mirror for reflecting the pulsed laser light reflected from the target object to at least one of the first receiving unit and the second receiving unit.

As a further improvement of the above technical solution, one of the first receiving unit and the second receiving unit and the laser emitting unit are arranged on the left and right sides; the other of the first receiving unit and the second receiving unit is disposed behind the laser emitting unit, and the mirror reflects the pulsed laser light reflected from the target object to the other of the first receiving unit and the second receiving unit.

As a further improvement of the above technical solution, the other one of the first receiving unit and the second receiving unit is placed vertically or obliquely.

As a further improvement of the above technical solution, the laser emitting unit and the one of the first receiving unit and the second receiving unit are disposed on the same circuit board or on different circuit boards.

A lidar comprising: any of the above mentioned 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 distance measuring device is arranged on the rotating seat.

As a further improvement of the above technical solution, the rotating pan/tilt head further includes a cover body, and the cover body is a solid structure capable of transmitting laser.

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

Compared with the prior art, the embodiment of the utility model provides an among the range unit, because the time of flight range finding mode has the characteristics that remote precision is high, closely the precision is low, and the triangle range finding mode is then closely precision height, remote precision poor, consequently through combining the advantage of time of flight range finding and triangle range finding for the range unit of this application is applicable to far and near distance's measurement, and measuring precision is higher. Additionally, the embodiment of the utility model provides a range unit when taking into account far and near distance measurement, can also make the structure compacter.

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 perspective view of a related art distance measuring device;

fig. 2 is a schematic perspective view of a distance measuring device according to a first embodiment of the present invention;

fig. 3 is a schematic cross-sectional view of a distance measuring device according to a first embodiment of the present invention;

FIG. 4 is a schematic diagram of an optical path of the distance measuring device shown in FIG. 3;

fig. 5 is a schematic plan view of a distance measuring device according to a second embodiment of the present invention;

fig. 6 is a schematic plan view of a distance measuring device according to a third embodiment of the present invention;

fig. 7 is a schematic plan view of a distance measuring device according to a fourth embodiment of the present invention;

fig. 8 is a schematic plan view of a distance measuring device according to a fifth embodiment of the present invention;

fig. 9 is another schematic plan view of a distance measuring device according to a fifth embodiment of the present invention;

fig. 10 is a schematic plan view of a distance measuring device according to a sixth embodiment of the present invention;

fig. 11 is a schematic cross-sectional view of a distance measuring device according to a seventh embodiment of the present invention;

fig. 12 is a schematic cross-sectional view of a distance measuring device according to an eighth embodiment of the present invention;

fig. 13 is a schematic cross-sectional view of a distance measuring device according to a ninth embodiment of the present invention;

fig. 14 is a schematic perspective view of a laser radar according to an embodiment of the present invention;

fig. 15 is an exploded perspective view of the lidar shown in fig. 14.

Detailed Description

In order to facilitate understanding of the present invention, the present invention will be described in more detail with reference to the accompanying drawings and specific embodiments. 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 herein, the terms "vertical," "horizontal," "left," "right," "upper," "lower," "inner," "outer," "bottom," and the like are used in an orientation or positional relationship indicated based on the orientation or positional relationship shown in the drawings for convenience in describing the present invention and to simplify the description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the present invention. 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 invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. 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 invention described below can be combined with each other as long as they do not conflict with each other.

Please refer to fig. 2 and fig. 3, which are a schematic perspective view and a schematic cross-sectional view of a distance measuring device 100 according to a first embodiment of the present invention. As shown, the distance measuring device 100 may mainly include a laser emitting unit 10, a first receiving unit 20, a second receiving unit 30, a calculating unit 40, and a circuit board 50. The laser emitting unit 10, the first receiving unit 20, the second receiving unit 30 and the calculating unit 40 are all connected to the circuit board 50, and are used for realizing signal transmission, control and the like.

Wherein the laser emitting unit 10 is used for emitting pulse laser to a target object to be measured. The laser emitting unit 10 may be configured as a laser diode that emits laser pulses for ranging. The pulsed laser light emitted by the laser emitting unit 10 may be high-frequency pulsed laser light, for example, pulse laser light of 1kHz or more. The laser emitting unit 10, for example, a laser diode, may be mounted on the circuit board 50 by soldering, or integrally provided on the circuit board 50. The optical axis X3 of the laser emitting unit 10 may be disposed perpendicular to the circuit board 50. The circuit board 50 may be provided with a control device for controlling the laser emitting unit 10 to emit laser pulses, and such a control device may be integrated in the calculating unit 40, so that the calculating unit 40 becomes a master control device. It is understood that in other embodiments, other devices capable of emitting laser light may also be used as the laser emitting unit 10.

The first receiving unit 20 is configured to receive the pulsed laser light reflected from the target object and generate a corresponding first signal; the first signal is used for distance calculation and determination according to the principle of triangulation, i.e. the first signal is transmitted to the calculation unit 40 for distance calculation and determination by the calculation unit 40 on the basis of the first signal and according to the principle of triangulation. The first receiving unit 20 may be mounted on the circuit board 50 by soldering, or integrally provided on the circuit board 50. The optical axis X2 of the first receiving unit 20 may be arranged perpendicular to the circuit board 50, and the first receiving unit 20 may generate a corresponding photoelectric signal and transmit the photoelectric signal to the calculating unit 40 through a line on the circuit board 50 when sensing the laser pulse reflected by the target object. The calculating unit 40 may analyze and calculate the photoelectric signal according to the principle of triangulation to obtain the distance between the target object and the ranging apparatus 100.

It is pointed out here that the principle of triangulation is: the laser emitting unit 10 emits laser light, and after the laser emitting unit 10 irradiates a target object, the reflected light is received by a first receiving unit 20, such as a linear CCD (Charge coupled device), and since the laser emitting unit 10 and the first receiving unit 20 are spaced apart by a distance, the target objects at different distances will be imaged at different positions on the first receiving unit 20, such as the linear CCD, according to an optical path; further, the distance between the target object to be measured and the distance measuring device 100 can be derived by performing the calculation according to the trigonometric formula.

The second receiving unit 30 is configured to receive the pulsed laser light reflected from the target object and generate a corresponding second signal; the second signal is used for distance calculation and determination according to the time-of-flight principle, i.e. the second signal is used for transmission to the calculation unit 40 for distance calculation and determination by the calculation unit 40 on the basis of the second signal and according to the time-of-flight principle. Wherein the second receiving unit 30 may be different from the first receiving unit 20; for example, the second receiving unit 30 includes a Single Photon Avalanche Diode (SPAD); SPAD is a uniquely designed image sensor in which each pixel has an electronic component; when a single photon, called a photon, reaches a pixel, it is "multiply-superimposed", producing a single large electrical pulse; the function of generating multiple electrons with a single photon provides many advantages such as high-precision distance measurement and higher sensitivity during image capturing, etc. The second receiving unit 30 may be mounted on the circuit board 50 by soldering, or integrally provided on the circuit board 50. The optical axis X5 of the second receiving unit 30 may be disposed perpendicular to the circuit board 50. When the second receiving unit 30 senses the laser pulse reflected back from the target object, it can generate a corresponding photoelectric signal and transmit the photoelectric signal to the calculating unit 40 through a line on the circuit board 50. The calculating unit 40 may analyze and calculate the photoelectric signal according to a Time Of Flight (TOF) principle to obtain a distance between the target object and the ranging apparatus 100.

It is pointed out here that the time-of-flight principle is: the laser emitting unit 10 emits a laser pulse, and records the emitting time by a timer, and after irradiating the target object, the reflected light is received by the second receiving unit 30, and records the receiving time by the timer; the subtraction of the two times yields the "time of flight" of the light, and the speed of the light is constant, so that the distance between the target object and the ranging device 100 can be easily calculated after knowing the speed and the time.

As described above, the calculation unit 40 is configured to receive the first signal and the second signal and perform distance calculation and determination according to the principle of triangulation and the principle of time of flight, respectively.

For example, the calculation unit 40 may be arranged to perform the following arithmetic operations.

The calculating unit 40 may analyze the first signal according to a principle of triangulation to obtain a first distance between the target object and the ranging device 100, and analyze the second signal according to a principle of time of flight to obtain a second distance between the target object and the ranging device 100; also, the calculation unit 40 may determine the distance between the target object and the ranging apparatus 100 in a weighted manner according to the first distance and the second distance.

In one example, when both the first distance and the second distance are above a first set distance, the calculation unit 40 may determine the distance between the target object and the ranging apparatus 100 mainly using the second distance. For example, the first set distance may be set to 10 meters. When the first distance is 11 meters and the second distance is 12 meters, the calculation unit 40 determines the distance between the target object and the ranging apparatus 100 to be 12 meters. This is because the distance calculated according to the time-of-flight principle is more accurate when the distance between the target object and the ranging apparatus 100 is long. Of course, in the calculation of the weighting method, the first distance may also be considered; and the weights of the first and second distances in the weighting calculation may be determined experimentally.

In one example, when the first distance and the second distance are both below a second set distance, which is smaller than the first set distance, the calculation unit 40 may determine the distance between the target object and the ranging apparatus 100 mainly using the first distance. For example, the first set distance may be 5 meters. When the first distance is 4 meters and the second distance is 3 meters, the calculation unit 40 determines the distance between the target object and the ranging apparatus 100 to be 4 meters. This is because the distance calculated according to the principle of triangulation is accurate when the distance between the target object and the ranging apparatus 100 is short. Of course, in the calculation of the weighting method, the second distance may also be considered; and the weights of the first and second distances in the weighting calculation may be determined experimentally.

In one example, when the first distance and the second distance are both greater than the second set distance and less than the first set distance, the calculation unit 40 may perform a weighted average of the distances between the target object and the ranging apparatus 100 using the first distance and the second distance, thereby determining a final result. For example, when the first distance is 8 meters and the second distance is 9 meters, the calculation unit 40 determines the distance between the target object and the ranging apparatus 100 as an average of 9 plus 8, that is, 8.5 meters. This is because, when the distance between the target object and the ranging apparatus 100 is at the intermediate distance, a more accurate distance can be obtained by weighted averaging the two distances calculated according to the principle of triangulation and the principle of time of flight. In the calculation of the weighting method, the weights of the first distance and the second distance in the weighting calculation may be determined experimentally.

In some embodiments, as shown in fig. 3, the distance measuring apparatus 100 may further include a first lens 21, and the first lens 21 is configured to allow the pulsed laser reflected by the target object to pass through and be projected to the first receiving unit 20. The first lens 21 may be mounted on a first frame 22, and the first frame 22 may be fixed on a circuit board 50 such that the first lens 21 is positioned substantially above the first receiving unit 20. The laser pulses reflected back by the target object may be focused and collimated by the first mirror 21 before being sensed by the first receiving unit 20. In addition, the first lens 21 may be an aspheric lens, such as an aspheric glass lens; therefore, by adopting the aspheric lens, that is, by adopting the design of a single lens for the lens corresponding to the first receiving unit 20, the lens structure of the distance measuring device can be effectively simplified, the assembly is also convenient, and the cost of the components corresponding to the first receiving unit 20 and the cost of the whole distance measuring device can be effectively reduced.

In some embodiments, as shown in fig. 3, the optical axis X1 of the first lens 21 and the optical axis X2 of the first receiving unit 20 can be disposed in parallel and offset, that is, the first receiving unit 20 is disposed offset from the first lens 21. Also, the optical axis X2 of the first receiving unit 20 is farther from the optical axis X3 of the laser emitting unit 10 than the optical axis X1 of the first mirror 21. For example, the optical axis X1 of the first lens 21 may be a central axis thereof, the optical axis X2 of the first receiving unit 20 may be an axis passing through and perpendicular to the central point of the first receiving unit 20, and the optical axis X3 of the laser emitting unit 10 may be a central axis thereof. For example, in the embodiment shown in fig. 3, the optical axis X2 of the first receiving unit 20 and the optical axis X1 of the first lens 21 are both on the left side of the optical axis X3 of the laser emitting unit 10, and the optical axis X2 of the first receiving unit 20 is shifted more to the left than the optical axis X1 of the first lens 21. In addition, the first receiving unit 20 and the first lens 21 may also be located at the right side of the laser emitting unit 10; at this time, the optical axis X2 of the first receiving unit 20 and the optical axis X1 of the first mirror 21 are both on the right side of the optical axis X3 of the laser emitting unit 10, and the optical axis X2 of the first receiving unit 20 is shifted more rightward than the optical axis X1 of the first mirror 21. As shown in fig. 4, in the short-distance measurement range, after the laser light L emitted from the laser emitting unit 10 is irradiated on the target object, various reflected lights L1, L2, L3, etc. pass through the first mirror 21 and are projected in the direction of the laser emitting unit 10 far from the first receiving unit 20 in many cases, so that the sensor target surface of the first receiving unit 20 can be maximally utilized by biasing the first receiving unit 20 to the side far from the laser emitting unit 10.

In some embodiments, as shown in fig. 3, the distance measuring apparatus 100 may further include a second lens 31, and the second lens 31 is configured to allow the pulsed laser reflected by the target object to pass through and be projected to the second receiving unit 30. The second lens 31 may be mounted on a second frame 32, and the second frame 32 may be fixed on a circuit board 50 such that the second lens 31 is positioned above the second receiving unit 30. An optical axis X6 of the second lens 31 may be disposed perpendicular to the circuit board 50 and coincide with an optical axis X5 of the second receiving unit 30; alternatively, the second lens 31 may be provided as an adjustable portion, and the optical axis X6 may not completely coincide with the optical axis X5 of the second receiving unit 30 when the second lens 31 is adjusted to a preferable effect. The laser pulses reflected back by the target object may be focused and collimated by the second mirror 31 before being sensed by the second receiving unit 30. For example, the optical axis X6 of the second lens 31 may be a central axis thereof, and the optical axis X5 of the second receiving unit 30 may be an axis passing through and perpendicular to the central point of the second receiving unit 30.

In some embodiments, as shown in fig. 3, the distance measuring device 100 may further include a third lens 11, and the third lens 11 is used for passing the emitted pulsed laser and projecting the pulsed laser to the target object. The third lens 11 may be mounted on a third frame 12, and the third frame 12 may be fixed on a circuit board 50 such that the third lens 11 is positioned above the laser emitting unit 10. An optical axis X4 of the third lens 11 may be disposed perpendicular to the circuit board 50 and coincide with an optical axis X3 of the laser emitting unit 10; alternatively, the optical axis X4 of the third lens 11 and the optical axis X3 of the laser emitting unit 10 may not coincide, since the optical axis X4 of the third lens 11 may be disposed slightly higher than the optical axis X3 of the laser emitting unit 10 in order to make the laser pitch angle slightly upward. The laser pulse emitted by the laser emitting unit 10 can be transmitted outwards through the third lens 11, and the third lens 11 can focus and collimate the laser pulse passing through it. For example, the optical axis X4 of the third lens 11 may be the central axis thereof.

The first lens 21, the second lens 31 and the third lens 11 may be lenses, and may be combined with more lenses. For example, the third lens 11 may also be combined with one or more lenses to form a lens group, so as to focus and collimate the laser pulse emitted by the laser emitting unit 10 for outward transmission; the second lens 31 may also be combined with one or more lenses to form a lens set to focus and collimate the laser pulses reflected by the target object before being sensed by the second receiving unit 30. In addition, in an embodiment where the optical axis X1 of the first lens 21 and the optical axis X2 of the first receiving unit 20 are disposed to be offset, a single first lens 21 may be disposed above the first receiving unit 20; the focal length of the first lens 21 may be less than or equal to 16 mm, for example, 16 mm, 14 mm, 12 mm, 10 mm, 9 mm, 8 mm, 7.5 mm, 7 mm, 6 mm, or 5 mm.

In addition, the first frame 22, the second frame 32, and the third frame 12 may be independent components from each other. Alternatively, as shown in fig. 2 and 3, the second frame 32 and the third frame 12 may be integrally formed members and form a space for accommodating the first frame 22; thus, the first frame 22 may be mounted on such an integrally formed member, which is then mounted on the circuit board 50.

In some embodiments, as shown in fig. 3, the first receiving unit 20 may include a CMOS (complementary metal Oxide Semiconductor) optical sensor or a CCD (Charge coupled Device) optical sensor; in addition, the second receiving unit may include an avalanche photodiode (Ava l and Photo Diode, APD) or a Fast photodiode (Fast Photo Diode). In the distance measuring device 100 of the present application, the reflected light signal is focused by the first lens 21 and then projected onto the surface of the first receiving unit 20, such as a CMOS or CCD optical sensor, located at the focal distance behind the first lens 21, the surface of the first receiving unit 20 being generally perpendicular to the optical axis of the first lens 21; the reflected light signal will generate a projection point on the surface of the first receiving unit 20; the position coordinates of the projection point on the imaging surface of the first receiving unit 20 can be obtained by photoelectric signal conversion by the first receiving unit 20. The CMOS or CCD optical sensor can convert the light image on the light sensing surface into an electric signal in corresponding proportional relation with the light image through the photoelectric conversion function of the photoelectric device. The first receiving unit 20 may be disposed on the circuit board 50 by welding, soldering, etc. conductive connection, however, the first receiving unit 20 may be connected with the circuit board 50 by any type of conductive connection, such as conductive adhesive, conductive rubber, spring contact, flexible printed circuit board, bond wire or plug-in connection (THT), etc., or a combination thereof.

In some embodiments, as shown in fig. 2 and 3, the first receiving unit 20 and the second receiving unit 30 may be disposed at both sides of the laser emitting unit 10; accordingly, the above-described first frame 22 and second frame 32 are also disposed on both sides of the third frame 12. Because many radar products that range unit used have waterproof, dustproof demand, consequently need dispose printing opacity sealed cowling at the radar outside, and the sealed cowling can produce refraction effect to the light path, leads to the facula to send and received signal except that the decay, still can have the deformation, generally can produce the effect the same with cylindrical mirror effect, leads to the facula horizontal direction tensile, and the vertical direction is pressed narrowly. Therefore, in this embodiment, by arranging the laser emitting unit 10 in the middle, the laser emitting unit 10 emits laser from the middle, so that the light spot is stretched in a symmetrical manner, and the center of mass of the light spot is not offset. In contrast, when the laser emitting unit 10 is disposed at an edge position, the laser light emitted from the edge causes an asymmetrical shape in which the spot is stretched, thereby causing the centroid of the spot to be offset.

In other embodiments, the positions of the first receiving unit 20 and the second receiving unit 30 and the laser emitting unit 10 may be changed; for example, the first receiving unit 20 and the second receiving unit 30 may be disposed on the same side of the laser emitting unit 10.

In some embodiments, as shown in fig. 2 and 3, the circuit board 50 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 50 may be made of glass, glass ceramic, or ceramic. When the substrate of the circuit board 50 is made of a metal material, heat can be dissipated well, canceling out thermal tension.

The same circuit board 50 is used in the above embodiments, which makes the structure more compact and facilitates the installation and distance setting between the components. In some other embodiments, at least two of the laser emitting unit 10, the first receiving unit 20 and the second receiving unit 30 may be disposed on different circuit boards to meet different structural arrangement requirements.

For example, please refer to fig. 5, which is a schematic plan view of a distance measuring device 100 according to a second embodiment of the present invention. The distance measuring device 100 provided in the second embodiment is substantially the same as the distance measuring device 100 provided in the first embodiment, except that: in this second embodiment, the laser emitting unit 10, the first receiving unit 20, and the second receiving unit 30 are disposed on a first circuit board 51, a second circuit board 52, and a third circuit board 53, respectively. The first circuit board 51, the second circuit board 52 and the third circuit board 53 may be independent circuit boards, and may be connected by a wire for signal transmission. By providing different first, second and

third circuit boards

51, 52 and 53, the positions of the laser emitting unit 10, the first receiving unit 20 and the second receiving unit 30 can be individually set; for example, the second circuit board 52 and/or the third circuit board 53 may be disposed higher than the first circuit board 51, so that the position of the first receiving unit 20 and/or the second receiving unit 30 on the second circuit board 52 and/or the third circuit board 53 in the distance measuring device 100 is raised; alternatively, the first circuit board 51, the second circuit board 52 and the third circuit board 53 may be located at the same level.

In this second embodiment, the distance measuring device 100 may further include a first lens 21, a second lens 31, and a third lens 11 similar to the first embodiment, and the optical axes X1, X6, and X4 of the first lens 21, the second lens 31, and the third lens 11 may be in the same relation with the optical axes X2, X5, and X3 of the first receiving unit 20, the second receiving unit 30, and the laser emitting unit 10 as the first embodiment. As shown in fig. 5, the optical axis X1 of the first lens 21 may coincide with the optical axis X2 of the first receiving unit 20.

Further, the distance measuring device 100 may further include a mounting structure 70, wherein the mounting structure 70 is used for holding the first circuit board 51, the second circuit board 52 and the third circuit board 53 relatively fixed. The mounting structure 70 may be an integrally formed structure or a structure assembled by a plurality of members, as long as the first circuit board 51, the second circuit board 52 and the third circuit board 53 can be kept relatively fixed. In addition, the mounting structure 70 is also used for mounting the first lens 21, the second lens 31 and the third lens 11.

Please refer to fig. 6, which is a schematic plan view of a distance measuring device 100 according to a third embodiment of the present invention. The distance measuring device 100 provided in the third embodiment is substantially the same as the distance measuring device 100 provided in the first or second embodiment, except that: in this third embodiment, the laser emitting unit 10 and the first receiving unit 20 are provided on a fourth circuit board 54, and the second receiving unit 30 is provided on a third circuit board 53. That is, the fourth circuit board 54 corresponds to replacing the first circuit board 51 and the second circuit board 52 in the second embodiment with one circuit board. The fourth circuit board 54 and the third circuit board 53 may be independent circuit boards, and may be connected by a wire for signal transmission. By providing the fourth circuit board 54 and the third circuit board 53 which are different, the position of the second receiving unit 30 can be set individually; for example, the third circuit board 53 may be disposed higher than the fourth circuit board 54, so that the position of the second receiving unit 30 on the third circuit board 53 in the distance measuring device 100 is raised; alternatively, the fourth circuit board 54 and the third circuit board 53 may be located at the same level.

Further, the distance measuring device 100 may further include a mounting structure 70, and the mounting structure 70 may hold the fourth circuit board 54 and the third circuit board 53 relatively fixed. The mounting structure 70 of this third embodiment may be similar to the mounting structure 70 of the second embodiment, and is not described herein again.

Please refer to fig. 7, which is a schematic plan view of a distance measuring apparatus 100 according to a fourth embodiment of the present invention. The distance measuring device 100 provided in the fourth embodiment is substantially the same as the distance measuring device 100 provided in the first, second, or third embodiment, except that: in this fourth embodiment, the laser emitting unit 10 and the second receiving unit 30 are provided on a fifth circuit board 55, and the first receiving unit 20 is provided on a second circuit board 52. That is, the fifth circuit board 55 corresponds to replacing the third circuit board 53 and the first circuit board 51 in the second embodiment with one circuit board. The fifth circuit board 55 and the second circuit board 52 may be independent circuit boards, and may be connected by a wire for signal transmission. By providing different fifth and

second circuit boards

55 and 52, the position of the first receiving unit 20 can be set individually; for example, the second circuit board 52 may be disposed higher than the fifth circuit board 55, so that the position of the first receiving unit 20 on the second circuit board 52 in the distance measuring device 100 is raised; alternatively, the fifth circuit board 55 and the second circuit board 52 may be located at the same level.

Further, the distance measuring device 100 may further include a mounting structure 70, and the mounting structure 70 may hold the fifth circuit board 55 and the second circuit board 52 relatively fixed. The mounting structure 70 of this fourth embodiment may be similar to the mounting structure 70 of the second or third embodiment, and is not described in detail herein.

In addition, in the distance measuring device 100 of the second to fourth embodiments described above, the different circuit boards may be arranged in parallel with each other. For example, the first circuit board 51, the second circuit board 52 and the third circuit board 53 may be mounted to be disposed parallel to each other by the mounting structure 70.

Alternatively, in the distance measuring device 100 of the second to fourth embodiments described above, at least two of the different circuit boards are arranged so as not to be parallel. For example, the second circuit board 52 or the third circuit board 53 may be mounted and disposed non-parallel to the first circuit board 51 by a mounting structure 70. In one embodiment, the first mirror 21, the first receiving unit 20 and the second circuit board 52 are disposed to be inclined with respect to the first circuit board 51 such that the optical axis X1 of the first mirror 21 intersects with the optical axis X3 of the laser emitting unit 10, the optical axis X1 of the first mirror 21 passes through and is perpendicular to the receiving surface of the first receiving unit 20, and the optical axis X1 of the first mirror 21 passes through and is perpendicular to the second circuit board 52. For example, the optical axis X1 of the first lens 21 may coincide with the optical axis X2 of the first receiving unit 20; the angle at which the optical axis X1 of the first lens 21 intersects the optical axis X3 of the laser emitting unit 10 may be, for example, 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 first receiving unit 20.

Further, in the distance measuring device 100 of the second to fourth embodiments, it may also include the calculating unit 40 mentioned above, and the calculating unit 40 is configured to receive the first signal and the second signal and perform distance calculation and determination according to the triangle distance measuring principle and the time-of-flight principle, respectively. The computing unit 40 may be similar to that in the first embodiment, with the difference that: the calculation unit 40 may be connected to all the circuit boards in one of the second to fourth embodiments so as to realize transmission, control, and the like of signals. In addition, the calculation unit 40 may be mounted on the first circuit board 51, the second circuit board 52, the third circuit board 53, the fourth circuit board 54, or the fifth circuit board 55.

The laser emitting unit 10, the first receiving unit 20, and the second receiving unit 30 in the above embodiments may be arranged in a straight line. In other embodiments, one of the first receiving unit 20 and the second receiving unit 30 may be disposed up and down with the laser emitting unit 10, and the other of the first receiving unit 20 and the second receiving unit 30 may be disposed left and right with the laser emitting unit 10.

For example, please refer to fig. 8 and fig. 9, which are two schematic plan views of a distance measuring apparatus 100 according to a fifth embodiment of the present invention. The distance measuring device 100 provided in the fifth embodiment is substantially the same as the distance measuring device 100 provided in the first to fourth embodiments; for example, the laser emitting unit 10, the first receiving unit 20, and the second receiving unit 30 in the fifth embodiment are all disposed on the same circuit board 50; alternatively, at least two of the laser emitting unit 10, the first receiving unit 20, and the second receiving unit 30 are disposed on different circuit boards; or, when different circuit boards are employed, the different circuit boards are arranged parallel to each other, or at least two of the different circuit boards are arranged non-parallel; alternatively, the ranging apparatus 100 further comprises a calculating unit 40, wherein the calculating unit 40 is configured to receive the first signal and the second signal and perform distance calculation and determination according to a triangle ranging principle and a time-of-flight principle, respectively. The fifth embodiment differs from the distance measuring device 100 provided in the first to fourth embodiments in that: in this fifth embodiment, the first receiving unit 20 may be disposed above the laser emitting unit 10, and the second receiving unit 30 may be disposed at the left side of the laser emitting unit 10.

In other embodiments, the first receiving unit 20 may be disposed below the laser emitting unit 10, and the second receiving unit 30 may be disposed at the right side of the laser emitting unit 10. Alternatively, the second receiving unit 30 may be disposed above or below the laser emitting unit 10, and the first receiving unit 20 may be disposed at the left or right side of the laser emitting unit 10.

It is noted that disposing the first receiving unit 20, such as a CMOS optical sensor or a CCD optical sensor, up and down with the laser emitting unit 10 has the following advantageous effects. Firstly, the distance measuring device 100 is arranged in the light-transmitting cover, and the light-transmitting cover can cause the light spot which is hit on the obstacle to be split after the light spot is stretched in the horizontal direction, so that the extraction precision can be influenced, and the calculation error is increased; thus, the first receiving unit 20 and the laser emitting unit 10 are placed in an up-down manner such that the laser centroid calculation is changed from the horizontal direction to the vertical direction, and thus are not affected by the obstacle cleavage spot. Secondly, the first receiving unit 20 and the laser transmitting unit 10 are placed in an up-down mode, so that the problem of multipath reflection can be avoided more effectively; this is because, since a straight line passing through the optical axis of the laser emitting unit 10 and the optical axis of the first receiving unit 20 is not parallel to a horizontal plane, the first reflected light formed by the obstacle surfaces of the laser emitting unit 10 encountering different distances is always maintained at a fixed height of the image sensor of the first receiving unit 20; most of the second reflected light generated by the multipath will hardly pass through the optical axis of the first receiving unit 20 for imaging; even if a small part of the image is formed on different line heights of the image sensor through the receiving first receiving unit 20, the information of other multi-path reflections can be effectively filtered by detecting the information on a specific line.

In addition, since the triangle distance measurement related structure requires a certain base line height, the vertical placement of the first receiving unit 20 and the laser emitting unit 10, such as a CMOS optical sensor or a CCD optical sensor, may result in a high structure height, which may have structural appearance impact for some specific use scenarios (e.g., when applied to a robot during sweeping). Embodiments of the present application may reduce this height by a reflective structure design, as described below.

For example, please refer to fig. 10, which is a schematic plan view of a distance measuring device 100 according to a sixth embodiment of the present invention. The distance measuring device 100 provided in the sixth embodiment is substantially the same as the distance measuring device 100 provided in the first to fifth embodiments; for example, the ranging apparatus 100 further comprises a calculating unit 40, wherein the calculating unit 40 is configured to receive the first signal and the second signal and perform distance calculation and determination according to a triangle ranging principle and a time-of-flight principle, respectively. The sixth embodiment differs from the distance measuring device 100 provided in the first to fifth embodiments in that: in this sixth embodiment, the distance measuring apparatus 100 further includes a mirror 73, and the mirror 73 is used for reflecting the pulse laser light reflected from the target object to at least one of the first receiving unit 20 and the second receiving unit 30.

By providing the reflecting mirror 73, it is possible to allow the mounting positions of the first receiving unit 20 and the second receiving unit 30 to be set more flexibly. For example, one of the first receiving unit 20 and the second receiving unit 30 is provided right and left with the laser emitting unit 10; the other of the first receiving unit 20 and the second receiving unit 30 is disposed behind the laser emitting unit 10, and the mirror 73 reflects the pulsed laser light reflected from the target object to the other of the first receiving unit 20 and the second receiving unit 30. In the embodiment shown in fig. 10, a second receiving unit (see the second receiving unit 30 of fig. 8) may be provided left and right from the laser emitting unit 10; the first receiving unit 20 may be disposed behind the laser emitting unit 10, and the reflecting mirror 73 reflects the pulse laser reflected from the target object to the first receiving unit 20.

As shown in fig. 10, two components shown by dotted lines are the first receiving unit 20 and the first mirror 21 which are provided when the reflecting mirror 73 is not used, which practically corresponds to the configuration shown in fig. 8 and 9. However, in this sixth embodiment, by providing the reflecting mirror 73, the vertical height of the laser emitting unit 10 and the first receiving unit 20 such as a CMOS optical sensor or a CCD optical sensor can be reduced; also, the first receiving unit 20 may be disposed at other positions in the ranging apparatus 100.

Further, in this sixth embodiment, the other of the first receiving unit 20 and the second receiving unit 30 may be placed vertically or obliquely. For example, when the mirror 73 reflects the pulse laser light reflected from the target object to the first receiving unit 20, the first receiving unit 20 is disposed behind the laser emitting unit 10, and the first receiving unit 20 is vertically placed or obliquely placed.

Further, in this sixth embodiment, the first receiving unit 20 or the second receiving unit 30 provided on the left and right of the laser emitting unit 10 may be provided on the same circuit board as the laser emitting unit 10 or on a different circuit board. It is easily understood that the first receiving unit 20 or the second receiving unit 30 disposed behind the laser transmitter unit 10 and the laser transmitter unit 10 are disposed on different circuit boards because they are disposed in front and rear.

Please refer to fig. 11, which is a schematic cross-sectional view of a distance measuring device 100 according to a seventh embodiment of the present invention. The distance measuring device 100 in this embodiment may be substantially the same as the distance measuring device 100 shown in fig. 2 to 4, except that the direction of the optical axis X1 of the first lens 21 in fig. 11 is changed. Specifically, the first lens 21 is disposed to be inclined with respect to the circuit board 50 such that the optical axis X1 of the first lens 21 intersects both the optical axis X2 of the first receiving unit 20 and the optical axis X3 of the laser light emitting unit 10, and the optical axis X1 of the first lens 21 passes through the receiving surface of the first receiving unit 20. For example, the optical axis X1 of the first lens 21 may intersect the optical axis X2 of the first receiving unit 20 on the receiving surface of the first receiving unit 20; the angle at which the optical axis X1 of the first lens 21 intersects the optical axis X2 of the first receiving unit 20 and the optical axis X3 of the laser emitting unit 10 may be, for example, in the range of 3 degrees to 30 degrees, and may be, for example, 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 first receiving unit 20. It is pointed out that the distinctive features of this seventh embodiment are equally applicable to the embodiments shown in fig. 5 to 10.

Please refer to fig. 12, which is a schematic cross-sectional view of a distance measuring device 100 according to an eighth embodiment of the present invention. The distance measuring device 100 in this embodiment may be substantially the same as the distance measuring device 100 shown in fig. 2 to 4, except that the optical axis X1 direction of the first lens 21 and the optical axis X2 direction of the first receiving unit 20 in fig. 11 are changed. Specifically, the first mirror 21 and the first receiving unit 20 are each disposed to be inclined with respect to the circuit board 50 such that the optical axis X1 of the first mirror 21 intersects the optical axis X3 of the laser emitting unit 10, and the optical axis X1 of the first mirror 21 passes through and is perpendicular to the receiving surface of the first receiving unit 20. For example, the optical axis X1 of the first lens 21 may coincide with the optical axis X2 of the first receiving unit 20; the angle at which the optical axis X1 of the first lens 21 intersects the optical axis X3 of the laser emitting unit 10 may be, for example, 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 first receiving unit 20. It is pointed out that the distinctive features of this eighth embodiment are equally applicable to the embodiments shown in fig. 5 to 10.

Please refer to fig. 13, which is a schematic cross-sectional view of a distance measuring apparatus 100 according to a ninth embodiment of the present invention. The distance measuring device 100 in this embodiment may be substantially the same as the distance measuring device 100 shown in fig. 2 to 4, and may be different in that the first frame 22, the second frame 32, and the third frame 12 in fig. 13 are changed. Specifically, in the embodiment shown in fig. 13, the third frame 12 may be mounted on the circuit board 50 as a main body frame, and the first frame 22 and the second frame 32 are respectively mounted on the third frame 12. For example, the first frame 22 may be externally threaded so as to be rotatably mounted within a threaded bore of the third frame 12; the second frame 32 may have an insertion portion or an engagement portion so as to be inserted into an insertion hole of the third frame 12 or connected with a corresponding engagement portion of the third frame 12. The above-mentioned manner can facilitate the adjustment of the first lens 21 and the second lens 31; that is, by separating the first frame 22 and the second frame 32, on which the first lens 21 and the second lens 31 are mounted, from the third frame 12, which is a main body frame, it is possible to adjust the relative positions of the first lens 21 and the first receiving unit 20 and the relative positions of the second lens 31 and the second receiving unit 30 during mounting, and fix them by an adhesive such as glue after adjustment. It is pointed out that the distinctive features of this ninth embodiment are equally applicable to the embodiments shown in fig. 5 to 10.

The embodiment of the utility model provides an among the range unit 100, because the TOF range finding mode has the characteristics that long distance precision is high, closely the precision is low, and the triangle range finding mode is then closely the precision high, long distance precision is poor, consequently through combining TOF range finding and the advantage of triangle range finding for range unit 100 of this application is applicable to far and near distance's measurement, and measured precision is higher. Additionally, the embodiment of the utility model provides a range unit 100 when taking into account far and near distance measurement, can also make the structure compacter.

Please refer to fig. 14 and fig. 15, which are a schematic perspective view and an exploded perspective view of a laser radar 200 according to an embodiment of the present invention. As shown in fig. 14 and 15, the laser radar 200 may mainly include any one of the distance measuring devices 100 described above, and the rotating pan and tilt head 60.

The rotating platform 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 to the rotating base 62 and the driving device 64, and the distance measuring device 100 is disposed on the rotating base 62.

The laser emitting unit 10 of the distance measuring device 100 is used for emitting an optical signal of laser, the first receiving unit 20 and the second receiving unit 30 are used for receiving the optical signal reflected by the target to be measured and inputting the optical signal to the calculating unit 40 through the circuit board 50, the calculating unit 40 is used for analyzing and processing the input optical signal, the transmission mechanism 63 is used for transmitting power between the driving device 64 and the rotary base 62, and the driving device 64 is used for outputting the power to enable the rotary base 62 to rotate around the rotation axis. Therefore, the 360-degree scanning work of the laser radar 200 can be realized by arranging the rotating holder 60.

Further, the rotating head 60 further includes a baffle 65. The base 61 is provided with a containing groove, the rotating seat 62 is rotatably mounted 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 mounted 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. 14 and 15, 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 distance measuring device 100 is accommodated inside the cover 66. The cover 66 may be provided with a first through hole 661, a second through hole 662 and a third through hole 663, the first through hole 661 and the second through hole 662 may correspond to the first receiving unit 20 and the second receiving unit 30, respectively, the third through hole 663 may correspond to the laser emitting unit 10, the third through hole 663 is configured to allow the optical signal emitted from the laser emitting unit 10 to exit the inside of the cover 66, the first through hole 661 is configured to allow the optical signal reflected by the object to be measured to enter the inside of the cover 66 and be received by the first receiving unit 20, and the second through hole 662 is configured to allow the optical signal reflected by the object to be measured to enter the inside of the cover 66 and be received by the second receiving unit 30. Alternatively, the cover 66 may be a closed structure, that is, a solid structure that can transmit laser light is adopted instead of the first through hole 661, the second through hole 662 and the third through hole 663; 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 laser emitting unit 10, the circuit board 50 and the driving device 64, wherein the control board may be configured to drive the laser emitting unit 10 to emit laser signals, transmit signals through the circuit board 50, and control the rotation of the rotating base 62 through the driving device 64. Alternatively, the control board may be integrated with the circuit board 50 as a single circuit board.

The embodiment of the utility model provides a still provide a mobile robot, this mobile robot includes the laser radar 200 that any embodiment of the aforesaid provided.

It should be noted that the preferred embodiments of the present invention are described in the specification and the drawings, but the present invention can be realized in many different forms, and is not limited to the embodiments described in the specification, and these embodiments are not provided as additional limitations to the present invention, and are provided for the purpose of making the understanding of the disclosure of the present invention more thorough and complete. Moreover, the above features are combined with each other to form various embodiments not listed above, and all of them are considered 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 invention as defined by the appended claims.

Claims

1. A ranging device, comprising:

a laser emitting unit (10), the laser emitting unit (10) being used for emitting pulsed laser to a target object to be measured;

a first receiving unit (20), the first receiving unit (20) for receiving the pulsed laser light reflected from the target object and generating a corresponding first signal; the first signal is used for calculating and determining the distance according to the principle of triangulation distance measurement; and

a second receiving unit (30), the second receiving unit (30) for receiving the pulsed laser light reflected from the target object and generating a corresponding second signal; the second signal is used for distance calculation and determination according to the time-of-flight principle;

wherein at least two of the laser emitting unit (10), the first receiving unit (20) and the second receiving unit (30) are provided on different circuit boards.

2. A ranging apparatus as claimed in claim 1, characterized in that:

the laser emitting unit (10), the first receiving unit (20) and the second receiving unit (30) are respectively arranged on a first circuit board (51), a second circuit board (52) and a third circuit board (53).

3. A ranging apparatus as claimed in claim 2, characterized in that:

the distance measuring device further comprises a mounting structure (70), wherein the mounting structure (70) keeps the first circuit board (51), the second circuit board (52) and the third circuit board (53) relatively fixed.

4. A ranging apparatus as claimed in claim 1, characterized in that:

the laser emitting unit (10) and the first receiving unit (20) are arranged on a fourth circuit board (54), and the second receiving unit (30) is arranged on a third circuit board (53).

5. A ranging device as claimed in claim 4, characterized in that:

the ranging device further comprises a mounting structure (70), wherein the mounting structure (70) keeps the fourth circuit board (54) and the third circuit board (53) relatively fixed.

6. A ranging apparatus as claimed in claim 1, characterized in that:

the laser emitting unit (10) and the second receiving unit (30) are arranged on a fifth circuit board (55), and the first receiving unit (20) is arranged on a second circuit board (52).

7. The ranging apparatus as claimed in claim 6, wherein:

the ranging device further comprises a mounting structure (70), wherein the mounting structure (70) keeps the fifth circuit board (55) and the second circuit board (52) relatively fixed.

8. A ranging apparatus as claimed in claim 1, characterized in that:

the different circuit boards are arranged parallel to each other; alternatively, at least two of the different circuit boards are arranged non-parallel.

9. A ranging apparatus as claimed in any of claims 1-8 wherein:

the distance measuring device further comprises a calculating unit (40), wherein the calculating unit (40) is used for receiving the first signal and the second signal and calculating and determining the distance according to a triangular distance measuring principle and a time-of-flight principle.

10. A ranging apparatus, comprising:

a first receiving unit (20), the first receiving unit (20) for receiving the pulsed laser light reflected from the target object and generating a corresponding first signal; the first signal is used for calculating and determining the distance according to the principle of triangular distance measurement; and

a second receiving unit (30), the second receiving unit (30) being configured to receive the pulsed laser light reflected from the target object and to generate a corresponding second signal; the second signal is used for distance calculation and determination according to the time-of-flight principle;

wherein one of the first receiving unit (20) and the second receiving unit (30) is disposed above and below the laser emitting unit (10), and the other of the first receiving unit (20) and the second receiving unit (30) is disposed to the left and right of the laser emitting unit (10).

11. A ranging apparatus as claimed in claim 10, wherein:

the laser emitting unit (10), the first receiving unit (20) and the second receiving unit (30) are all arranged on the same circuit board (50).

12. A ranging apparatus as claimed in claim 10, wherein:

at least two of the laser emitting unit (10), the first receiving unit (20), and the second receiving unit (30) are disposed on different circuit boards.

13. A ranging apparatus as claimed in claim 12, wherein:

14. A ranging device as claimed in any one of claims 10 to 13 wherein:

the ranging device further comprises a calculating unit (40), wherein the calculating unit (40) is used for receiving the first signal and the second signal and calculating and determining the distance according to a triangular ranging principle and a flight time principle.

15. A ranging apparatus, comprising:

a first receiving unit (20), the first receiving unit (20) being configured to receive the pulsed laser light reflected from the target object and to generate a corresponding first signal; the first signal is used for calculating and determining the distance according to the principle of triangular distance measurement;

a second receiving unit (30), the second receiving unit (30) being configured to receive the pulsed laser light reflected from the target object and to generate a corresponding second signal; the second signal is used for distance calculation and determination according to the time-of-flight principle; and

a mirror (73), the mirror (73) being for reflecting the pulsed laser light reflected from the target object to at least one of the first receiving unit (20) and the second receiving unit (30).

16. A ranging apparatus as claimed in claim 15 wherein:

one of the first receiving unit (20) and the second receiving unit (30) is arranged on the left and right of the laser emitting unit (10); and is

The other of the first receiving unit (20) and the second receiving unit (30) is disposed behind the laser emitting unit (10), and the mirror (73) reflects the pulsed laser light reflected from the target object to the other of the first receiving unit (20) and the second receiving unit (30).

17. A ranging apparatus as claimed in claim 16 wherein:

the other of the first receiving unit (20) and the second receiving unit (30) is placed vertically or obliquely.

18. A ranging apparatus as claimed in claim 16 wherein:

the one of the first receiving unit (20) and the second receiving unit (30) and the laser emitting unit (10) are disposed on the same circuit board or on different circuit boards.

19. A ranging apparatus as claimed in any of claims 15 to 18 wherein:

20. A lidar, comprising:

a ranging apparatus (100) according to any of claims 1-19; and

rotatory cloud platform (60), rotatory cloud platform (60) is including 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), range unit (100) set up in roating seat (62).

21. The lidar of claim 20, wherein:

the rotating cloud deck (60) further comprises a cover body (66), and the cover body (66) is of a solid structure capable of penetrating through laser.

22. A mobile robot characterized by comprising a lidar (200) according to claim 20 or 21.